Add FreeRTOS support for RP2350 (#2406)

Pull in Raspberry Pi's custom RP2350 ARM and RISC-V ports for FreeRTOS.

Basic tests run, but stress mutex test is failing in unique and interesting
ways.

* Add simplified switching test catching task swap problem

* Freertosrp2350: use FreeRTOS macros in noInterrupts/interrupts when applicable. (#2456)
* Use FreeRTOS macros in noInterrupts/interrupts when applicable.
* Fixed calling taskEXIT_CRITICAL and taskENTER_CRITICAL
---------

Co-authored-by: fietser28 <[email protected]>

Author: earlephilhower

cores/rp2040/_freertos.h

@@ -54,5 +54,8 @@ extern "C" {
 
     extern void __freertos_idle_other_core() __attribute__((weak));
     extern void __freertos_resume_other_core() __attribute__((weak));
+
+    extern void __freertos_task_exit_critical() __attribute__((weak));
+    extern void __freertos_task_enter_critical() __attribute__((weak));
 }
 extern SemaphoreHandle_t __get_freertos_mutex_for_ptr(mutex_t *m, bool recursive = false);

cores/rp2040/wiring_private.cpp

@@ -23,6 +23,8 @@
 #include <hardware/gpio.h>
 #include <hardware/sync.h>
 #include <map>
+#include "_freertos.h"
+
 
 // Support nested IRQ disable/re-enable
 #ifndef maxIRQs
@@ -32,22 +34,29 @@ static uint32_t _irqStackTop[2] = { 0, 0 };
 static uint32_t _irqStack[2][maxIRQs];
 
 extern "C" void interrupts() {
-    auto core = get_core_num();
-    if (!_irqStackTop[core]) {
-        // ERROR
-        return;
+    if (__freeRTOSinitted) {
+        __freertos_task_exit_critical();
+    } else {
+        auto core = get_core_num();
+        if (!_irqStackTop[core]) {
+            // ERROR
+            return;
+        }
+        restore_interrupts(_irqStack[core][--_irqStackTop[core]]);
     }
-    restore_interrupts(_irqStack[core][--_irqStackTop[core]]);
 }
 
 extern "C" void noInterrupts() {
-    auto core = get_core_num();
-    if (_irqStackTop[core] == maxIRQs) {
-        // ERROR
-        panic("IRQ stack overflow");
+    if (__freeRTOSinitted) {
+        __freertos_task_enter_critical();
+    } else {
+        auto core = get_core_num();
+        if (_irqStackTop[core] == maxIRQs) {
+            // ERROR
+            panic("IRQ stack overflow");
+        }
+        _irqStack[core][_irqStackTop[core]++] = save_and_disable_interrupts();
     }
-
-    _irqStack[core][_irqStackTop[core]++] = save_and_disable_interrupts();
 }
 
 // Only 1 GPIO IRQ callback for all pins, so we need to look at the pin it's for and

libraries/FreeRTOS/lib/FreeRTOS-Kernel

@@ -1,5 +1 @@
-#ifdef PICO_RP2350
-#error Sorry, FreeRTOS is not yet supported on the RP2350 in this core.
-#else
 #include "../lib/FreeRTOS-Kernel/include/FreeRTOS.h"
-#endif

libraries/FreeRTOS/src/FreeRTOS.h

@@ -200,6 +200,10 @@ extern unsigned long ulMainGetRunTimeCounterValue(void);
 #endif
 #endif
 
+#define configENABLE_MPU                        0
+#define configENABLE_TRUSTZONE                  0
+#define configRUN_FREERTOS_SECURE_ONLY          1
+#define configENABLE_FPU                        1
 /*  The lowest interrupt priority that can be used in a call to a "set priority"
     function. */
 #ifndef configLIBRARY_LOWEST_INTERRUPT_PRIORITY
@@ -219,11 +223,16 @@ extern unsigned long ulMainGetRunTimeCounterValue(void);
 #ifndef configKERNEL_INTERRUPT_PRIORITY
 #define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
 #endif
+
 /* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
     See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
 #ifndef configMAX_SYSCALL_INTERRUPT_PRIORITY
+#ifdef PICO_RP2350
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    16
+#else
 #define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
 #endif
+#endif
 
 #ifndef configASSERT
 #ifdef __cplusplus

libraries/FreeRTOS/src/FreeRTOSConfig.h

@@ -0,0 +1 @@
+#include "../lib/FreeRTOS-Kernel/include/mpu_syscall_numbers.h"

libraries/FreeRTOS/src/mpu_syscall_numbers.h

@@ -0,0 +1,3 @@
+#ifdef PICO_RP2350
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/mpu_wrappers_v2_asm.c"
+#endif

libraries/FreeRTOS/src/mpu_wrappers_v2_asm.c

@@ -1 +1,5 @@
+#ifdef PICO_RP2040
 #include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c"
+#else
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/port.c"
+#endif

libraries/FreeRTOS/src/port.c

@@ -0,0 +1,3 @@
+#ifdef PICO_RP2350
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/portasm.c"
+#endif

libraries/FreeRTOS/src/portasm.c

@@ -1 +1,5 @@
+#ifdef PICO_RP2350
+#include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/portmacro.h"
+#else
 #include "../lib/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/portmacro.h"
+#endif