Move FreeRTOS to main core, refactor async_context, move to LWIP task

Implement the LWIP task (the only task allowed to call actual LWIP calls)
using a work queue accessible from any other task/core.

Move FreeRTOS into the main cores/rp2040 directory to allow for easier
core usage.

Dynamically build the proper async_context for raw or FreeRTOS in
the IDE, not at libpico time.

Author: earlephilhower

.gitmodules

@@ -23,7 +23,7 @@
 	path = libraries/Adafruit_TinyUSB_Arduino
 	url = https://github.com/adafruit/Adafruit_TinyUSB_Arduino.git
 [submodule "libraries/FreeRTOS/lib/FreeRTOS-Kernel"]
-	path = libraries/FreeRTOS/lib/FreeRTOS-Kernel
+	path = FreeRTOS-Kernel
 	url = https://github.com/earlephilhower/FreeRTOS-Kernel.git
 [submodule "tools/libbearssl/bearssl"]
 	path = tools/libbearssl/bearssl

cores/rp2040/freertos/FreeRTOS.h

@@ -0,0 +1,3 @@
+#ifdef __FREERTOS
+#include "../../../FreeRTOS-Kernel/include/FreeRTOS.h"
+#endif

libraries/FreeRTOS/src/FreeRTOSConfig.h renamed to cores/rp2040/freertos/FreeRTOSConfig.h

@@ -1,3 +1,4 @@
+#ifdef __FREERTOS
 #ifndef configNUMBER_OF_CORES
 #define configNUMBER_OF_CORES             2
 #endif
@@ -80,7 +81,9 @@
 #ifndef configUSE_TASK_PREEMPTION_DISABLE
 #define configUSE_TASK_PREEMPTION_DISABLE 1
 #endif
-
+#ifndef configTASK_NOTIFICATION_ARRAY_ENTRIES
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES 4
+#endif
 #ifndef configUSE_NEWLIB_REENTRANT
 #define configUSE_NEWLIB_REENTRANT        1
 #endif
@@ -262,3 +265,4 @@ void rtosFatalError(void);
 #endif
 
 #include "rp2040_config.h"
+#endif

cores/rp2040/freertos/StackMacros.h

@@ -0,0 +1,3 @@
+#ifdef __FREERTOS
+#include "../../../FreeRTOS-Kernel/include/StackMacros.h"
+#endif

cores/rp2040/freertos/atomic.h

@@ -0,0 +1,3 @@
+#ifdef __FREERTOS
+#include "../../../FreeRTOS-Kernel/include/atomic.h"
+#endif

cores/rp2040/freertos/croutine.c

@@ -0,0 +1,3 @@
+#ifdef __FREERTOS
+#include "../../../FreeRTOS-Kernel/croutine.c"
+#endif

cores/rp2040/freertos/croutine.h

@@ -0,0 +1,3 @@
+#ifdef __FREERTOS
+#include "../../../FreeRTOS-Kernel/include/croutine.h"
+#endif

cores/rp2040/freertos/deprecated_definitions.h

@@ -0,0 +1,3 @@
+#ifdef __FREERTOS
+#include "../../../FreeRTOS-Kernel/include/deprecated_definitions.h"
+#endif

cores/rp2040/freertos/event_groups.c

@@ -0,0 +1,3 @@
+#ifdef __FREERTOS
+#include "../../../FreeRTOS-Kernel/event_groups.c"
+#endif

cores/rp2040/freertos/event_groups.h

@@ -0,0 +1,3 @@
+#ifdef __FREERTOS
+#include "../../../FreeRTOS-Kernel/include/event_groups.h"
+#endif