Restore bare-metal compilation

earlephilhower · earlephilhower · commit c54ec2bb9b39 · 2025-08-18T13:57:51.000-07:00
Simple CYW43 WiFiClient test runs
diff --git a/cores/rp2040/freertos/heap_3a.c b/cores/rp2040/freertos/heap_3a.c
@@ -1,4 +1,5 @@
-// Hacked to remove the vTaskSuspendAll from heap_3.c
+#ifdef __FREERTOS
+// Hacked to remove the vTaskSuspendAll from heap_3.c.  We handle that in malloc wrappers
 
 /*
     FreeRTOS Kernel <DEVELOPMENT BRANCH>
@@ -101,3 +102,4 @@ void vPortHeapResetState(void) {
     /* No state needs to be re-initialised in heap_3. */
 }
 /*-----------------------------------------------------------*/
+#endif
diff --git a/libraries/lwIP_Ethernet/src/LwipEthernet.cpp b/libraries/lwIP_Ethernet/src/LwipEthernet.cpp
@@ -19,6 +19,7 @@
 */
 
 #include <LwipEthernet.h>
+#include <lwip_wrap.h>
 #include <lwip/timeouts.h>
 #include <lwip/dns.h>
 #include <pico/mutex.h>
@@ -30,19 +31,19 @@
 #include <pico/async_context_freertos.h>
 #include "FreeRTOS.h"
 #include "task.h"
-static async_context_freertos_t lwip_ethernet_async_context;
-static StackType_t lwip_ethernet_async_context_freertos_task_stack[CYW43_TASK_STACK_SIZE];
-
-static async_context_t *lwip_ethernet_init_default_async_context(void) {
-    async_context_freertos_config_t config = async_context_freertos_default_config();
-#if configSUPPORT_STATIC_ALLOCATION && !CYW43_NO_DEFAULT_TASK_STACK
-    config.task_stack = lwip_ethernet_async_context_freertos_task_stack;
-#endif
-    if (async_context_freertos_init(&lwip_ethernet_async_context, &config)) {
-        return &lwip_ethernet_async_context.core;
-    }
-    return NULL;
-}
+//static async_context_freertos_t lwip_ethernet_async_context;
+//static StackType_t lwip_ethernet_async_context_freertos_task_stack[CYW43_TASK_STACK_SIZE];
+
+//static async_context_t *lwip_ethernet_init_default_async_context(void) {
+//    async_context_freertos_config_t config = async_context_freertos_default_config();
+//#if configSUPPORT_STATIC_ALLOCATION && !CYW43_NO_DEFAULT_TASK_STACK
+//    config.task_stack = lwip_ethernet_async_context_freertos_task_stack;
+//#endif
+//    if (async_context_freertos_init(&lwip_ethernet_async_context, &config)) {
+//        return &lwip_ethernet_async_context.core;
+//    }
+//    return NULL;
+//}
 
 #else
 #include <pico/async_context_threadsafe_background.h>
@@ -72,24 +73,27 @@ static async_context_t *_context = nullptr;
 static std::map<int, std::function<void(void)>> _handlePacketList;
 
 void ethernet_arch_lwip_begin() {
-    //#if defined(PICO_CYW43_SUPPORTED)
-    //    if (rp2040.isPicoW()) {
-    //        cyw43_arch_lwip_begin();
-    //        return;
-    //    }
-    //#endif
-    //    __startEthernetContext();
-    //    async_context_acquire_lock_blocking(_context);
+#ifdef __FREERTOS
+    panic("oops");
+#endif
+    #if defined(PICO_CYW43_SUPPORTED)
+        if (rp2040.isPicoW()) {
+            cyw43_arch_lwip_begin();
+            return;
+        }
+    #endif
+        __startEthernetContext();
+        async_context_acquire_lock_blocking(_context);
 }
 
 void ethernet_arch_lwip_end() {
-    //#if defined(PICO_CYW43_SUPPORTED)
-    //    if (rp2040.isPicoW()) {
-    //        cyw43_arch_lwip_end();
-    //        return;
-    //    }
-    //#endif
-    //    async_context_release_lock(_context);
+    #if defined(PICO_CYW43_SUPPORTED)
+        if (rp2040.isPicoW()) {
+            cyw43_arch_lwip_end();
+            return;
+        }
+    #endif
+        async_context_release_lock(_context);
 }
 
 int __addEthernetPacketHandler(std::function<void(void)> _packetHandler) {
@@ -206,19 +210,12 @@ static uint32_t _pollingPeriod = 20;
 // This will only be called under the protection of the async context mutex, so no re-entrancy checks needed
 static void ethernet_timeout_reached(__unused async_context_t *context, __unused async_at_time_worker_t *worker) {
     assert(worker == &ethernet_timeout_worker);
-    printf("__ethernet_timeout_reached_calls %d\n", __ethernet_timeout_reached_calls);
     __ethernet_timeout_reached_calls++;
     ethernet_arch_lwip_gpio_mask(); // Ensure non-polled devices won't interrupt us
     for (auto handlePacket : _handlePacketList) {
         handlePacket.second();
         sys_check_timeouts();
     }
-    //#if defined(PICO_CYW43_SUPPORTED)
-    //    if (!rp2040.isPicoW()) {
-    //        sys_check_timeouts();
-    //    }
-    //#else
-    //#endif
     ethernet_arch_lwip_gpio_unmask();
 }
 
@@ -231,6 +228,7 @@ static void update_next_timeout(async_context_t *context, async_when_pending_wor
 
 // We have a background pump which calls sys_check_timeouts on a periodic basis
 // and polls all Ethernet interfaces
+#ifdef __FREERTOS
 static TaskHandle_t _ethernetTask;;
 
 static void stage2(void *cbData) {
@@ -246,7 +244,6 @@ static void stage2(void *cbData) {
     sys_check_timeouts();
 }
 
-#include <lwip_wrap.h>
 static void ethernetTask(void *param) {
     (void) param;
     while (true) {
@@ -256,34 +253,26 @@ static void ethernetTask(void *param) {
         }
         vTaskDelay(sleep_ms / portTICK_PERIOD_MS);
         lwip_callback(stage2, nullptr);
-#if 0
-        // Scan the installed Ethernet drivers
-        for (auto handlePacket : _handlePacketList) {
-            // Note that each NIC needs to use its own mutex to ensure LWIP isn't doing something with it at the time we want to poll
-            handlePacket.second();
-        }
-        // Do LWIP stuff as needed
-        sys_check_timeouts();
-#endif
     }
 }
+#endif
 
 void __startEthernetContext() {
     if (__ethernetContextInitted) {
         return;
     }
-    xTaskCreate(ethernetTask, "Ethernet", 256, nullptr, 1, &_ethernetTask);
-    //    vTaskCoreAffinitySet(_ethernetTask, 1 << 0);
-#if 0
-    //#if defined(PICO_CYW43_SUPPORTED)
-    //    if (rp2040.isPicoW()) {
-    //        _context = cyw43_arch_async_context();
-    //    } else {
-    //        _context = lwip_ethernet_init_default_async_context();
-    //    }
-    //#else
+#ifdef __FREERTOS
+    xTaskCreate(ethernetTask, "EthPoll", 256, nullptr, 1, &_ethernetTask);
+#else
+    #if defined(PICO_CYW43_SUPPORTED)
+    if (rp2040.isPicoW()) {
+        _context = cyw43_arch_async_context();
+    } else {
+        _context = lwip_ethernet_init_default_async_context();
+    }
+    #else
     _context = lwip_ethernet_init_default_async_context();
-    //#endif
+    #endif
     ethernet_timeout_worker.do_work = ethernet_timeout_reached;
     always_pending_update_timeout_worker.work_pending = true;
     always_pending_update_timeout_worker.do_work = update_next_timeout;
diff --git a/libraries/lwIP_Ethernet/src/LwipIntfDev.h b/libraries/lwIP_Ethernet/src/LwipIntfDev.h
@@ -81,7 +81,9 @@ class LwipIntfDev: public LwipIntf, public RawDev {
     LwipIntfDev(int8_t cs = SS, SPIClass& spi = SPI, int8_t intr = -1) :
         RawDev(cs, spi, intr), _spiUnit(spi), _mtu(DEFAULT_MTU), _intrPin(intr), _started(false), _default(false) {
         memset(&_netif, 0, sizeof(_netif));
+#ifdef __FREERTOS
         _hwMutex = xSemaphoreCreateMutex();
+#endif
     }
 
     //The argument order for ESP is not the same as for Arduino. However, there is compatibility code under the hood
@@ -188,7 +190,9 @@ class LwipIntfDev: public LwipIntf, public RawDev {
 public:
     // called on a regular basis or on interrupt
     err_t handlePackets();
+#ifdef __FREERTOS
     SemaphoreHandle_t _hwMutex;
+#endif
     uint8_t _irqBuffer[LWIP_CALLBACK_BUFFER_SIZE];
 protected:
     // members
@@ -505,18 +509,28 @@ EthernetLinkStatus LwipIntfDev<RawDev>::linkStatus() {
 template<class RawDev>
 err_t LwipIntfDev<RawDev>::linkoutput_s(netif* netif, struct pbuf* pbuf) {
     LwipIntfDev* lid = (LwipIntfDev*)netif->state;
-    //    ethernet_arch_lwip_begin();
+
+#ifdef __FREERTOS
     xSemaphoreTake(lid->_hwMutex, portMAX_DELAY);
+#else
+    ethernet_arch_lwip_begin();
+#endif
+
     uint16_t len = lid->sendFrame((const uint8_t*)pbuf->payload, pbuf->len);
+
+#ifdef __FREERTOS
     xSemaphoreGive(lid->_hwMutex);
+#else
+    ethernet_arch_lwip_end();
+#endif
+
     lid->_packetsSent++;
 #if PHY_HAS_CAPTURE
     if (phy_capture) {
         phy_capture(lid->_netif.num, (const char*)pbuf->payload, pbuf->len, /*out*/ 1,
                     /*success*/ len == pbuf->len);
     }
 #endif
-    //    ethernet_arch_lwip_end();
     return len == pbuf->len ? ERR_OK : ERR_MEM;
 }
 
@@ -596,10 +610,14 @@ err_t LwipIntfDev<RawDev>::handlePackets() {
             return ERR_OK;
         }
 
+#ifdef __FREERTOS
         xSemaphoreTake(_hwMutex, portMAX_DELAY);
+#endif
         uint16_t tot_len = RawDev::readFrameSize();
         if (!tot_len) {
+#ifdef __FREERTOS
             xSemaphoreGive(_hwMutex);
+#endif
             return ERR_OK;
         }
 
@@ -617,12 +635,16 @@ err_t LwipIntfDev<RawDev>::handlePackets() {
                 pbuf_free(pbuf);
             }
             RawDev::discardFrame(tot_len);
+#ifdef __FREERTOS
             xSemaphoreGive(_hwMutex);
+#endif
             return ERR_BUF;
         }
 
         uint16_t len = RawDev::readFrameData((uint8_t*)pbuf->payload, tot_len);
+#ifdef __FREERTOS
         xSemaphoreGive(_hwMutex);
+#endif
         if (len != tot_len) {
             // tot_len is given by readFrameSize()
             // and is supposed to be honoured by readFrameData()
