Add preliminary support for ESP IDF and FreeRTOS

.gitignore

@@ -11,3 +11,4 @@ cmake-build-release
 doc/html
 doc/latex
 doc/markdown/platform
+sdkconfig

CMakeLists.txt

@@ -66,6 +66,15 @@ elseif (PLATFORM STREQUAL "PICO")
 
 elseif (PLATFORM STREQUAL "PATMOS")
   add_library(reactor-uc STATIC ${SOURCES})
+elseif( PLATFORM STREQUAL "FREERTOS")
+  add_library(reactor-uc STATIC ${SOURCES})
+  # Include FreeRTOSConfig directory 
+  target_include_directories(reactor-uc PUBLIC ${FREERTOS_CONFIG_PATH})
+
+  target_link_libraries(reactor-uc PUBLIC FreeRTOS-Kernel FreeRTOS-Kernel-Heap1)
+elseif (PLATFORM STREQUAL "ESP_IDF")
+  add_library(reactor-uc STATIC ${SOURCES})
+  target_link_libraries(reactor-uc PUBLIC idf::freertos idf::spi_flash idf::esp_timer)
 else ()
   message(FATAL_ERROR "No valid platform specified")
 endif ()

examples/common/timer_source.h

@@ -22,4 +22,10 @@ LF_REACTOR_CTOR_SIGNATURE(TimerSource) {
   LF_TIMER_REGISTER_EFFECT(self->t, self->r);
 }
 
-LF_ENTRY_POINT(TimerSource,32,32, SEC(1), false, false);
+#ifdef TIMEOUT 
+LF_ENTRY_POINT(TimerSource,32,32, SEC(TIMEOUT), false, false);
+#elif defined(TIMEOUT_FOREVER)
+LF_ENTRY_POINT(TimerSource,32,32, FOREVER, false, false);
+#else
+LF_ENTRY_POINT(TimerSource,32,32, SEC(1), false, false);
+#endif

examples/esp-idf/blink/CMakeLists.txt

@@ -0,0 +1,46 @@
+
+
+cmake_minimum_required(VERSION 3.20.0)
+set(PLATFORM "ESP_IDF" CACHE STRING "Platform to target")
+set(BUILD_EXAMPLES OFF CAHCHE BOOL)
+set(TIMEOUT "1" ON CACHE STRING "Timeout in seconds, disable for infinite")
+
+if(TIMEOUT)
+    add_compile_definitions(TIMEOUT=${TIMEOUT})
+else()
+    add_compile_definitions(TIMEOUT_FOREVER)
+endif()
+
+set(IDF_COMPONENTS "freertos" "esptool_py" "driver" "led_strip")
+
+if(DEFINED ENV{IDF_PATH})
+else()
+    message(FATAL_ERROR "IDF_PATH environment variable not set")
+endif()
+
+# Include for ESP-IDF build system functions
+include($ENV{IDF_PATH}/tools/cmake/idf.cmake)
+# Set led_strip component path
+set(EXTRA_COMPONENT_DIRS $ENV{IDF_PATH}/../idf-extra-components/led_strip)
+idf_build_component($ENV{IDF_PATH}/../idf-extra-components/led_strip)
+
+project(blink)
+
+# Create idf::{target} and idf::freertos static libraries
+idf_build_process(${IDF_TARGET} 
+                COMPONENTS ${IDF_COMPONENTS} 
+                SDKCONFIG ${CMAKE_CURRENT_LIST_DIR}/sdkconfig
+                BUILD_DIR ${CMAKE_BINARY_DIR})
+
+add_subdirectory(../../../ reactor-uc)
+
+# suppress unused parameter warnings
+target_compile_options(reactor-uc PRIVATE -Wno-unused-parameter)
+
+set(elf_file ${CMAKE_PROJECT_NAME}.elf)
+add_executable(${elf_file} main.c)
+target_link_libraries(${elf_file} PRIVATE reactor-uc idf::led_strip idf::driver)
+
+idf_build_executable(${elf_file})
+
+

examples/esp-idf/blink/main.c

@@ -0,0 +1,100 @@
+#include <stdio.h>
+#include <inttypes.h>
+#include "sdkconfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_chip_info.h"
+#include "esp_flash.h"
+#include "esp_system.h"
+#include "reactor-uc/reactor-uc.h"
+#include "reactor-uc/environment.h"
+#include "sys/time.h"
+#include "esp_timer.h"
+#include "../../common/timer_source.h"
+#include "led_strip.h"
+#include "driver/gpio.h"
+
+#define BLINK_GPIO 8
+#define CONFIG_BLINK_LED_STRIP 1
+#define CONFIG_BLINK_LED_STRIP_BACKEND_SPI 1
+static uint8_t s_led_state = 0;
+
+#ifdef CONFIG_BLINK_LED_STRIP
+
+static led_strip_handle_t led_strip;
+
+static void blink_led(void)
+{
+    /* If the addressable LED is enabled */
+    if (s_led_state) {
+        /* Set the LED pixel using RGB from 0 (0%) to 255 (100%) for each color */
+        led_strip_set_pixel(led_strip, 0, 16, 16, 16);
+        /* Refresh the strip to send data */
+        led_strip_refresh(led_strip);
+    } else {
+        /* Set all LED off to clear all pixels */
+        led_strip_clear(led_strip);
+    }
+}
+
+static void configure_led(void)
+{
+    printf("Example configured to blink addressable LED!");
+    /* LED strip initialization with the GPIO and pixels number*/
+    led_strip_config_t strip_config = {
+        .strip_gpio_num = BLINK_GPIO,
+        .max_leds = 1, // at least one LED on board
+    };
+#if CONFIG_BLINK_LED_STRIP_BACKEND_RMT
+    led_strip_rmt_config_t rmt_config = {
+        .resolution_hz = 10 * 1000 * 1000, // 10MHz
+        .flags.with_dma = false,
+    };
+    ESP_ERROR_CHECK(led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip));
+#elif CONFIG_BLINK_LED_STRIP_BACKEND_SPI
+    led_strip_spi_config_t spi_config = {
+        .spi_bus = SPI2_HOST,
+        .flags.with_dma = true,
+    };
+    ESP_ERROR_CHECK(led_strip_new_spi_device(&strip_config, &spi_config, &led_strip));
+#else
+#error "unsupported LED strip backend"
+#endif
+    /* Set all LED off to clear all pixels */
+    led_strip_clear(led_strip);
+}
+
+#elif CONFIG_BLINK_LED_GPIO
+
+static void blink_led(void)
+{
+    /* Set the GPIO level according to the state (LOW or HIGH)*/
+    gpio_set_level(BLINK_GPIO, s_led_state);
+}
+
+static void configure_led(void)
+{
+    ESP_LOGI(TAG, "Example configured to blink GPIO LED!");
+    gpio_reset_pin(BLINK_GPIO);
+    /* Set the GPIO as a push/pull output */
+    gpio_set_direction(BLINK_GPIO, GPIO_MODE_OUTPUT);
+}
+
+#else
+#error "unsupported LED type"
+#endif
+
+LF_DEFINE_REACTION_BODY(TimerSource, r) {
+  LF_SCOPE_SELF(TimerSource);
+  LF_SCOPE_ENV();
+  printf("Turning the LED %s! @ lt=%lld, pt=%lld\n", s_led_state == true ? "ON" : "OFF", env->get_elapsed_logical_time(env), env->get_physical_time(env)); 
+  blink_led();
+  /* Toggle the LED state */
+  s_led_state = !s_led_state;
+}
+
+void app_main(void)
+{
+    configure_led();
+    lf_start();
+}

examples/esp-idf/buildAll.sh

@@ -0,0 +1,18 @@
+#!/bin/bash
+set -e
+
+# Set the target platform
+IDF_TARGET="esp32c6"
+# List of folders
+FOLDERS=("hello" "blink")
+
+# Iterate over each folder and execute the command
+for dir in "${FOLDERS[@]}"; do
+    echo "Entering $dir"
+		pushd $dir
+
+    rm -rf build && mkdir build && cd build
+    cmake .. -DCMAKE_TOOLCHAIN_FILE=$IDF_PATH/tools/cmake/toolchain-${IDF_TARGET}.cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DPLATFORM=ESP_IDF -DIDF_TARGET=${IDF_TARGET} -GNinja
+    cmake --build . -j
+		popd
+done

examples/esp-idf/hello/CMakeLists.txt

@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.20.0)
+set(PLATFORM "ESP_IDF" CACHE STRING "Platform to target")
+set(BUILD_EXAMPLES OFF CAHCHE BOOL)
+set(TIMEOUT "1" ON CACHE STRING "Timeout in seconds, disable for infinite")
+
+if(TIMEOUT)
+    add_compile_definitions(TIMEOUT=${TIMEOUT})
+else()
+    add_compile_definitions(TIMEOUT_FOREVER)
+endif()
+
+set(IDF_COMPONENTS "freertos" "esptool_py")
+
+if(DEFINED ENV{IDF_PATH})
+else()
+    message(FATAL_ERROR "IDF_PATH environment variable not set")
+endif()
+
+# Include for ESP-IDF build system functions
+include($ENV{IDF_PATH}/tools/cmake/idf.cmake)
+
+project(hello)
+
+# Create idf::{target} and idf::freertos static libraries
+idf_build_process(${IDF_TARGET} 
+                COMPONENTS ${IDF_COMPONENTS} 
+                SDKCONFIG ${CMAKE_CURRENT_LIST_DIR}/sdkconfig
+                BUILD_DIR ${CMAKE_BINARY_DIR})
+
+add_subdirectory(../../../ reactor-uc)
+
+# suppress unused parameter warnings
+target_compile_options(reactor-uc PRIVATE -Wno-unused-parameter)
+
+set(elf_file ${CMAKE_PROJECT_NAME}.elf)
+add_executable(${elf_file} main.c)
+target_link_libraries(${elf_file} PRIVATE reactor-uc)
+
+idf_build_executable(${elf_file})

examples/esp-idf/hello/main.c

@@ -0,0 +1,51 @@
+#include <stdio.h>
+#include <inttypes.h>
+#include "sdkconfig.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_chip_info.h"
+#include "esp_flash.h"
+#include "esp_system.h"
+#include "reactor-uc/reactor-uc.h"
+#include "reactor-uc/environment.h"
+#include "sys/time.h"
+#include "esp_timer.h"
+#include "../../common/timer_source.h"
+
+LF_DEFINE_REACTION_BODY(TimerSource, r) {
+  LF_SCOPE_SELF(TimerSource);
+  LF_SCOPE_ENV();
+  printf("Hello World @ lt=%lld, pt=%lld\n", env->get_elapsed_logical_time(env), env->get_physical_time(env));
+
+  /* Print chip information */
+  esp_chip_info_t chip_info;
+  uint32_t flash_size;
+  esp_chip_info(&chip_info);
+
+  printf("This is %s chip with %d CPU core(s), %s%s%s%s, ",
+         CONFIG_IDF_TARGET,
+         chip_info.cores,
+         (chip_info.features & CHIP_FEATURE_WIFI_BGN) ? "WiFi/" : "",
+         (chip_info.features & CHIP_FEATURE_BT) ? "BT" : "",
+         (chip_info.features & CHIP_FEATURE_BLE) ? "BLE" : "",
+         (chip_info.features & CHIP_FEATURE_IEEE802154) ? ", 802.15.4 (Zigbee/Thread)" : "");
+
+  unsigned major_rev = chip_info.revision / 100;
+  unsigned minor_rev = chip_info.revision % 100;
+  printf("silicon revision v%d.%d, ", major_rev, minor_rev);
+
+  if(esp_flash_get_size(NULL, &flash_size) != ESP_OK) {
+      printf("Get flash size failed");
+      return;
+  }
+
+  printf("%" PRIu32 "MB %s flash\n", flash_size / (uint32_t)(1024 * 1024),
+         (chip_info.features & CHIP_FEATURE_EMB_FLASH) ? "embedded" : "external");
+
+  printf("Minimum free heap size: %" PRIu32 " bytes\n", esp_get_minimum_free_heap_size());
+}
+
+void app_main(void)
+{
+    lf_start();
+}

examples/freertos/buildAll.sh

@@ -0,0 +1,13 @@
+#!/bin/bash
+set -e
+
+# Set the target board
+PICO_BOARD="pico_w"
+PICO_FOLDER="pico"
+echo "Entering $PICO_FOLDER"
+    pushd $PICO_FOLDER
+
+rm -rf build && mkdir build && cd build
+cmake -DPICO_BOARD=pico_w -DPLATFORM=FREERTOS -DTIMEOUT=OFF ..
+cmake --build . -j
+    popd

examples/freertos/pico/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.20.0)
+set(PLATFORM "PICO" CACHE STRING "Platform to target")
+set(BUILD_EXAMPLES OFF CAHCHE BOOL)
+set(TIMEOUT "1" ON CACHE STRING "Timeout in seconds, disable for infinite")
+
+if(TIMEOUT)
+    add_compile_definitions(TIMEOUT=${TIMEOUT})
+else()
+    add_compile_definitions(TIMEOUT_FOREVER)
+endif()
+
+if (DEFINED ENV{PICO_SDK_PATH})
+  include("$ENV{PICO_SDK_PATH}/pico_sdk_init.cmake")
+else()
+  message(FATAL_ERROR "PICO_SDK_PATH environment variable not set")
+endif()
+
+if (DEFINED ENV{FREERTOS_KERNEL_PATH})
+  include("$ENV{FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake")
+else()
+  message(FATAL_ERROR "FREERTOS_KERNEL_PATH environment variable not set")
+endif()
+
+if (NOT DEFINED ENV{FREERTOS_DEMO_PATH})
+  message(FATAL_ERROR "FREERTOS_DEMO_PATH environment variable not set")
+endif()
+
+project(reactor-uc-pico)
+pico_sdk_init()
+
+add_executable(blinky src/blinky.c)
+
+pico_enable_stdio_usb(blinky 1)
+pico_enable_stdio_uart(blinky 0)
+target_include_directories(blinky PRIVATE
+        ${CMAKE_CURRENT_LIST_DIR}
+        $ENV{FREERTOS_DEMO_PATH}/Common/include)
+
+# Set FreeRTOSConfig path for the reactor-uc library
+set(FREERTOS_CONFIG_PATH ${CMAKE_CURRENT_LIST_DIR}/include)
+
+add_subdirectory(../../../ reactor-uc)
+target_link_libraries(blinky PRIVATE reactor-uc pico_stdlib pico_sync)
+
+if (PICO_CYW43_SUPPORTED)
+    target_link_libraries(blinky PRIVATE pico_cyw43_arch_none)
+endif()