DatanoiseTV · DatanoiseTV · Aug 12, 2024 · Aug 19, 2024 · Aug 19, 2024 · Aug 19, 2024
diff --git a/.gitmodules b/.gitmodules
@@ -4,3 +4,9 @@
 [submodule "lib/vult"]
 	path = lib/vult
 	url = https://github.com/vult-dsp/vult.git
+[submodule "lib/FreeRTOS-Kernel"]
+	path = lib/FreeRTOS-Kernel
+	url = https://github.com/raspberrypi/FreeRTOS-Kernel.git
+[submodule "lib/pico-sdk"]
+	path = lib/pico-sdk
+	url = https://github.com/DatanoiseTV/pico-sdk
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -19,5 +19,8 @@
     "cmake.buildBeforeRun": true,
     "C_Cpp.default.configurationProvider": "ms-vscode.cmake-tools",
     "nrf-connect.topdir": "/home/syso/dev/ztry",
-    "nrf-connect.toolchain.path": "PATH"
+    "nrf-connect.toolchain.path": "PATH",
+    "files.associations": {
+        "__locale": "cpp"
+    }
 }
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -6,32 +6,15 @@ set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 14)
 
 set(PICO_EXTRAS_PATH "../lib/pico-extras")
+set(PICO_BOARD datanoisetv_rp2350_dsp)
+set(PICO_PLATFORM "rp2350-arm-s")
+set(FREERTOS_KERNEL_PATH "${CMAKE_CURRENT_SOURCE_DIR}/lib/FreeRTOS-Kernel")
+set(PICO_SDK_PATH "${CMAKE_CURRENT_SOURCE_DIR}/lib/pico-sdk")
 
 # Pull in Raspberry Pi Pico SDK (must be before project)
 include(pico_sdk_import.cmake)
 include(pico_extras_import.cmake)
-
-set(PICO_BOARD datanoisetv_rp2040_dsp)
-
-set(FREERTOS_SRC_DIRECTORY "${PICO_SDK_PATH}/lib/tinyusb/lib/FreeRTOS-Kernel")
-
-add_library(FreeRTOS STATIC
-    ${FREERTOS_SRC_DIRECTORY}/event_groups.c
-    ${FREERTOS_SRC_DIRECTORY}/list.c
-    ${FREERTOS_SRC_DIRECTORY}/queue.c
-    ${FREERTOS_SRC_DIRECTORY}/stream_buffer.c
-    ${FREERTOS_SRC_DIRECTORY}/tasks.c
-    ${FREERTOS_SRC_DIRECTORY}/timers.c
-    ${FREERTOS_SRC_DIRECTORY}/portable/MemMang/heap_3.c
-    ${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM0/port.c
-)
-
-target_include_directories(FreeRTOS PUBLIC
-    ${FREERTOS_CFG_DIRECTORY}/
-    ${FREERTOS_SRC_DIRECTORY}/include
-    ${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM0
-)
-
+include(FreeRTOS_Kernel_import.cmake)
 
 project(main C CXX ASM)
 
@@ -42,28 +25,40 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include ${CMAKE_CURRENT_BINARY_D
 add_subdirectory(lib/audio)
 add_subdirectory(lib/oled)
 
-message("CMAKE_HOST_SYSTEM_PROCESSOR: ${CMAKE_HOST_SYSTEM_PROCESSOR}")
-message("CMAKE_HOST_SYSTEM_NAME: ${CMAKE_HOST_SYSTEM_NAME}")
+# Set the real flag based on the PICO_PLATFORM variable
+if (DEFINED PICO_PLATFORM AND PICO_PLATFORM STREQUAL "rp2350-arm-s")
+    set(REAL_TYPE_FLAG "float")
+    message("Using float for real type")
+else()
+    set(REAL_TYPE_FLAG "fixed")
+    message("Using fixed for real type")
+endif()
+
+set(VULT_EXAMPLE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/lib/vult/examples")
 
-# Generate Vult C++ code from Vult Code every time
-set(VULT_EXAMPLE_PATH "${CMAKE_CURRENT_LIST_DIR}/lib/vult/examples")
 add_custom_command(
-        OUTPUT ALL ${CMAKE_CURRENT_BINARY_DIR}/vult.cpp
-        COMMAND vultc ${CMAKE_CURRENT_LIST_DIR}/vultsrc/dsp.vult
-                -i ${VULT_EXAMPLE_PATH}/osc
-                -i ${VULT_EXAMPLE_PATH}/util
-                -i ${VULT_EXAMPLE_PATH}/filters
-                -i ${VULT_EXAMPLE_PATH}/env
-                -i ${VULT_EXAMPLE_PATH}/midi
-                -i ${VULT_EXAMPLE_PATH}/effects
-                -i ${VULT_EXAMPLE_PATH}/units
-                -ccode
-                -real fixed
-                -samplerate 44140
-                -o vult 
-        COMMENT "Transcompiling Vult DSP Code to C++."
+    OUTPUT ALL ${CMAKE_CURRENT_BINARY_DIR}/vult.cpp
+    COMMAND vultc ${CMAKE_CURRENT_LIST_DIR}/vultsrc/dsp.vult
+            -i ${VULT_EXAMPLE_PATH}/osc
+            -i ${VULT_EXAMPLE_PATH}/util
+            -i ${VULT_EXAMPLE_PATH}/filters
+            -i ${VULT_EXAMPLE_PATH}/env
+            -i ${VULT_EXAMPLE_PATH}/midi
+            -i ${VULT_EXAMPLE_PATH}/effects
+            -i ${VULT_EXAMPLE_PATH}/units
+            -ccode
+            -real ${REAL_TYPE_FLAG}
+            -samplerate 44100
+            -o vult 
+    COMMENT "Transcompiling Vult DSP Code to C++."
 )
 
+
+if (NOT FREERTOS_KERNEL_PATH AND NOT DEFINED ENV{FREERTOS_KERNEL_PATH})
+    message("Skipping FreeRTOS examples as FREERTOS_KERNEL_PATH not defined")
+    return()
+endif()
+
 add_executable(main
     vultsrc/dsp.vult
     src/usb_descriptors.c
@@ -72,6 +67,7 @@ add_executable(main
     src/vultin.cpp
     src/midi_input_usb.cpp
     src/get_serial.c
+    lib/FreeRTOS-Kernel/portable/MemMang/heap_3.c
     ${CMAKE_CURRENT_BINARY_DIR}/vult.cpp)
 
 pico_set_program_name(main "main")
@@ -94,6 +90,8 @@ target_link_libraries(main
         hardware_timer
         hardware_watchdog
         hardware_clocks
+        hardware_sync_spin_lock
+        hardware_sync
         pico_unique_id
         pico_bootsel_via_double_reset
         pico_util_buffer
@@ -103,11 +101,12 @@ target_link_libraries(main
         tinyusb_board
 	Audio
         #Oled
-        FreeRTOS
+        FreeRTOS-Kernel
         )
 
 target_compile_definitions(main PRIVATE
         USE_AUDIO_I2S=1
+        PICO_USE_SW_SPIN_LOCKS=1
 )
 
 target_link_options(main PRIVATE
@@ -122,9 +121,14 @@ endforeach()
 
 add_compile_options("-Wall" "-Wredundant-decls")
 
+# compile the following thins only if rp2040 is used
+if (PICO_PLATFORM STREQUAL "rp2040")
 pico_define_boot_stage2(slower_boot2 ${PICO_DEFAULT_BOOT_STAGE2_FILE})
 target_compile_definitions(slower_boot2 PRIVATE PICO_FLASH_SPI_CLKDIV=4)
 
 pico_set_boot_stage2(main slower_boot2)
+else()
+message("Skipping slower_boot2 as PICO_PLATFORM is not rp2040")
+endif()
 
 pico_add_extra_outputs(main)
diff --git a/FreeRTOS_Kernel_import.cmake b/FreeRTOS_Kernel_import.cmake
@@ -0,0 +1,70 @@
+# This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
+
+# This can be dropped into an external project to help locate the FreeRTOS kernel
+# It should be include()ed prior to project(). Alternatively this file may
+# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
+# respectively.
+
+if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
+    set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
+    message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
+endif ()
+
+if(PICO_PLATFORM STREQUAL "rp2040")
+    set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
+else()
+    if (PICO_PLATFORM STREQUAL "rp2350-riscv")
+        set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2350_RISC-V")
+    else()
+        set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2350_ARM_NTZ")
+    endif()
+endif()
+
+# undo the above
+set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
+
+if (NOT FREERTOS_KERNEL_PATH)
+    # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
+    get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
+    get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+    endif()
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+        message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
+    elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
+        set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
+        message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
+    endif()
+endif ()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
+        # check if FreeRTOS-Kernel exists under directory that included us
+        set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
+        get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
+        if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+            get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
+            message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
+            break()
+        endif()
+    endforeach()
+endif()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
+endif()
+
+set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
+
+get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
+endif()
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain a '${PICO_PLATFORM}' port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
+endif()
+set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
+
+add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)
diff --git a/include/FreeRTOSConfig.h b/include/FreeRTOSConfig.h
@@ -26,88 +26,115 @@
 #ifndef FREERTOS_CONFIG_H
 #define FREERTOS_CONFIG_H
 
-
-/* Use Pico SDK ISR handlers */
-#define vPortSVCHandler         isr_svcall
-#define xPortPendSVHandler      isr_pendsv
-#define xPortSysTickHandler     isr_systick
-
-#define configUSE_PREEMPTION                    1           // Allow tasks to be pre-empted
-#define configUSE_TIME_SLICING                  1           // Allow FreeRTOS to switch tasks at each tick
-#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+/* Scheduler Related */
+#define configUSE_PREEMPTION                    1
 #define configUSE_TICKLESS_IDLE                 0
-#define configCPU_CLOCK_HZ                      402000000   // 133MHz for RP2040
-#define configTICK_RATE_HZ                      1000        // FreeRTOS beats per second
-#define configMAX_PRIORITIES                    5          // Max number of priority values (0-24)
-#define configMINIMAL_STACK_SIZE                128
-#define configMAX_TASK_NAME_LEN                 16
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#define configTICK_RATE_HZ                      ( ( TickType_t ) 1000 )
+#define configMAX_PRIORITIES                    32
+#define configMINIMAL_STACK_SIZE                ( configSTACK_DEPTH_TYPE ) 512 
 #define configUSE_16_BIT_TICKS                  0
+
 #define configIDLE_SHOULD_YIELD                 1
-#define configUSE_TASK_NOTIFICATIONS            1
-#define configTASK_NOTIFICATION_ARRAY_ENTRIES   3
+
+/* Synchronization Related */
 #define configUSE_MUTEXES                       1
-#define configUSE_RECURSIVE_MUTEXES             0
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_APPLICATION_TASK_TAG          0
 #define configUSE_COUNTING_SEMAPHORES           1
-#define configQUEUE_REGISTRY_SIZE               10
-#define configUSE_QUEUE_SETS                    0
+#define configQUEUE_REGISTRY_SIZE               8
+#define configUSE_QUEUE_SETS                    1
+#define configUSE_TIME_SLICING                  1
 #define configUSE_NEWLIB_REENTRANT              0
-#define configENABLE_BACKWARD_COMPATIBILITY     0
+// todo need this for lwip FreeRTOS sys_arch to compile
+#define configENABLE_BACKWARD_COMPATIBILITY     1
 #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
 
-#define configSTACK_DEPTH_TYPE                  uint16_t
-#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t      // Defaults to size_t for backward compatibility,
-                                                            // but can be changed if lengths will always be less
-                                                            // than the number of bytes in a size_t.
+/* System */
+#define configSTACK_DEPTH_TYPE                  uint32_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
 
 /* Memory allocation related definitions. */
 #define configSUPPORT_STATIC_ALLOCATION         0
-#define configSUPPORT_DYNAMIC_ALLOCATION        1           // Get FreeRTOS to allocation task memory
-#define configAPPLICATION_ALLOCATED_HEAP        1
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+#define configTOTAL_HEAP_SIZE                   (128*1024)
+#define configAPPLICATION_ALLOCATED_HEAP        0
 
 /* Hook function related definitions. */
-#define configUSE_IDLE_HOOK                     0
-#define configUSE_TICK_HOOK                     0
 #define configCHECK_FOR_STACK_OVERFLOW          0
 #define configUSE_MALLOC_FAILED_HOOK            0
 #define configUSE_DAEMON_TASK_STARTUP_HOOK      0
 
 /* Run time and task stats gathering related definitions. */
 #define configGENERATE_RUN_TIME_STATS           0
 #define configUSE_TRACE_FACILITY                1
-#define configUSE_STATS_FORMATTING_FUNCTIONS    1
+#define configUSE_STATS_FORMATTING_FUNCTIONS    0
 
 /* Co-routine related definitions. */
 #define configUSE_CO_ROUTINES                   0
 #define configMAX_CO_ROUTINE_PRIORITIES         1
 
 /* Software timer related definitions. */
 #define configUSE_TIMERS                        1
-#define configTIMER_TASK_PRIORITY               3
+#define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 1 )
 #define configTIMER_QUEUE_LENGTH                10
-#define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE
+#define configTIMER_TASK_STACK_DEPTH            1024
+
+/* Interrupt nesting behaviour configuration. */
+/*
+#define configKERNEL_INTERRUPT_PRIORITY         [dependent of processor]
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    [dependent on processor and application]
+#define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
+*/
+
+#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
+/* SMP port only */
+#ifndef configNUMBER_OF_CORES
+#define configNUMBER_OF_CORES                   2
+#endif
+#define configNUM_CORES                         configNUMBER_OF_CORES
+#define configTICK_CORE                         0
+#define configRUN_MULTIPLE_PRIORITIES           1
+#if configNUMBER_OF_CORES > 1
+#define configUSE_CORE_AFFINITY                 1
+#endif
+#define configUSE_PASSIVE_IDLE_HOOK             0
+#endif
+
+/* RP2040 specific */
+#define configSUPPORT_PICO_SYNC_INTEROP         1
+#define configSUPPORT_PICO_TIME_INTEROP         1
 
+#include <assert.h>
 /* Define to trap errors during development. */
-#define configASSERT( x )
+#define configASSERT(x)                         assert(x)
 
-/* Optional functions - most linkers will remove unused functions anyway. */
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
 #define INCLUDE_vTaskPrioritySet                1
 #define INCLUDE_uxTaskPriorityGet               1
 #define INCLUDE_vTaskDelete                     1
 #define INCLUDE_vTaskSuspend                    1
-#define INCLUDE_xResumeFromISR                  1
 #define INCLUDE_vTaskDelayUntil                 1
 #define INCLUDE_vTaskDelay                      1
 #define INCLUDE_xTaskGetSchedulerState          1
 #define INCLUDE_xTaskGetCurrentTaskHandle       1
-#define INCLUDE_uxTaskGetStackHighWaterMark     0
-#define INCLUDE_xTaskGetIdleTaskHandle          0
-#define INCLUDE_eTaskGetState                   0
-#define INCLUDE_xEventGroupSetBitFromISR        1
-#define INCLUDE_xTimerPendFunctionCall          0
-#define INCLUDE_xTaskAbortDelay                 0
-#define INCLUDE_xTaskGetHandle                  0
+#define INCLUDE_uxTaskGetStackHighWaterMark     1
+#define INCLUDE_xTaskGetIdleTaskHandle          1
+#define INCLUDE_eTaskGetState                   1
+#define INCLUDE_xTimerPendFunctionCall          1
+#define INCLUDE_xTaskAbortDelay                 1
+#define INCLUDE_xTaskGetHandle                  1
 #define INCLUDE_xTaskResumeFromISR              1
+#define INCLUDE_xQueueGetMutexHolder            1
 
-/* A header file that defines trace macro can be included here. */
+#if PICO_RP2350
+#define configENABLE_MPU                        0
+#define configENABLE_TRUSTZONE                  0
+#define configRUN_FREERTOS_SECURE_ONLY          1
+#define configENABLE_FPU                        1
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    16
+#endif
 
 #endif /* FREERTOS_CONFIG_H */