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freertos: Refactor component structure

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This commit refactors the "freertos" component's structure as follows:

- "FreeRTOSConfig.h" related files moved to "./config" directory
- Refactored CMakeLists.txt file in preparation for v10.5.1 upgrade
    - Grouped list appends based on component organization
    - Removed some unecessarily public "include_dirs"
- Removed FreeRTOS-openocd.c
    - uxTopUsedPriority has been added back to tasks.c since v10.4.2
    - Thus the workaround in FreeRTOS-openocd.c is no longer needed and can
      be removed.
This commit is contained in:
Darian Leung
2023-05-08 16:37:59 +08:00
parent 9652d8ed6f
commit 66499f17a5
11 changed files with 166 additions and 122 deletions
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238
components/freertos/CMakeLists.txt
View File

@@ -1,114 +1,189 @@
# FreeRTOS Component Architecture
#
# The FreeRTOS component mainly contains
# - Different FreeRTOS kernel implementations (namely IDF FreeRTOS and Amazon SMP FreeRTOS).
# - Different ports of each architecture for each kernel implementaiton.
# - IDF additions to FreeRTOS (e.g., features and API) to augment FreeRTOS
#
# The FreeRTOS component organizes its files as follows
#
# - `./config`
# - Contains all "FreeRTOSConfig.h" files required by FreeRTOS
# - `./esp_additions`
# - Additional features added by ESP-IDF to augment FreeRTOS, and not part of the original kernel
# - `./FreeRTOS-Kernel-...`
# - Different FreeRTOS kernel implementations. Each implementaiton is kept in its own directory.
# - Ports for the implementation are kept in `FreeRTOS-Kernel-.../portable/xxx/`\
# - `./test_apps`
# - Contains all unit tests/test apps for the FreeRTOS component.
# - `./`
# - Files common across all kernel implementations and all ports
# Bootloader builds only needs FreeRTOS for config, not for anything else
if(BOOTLOADER_BUILD)
# bootloader only needs FreeRTOS for config, not for anything else
idf_component_register()
return()
endif()
# Set some convenience variables
idf_build_get_property(target IDF_TARGET)
if(CONFIG_FREERTOS_SMP)
set(kernel_dir "FreeRTOS-Kernel-SMP")
set(kernel_impl "FreeRTOS-Kernel-SMP")
else()
set(kernel_dir "FreeRTOS-Kernel")
set(kernel_impl "FreeRTOS-Kernel")
endif()
if(CONFIG_IDF_TARGET_ARCH_XTENSA)
set(arch "xtensa")
set(arch "xtensa")
elseif(CONFIG_IDF_TARGET_ARCH_RISCV)
set(arch "riscv")
set(arch "riscv")
elseif(${target} STREQUAL "linux")
set(arch "linux")
set(arch "linux")
endif()
set(srcs
"heap_idf.c"
"esp_additions/idf_additions.c"
"${kernel_dir}/list.c"
"${kernel_dir}/queue.c"
"${kernel_dir}/tasks.c"
"${kernel_dir}/timers.c"
"${kernel_dir}/croutine.c"
"${kernel_dir}/event_groups.c"
"${kernel_dir}/stream_buffer.c"
"${kernel_dir}/portable/${arch}/port.c")
set(include_dirs
"${kernel_dir}/include" # FreeRTOS headers via #include "freertos/xxx.h"
"${kernel_dir}/portable/${arch}/include" # For arch-specific #include "freertos/portmacro.h"
"esp_additions/include/freertos" # For files with #include "FreeRTOSConfig.h"
"esp_additions/include" # For files with #include "freertos/FreeRTOSConfig.h"
# or #include "freertos/task_snapshot.h"
# or #include "freertos/idf_additions.h"
# or #include "esp_private/freertos_idf_additions_priv.h"
"esp_additions/arch/${arch}/include") # For #include "freertos/FreeRTOSConfig_arch.h"
if(CONFIG_FREERTOS_SMP)
list(APPEND include_dirs "${kernel_dir}/portable/${arch}/include/freertos") # Xtensa headers via #include "xx.h"
endif()
set(private_include_dirs
"${kernel_dir}/portable/${arch}/include/freertos"
"${kernel_dir}/portable/${arch}"
"${kernel_dir}/include/freertos" # FreeRTOS headers via #include "xxx.h"
"esp_additions" # For include "freertos_tasks_c_additions.h"
.)
set(srcs "")
set(include_dirs "")
set(private_include_dirs "")
set(private_requirements "")
set(ldfragments "")
if(${target} STREQUAL "linux")
list(APPEND srcs "${kernel_dir}/portable/${arch}/utils/wait_for_event.c")
if(NOT CONFIG_FREERTOS_SMP)
list(APPEND srcs "${kernel_dir}/portable/${arch}/port_idf.c")
# ---------------------------------------------------- Set Sources -----------------------------------------------------
# Add common source files
list(APPEND srcs
"heap_idf.c")
if((arch STREQUAL "xtensa") OR (arch STREQUAL "riscv"))
list(APPEND srcs
"app_startup.c"
"port_common.c"
"port_systick.c")
endif()
# Add FreeRTOS Kernel source files
list(APPEND srcs
"${kernel_impl}/list.c"
"${kernel_impl}/queue.c"
"${kernel_impl}/tasks.c"
"${kernel_impl}/timers.c"
"${kernel_impl}/croutine.c"
"${kernel_impl}/event_groups.c"
"${kernel_impl}/stream_buffer.c")
# Add port source files
list(APPEND srcs
"${kernel_impl}/portable/${arch}/port.c")
if(arch STREQUAL "linux")
list(APPEND srcs
"${kernel_impl}/portable/${arch}/utils/wait_for_event.c")
if(kernel_impl STREQUAL "FreeRTOS-Kernel")
list(APPEND srcs
"${kernel_impl}/portable/${arch}/port_idf.c")
endif()
else()
list(APPEND srcs
"${kernel_impl}/portable/${arch}/portasm.S")
endif()
# Check if we need to address the FreeRTOS EINTR coexistence with linux system calls
# if we're building without lwIP, we need to use linux system select which will receive
# EINTR event on every FreeRTOS interrupt, we workaround this problem by wrapping select()
# to bypass and silence the EINTR events
if(arch STREQUAL "xtensa")
list(APPEND srcs
"${kernel_impl}/portable/${arch}/xtensa_init.c"
"${kernel_impl}/portable/${arch}/xtensa_overlay_os_hook.c")
endif()
# Add ESP-additions source files
list(APPEND srcs
"esp_additions/idf_additions.c")
if(kernel_impl STREQUAL "FreeRTOS-Kernel")
list(APPEND srcs
"esp_additions/freertos_v8_compat.c")
endif()
if(arch STREQUAL "linux")
# Check if we need to address the FreeRTOS EINTR coexistence with linux system calls if we're building without
# lwIP, we need to use linux system select which will receive EINTR event on every FreeRTOS interrupt, we
# workaround this problem by wrapping select() to bypass and silence the EINTR events
set(BYPASS_EINTR_ISSUE 0)
idf_build_get_property(build_components BUILD_COMPONENTS)
if(NOT "lwip" IN_LIST build_components)
set(BYPASS_EINTR_ISSUE 1)
list(APPEND srcs esp_additions/arch/linux/FreeRTOSSimulator_wrappers.c)
list(APPEND srcs "esp_additions/FreeRTOSSimulator_wrappers.c")
endif()
endif()
else()
list(APPEND srcs
"app_startup.c"
"FreeRTOS-openocd.c"
"port_common.c"
"port_systick.c"
"${kernel_dir}/portable/${arch}/portasm.S")
# ------------------------------------------------ Set Public Includes -------------------------------------------------
if(CONFIG_FREERTOS_SMP)
set(ldfragments linker_smp.lf linker_common.lf)
# Add common public include directories
list(APPEND include_dirs
"config/include" # For `#include "freertos/FreeRTOSConfig.h"`
"config/include/freertos" # For `#include "FreeRTOSConfig.h"`
"config/${arch}/include") # For `#include "freertos/FreeRTOSConfig_arch.h"`
# Add FreeRTOS Kernel public include directories
list(APPEND include_dirs
"${kernel_impl}/include") # FreeRTOS headers via `#include "freertos/xxx.h"`
# Add port public include directories
list(APPEND include_dirs
"${kernel_impl}/portable/${arch}/include" # For port headers via `#include "freertos/...h"`
"${kernel_impl}/portable/${arch}/include/freertos") # For port headers via `#include "...h"`
# Add ESP-additions public include directories
list(APPEND include_dirs
"esp_additions/include") # For ESP-addition headers via
# - `#include "freertos/...h"`
# - `#include "esp_private/...h"`
# ----------------------------------------------- Set Private Includes -------------------------------------------------
# Add common private include directories
if((arch STREQUAL "xtensa") OR (arch STREQUAL "riscv"))
list(APPEND private_include_dirs
".") # For `#include "port_systick.h"
endif()
# Add FreeRTOS Kernel private include directories
list(APPEND private_include_dirs
"${kernel_impl}/include/freertos") # FreeRTOS headers via `#include "xxx.h"`
# Add port private include directories
if(arch STREQUAL "linux")
list(APPEND private_include_dirs
"${kernel_impl}/portable/${arch}/") # Linux port `#include "utils/wait_for_event.h"`
endif()
# Add ESP-additions private include directories
list(APPEND private_include_dirs
"esp_additions") # For `include "freertos_tasks_c_additions.h"`
# ------------------------------------------------------- Misc ---------------------------------------------------------
# Add linker fragments
list(APPEND ldfragments
"linker_common.lf")
if((arch STREQUAL "xtensa") OR (arch STREQUAL "riscv"))
if(kernel_impl STREQUAL "FreeRTOS-Kernel-SMP")
list(APPEND ldfragments
"linker_smp.lf")
else()
list(APPEND srcs
"esp_additions/freertos_v8_compat.c")
set(ldfragments linker.lf linker_common.lf)
list(APPEND ldfragments
"linker.lf")
endif()
list(APPEND private_requirements soc esp_pm)
endif()
if(CONFIG_IDF_TARGET_ARCH_XTENSA)
list(APPEND srcs
"${kernel_dir}/portable/${arch}/xtensa_init.c"
"${kernel_dir}/portable/${arch}/xtensa_overlay_os_hook.c")
# ------------------------------------------------ Register Component --------------------------------------------------
list(APPEND include_dirs
"${kernel_dir}/portable/xtensa/include/freertos") # For #include "xtensa_...h"
endif()
idf_component_register(SRCS "${srcs}"
idf_component_register(SRCS ${srcs}
INCLUDE_DIRS ${include_dirs}
PRIV_INCLUDE_DIRS ${private_include_dirs}
LDFRAGMENTS "${ldfragments}"
PRIV_REQUIRES "${private_requirements}")
PRIV_INCLUDE_DIRS ${private_include_dirs}
LDFRAGMENTS ${ldfragments}
PRIV_REQUIRES ${private_requirements})
if(${target} STREQUAL "linux")
if(arch STREQUAL "linux")
target_compile_definitions(${COMPONENT_LIB} PUBLIC "projCOVERAGE_TEST=0")
target_link_libraries(${COMPONENT_LIB} PUBLIC pthread)
if(BYPASS_EINTR_ISSUE)
@@ -117,12 +192,10 @@ if(${target} STREQUAL "linux")
else()
idf_component_get_property(COMPONENT_DIR freertos COMPONENT_DIR)
idf_component_set_property(freertos ORIG_INCLUDE_PATH "${COMPONENT_DIR}/${kernel_dir}/include/freertos/")
idf_component_set_property(freertos ORIG_INCLUDE_PATH "${COMPONENT_DIR}/${kernel_impl}/include/freertos/")
if(CONFIG_FREERTOS_DEBUG_OCDAWARE)
target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--undefined=uxTopUsedPriority") #will be removed
target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--undefined=FreeRTOS_openocd_params")
idf_build_set_property(COMPILE_OPTIONS "-DconfigENABLE_FREERTOS_DEBUG_OCDAWARE=1" APPEND)
endif()
set_source_files_properties(
@@ -168,6 +241,11 @@ else()
idf_component_optional_requires(PRIVATE esp_psram)
endif()
if(CONFIG_PM_TRACE)
# esp_pm is required by port_systick.c for tracing
idf_component_optional_requires(PRIVATE esp_pm)
endif()
if(CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP AND CONFIG_FREERTOS_SMP)
target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--wrap=vPortCleanUpTCB")
endif()

2
components/freertos/FreeRTOS-Kernel-SMP/include/freertos/task.h
View File

@@ -3321,7 +3321,7 @@ core 0 during startup.
void vTaskStartSchedulerOtherCores( void );
#endif // configNUM_CORES > 1
#include "idf_additions.h"
#include "freertos/idf_additions.h"
#endif //ESP_PLATFORM

29
components/freertos/FreeRTOS-openocd.c
View File

@@ -1,29 +0,0 @@
/*
* SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
*
* SPDX-License-Identifier: Apache-2.0
*/
/*
* Since at least FreeRTOS V7.5.3 uxTopUsedPriority is no longer
* present in the kernel, so it has to be supplied by other means for
* OpenOCD's threads awareness.
*
* Add this file to your project, and, if you're using --gc-sections,
* ``--undefined=uxTopUsedPriority'' (or
* ``-Wl,--undefined=uxTopUsedPriority'' when using gcc for final
* linking) to your LDFLAGS; same with all the other symbols you need.
*/
#include "FreeRTOS.h"
#include "sdkconfig.h"
#ifdef __GNUC__
#define USED __attribute__((used))
#else
#define USED
#endif
#ifdef CONFIG_FREERTOS_DEBUG_OCDAWARE
const int USED uxTopUsedPriority = configMAX_PRIORITIES - 1; //will be removed
#endif

0
components/freertos/esp_additions/include/freertos/FreeRTOSConfig.h → components/freertos/config/include/freertos/FreeRTOSConfig.h
View File

0
components/freertos/esp_additions/arch/linux/include/freertos/FreeRTOSConfig_arch.h → components/freertos/config/linux/include/freertos/FreeRTOSConfig_arch.h
View File

0
components/freertos/esp_additions/arch/riscv/include/freertos/FreeRTOSConfig_arch.h → components/freertos/config/riscv/include/freertos/FreeRTOSConfig_arch.h
View File

0
components/freertos/esp_additions/arch/xtensa/include/freertos/FreeRTOSConfig_arch.h → components/freertos/config/xtensa/include/freertos/FreeRTOSConfig_arch.h
View File

0
components/freertos/esp_additions/arch/linux/FreeRTOSSimulator_wrappers.c → components/freertos/esp_additions/FreeRTOSSimulator_wrappers.c
View File

8
components/freertos/esp_additions/freertos_tasks_c_additions.h
View File

@@ -7,7 +7,7 @@
#pragma once
#include "sdkconfig.h"
#include "idf_additions.h"
#include "freertos/idf_additions.h"
#include "esp_private/freertos_idf_additions_priv.h"
/**
@@ -54,7 +54,7 @@ struct _reent *__getreent(void)
#if CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT
#include "task_snapshot.h"
#include "freertos/task_snapshot.h"
/**
* @brief List of all task lists in FreeRTOS
@@ -240,7 +240,7 @@ UBaseType_t uxTaskGetSnapshotAll( TaskSnapshot_t * const pxTaskSnapshotArray, co
*
* ------------------------------------------------------------------------------------------------------------------ */
#if ( configENABLE_FREERTOS_DEBUG_OCDAWARE == 1 )
#if CONFIG_FREERTOS_DEBUG_OCDAWARE
/**
* Debug param indexes. DO NOT change the order. OpenOCD uses the same indexes
@@ -270,7 +270,7 @@ const DRAM_ATTR uint8_t FreeRTOS_openocd_params[ESP_FREERTOS_DEBUG_TABLE_END] =
offsetof(TCB_t, pcTaskName), /* thread_name_offset; */
};
#endif // configENABLE_FREERTOS_DEBUG_OCDAWARE == 1
#endif // CONFIG_FREERTOS_DEBUG_OCDAWARE
/* -------------------------------------------- FreeRTOS IDF API Additions ---------------------------------------------
* FreeRTOS related API that were added by IDF

6
components/freertos/linker_common.lf
View File

@@ -46,12 +46,6 @@ entries:
# ------------------------------------------------------------------------------------------------------------------
app_startup (default) # Place functions (but not Data and BSS) to flash
# ------------------------------------------------------------------------------------------------------------------
# FreeRTOS-openocd.c
# Placement Rules: All functions/data in internal RAM as they are called/used by OpenOCD
# ------------------------------------------------------------------------------------------------------------------
FreeRTOS-openocd (noflash)
# ------------------------------------------------------------------------------------------------------------------
# heap_idf.c
# Placement Rules:

5
tools/mocks/freertos/CMakeLists.txt
View File

@@ -8,9 +8,10 @@ set(kernel_dir "${original_freertos_dir}/FreeRTOS-Kernel")
set(include_dirs
"${kernel_dir}/include"
"${original_freertos_dir}/config/include" # For "freertos/FreeRTOSConfig.h"
"${original_freertos_dir}/config/include/freertos" # For "FreeRTOSConfig.h"
"${original_freertos_dir}/config/linux/include" # For "freertos/FreeRTOSConfig_arch.h"
"${original_freertos_dir}/esp_additions/include"
"${original_freertos_dir}/esp_additions/include/freertos"
"${original_freertos_dir}/esp_additions/arch/linux/include" # For "freertos/FreeRTOSConfig_arch.h"
"${kernel_dir}/portable/linux/include" # For "freertos/portmacro.h"
"${kernel_dir}/include/freertos" # this is due to the way includes are generated in CMock (without freertos prefix)
)