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RP2040: Allow FreeRTOS to be added to the parent CMake project post initialization of the Pico SDK (#497)

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Co-authored-by: graham sanderson <graham.sanderson@raspeberryi.com>
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Graham Sanderson 2022-06-24 06:52:49 -05:00 committed by GitHub
parent 7af41c29cb
commit d2a81539e0
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GPG key ID: 4AEE18F83AFDEB23
3 changed files with 45 additions and 17 deletions
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37
portable/ThirdParty/GCC/RP2040/CMakeLists.txt vendored
View file

@ -21,20 +21,31 @@ if (NOT TARGET _FreeRTOS_kernel_inclusion_marker)
pico_is_top_level_project(FREERTOS_KERNEL_TOP_LEVEL_PROJECT) pico_is_top_level_project(FREERTOS_KERNEL_TOP_LEVEL_PROJECT)
# The real work gets done in library.cmake which is called at the end of pico_sdk_init # if the SDK has already been initialized, then just add our libraries now - this allows
list(APPEND PICO_SDK_POST_LIST_FILES ${CMAKE_CURRENT_LIST_DIR}/library.cmake) # this FreeRTOS port to just be added as a sub-directory or include within another project, rather than
# having to include it at the top level before pico_sdk_init()
# We need to inject the following header file into ALL SDK files (which we do via the config header) if (TARGET _pico_sdk_inclusion_marker)
list(APPEND PICO_CONFIG_HEADER_FILES ${CMAKE_CURRENT_LIST_DIR}/include/freertos_sdk_config.h) if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.2")
message(FATAL_ERROR "Require at least Raspberry Pi Pico SDK version 1.3.2 to include FreeRTOS after pico_sdk_init()")
if (FREERTOS_KERNEL_TOP_LEVEL_PROJECT) endif()
message("FreeRTOS: initialize SDK since we're the top-level") include(${CMAKE_CURRENT_LIST_DIR}/library.cmake)
# Initialize the SDK
pico_sdk_init()
else() else()
set(PICO_SDK_POST_LIST_FILES ${PICO_SDK_POST_LIST_FILES} PARENT_SCOPE) # The real work gets done in library.cmake which is called at the end of pico_sdk_init
set(PICO_CONFIG_HEADER_FILES ${PICO_CONFIG_HEADER_FILES} PARENT_SCOPE) list(APPEND PICO_SDK_POST_LIST_FILES ${CMAKE_CURRENT_LIST_DIR}/library.cmake)
set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} PARENT_SCOPE) if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.2")
# We need to inject the following header file into ALL SDK files (which we do via the config header)
list(APPEND PICO_CONFIG_HEADER_FILES ${CMAKE_CURRENT_LIST_DIR}/include/freertos_sdk_config.h)
endif()
if (FREERTOS_KERNEL_TOP_LEVEL_PROJECT)
message("FreeRTOS: initialize SDK since we're the top-level")
# Initialize the SDK
pico_sdk_init()
else()
set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} PARENT_SCOPE)
set(PICO_CONFIG_HEADER_FILES ${PICO_CONFIG_HEADER_FILES} PARENT_SCOPE)
set(PICO_SDK_POST_LIST_FILES ${PICO_SDK_POST_LIST_FILES} PARENT_SCOPE)
endif()
endif() endif()
endif() endif()

20
portable/ThirdParty/GCC/RP2040/README.md vendored
View file

@ -10,16 +10,28 @@ Note that a FreeRTOS SMP version of this port is also available in the FreeRTOS-
## Using this port ## Using this port
Copy [FreeRTOS-Kernel-import.cmake](FreeRTOS-Kernel-import.cmake) into your project, and You can copy [FreeRTOS-Kernel-import.cmake](FreeRTOS-Kernel-import.cmake) into your project, and
add: add the following in your `CMakeLists.txt`:
```cmake ```cmake
import(FreeRTOS_Kernel_import.cmake) import(FreeRTOS_Kernel_import.cmake)
``` ```
below the usual import of `pico_sdk_import.cmake` This will locate the FreeRTOS kernel if it is a direct sub-module of your project, or if you provide the
`FREERTOS_KERNEL_PATH` variable in your environment or via `-DFREERTOS_KERNEL_PATH=/path/to/FreeRTOS-Kernel` on the CMake command line.
**NOTE:** If you are using version 1.3.1 or older of the Raspberry Pi Pico SDK then this line must appear before the
`pico_sdk_init()` and will cause FreeRTOS to be included/required in all RP2040 targets in your project. After this SDK
version, you can include the FreeRTOS-Kernel support later in your CMake build (possibly in a subdirectory) and the
FreeRTOS-Kernel support will only apply to those targets which explicitly include FreeRTOS support.
As an alternative to the `import` statement above, you can just add this directory directly via thw following (with
the same placement restrictions related to the Raspberry Pi Pico SDK version above):
```cmake
add_subdirectory(path/to/this/directory FreeRTOS-Kernel)
```
This will find the FreeRTOS kernel if it is a direct sub-module of your project, or if you provide the `FREERTOS_KERNEL_PATH` variable in your environment or via `-DFREERTOS_KERNEL_PATH=/path/to/FreeRTOS-Kernel` on the CMake command line.
## Advanced Configuration ## Advanced Configuration

5
portable/ThirdParty/GCC/RP2040/library.cmake vendored
View file

@ -16,6 +16,11 @@ target_sources(FreeRTOS-Kernel-Core INTERFACE
) )
target_include_directories(FreeRTOS-Kernel-Core INTERFACE ${FREERTOS_KERNEL_PATH}/include) target_include_directories(FreeRTOS-Kernel-Core INTERFACE ${FREERTOS_KERNEL_PATH}/include)
if (PICO_SDK_VERSION_STRING VERSION_GREATER_EQUAL "1.3.2")
target_compile_definitions(FreeRTOS-Kernel-Core INTERFACE
PICO_CONFIG_RTOS_ADAPTER_HEADER=${CMAKE_CURRENT_LIST_DIR}/include/freertos_sdk_config.h)
endif()
add_library(FreeRTOS-Kernel INTERFACE) add_library(FreeRTOS-Kernel INTERFACE)
target_sources(FreeRTOS-Kernel INTERFACE target_sources(FreeRTOS-Kernel INTERFACE
${CMAKE_CURRENT_LIST_DIR}/port.c ${CMAKE_CURRENT_LIST_DIR}/port.c