mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
freertos: Refactor component structure
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
parent
9652d8ed6f
commit
66499f17a5
@ -1,114 +1,189 @@
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# FreeRTOS Component Architecture
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#
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# The FreeRTOS component mainly contains
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# - Different FreeRTOS kernel implementations (namely IDF FreeRTOS and Amazon SMP FreeRTOS).
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# - Different ports of each architecture for each kernel implementaiton.
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# - IDF additions to FreeRTOS (e.g., features and API) to augment FreeRTOS
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#
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# The FreeRTOS component organizes its files as follows
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#
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# - `./config`
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# - Contains all "FreeRTOSConfig.h" files required by FreeRTOS
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# - `./esp_additions`
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# - Additional features added by ESP-IDF to augment FreeRTOS, and not part of the original kernel
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# - `./FreeRTOS-Kernel-...`
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# - Different FreeRTOS kernel implementations. Each implementaiton is kept in its own directory.
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# - Ports for the implementation are kept in `FreeRTOS-Kernel-.../portable/xxx/`\
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# - `./test_apps`
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# - Contains all unit tests/test apps for the FreeRTOS component.
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# - `./`
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# - Files common across all kernel implementations and all ports
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# Bootloader builds only needs FreeRTOS for config, not for anything else
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if(BOOTLOADER_BUILD)
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# bootloader only needs FreeRTOS for config, not for anything else
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idf_component_register()
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return()
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endif()
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# Set some convenience variables
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idf_build_get_property(target IDF_TARGET)
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if(CONFIG_FREERTOS_SMP)
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set(kernel_dir "FreeRTOS-Kernel-SMP")
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set(kernel_impl "FreeRTOS-Kernel-SMP")
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else()
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set(kernel_dir "FreeRTOS-Kernel")
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set(kernel_impl "FreeRTOS-Kernel")
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endif()
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if(CONFIG_IDF_TARGET_ARCH_XTENSA)
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set(arch "xtensa")
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set(arch "xtensa")
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elseif(CONFIG_IDF_TARGET_ARCH_RISCV)
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set(arch "riscv")
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set(arch "riscv")
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elseif(${target} STREQUAL "linux")
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set(arch "linux")
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set(arch "linux")
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endif()
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set(srcs
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"heap_idf.c"
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"esp_additions/idf_additions.c"
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"${kernel_dir}/list.c"
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"${kernel_dir}/queue.c"
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"${kernel_dir}/tasks.c"
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"${kernel_dir}/timers.c"
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"${kernel_dir}/croutine.c"
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"${kernel_dir}/event_groups.c"
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"${kernel_dir}/stream_buffer.c"
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"${kernel_dir}/portable/${arch}/port.c")
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set(include_dirs
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"${kernel_dir}/include" # FreeRTOS headers via #include "freertos/xxx.h"
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"${kernel_dir}/portable/${arch}/include" # For arch-specific #include "freertos/portmacro.h"
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"esp_additions/include/freertos" # For files with #include "FreeRTOSConfig.h"
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"esp_additions/include" # For files with #include "freertos/FreeRTOSConfig.h"
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# or #include "freertos/task_snapshot.h"
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# or #include "freertos/idf_additions.h"
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# or #include "esp_private/freertos_idf_additions_priv.h"
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"esp_additions/arch/${arch}/include") # For #include "freertos/FreeRTOSConfig_arch.h"
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if(CONFIG_FREERTOS_SMP)
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list(APPEND include_dirs "${kernel_dir}/portable/${arch}/include/freertos") # Xtensa headers via #include "xx.h"
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endif()
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set(private_include_dirs
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"${kernel_dir}/portable/${arch}/include/freertos"
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"${kernel_dir}/portable/${arch}"
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"${kernel_dir}/include/freertos" # FreeRTOS headers via #include "xxx.h"
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"esp_additions" # For include "freertos_tasks_c_additions.h"
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.)
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set(srcs "")
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set(include_dirs "")
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set(private_include_dirs "")
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set(private_requirements "")
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set(ldfragments "")
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if(${target} STREQUAL "linux")
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list(APPEND srcs "${kernel_dir}/portable/${arch}/utils/wait_for_event.c")
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if(NOT CONFIG_FREERTOS_SMP)
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list(APPEND srcs "${kernel_dir}/portable/${arch}/port_idf.c")
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# ---------------------------------------------------- Set Sources -----------------------------------------------------
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# Add common source files
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list(APPEND srcs
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"heap_idf.c")
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if((arch STREQUAL "xtensa") OR (arch STREQUAL "riscv"))
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list(APPEND srcs
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"app_startup.c"
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"port_common.c"
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"port_systick.c")
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endif()
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# Add FreeRTOS Kernel source files
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list(APPEND srcs
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"${kernel_impl}/list.c"
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"${kernel_impl}/queue.c"
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"${kernel_impl}/tasks.c"
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"${kernel_impl}/timers.c"
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"${kernel_impl}/croutine.c"
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"${kernel_impl}/event_groups.c"
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"${kernel_impl}/stream_buffer.c")
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# Add port source files
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list(APPEND srcs
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"${kernel_impl}/portable/${arch}/port.c")
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if(arch STREQUAL "linux")
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list(APPEND srcs
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"${kernel_impl}/portable/${arch}/utils/wait_for_event.c")
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if(kernel_impl STREQUAL "FreeRTOS-Kernel")
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list(APPEND srcs
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"${kernel_impl}/portable/${arch}/port_idf.c")
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endif()
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else()
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list(APPEND srcs
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"${kernel_impl}/portable/${arch}/portasm.S")
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endif()
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# Check if we need to address the FreeRTOS EINTR coexistence with linux system calls
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# if we're building without lwIP, we need to use linux system select which will receive
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# EINTR event on every FreeRTOS interrupt, we workaround this problem by wrapping select()
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# to bypass and silence the EINTR events
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if(arch STREQUAL "xtensa")
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list(APPEND srcs
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"${kernel_impl}/portable/${arch}/xtensa_init.c"
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"${kernel_impl}/portable/${arch}/xtensa_overlay_os_hook.c")
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endif()
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# Add ESP-additions source files
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list(APPEND srcs
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"esp_additions/idf_additions.c")
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if(kernel_impl STREQUAL "FreeRTOS-Kernel")
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list(APPEND srcs
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"esp_additions/freertos_v8_compat.c")
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endif()
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if(arch STREQUAL "linux")
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# Check if we need to address the FreeRTOS EINTR coexistence with linux system calls if we're building without
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# lwIP, we need to use linux system select which will receive EINTR event on every FreeRTOS interrupt, we
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# workaround this problem by wrapping select() to bypass and silence the EINTR events
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set(BYPASS_EINTR_ISSUE 0)
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idf_build_get_property(build_components BUILD_COMPONENTS)
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if(NOT "lwip" IN_LIST build_components)
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set(BYPASS_EINTR_ISSUE 1)
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list(APPEND srcs esp_additions/arch/linux/FreeRTOSSimulator_wrappers.c)
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list(APPEND srcs "esp_additions/FreeRTOSSimulator_wrappers.c")
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endif()
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endif()
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else()
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list(APPEND srcs
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"app_startup.c"
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"FreeRTOS-openocd.c"
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"port_common.c"
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"port_systick.c"
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"${kernel_dir}/portable/${arch}/portasm.S")
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# ------------------------------------------------ Set Public Includes -------------------------------------------------
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if(CONFIG_FREERTOS_SMP)
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set(ldfragments linker_smp.lf linker_common.lf)
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# Add common public include directories
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list(APPEND include_dirs
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"config/include" # For `#include "freertos/FreeRTOSConfig.h"`
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"config/include/freertos" # For `#include "FreeRTOSConfig.h"`
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"config/${arch}/include") # For `#include "freertos/FreeRTOSConfig_arch.h"`
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# Add FreeRTOS Kernel public include directories
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list(APPEND include_dirs
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"${kernel_impl}/include") # FreeRTOS headers via `#include "freertos/xxx.h"`
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# Add port public include directories
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list(APPEND include_dirs
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"${kernel_impl}/portable/${arch}/include" # For port headers via `#include "freertos/...h"`
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"${kernel_impl}/portable/${arch}/include/freertos") # For port headers via `#include "...h"`
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# Add ESP-additions public include directories
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list(APPEND include_dirs
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"esp_additions/include") # For ESP-addition headers via
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# - `#include "freertos/...h"`
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# - `#include "esp_private/...h"`
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# ----------------------------------------------- Set Private Includes -------------------------------------------------
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# Add common private include directories
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if((arch STREQUAL "xtensa") OR (arch STREQUAL "riscv"))
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list(APPEND private_include_dirs
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".") # For `#include "port_systick.h"
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endif()
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# Add FreeRTOS Kernel private include directories
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list(APPEND private_include_dirs
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"${kernel_impl}/include/freertos") # FreeRTOS headers via `#include "xxx.h"`
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# Add port private include directories
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if(arch STREQUAL "linux")
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list(APPEND private_include_dirs
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"${kernel_impl}/portable/${arch}/") # Linux port `#include "utils/wait_for_event.h"`
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endif()
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# Add ESP-additions private include directories
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list(APPEND private_include_dirs
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"esp_additions") # For `include "freertos_tasks_c_additions.h"`
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# ------------------------------------------------------- Misc ---------------------------------------------------------
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# Add linker fragments
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list(APPEND ldfragments
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"linker_common.lf")
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if((arch STREQUAL "xtensa") OR (arch STREQUAL "riscv"))
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if(kernel_impl STREQUAL "FreeRTOS-Kernel-SMP")
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list(APPEND ldfragments
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"linker_smp.lf")
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else()
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list(APPEND srcs
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"esp_additions/freertos_v8_compat.c")
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set(ldfragments linker.lf linker_common.lf)
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list(APPEND ldfragments
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"linker.lf")
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endif()
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list(APPEND private_requirements soc esp_pm)
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endif()
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if(CONFIG_IDF_TARGET_ARCH_XTENSA)
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list(APPEND srcs
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"${kernel_dir}/portable/${arch}/xtensa_init.c"
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"${kernel_dir}/portable/${arch}/xtensa_overlay_os_hook.c")
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# ------------------------------------------------ Register Component --------------------------------------------------
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list(APPEND include_dirs
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"${kernel_dir}/portable/xtensa/include/freertos") # For #include "xtensa_...h"
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endif()
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idf_component_register(SRCS "${srcs}"
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idf_component_register(SRCS ${srcs}
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INCLUDE_DIRS ${include_dirs}
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PRIV_INCLUDE_DIRS ${private_include_dirs}
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LDFRAGMENTS "${ldfragments}"
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PRIV_REQUIRES "${private_requirements}")
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PRIV_INCLUDE_DIRS ${private_include_dirs}
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LDFRAGMENTS ${ldfragments}
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PRIV_REQUIRES ${private_requirements})
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if(${target} STREQUAL "linux")
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if(arch STREQUAL "linux")
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target_compile_definitions(${COMPONENT_LIB} PUBLIC "projCOVERAGE_TEST=0")
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target_link_libraries(${COMPONENT_LIB} PUBLIC pthread)
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if(BYPASS_EINTR_ISSUE)
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@ -117,12 +192,10 @@ if(${target} STREQUAL "linux")
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else()
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idf_component_get_property(COMPONENT_DIR freertos COMPONENT_DIR)
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idf_component_set_property(freertos ORIG_INCLUDE_PATH "${COMPONENT_DIR}/${kernel_dir}/include/freertos/")
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idf_component_set_property(freertos ORIG_INCLUDE_PATH "${COMPONENT_DIR}/${kernel_impl}/include/freertos/")
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if(CONFIG_FREERTOS_DEBUG_OCDAWARE)
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target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--undefined=uxTopUsedPriority") #will be removed
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target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--undefined=FreeRTOS_openocd_params")
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idf_build_set_property(COMPILE_OPTIONS "-DconfigENABLE_FREERTOS_DEBUG_OCDAWARE=1" APPEND)
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endif()
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set_source_files_properties(
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@ -168,6 +241,11 @@ else()
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idf_component_optional_requires(PRIVATE esp_psram)
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endif()
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if(CONFIG_PM_TRACE)
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# esp_pm is required by port_systick.c for tracing
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idf_component_optional_requires(PRIVATE esp_pm)
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endif()
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if(CONFIG_FREERTOS_ENABLE_STATIC_TASK_CLEAN_UP AND CONFIG_FREERTOS_SMP)
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target_link_libraries(${COMPONENT_LIB} INTERFACE "-Wl,--wrap=vPortCleanUpTCB")
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endif()
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@ -3321,7 +3321,7 @@ core 0 during startup.
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void vTaskStartSchedulerOtherCores( void );
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#endif // configNUM_CORES > 1
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#include "idf_additions.h"
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#include "freertos/idf_additions.h"
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#endif //ESP_PLATFORM
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@ -1,29 +0,0 @@
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/*
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* SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/*
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* Since at least FreeRTOS V7.5.3 uxTopUsedPriority is no longer
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* present in the kernel, so it has to be supplied by other means for
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* OpenOCD's threads awareness.
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*
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* Add this file to your project, and, if you're using --gc-sections,
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* ``--undefined=uxTopUsedPriority'' (or
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* ``-Wl,--undefined=uxTopUsedPriority'' when using gcc for final
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* linking) to your LDFLAGS; same with all the other symbols you need.
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*/
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#include "FreeRTOS.h"
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#include "sdkconfig.h"
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#ifdef __GNUC__
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#define USED __attribute__((used))
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#else
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#define USED
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#endif
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#ifdef CONFIG_FREERTOS_DEBUG_OCDAWARE
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const int USED uxTopUsedPriority = configMAX_PRIORITIES - 1; //will be removed
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#endif
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@ -7,7 +7,7 @@
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#pragma once
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#include "sdkconfig.h"
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#include "idf_additions.h"
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#include "freertos/idf_additions.h"
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#include "esp_private/freertos_idf_additions_priv.h"
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/**
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@ -54,7 +54,7 @@ struct _reent *__getreent(void)
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#if CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT
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#include "task_snapshot.h"
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#include "freertos/task_snapshot.h"
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/**
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* @brief List of all task lists in FreeRTOS
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@ -240,7 +240,7 @@ UBaseType_t uxTaskGetSnapshotAll( TaskSnapshot_t * const pxTaskSnapshotArray, co
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*
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* ------------------------------------------------------------------------------------------------------------------ */
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#if ( configENABLE_FREERTOS_DEBUG_OCDAWARE == 1 )
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#if CONFIG_FREERTOS_DEBUG_OCDAWARE
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/**
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* Debug param indexes. DO NOT change the order. OpenOCD uses the same indexes
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@ -270,7 +270,7 @@ const DRAM_ATTR uint8_t FreeRTOS_openocd_params[ESP_FREERTOS_DEBUG_TABLE_END] =
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offsetof(TCB_t, pcTaskName), /* thread_name_offset; */
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};
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#endif // configENABLE_FREERTOS_DEBUG_OCDAWARE == 1
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#endif // CONFIG_FREERTOS_DEBUG_OCDAWARE
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/* -------------------------------------------- FreeRTOS IDF API Additions ---------------------------------------------
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* FreeRTOS related API that were added by IDF
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@ -46,12 +46,6 @@ entries:
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# ------------------------------------------------------------------------------------------------------------------
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app_startup (default) # Place functions (but not Data and BSS) to flash
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# ------------------------------------------------------------------------------------------------------------------
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# FreeRTOS-openocd.c
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# Placement Rules: All functions/data in internal RAM as they are called/used by OpenOCD
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# ------------------------------------------------------------------------------------------------------------------
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FreeRTOS-openocd (noflash)
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# ------------------------------------------------------------------------------------------------------------------
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# heap_idf.c
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# Placement Rules:
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@ -8,9 +8,10 @@ set(kernel_dir "${original_freertos_dir}/FreeRTOS-Kernel")
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set(include_dirs
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"${kernel_dir}/include"
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"${original_freertos_dir}/config/include" # For "freertos/FreeRTOSConfig.h"
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"${original_freertos_dir}/config/include/freertos" # For "FreeRTOSConfig.h"
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"${original_freertos_dir}/config/linux/include" # For "freertos/FreeRTOSConfig_arch.h"
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"${original_freertos_dir}/esp_additions/include"
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"${original_freertos_dir}/esp_additions/include/freertos"
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"${original_freertos_dir}/esp_additions/arch/linux/include" # For "freertos/FreeRTOSConfig_arch.h"
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"${kernel_dir}/portable/linux/include" # For "freertos/portmacro.h"
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"${kernel_dir}/include/freertos" # this is due to the way includes are generated in CMock (without freertos prefix)
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)
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