MLBEDSW-2593 Build FreeRTOS kernel as a part of ethosu_core target
The ethosu_core target now includes the FreeRTOS kernel if the
CORE_SOFTWARE_RTOS is set to FreeRTOS. Currently supported
builds are for cortex M3, M4, M7, M33, and M55. The FreeRTOSConfig.h
file is generated as a part of the build.
Change-Id: Ief6921fd0d9aa3849497ef0810d2714a12eb6773
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 99d829c..564d4d0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -36,6 +36,7 @@
# Define build options
set(CORE_SOFTWARE_RTOS "None" CACHE STRING "Select RTOS to include. (None, MbedOS, FreeRTOS, Zephyr)")
+string(TOLOWER ${CORE_SOFTWARE_RTOS} CORE_SOFTWARE_RTOS_LOWER)
#
# Build
@@ -55,6 +56,10 @@
# Build Tensorflow library
include(tensorflow.cmake)
+# Build RTOS
+add_subdirectory(rtos)
+target_link_libraries(ethosu_core INTERFACE ethosu_core_rtos)
+
# Build applications
add_subdirectory(applications)
diff --git a/rtos/CMakeLists.txt b/rtos/CMakeLists.txt
new file mode 100644
index 0000000..7c15d9e
--- /dev/null
+++ b/rtos/CMakeLists.txt
@@ -0,0 +1,26 @@
+#
+# Copyright (c) 2019-2020 Arm Limited. All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the License); you may
+# not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an AS IS BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+add_library(ethosu_core_rtos INTERFACE)
+
+# Include FreeRTOS kernel & link with ethosu_rtos target
+if(CORE_SOFTWARE_RTOS_LOWER STREQUAL "freertos")
+ set(FREERTOS_KERNEL_PATH "${CMAKE_CURRENT_SOURCE_DIR}/freertos/freertos_kernel" CACHE PATH "Path to FreeRTOS kernel.")
+ add_subdirectory(freertos_config)
+ target_link_libraries(ethosu_core_rtos INTERFACE freertos_kernel)
+endif()
diff --git a/rtos/freertos_config/CMakeLists.txt b/rtos/freertos_config/CMakeLists.txt
new file mode 100644
index 0000000..bd3fd3c
--- /dev/null
+++ b/rtos/freertos_config/CMakeLists.txt
@@ -0,0 +1,104 @@
+#
+# Copyright (c) 2019-2020 Arm Limited. All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the License); you may
+# not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an AS IS BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+
+if(CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m3")
+ add_compile_definitions(CPU_CORTEX_M3)
+elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m33")
+ add_compile_definitions(CPU_CORTEX_M33)
+elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m4")
+ add_compile_definitions(CPU_CORTEX_M4)
+elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m55")
+ add_compile_definitions(CPU_CORTEX_M55)
+elseif(CMAKE_SYSTEM_PROCESSOR STREQUAL "cortex-m7")
+ add_compile_definitions(CPU_CORTEX_M7)
+else()
+ message(FATAL_ERROR "Unsupported compiler ${CMAKE_SYSTEM_PROCESSOR}.")
+endif()
+
+if((${TARGET} STREQUAL "mps2") OR (${CMAKE_SYSTEM_PROCESSOR} STREQUAL "cortex-m55"))
+ set("SYSTEM_CORE_CLOCK" "25000000")
+else()
+ set("SYSTEM_CORE_CLOCK" "32000000")
+endif()
+
+
+configure_file(FreeRTOSConfig.h.in FreeRTOSConfig.h)
+set(FREERTOS_CONFIG_INCLUDE_DIR ${CMAKE_CURRENT_BINARY_DIR})
+
+# FreeRTOS kernel library
+add_library(freertos_kernel STATIC)
+
+# Set include directories
+target_include_directories(freertos_kernel PUBLIC
+ ${FREERTOS_KERNEL_PATH}/include
+ ${FREERTOS_CONFIG_INCLUDE_DIR}
+)
+
+# Add kernel source files
+target_sources(freertos_kernel PRIVATE
+ ${FREERTOS_KERNEL_PATH}/tasks.c
+ ${FREERTOS_KERNEL_PATH}/list.c
+ ${FREERTOS_KERNEL_PATH}/queue.c
+)
+
+# Add the heap implementation
+# heap_3 uses the compiler supplied malloc & free for the heap.
+target_sources(freertos_kernel PRIVATE
+ ${FREERTOS_KERNEL_PATH}/portable/MemMang/heap_3.c)
+
+if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "cortex-m3")
+target_sources(freertos_kernel PRIVATE
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM3/port.c
+)
+target_include_directories(freertos_kernel PUBLIC
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM3
+)
+elseif(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "cortex-m4")
+ target_sources(freertos_kernel PRIVATE
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM4F/port.c
+ )
+ target_include_directories(freertos_kernel PUBLIC
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM4F
+ )
+elseif(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "cortex-m7")
+ target_sources(freertos_kernel PRIVATE
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM7/r0p1/port.c
+ )
+ target_include_directories(freertos_kernel PUBLIC
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM7/r0p1
+ )
+elseif(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "cortex-m33")
+ target_sources(freertos_kernel PRIVATE
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c
+ )
+ target_include_directories(freertos_kernel PUBLIC
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM33_NTZ/non_secure
+ )
+elseif(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "cortex-m55")
+# TODO: using the same port files as Cortex-M33. Update for Cortex-M55.
+ target_sources(freertos_kernel PRIVATE
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c
+ )
+ target_include_directories(freertos_kernel PUBLIC
+ ${FREERTOS_KERNEL_PATH}/portable/GCC/ARM_CM33_NTZ/non_secure
+ )
+else()
+ message(FATAL_ERROR "Invalid processor ${CMAKE_SYSTEM_PROCESSOR} when building FreeRTOS kernel")
+endif()
diff --git a/rtos/freertos_config/FreeRTOSConfig.h.in b/rtos/freertos_config/FreeRTOSConfig.h.in
new file mode 100644
index 0000000..58e13a7
--- /dev/null
+++ b/rtos/freertos_config/FreeRTOSConfig.h.in
@@ -0,0 +1,105 @@
+/*
+ * Copyright (c) 2020 Arm Limited. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+/* Please refer to http://www.freertos.org/a00110.html for refernce. */
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+/******************************************************************************
+ * Defines
+ ******************************************************************************/
+/* Hardware features */
+#define configENABLE_MPU 0
+#define configENABLE_FPU 0
+#define configENABLE_TRUSTZONE 0
+/* Scheduling */
+#define configCPU_CLOCK_HZ @SYSTEM_CORE_CLOCK@
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configUSE_PREEMPTION 1
+#define configUSE_TIME_SLICING 1
+#define configMAX_PRIORITIES 5
+#define configIDLE_SHOULD_YIELD 1
+#define configUSE_16_BIT_TICKS 0
+#define configRUN_FREERTOS_SECURE_ONLY 1
+/* Stack and heap */
+#define configMINIMAL_STACK_SIZE (uint16_t)128
+#define configMINIMAL_SECURE_STACK_SIZE 1024
+#define configTOTAL_HEAP_SIZE (size_t)(50 * 1024)
+#define configMAX_TASK_NAME_LEN 12
+/* OS features */
+#define configUSE_MUTEXES 1
+#define configUSE_TICKLESS_IDLE 1
+#define configUSE_APPLICATION_TASK_TAG 0
+#define configUSE_NEWLIB_REENTRANT 0
+#define configUSE_CO_ROUTINES 0
+#define configUSE_COUNTING_SEMAPHORES 1
+#define configUSE_RECURSIVE_MUTEXES 1
+#define configUSE_QUEUE_SETS 0
+#define configUSE_TASK_NOTIFICATIONS 1
+#define configUSE_TRACE_FACILITY 1
+/* Hooks */
+#define configUSE_IDLE_HOOK 0
+#define configUSE_TICK_HOOK 0
+#define configUSE_MALLOC_FAILED_HOOK 0
+/* Debug features */
+#define configCHECK_FOR_STACK_OVERFLOW 0
+#define configASSERT(x) if ((x) == 0) { taskDISABLE_INTERRUPTS(); for( ;; ); }
+#define configQUEUE_REGISTRY_SIZE 0
+/* Timers and queues */
+#define configUSE_TIMERS 0
+#define configTIMER_TASK_PRIORITY 3
+#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
+#define configTIMER_QUEUE_LENGTH 5
+/* Task settings */
+#define INCLUDE_vTaskPrioritySet 1
+#define INCLUDE_uxTaskPriorityGet 1
+#define INCLUDE_vTaskDelete 1
+#define INCLUDE_vTaskCleanUpResources 0
+#define INCLUDE_vTaskSuspend 1
+#define INCLUDE_vTaskDelayUntil 1
+#define INCLUDE_vTaskDelay 1
+#define INCLUDE_uxTaskGetStackHighWaterMark 0
+#define INCLUDE_xTaskGetIdleTaskHandle 0
+#define INCLUDE_eTaskGetState 1
+#define INCLUDE_xTaskResumeFromISR 0
+#define INCLUDE_xTaskGetCurrentTaskHandle 1
+#define INCLUDE_xTaskGetSchedulerState 0
+#define INCLUDE_xSemaphoreGetMutexHolder 0
+#define INCLUDE_xTimerPendFunctionCall 1
+#define configUSE_STATS_FORMATTING_FUNCTIONS 1
+#define configCOMMAND_INT_MAX_OUTPUT_SIZE 2048
+#ifdef __NVIC_PRIO_BITS
+#define configPRIO_BITS __NVIC_PRIO_BITS
+#else
+#define configPRIO_BITS 3
+#endif
+/* Interrupt settings */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x07
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+#define configKERNEL_INTERRUPT_PRIORITY (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
+#ifndef __IASMARM__
+ #define configGENERATE_RUN_TIME_STATS 0
+ #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
+ #define portGET_RUN_TIME_COUNTER_VALUE() 0
+ #define configTICK_RATE_HZ (TickType_t)10000
+#endif /* __IASMARM__ */
+#if defined(CPU_CORTEX_M3) || defined(CPU_CORTEX_M4) || defined(CPU_CORTEX_M7)
+#define xPortPendSVHandler PendSV_Handler
+#define vPortSVCHandler SVC_Handler
+#define xPortSysTickHandler SysTick_Handler
+#endif
+#endif /* FREERTOS_CONFIG_H */