FreeRTOS port.

.clang-format

@@ -0,0 +1,11 @@
+BasedOnStyle: Google
+IndentWidth: 4
+AlignConsecutiveMacros: Consecutive
+AlignConsecutiveDeclarations: true
+AlignConsecutiveAssignments: true
+BreakBeforeBraces: Custom
+BraceWrapping:
+  AfterEnum: false
+  AfterStruct: false
+  SplitEmptyFunction: false
+ColumnLimit: 120

.gitmodules

@@ -1,3 +1,9 @@
 [submodule "SDK"]
 	path = SDK
 	url = https://git.minori.work/Embedded_SDK/MCUXpresso_MK60DN512xxx10.git
+[submodule "lib/FreeRTOS"]
+	path = lib/FreeRTOS
+	url = https://github.com/FreeRTOS/FreeRTOS-Kernel.git
+[submodule "lib/LwIP"]
+	path = lib/LwIP
+	url = https://git.savannah.nongnu.org/git/lwip.git

CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.10)
 
-project(landzo_k60_template)
+project(landzo_k60_lwip)
 
 enable_language(CXX)
 enable_language(ASM)
@@ -59,6 +59,7 @@ set(TARGET_SOURCES
     "board/clock_config.c"
     "board/peripherals.c"
     "board/pin_mux.c"
+    "src/freertos_helpers.c"
     "src/main.c"
     "src/system_utilities.c"
 )
@@ -79,7 +80,7 @@ set(TARGET_C_INCLUDES
 
 # Shared libraries linked with application
 set(TARGET_LIBS
-
+    "freertos_kernel"
 )
 
 # Shared library and linker script search paths
@@ -108,6 +109,10 @@ set(CMAKE_CXX_FLAGS        "${CMAKE_CXX_FLAGS} ${TARGET_CFLAGS_HARDWARE} -Wall -
 set(CMAKE_ASM_FLAGS        "${CMAKE_ASM_FLAGS} ${CMAKE_C_FLAGS} -x assembler-with-cpp")
 set(CMAKE_EXE_LINKER_FLAGS "-specs=nano.specs -specs=nosys.specs -Wl,--gc-sections -Wl,--print-memory-usage -lc -lm -lnosys ")
 
+# Add subdirectories here.
+set(FREERTOS_CONFIG_FILE_DIRECTORY "${CMAKE_SOURCE_DIR}/include" CACHE STRING "")
+set(FREERTOS_PORT "GCC_ARM_CM3" CACHE STRING "")
+add_subdirectory(lib/FreeRTOS)
 
 # Shared sources, includes and definitions
 add_compile_definitions(${TARGET_C_DEFINES})

SDK

@@ -0,0 +1 @@
+Subproject commit 855e1be1225ff859dd5a9a5a3959ecc702a028df

include/FreeRTOSConfig.h

@@ -0,0 +1,132 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/* Ensure definitions are only used by the compiler, and not by the assembler. */
+#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
+  #include <stdint.h>
+  extern uint32_t SystemCoreClock;
+#endif
+
+#define configUSE_PREEMPTION                    1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configUSE_TICKLESS_IDLE                 0
+#define configCPU_CLOCK_HZ                      (SystemCoreClock)
+#define configTICK_RATE_HZ                      1000
+#define configMAX_PRIORITIES                    56
+#define configMINIMAL_STACK_SIZE                128
+#define configMAX_TASK_NAME_LEN                 16
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configUSE_TASK_NOTIFICATIONS            1
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES   3
+#define configUSE_MUTEXES                       0
+#define configUSE_RECURSIVE_MUTEXES             0
+#define configUSE_COUNTING_SEMAPHORES           0
+#define configUSE_ALTERNATIVE_API               0 /* Deprecated! */
+#define configQUEUE_REGISTRY_SIZE               10
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  0
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     0
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+#define configSTACK_DEPTH_TYPE                  uint16_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION             0
+#define configSUPPORT_DYNAMIC_ALLOCATION            1
+#define configTOTAL_HEAP_SIZE                       57344
+#define configAPPLICATION_ALLOCATED_HEAP            1
+#define configSTACK_ALLOCATION_FROM_SEPARATE_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                0
+#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_QUEUE_LENGTH                10
+#define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE
+
+/* =============================================================================================================== */
+
+/* Cortex-M specific definitions. */
+#ifdef __NVIC_PRIO_BITS
+ /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
+ #define configPRIO_BITS         __NVIC_PRIO_BITS
+#else
+ #define configPRIO_BITS         4
+#endif
+/* The lowest interrupt priority that can be used in a call to a "set priority"
+function. */
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY   15
+/* The highest interrupt priority that can be used by any interrupt service
+routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
+INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
+PRIORITY THAN THIS! (higher priorities are lower numeric values. */
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+/* Interrupt priorities used by the kernel port layer itself.  These are generic
+to all Cortex-M ports, and do not rely on any particular library functions. */
+#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
+See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
+/* Normal assert() semantics without relying on the provision of an assert.h
+header file. */
+/* USER CODE BEGIN 1 */
+#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
+/* USER CODE END 1 */
+/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
+standard names. */
+#define vPortSVCHandler    SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
+#define xPortSysTickHandler SysTick_Handler
+
+/* =============================================================================================================== */
+
+/* FreeRTOS MPU specific definitions. */
+#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
+#define configTOTAL_MPU_REGIONS                                8 /* Default value. */
+#define configTEX_S_C_B_FLASH                                  0x07UL /* Default value. */
+#define configTEX_S_C_B_SRAM                                   0x07UL /* Default value. */
+#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY            1
+#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS             1
+
+/* ARMv8-M secure side port related definitions. */
+#define secureconfigMAX_SECURE_CONTEXTS         5
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#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     1
+#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_xTaskResumeFromISR              1
+
+/* A header file that defines trace macro can be included here. */
+
+#endif /* FREERTOS_CONFIG_H */

lib/FreeRTOS

@@ -0,0 +1 @@
+Subproject commit 1ec8e49de4c5de50ffe71554e7e600257dec1f4b

lib/LwIP

@@ -0,0 +1 @@
+Subproject commit 239918ccc173cb2c2a62f41a40fd893f57faf1d6

src/freertos_helpers.c

@@ -0,0 +1,4 @@
+#include "FreeRTOS.h"
+#include "task.h"
+
+uint8_t ucHeap[configTOTAL_HEAP_SIZE] __attribute__((section(".heap")));

src/main.c

@@ -1,10 +1,13 @@
+#include "FreeRTOS.h"
 #include "board.h"
 #include "clock_config.h"
+#include "fsl_debug_console.h"
 #include "peripherals.h"
 #include "pin_mux.h"
 #include "system_utilities.h"
+#include "task.h"
 
-#include "fsl_debug_console.h"
+static void vTaskHello(void *pvParameters);
 
 int main(void) {
     BOARD_InitBootPins();
@@ -16,7 +19,18 @@ int main(void) {
     print_hardware();
     sram_test();
 
+    xTaskCreate(vTaskHello, "HELLO", 256, NULL, 4, NULL);
+
+    vTaskStartScheduler();
+
     for (;;) {
         __WFI();
     }
 }
+
+static void vTaskHello(void *pvParameters) {
+    for(;;) {
+        vTaskDelay(pdMS_TO_TICKS(1000));
+        PRINTF("Hello world @%d\r\n", xTaskGetTickCount());
+    }
+}