CMSIS RTOS feature

Adds the full features set for CMSIS RTOS support, with a lot work provided by g-arjones. Builds on ObKo#190 and ObKo#189. It allows to use the CMSIS support provided in the STM32 cube repository. Also adds documentation and an updated freertos example with the same architecture as ObKo#225
us-irs · Aug 1, 2021 · a642c5e · a642c5e
1 parent 28e4de0
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diff --git a/.github/ISSUE_TEMPLATE/bug-report.md b/.github/ISSUE_TEMPLATE/bug-report.md
@@ -0,0 +1,39 @@
+---
+name: Bug report
+about: Create a report to help us improve
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Describe the bug**
+A clear and concise description of what the bug is.
+
+**Sources to reproduce**
+Please provide link to repository showing the problem.
+ - Fork this repository
+ - Modify an existing example to show the abnormal behavior
+ - Share the link to the commit in your fork showing the problem
+
+**Steps to reproduce**
+1. Go to '...'
+2. Click on '....'
+3. Scroll down to '....'
+4. See error
+
+**Expected behavior**
+A clear and concise description of what you expected to happen.
+
+**Screenshots**
+If applicable, add screenshots to help explain your problem.
+
+**Environment (please complete the following information):**
+ - OS: [e.g. iOS]
+ - Compiler: [e.g. arm-none-eabi-gcc +version]
+ - stm32-cmake: [v2.0 or 86d1dd2 or ...]
+ - cmake: [e.g 3.21.0]
+ - HAL/cube/CMSIS: [stm32cubeL4 v1.2.3] 
+
+**Additional context**
+Add any other context about the problem here.
diff --git a/.github/ISSUE_TEMPLATE/feature_request.md b/.github/ISSUE_TEMPLATE/feature_request.md
@@ -0,0 +1,20 @@
+---
+name: Feature request
+about: Suggest an idea for this project
+title: ''
+labels: ''
+assignees: ''
+
+---
+
+**Is your feature request related to a problem? Please describe.**
+A clear and concise description of what the problem is. Ex. I'm always frustrated when [...]
+
+**Describe the solution you'd like**
+A clear and concise description of what you want to happen.
+
+**Describe alternatives you've considered**
+A clear and concise description of any alternative solutions or features you've considered.
+
+**Additional context**
+Add any other context or screenshots about the feature request here.
diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
@@ -1,6 +1,6 @@
 name: Tests
 
-on: [push]
+on: [push, pull_request]
 
 env:
   # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)

diff --git a/README.md b/README.md
diff --git a/cmake/FindBSP.cmake b/cmake/FindBSP.cmake
@@ -262,6 +262,11 @@ foreach(COMP ${BSP_FIND_COMPONENTS})
     set(FAMILY ${CMAKE_MATCH_1})
     string(TOLOWER ${FAMILY} FAMILY_L)
 
+    if((NOT STM32_CUBE_${FAMILY}_PATH) AND (DEFINED ENV{STM32_CUBE_${FAMILY}_PATH))
+        set(STM32_CUBE_${FAMILY}_PATH $ENV{STM32_CUBE_${FAMILY}_PATH} CACHE PATH "Path to STM32Cube${FAMILY}")
+        message(STATUS "ENV STM32_CUBE_${FAMILY}_PATH specified, using STM32_CUBE_${FAMILY}_PATH: ${STM32_CUBE_${FAMILY}_PATH}")
+    endif()
+
     if(NOT STM32_CUBE_${FAMILY}_PATH)
         set(STM32_CUBE_${FAMILY}_PATH /opt/STM32Cube${FAMILY} CACHE PATH "Path to STM32Cube${FAMILY}")
         message(STATUS "No STM32_CUBE_${FAMILY}_PATH specified using default: ${STM32_CUBE_${FAMILY}_PATH}")
@@ -322,13 +327,13 @@ foreach(COMP ${BSP_FIND_COMPONENTS})
         target_link_libraries(BSP::STM32::${FAMILY}${CORE_C}::${BCOMP_U} INTERFACE BSP::STM32::${FAMILY}${CORE_C} CMSIS::STM32::${FAMILY}${CORE_C})
         target_include_directories(BSP::STM32::${FAMILY}${CORE_C}::${BCOMP_U} INTERFACE "${BSP_${FAMILY}_PATH}/Components/${BCOMP}")
 
-        find_file(BSP_${BOARD_CANONICAL}_${COMP}_SOURCE
+        find_file(BSP_${BOARD_CANONICAL}_${BCOMP}_SOURCE
             NAMES ${BCOMP}.c
             PATHS "${BSP_${FAMILY}_PATH}/Components/${BCOMP}"
             NO_DEFAULT_PATH
         )
-        if (BSP_${BOARD_CANONICAL}_${COMP}_SOURCE)
-            target_sources(BSP::STM32::${FAMILY}${CORE_C}::${BCOMP_U} INTERFACE "${BSP_${BOARD_CANONICAL}_${COMP}_SOURCE}")
+        if (BSP_${BOARD_CANONICAL}_${BCOMP}_SOURCE)
+            target_sources(BSP::STM32::${FAMILY}${CORE_C}::${BCOMP_U} INTERFACE "${BSP_${BOARD_CANONICAL}_${BCOMP}_SOURCE}")
         endif()
     endforeach()
 

diff --git a/cmake/FindCMSIS.cmake b/cmake/FindCMSIS.cmake
@@ -1,3 +1,5 @@
+set(CMSIS_RTOS RTOS RTOS_V2)
+
 if(NOT CMSIS_FIND_COMPONENTS)
     set(CMSIS_FIND_COMPONENTS ${STM32_SUPPORTED_FAMILIES_LONG_NAME})
 endif()
@@ -7,6 +9,35 @@ if(STM32H7 IN_LIST CMSIS_FIND_COMPONENTS)
 endif()
 list(REMOVE_DUPLICATES CMSIS_FIND_COMPONENTS)
 
+# This section fills the RTOS or family components list
+foreach(COMP ${CMSIS_FIND_COMPONENTS})
+    string(TOLOWER ${COMP} COMP_L)
+    string(TOUPPER ${COMP} COMP)
+
+    # Component is RTOS component
+    if(${COMP} IN_LIST CMSIS_RTOS)
+        list(APPEND CMSIS_FIND_COMPONENTS_RTOS ${COMP})
+        continue()
+    endif()
+
+    # Component is not RTOS component, so check whether it is a family component
+    string(REGEX MATCH "^STM32([A-Z][0-9])([0-9A-Z][0-9][A-Z][0-9A-Z])?_?(M[47])?.*$" COMP ${COMP})
+    if(CMAKE_MATCH_1)
+        list(APPEND CMSIS_FIND_COMPONENTS_FAMILIES ${COMP})
+    endif()
+endforeach()
+
+if(NOT CMSIS_FIND_COMPONENTS_FAMILIES)
+    set(CMSIS_FIND_COMPONENTS_FAMILIES ${STM32_SUPPORTED_FAMILIES_LONG_NAME})
+endif()
+
+if(NOT CMSIS_FIND_COMPONENTS_RTOS)
+    set(CMSIS_FIND_COMPONENTS_RTOS ${CMSIS_RTOS})
+endif()
+
+message(STATUS "Search for CMSIS families: ${CMSIS_FIND_COMPONENTS_FAMILIES}")
+message(STATUS "Search for CMSIS RTOS: ${CMSIS_FIND_COMPONENTS_RTOS}")
+
 include(stm32/devices)
 
 function(cmsis_generate_default_linker_script FAMILY DEVICE CORE)
@@ -41,7 +72,7 @@ function(cmsis_generate_default_linker_script FAMILY DEVICE CORE)
     stm32_add_linker_script(CMSIS::STM32::${DEVICE}${CORE_C} INTERFACE "${OUTPUT_LD_FILE}")
 endfunction() 
 
-foreach(COMP ${CMSIS_FIND_COMPONENTS})
+foreach(COMP ${CMSIS_FIND_COMPONENTS_FAMILIES})
     string(TOLOWER ${COMP} COMP_L)
     string(TOUPPER ${COMP} COMP)
 
@@ -53,10 +84,10 @@ foreach(COMP ${CMSIS_FIND_COMPONENTS})
 
     if(CMAKE_MATCH_2)
         set(FAMILY ${CMAKE_MATCH_1})
-        set(DEVICES "${CMAKE_MATCH_1}${CMAKE_MATCH_2}")
+        set(STM_DEVICES "${CMAKE_MATCH_1}${CMAKE_MATCH_2}")
     else()
         set(FAMILY ${CMAKE_MATCH_1})
-        stm32_get_devices_by_family(DEVICES FAMILY ${FAMILY} CORE ${CORE})
+        stm32_get_devices_by_family(STM_DEVICES FAMILY ${FAMILY})
     endif()
 
     if(CMAKE_MATCH_3)
@@ -71,9 +102,14 @@ foreach(COMP ${CMSIS_FIND_COMPONENTS})
 
     string(TOLOWER ${FAMILY} FAMILY_L)
 
+    if((NOT STM32_CMSIS_${FAMILY}_PATH) AND (NOT STM32_CUBE_${FAMILY}_PATH) AND (DEFINED ENV{STM32_CUBE_${FAMILY}_PATH}))
+        set(STM32_CUBE_${FAMILY}_PATH $ENV{STM32_CUBE_${FAMILY}_PATH} CACHE PATH "Path to STM32Cube${FAMILY}")
+        message(STATUS "ENV STM32_CUBE_${FAMILY}_PATH specified, using STM32_CUBE_${FAMILY}_PATH: ${STM32_CUBE_${FAMILY}_PATH}")
+    endif()
+
     if((NOT STM32_CMSIS_${FAMILY}_PATH) AND (NOT STM32_CUBE_${FAMILY}_PATH))
         set(STM32_CUBE_${FAMILY}_PATH /opt/STM32Cube${FAMILY} CACHE PATH "Path to STM32Cube${FAMILY}")
-        message(STATUS "Neither STM32_CUBE_${FAMILY}_PATH nor STM32_CMSIS_${FAMILY}_PATH specified using default  STM32_CUBE_${FAMILY}_PATH: ${STM32_CUBE_${FAMILY}_PATH}")
+        message(STATUS "Neither STM32_CUBE_${FAMILY}_PATH nor STM32_CMSIS_${FAMILY}_PATH specified using default STM32_CUBE_${FAMILY}_PATH: ${STM32_CUBE_${FAMILY}_PATH}")
     endif()
 
     find_path(CMSIS_${FAMILY}${CORE_U}_CORE_PATH
@@ -133,8 +169,8 @@ foreach(COMP ${CMSIS_FIND_COMPONENTS})
         target_sources(CMSIS::STM32::${FAMILY}${CORE_C} INTERFACE "${CMSIS_${FAMILY}${CORE_U}_SOURCE}")
     endif()
 
-    set(DEVICES_FOUND TRUE)
-    foreach(DEVICE ${DEVICES})
+    set(STM_DEVICES_FOUND TRUE)
+    foreach(DEVICE ${STM_DEVICES})
         stm32_get_cores(DEV_CORES FAMILY ${FAMILY} DEVICE ${DEVICE})
         if(CORE AND (NOT ${CORE} IN_LIST DEV_CORES))
             continue()
@@ -151,7 +187,7 @@ foreach(COMP ${CMSIS_FIND_COMPONENTS})
         )
         list(APPEND CMSIS_SOURCES "${CMSIS_${FAMILY}${CORE_U}_${TYPE}_STARTUP}")
         if(NOT CMSIS_${FAMILY}${CORE_U}_${TYPE}_STARTUP)
-            set(DEVICES_FOUND FALSE)
+            set(STM_DEVICES_FOUND FALSE)
             break()
         endif()
 
@@ -166,11 +202,49 @@ foreach(COMP ${CMSIS_FIND_COMPONENTS})
         cmsis_generate_default_linker_script(${FAMILY} ${DEVICE} "${CORE}")
     endforeach()
 
-    if(DEVICES_FOUND)
+    if(STM_DEVICES_FOUND)
        set(CMSIS_${COMP}_FOUND TRUE)
     else()
        set(CMSIS_${COMP}_FOUND FALSE)
     endif()
+
+    foreach(RTOS_COMP ${CMSIS_FIND_COMPONENTS_RTOS})
+        if (${RTOS_COMP} STREQUAL "RTOS_V2")
+            set(RTOS_COMP_VERSION "2")
+        else()
+            unset(RTOS_COMP_VERSION)
+        endif()
+
+        find_path(CMSIS_${FAMILY}${CORE_U}_${RTOS_COMP}_PATH
+            NAMES "cmsis_os${RTOS_COMP_VERSION}.h"
+            PATHS "${STM32_CUBE_${FAMILY}_PATH}/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_${RTOS_COMP}"
+            NO_DEFAULT_PATH
+        )
+        if (NOT CMSIS_${FAMILY}${CORE_U}_${RTOS_COMP}_PATH)
+            continue()
+        endif()
+
+        find_file(CMSIS_${FAMILY}${CORE_U}_${RTOS_COMP}_SOURCE
+            NAMES "cmsis_os${RTOS_COMP_VERSION}.c"
+            PATHS "${STM32_CUBE_${FAMILY}_PATH}/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_${RTOS_COMP}"
+            NO_DEFAULT_PATH
+        )
+        if (NOT CMSIS_${FAMILY}${CORE_U}_${RTOS_COMP}_SOURCE)
+            continue()
+        endif()
+
+        if(NOT (TARGET CMSIS::STM32::${FAMILY}${CORE_C}::${RTOS_COMP}))
+            add_library(CMSIS::STM32::${FAMILY}${CORE_C}::${RTOS_COMP} INTERFACE IMPORTED)
+            target_link_libraries(CMSIS::STM32::${FAMILY}${CORE_C}::${RTOS_COMP} INTERFACE CMSIS::STM32::${FAMILY}${CORE_C})
+            target_include_directories(CMSIS::STM32::${FAMILY}${CORE_C}::${RTOS_COMP} INTERFACE "${CMSIS_${FAMILY}${CORE_U}_${RTOS_COMP}_PATH}")
+            target_sources(CMSIS::STM32::${FAMILY}${CORE_C}::${RTOS_COMP} INTERFACE "${CMSIS_${FAMILY}${CORE_U}_${RTOS_COMP}_SOURCE}")
+        endif()
+
+        list(APPEND CMSIS_SOURCES "${CMSIS_${FAMILY}${CORE_U}_${RTOS_COMP}_SOURCE}")
+        list(APPEND CMSIS_INCLUDE_DIRS "${CMSIS_${FAMILY}${CORE_U}_${RTOS_COMP}_PATH}")
+        set(CMSIS_${RTOS_COMP}_FOUND TRUE)
+    endforeach()
+
     list(REMOVE_DUPLICATES CMSIS_INCLUDE_DIRS)
     list(REMOVE_DUPLICATES CMSIS_SOURCES)
 endforeach()

diff --git a/cmake/FindFreeRTOS.cmake b/cmake/FindFreeRTOS.cmake
@@ -1,21 +1,42 @@
-set(FreeRTOS_PORTS ARM_CM0 ARM_CM3 ARM_CM4F ARM_CM7)
+set(FreeRTOS_PORTS ARM_CM0 ARM_CM3 ARM_CM4F ARM_CM7 ARM_CM4_MPU ARM_CM3_MPU ARM_CM7_MPU)
 if(NOT FreeRTOS_FIND_COMPONENTS)
     set(FreeRTOS_FIND_COMPONENTS ${FreeRTOS_PORTS})
 endif()
+list(REMOVE_DUPLICATES FreeRTOS_FIND_COMPONENTS)
+
+if((NOT FREERTOS_PATH) AND (DEFINED ENV{FREERTOS_PATH}))
+    set(FREERTOS_PATH $ENV{FREERTOS_PATH} CACHE PATH "Path to FreeRTOS")
+    message(STATUS "ENV FREERTOS_PATH specified, using FREERTOS_PATH: ${FREERTOS_PATH}")
+endif()
+
+if(NOT FREERTOS_PATH)
+    set(DEFAULT_FREERTOS_PATH "/opt/FreeRTOS")
+    if(EXISTS ${DEFAULT_FREERTOS_PATH})
+        set(FREERTOS_PATH ${DEFAULT_FREERTOS_PATH} CACHE PATH "Path to FreeRTOS")
+        message(STATUS "No FREERTOS_PATH specified using default: ${DEFAULT_FREERTOS_PATH}")
+    else()
+        message(STATUS
+            "No FreeRTOS folder found at default location ${DEFAULT_FREERTOS_PATH}. "
+            "Leaving empty"
+        )
+    endif()
+endif()
 
 if(STM32H7 IN_LIST FreeRTOS_FIND_COMPONENTS)
     list(REMOVE_ITEM FreeRTOS_FIND_COMPONENTS STM32H7)
     list(APPEND FreeRTOS_FIND_COMPONENTS STM32H7_M7 STM32H7_M4)
 endif()
 
+# This section fills the family and ports components list
 foreach(COMP ${FreeRTOS_FIND_COMPONENTS})
     string(TOUPPER ${COMP} COMP)
     string(REGEX MATCH "^STM32([A-Z][0-9])([0-9A-Z][0-9][A-Z][0-9A-Z])?_?(M[47])?.*$" FAMILY_COMP ${COMP})
+    # Valid family component, so add it (e.g. STM32H7)
     if(CMAKE_MATCH_1)
         list(APPEND FreeRTOS_FIND_COMPONENTS_FAMILIES ${FAMILY_COMP})
         continue()
     endif()
-
+    # Was not a family component, so add it to the port list
     list(APPEND FreeRTOS_FIND_COMPONENTS_PORTS ${COMP})
 endforeach()
 
@@ -33,14 +54,19 @@ macro(stm32_find_freertos FreeRTOS_NAMESPACE FREERTOS_PATH)
     find_path(FreeRTOS_COMMON_INCLUDE
         NAMES FreeRTOS.h
         PATHS "${FREERTOS_PATH}" "${FREERTOS_PATH}/FreeRTOS" 
-        PATH_SUFFIXES  "Source/include"
+        PATH_SUFFIXES  "Source/include" "include"
         NO_DEFAULT_PATH
     )
+
+    if(NOT FreeRTOS_COMMON_INCLUDE)
+        message(WARNING "FreeRTOS common include path not found, build might fail")
+    endif()
+
     list(APPEND FreeRTOS_INCLUDE_DIRS "${FreeRTOS_COMMON_INCLUDE}")
 
     find_path(FreeRTOS_SOURCE_DIR
         NAMES tasks.c
-        PATHS "${FREERTOS_PATH}" "${FREERTOS_PATH}/FreeRTOS" 
+        PATHS "${FREERTOS_PATH}" "${FREERTOS_PATH}/FreeRTOS"
         PATH_SUFFIXES  "Source"
         NO_DEFAULT_PATH
     )
@@ -90,9 +116,18 @@ macro(stm32_find_freertos FreeRTOS_NAMESPACE FREERTOS_PATH)
         find_path(FreeRTOS_${PORT}_PATH
             NAMES portmacro.h
             PATHS "${FREERTOS_PATH}" "${FREERTOS_PATH}/FreeRTOS" 
-            PATH_SUFFIXES "Source/portable/GCC/${PORT}"  "Source/portable/GCC/${PORT}/r0p1"
+            PATH_SUFFIXES
+                "portable/GCC/${PORT}/r0p1"
+                "portable/GCC/${PORT}"
+                "Source/portable/GCC/${PORT}"
+                "Source/portable/GCC/${PORT}/r0p1"
             NO_DEFAULT_PATH
         )
+
+        if(NOT FreeRTOS_${PORT}_PATH)
+            message(WARNING "FreeRTOS port path not found, build might fail")
+        endif()
+
         list(APPEND FreeRTOS_INCLUDE_DIRS "${FreeRTOS_${PORT}_PATH}")
 
         find_file(FreeRTOS_${PORT}_SOURCE
@@ -118,15 +153,16 @@ macro(stm32_find_freertos FreeRTOS_NAMESPACE FREERTOS_PATH)
     endforeach()
 endmacro()
 
+message(STATUS "Search for FreeRTOS ports: ${FreeRTOS_FIND_COMPONENTS_PORTS}")
+
 if(NOT FreeRTOS_FIND_COMPONENTS_FAMILIES)
     if(NOT FREERTOS_PATH)
         set(FREERTOS_PATH /opt/FreeRTOS CACHE PATH "Path to FreeRTOS")
-        message(STATUS "No FREERTOS_PATH specified using default: ${FREERTOS_PATH}")
+        message(STATUS "No FREERTOS_PATH specified, using default: ${FREERTOS_PATH}")
     endif()
     stm32_find_freertos(FreeRTOS ${FREERTOS_PATH})
 else()
     message(STATUS "Search for FreeRTOS families: ${FreeRTOS_FIND_COMPONENTS_FAMILIES}")
-    message(STATUS "Search for FreeRTOS ports: ${FreeRTOS_FIND_COMPONENTS_PORTS}")
 
     foreach(COMP ${FreeRTOS_FIND_COMPONENTS_FAMILIES})
         string(TOLOWER ${COMP} COMP_L)
@@ -140,10 +176,10 @@ else()
 
         if(CMAKE_MATCH_2)
             set(FAMILY ${CMAKE_MATCH_1})
-            set(DEVICES "${CMAKE_MATCH_1}${CMAKE_MATCH_2}")
+            set(STM_DEVICES "${CMAKE_MATCH_1}${CMAKE_MATCH_2}")
         else()
             set(FAMILY ${CMAKE_MATCH_1})
-            stm32_get_devices_by_family(DEVICES FAMILY ${FAMILY} CORE ${CORE})
+            stm32_get_devices_by_family(STM_DEVICES FAMILY ${FAMILY})
         endif()
 
         if(CMAKE_MATCH_3)

diff --git a/cmake/FindHAL.cmake b/cmake/FindHAL.cmake
@@ -237,6 +237,11 @@ foreach(COMP ${HAL_FIND_COMPONENTS_FAMILIES})
     set(FAMILY ${CMAKE_MATCH_1})
     string(TOLOWER ${FAMILY} FAMILY_L)
 
+    if((NOT STM32_HAL_${FAMILY}_PATH) AND (NOT STM32_CUBE_${FAMILY}_PATH) AND (DEFINED ENV{STM32_CUBE_${FAMILY}_PATH}))
+        set(STM32_CUBE_${FAMILY}_PATH $ENV{STM32_CUBE_${FAMILY}_PATH} CACHE PATH "Path to STM32Cube${FAMILY}")
+        message(STATUS "ENV STM32_CUBE_${FAMILY}_PATH specified, using STM32_CUBE_${FAMILY}_PATH: ${STM32_CUBE_${FAMILY}_PATH}")
+    endif()
+
     if((NOT STM32_HAL_${FAMILY}_PATH) AND (NOT STM32_CUBE_${FAMILY}_PATH))
         set(STM32_CUBE_${FAMILY}_PATH /opt/STM32Cube${FAMILY} CACHE PATH "Path to STM32Cube${FAMILY}")
         message(STATUS "Neither STM32_CUBE_${FAMILY}_PATH nor STM32_HAL_${FAMILY}_PATH specified using default STM32_CUBE_${FAMILY}_PATH: ${STM32_CUBE_${FAMILY}_PATH}")