feat: rebuild heap4 card around upstream FreeRTOS allocator

2026-07-14 23:24:56 +02:00
parent 032a06fdef
commit 2b17bb4ff9
41 changed files with 1462 additions and 2138 deletions
@@ -0,0 +1,114 @@
+cmake_minimum_required(VERSION 3.13)
+
+if(NOT PICO_SDK_PATH)
+    if(DEFINED ENV{PICO_SDK_PATH})
+        set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
+    else()
+        message(FATAL_ERROR "Set PICO_SDK_PATH to a Raspberry Pi Pico SDK checkout")
+    endif()
+endif()
+
+include(${PICO_SDK_PATH}/external/pico_sdk_import.cmake)
+
+project(freertos_heap4_rp2350 C CXX ASM)
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_C_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_STANDARD 17)
+
+# The card and allocator are C-only.  Debian's compact RISC-V toolchain does
+# not ship libstdc++ headers, so keep the SDK's optional new/delete source out
+# while preserving the interface targets expected by pico_stdlib.
+add_library(pico_cxx_options_headers INTERFACE)
+target_include_directories(pico_cxx_options_headers SYSTEM INTERFACE
+    ${PICO_SDK_PATH}/src/rp2_common/pico_cxx_options/include)
+add_library(pico_cxx_options INTERFACE)
+target_link_libraries(pico_cxx_options INTERFACE pico_cxx_options_headers)
+
+pico_sdk_init()
+
+if(NOT PICO_PLATFORM STREQUAL "rp2350-riscv")
+    message(FATAL_ERROR "This card targets the RP2350 RISC-V cores")
+endif()
+if(NOT HEAP4_UPSTREAM_ROOT)
+    if(DEFINED ENV{HEAP4_UPSTREAM_ROOT})
+        set(HEAP4_UPSTREAM_ROOT $ENV{HEAP4_UPSTREAM_ROOT})
+    else()
+        set(HEAP4_UPSTREAM_ROOT /opt/FreeRTOS-Kernel)
+    endif()
+endif()
+if(NOT EXISTS ${HEAP4_UPSTREAM_ROOT}/portable/MemMang/heap_4.c)
+    message(FATAL_ERROR "Pinned FreeRTOS heap_4.c not found at ${HEAP4_UPSTREAM_ROOT}")
+endif()
+if(NOT FREERTOS_RP2350_PATH)
+    if(DEFINED ENV{FREERTOS_RP2350_PATH})
+        set(FREERTOS_RP2350_PATH $ENV{FREERTOS_RP2350_PATH})
+    else()
+        set(FREERTOS_RP2350_PATH /opt/FreeRTOS-RP2350)
+    endif()
+endif()
+if(NOT EXISTS ${FREERTOS_RP2350_PATH}/portable/ThirdParty/GCC/RP2350_RISC-V/portASM.S)
+    message(FATAL_ERROR "Compatible RP2350 FreeRTOS core/port not found at ${FREERTOS_RP2350_PATH}")
+endif()
+
+set(FREERTOS_CONFIG_FILE_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/include)
+# Raspberry Pi's port CMake uses FREERTOS_KERNEL_PATH for its matching core.
+# Keep the stable allocator root separate and add its heap_4.c explicitly.
+set(FREERTOS_KERNEL_PATH ${FREERTOS_RP2350_PATH})
+add_subdirectory(
+    ${FREERTOS_RP2350_PATH}/portable/ThirdParty/GCC/RP2350_RISC-V
+    ${CMAKE_BINARY_DIR}/freertos-kernel)
+
+set(HEAP4_PROFILE "observe" CACHE STRING "observe, debug or release")
+set_property(CACHE HEAP4_PROFILE PROPERTY STRINGS observe debug release)
+set(HEAP4_BINARY_TYPE "no_flash" CACHE STRING "Pico SDK binary type")
+set_property(CACHE HEAP4_BINARY_TYPE PROPERTY STRINGS no_flash default)
+
+if(HEAP4_PROFILE STREQUAL "observe")
+    set(HEAP4_COMPILE_OPTIONS
+        -O0 -g3 -fno-omit-frame-pointer -fno-inline
+        -fno-optimize-sibling-calls)
+elseif(HEAP4_PROFILE STREQUAL "debug")
+    set(HEAP4_COMPILE_OPTIONS
+        -Og -g3 -fno-omit-frame-pointer -fno-optimize-sibling-calls)
+elseif(HEAP4_PROFILE STREQUAL "release")
+    set(HEAP4_COMPILE_OPTIONS -O2)
+else()
+    message(FATAL_ERROR "HEAP4_PROFILE must be observe, debug or release")
+endif()
+
+set(MODEL_TASKS
+    task01_first_fit_split
+    task02_address_order_coalesce)
+
+foreach(task IN LISTS MODEL_TASKS)
+    set(task_source src/tasks/${task}.c)
+    add_executable(${task} ${task_source})
+    target_include_directories(${task} PRIVATE ${CMAKE_CURRENT_LIST_DIR}/src/tasks)
+    set_property(SOURCE ${task_source} APPEND PROPERTY COMPILE_OPTIONS
+        ${HEAP4_COMPILE_OPTIONS} -Wall -Wextra -Wpedantic)
+    target_link_libraries(${task} pico_stdlib)
+    pico_enable_stdio_usb(${task} 0)
+    pico_enable_stdio_uart(${task} 0)
+    if(NOT HEAP4_BINARY_TYPE STREQUAL "default")
+        pico_set_binary_type(${task} ${HEAP4_BINARY_TYPE})
+    endif()
+    pico_add_extra_outputs(${task})
+endforeach()
+
+set(heap4_task task03_freertos_heap4)
+set(heap4_source src/tasks/${heap4_task}.c)
+add_executable(${heap4_task} ${heap4_source})
+target_sources(${heap4_task} PRIVATE
+    ${HEAP4_UPSTREAM_ROOT}/portable/MemMang/heap_4.c)
+target_include_directories(${heap4_task} PRIVATE
+    ${CMAKE_CURRENT_LIST_DIR}/include
+    ${CMAKE_CURRENT_LIST_DIR}/src/tasks)
+set_property(SOURCE ${heap4_source} APPEND PROPERTY COMPILE_OPTIONS
+    ${HEAP4_COMPILE_OPTIONS} -Wall -Wextra -Wpedantic)
+target_link_libraries(${heap4_task} pico_stdlib FreeRTOS-Kernel)
+pico_enable_stdio_usb(${heap4_task} 0)
+pico_enable_stdio_uart(${heap4_task} 0)
+if(NOT HEAP4_BINARY_TYPE STREQUAL "default")
+    pico_set_binary_type(${heap4_task} ${HEAP4_BINARY_TYPE})
+endif()
+pico_add_extra_outputs(${heap4_task})