RP2040: Allow FreeRTOS to be added to the parent CMake project post initialization of the Pico SDK (#497)
Co-authored-by: graham sanderson <graham.sanderson@raspeberryi.com>
diff --git a/portable/ThirdParty/GCC/RP2040/CMakeLists.txt b/portable/ThirdParty/GCC/RP2040/CMakeLists.txt
index 2471cf4..c953f75 100644
--- a/portable/ThirdParty/GCC/RP2040/CMakeLists.txt
+++ b/portable/ThirdParty/GCC/RP2040/CMakeLists.txt
@@ -21,20 +21,31 @@
pico_is_top_level_project(FREERTOS_KERNEL_TOP_LEVEL_PROJECT)
- # The real work gets done in library.cmake which is called at the end of pico_sdk_init
- list(APPEND PICO_SDK_POST_LIST_FILES ${CMAKE_CURRENT_LIST_DIR}/library.cmake)
-
- # We need to inject the following header file into ALL SDK files (which we do via the config header)
- list(APPEND PICO_CONFIG_HEADER_FILES ${CMAKE_CURRENT_LIST_DIR}/include/freertos_sdk_config.h)
-
- if (FREERTOS_KERNEL_TOP_LEVEL_PROJECT)
- message("FreeRTOS: initialize SDK since we're the top-level")
- # Initialize the SDK
- pico_sdk_init()
+ # if the SDK has already been initialized, then just add our libraries now - this allows
+ # this FreeRTOS port to just be added as a sub-directory or include within another project, rather than
+ # having to include it at the top level before pico_sdk_init()
+ if (TARGET _pico_sdk_inclusion_marker)
+ if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.2")
+ message(FATAL_ERROR "Require at least Raspberry Pi Pico SDK version 1.3.2 to include FreeRTOS after pico_sdk_init()")
+ endif()
+ include(${CMAKE_CURRENT_LIST_DIR}/library.cmake)
else()
- set(PICO_SDK_POST_LIST_FILES ${PICO_SDK_POST_LIST_FILES} PARENT_SCOPE)
- set(PICO_CONFIG_HEADER_FILES ${PICO_CONFIG_HEADER_FILES} PARENT_SCOPE)
- set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} PARENT_SCOPE)
+ # The real work gets done in library.cmake which is called at the end of pico_sdk_init
+ list(APPEND PICO_SDK_POST_LIST_FILES ${CMAKE_CURRENT_LIST_DIR}/library.cmake)
+ if (PICO_SDK_VERSION_STRING VERSION_LESS "1.3.2")
+ # We need to inject the following header file into ALL SDK files (which we do via the config header)
+ list(APPEND PICO_CONFIG_HEADER_FILES ${CMAKE_CURRENT_LIST_DIR}/include/freertos_sdk_config.h)
+ endif()
+
+ if (FREERTOS_KERNEL_TOP_LEVEL_PROJECT)
+ message("FreeRTOS: initialize SDK since we're the top-level")
+ # Initialize the SDK
+ pico_sdk_init()
+ else()
+ set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} PARENT_SCOPE)
+ set(PICO_CONFIG_HEADER_FILES ${PICO_CONFIG_HEADER_FILES} PARENT_SCOPE)
+ set(PICO_SDK_POST_LIST_FILES ${PICO_SDK_POST_LIST_FILES} PARENT_SCOPE)
+ endif()
endif()
endif()
diff --git a/portable/ThirdParty/GCC/RP2040/README.md b/portable/ThirdParty/GCC/RP2040/README.md
index e3cbdb1..5a0fe4d 100644
--- a/portable/ThirdParty/GCC/RP2040/README.md
+++ b/portable/ThirdParty/GCC/RP2040/README.md
@@ -10,16 +10,28 @@
## Using this port
-Copy [FreeRTOS-Kernel-import.cmake](FreeRTOS-Kernel-import.cmake) into your project, and
-add:
+You can copy [FreeRTOS-Kernel-import.cmake](FreeRTOS-Kernel-import.cmake) into your project, and
+add the following in your `CMakeLists.txt`:
```cmake
import(FreeRTOS_Kernel_import.cmake)
```
-below the usual import of `pico_sdk_import.cmake`
+This will locate the FreeRTOS kernel if it is a direct sub-module of your project, or if you provide the
+`FREERTOS_KERNEL_PATH` variable in your environment or via `-DFREERTOS_KERNEL_PATH=/path/to/FreeRTOS-Kernel` on the CMake command line.
-This will find the FreeRTOS kernel if it is a direct sub-module of your project, or if you provide the `FREERTOS_KERNEL_PATH` variable in your environment or via `-DFREERTOS_KERNEL_PATH=/path/to/FreeRTOS-Kernel` on the CMake command line.
+**NOTE:** If you are using version 1.3.1 or older of the Raspberry Pi Pico SDK then this line must appear before the
+`pico_sdk_init()` and will cause FreeRTOS to be included/required in all RP2040 targets in your project. After this SDK
+version, you can include the FreeRTOS-Kernel support later in your CMake build (possibly in a subdirectory) and the
+FreeRTOS-Kernel support will only apply to those targets which explicitly include FreeRTOS support.
+
+As an alternative to the `import` statement above, you can just add this directory directly via thw following (with
+the same placement restrictions related to the Raspberry Pi Pico SDK version above):
+
+```cmake
+add_subdirectory(path/to/this/directory FreeRTOS-Kernel)
+```
+
## Advanced Configuration
diff --git a/portable/ThirdParty/GCC/RP2040/library.cmake b/portable/ThirdParty/GCC/RP2040/library.cmake
index 3c6d12d..e3e8b21 100644
--- a/portable/ThirdParty/GCC/RP2040/library.cmake
+++ b/portable/ThirdParty/GCC/RP2040/library.cmake
@@ -16,6 +16,11 @@
)
target_include_directories(FreeRTOS-Kernel-Core INTERFACE ${FREERTOS_KERNEL_PATH}/include)
+if (PICO_SDK_VERSION_STRING VERSION_GREATER_EQUAL "1.3.2")
+ target_compile_definitions(FreeRTOS-Kernel-Core INTERFACE
+ PICO_CONFIG_RTOS_ADAPTER_HEADER=${CMAKE_CURRENT_LIST_DIR}/include/freertos_sdk_config.h)
+endif()
+
add_library(FreeRTOS-Kernel INTERFACE)
target_sources(FreeRTOS-Kernel INTERFACE
${CMAKE_CURRENT_LIST_DIR}/port.c
