[Blinky] Convert FreeRTOS calls into CMSIS RTOS.

- Refactor main.c file to use CMSIS RTOS and GPIO HAL API
- Add FreeRTOS heap definition to application_helpers.c - common for both apps
- Remove FreeRTOS adaptation file.
- Move FreeRTOS configuration file to the common directory.

Signed-off-by: Vincent Coubard <vincent.coubard@arm.com>

.pre-commit-config.yaml

@@ -16,6 +16,7 @@ repos:
                 bsp/aws_configs/|
                 bsp/aws_libraries/|
                 bsp/freertos-platform/|
+                bsp/freertos-config/|
                 bsp/default_credentials/|
                 bsp/tf_m_targets/|
                 kws/ota/

CMakeLists.txt

-# Copyright (c) 2021 ARM Limited. All rights reserved.
+# Copyright (c) 2021-2022, Arm Limited and Contributors. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.21)
@@ -107,6 +107,7 @@ include(CTest)
 target_include_directories(freertos-kernel
     INTERFACE
         ${PRJ_DIR}/bsp/aws_configs
+        ${PRJ_DIR}/bsp/freertos-config
         ${PRJ_DIR}/bsp/freertos-platform
         ${PRJ_DIR}/kws/include
 )

blinky/CMakeLists.txt

@@ -4,20 +4,20 @@
 cmake_minimum_required(VERSION 3.21)
 
 # Declare the blinky executable
-add_executable(blinky
-    "${PRJ_DIR}/blinky/freertos_adaptation.c"
-    "${PRJ_DIR}/blinky/main_ns.c"
-)
+add_executable(blinky main.c)
 
 target_link_libraries(blinky
-    startup
-    lib-bsp
-    tfm-ns-interface-cmsis-rtos
-    freertos-kernel-heap-4
     mcu-driver-hal
-    cmsis-rtos-api
+    mcu-driver-bootstrap
+    mdh-reference-platforms-for-arm
+
     freertos-cmsis-rtos
-    freertos-kernel
+    freertos-kernel-heap-2
+
+    tfm-ns-interface-cmsis-rtos
+
+    lib-bsp
+    startup
 )
 
 # Copy the result of TF-M build in the top level build directory

blinky/freertos_adaptation.c

-/*
- * Copyright (c) 2021 Arm Limited
- *
- * 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
- *
- *     http://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.
- */
-
-#include "FreeRTOS.h"
-#include "stdio.h"
-#include "task.h"
-
-void vApplicationStackOverflowHook(TaskHandle_t xTask, char *pcTaskName)
-{
-    printf("ERROR: Stack Overflow in task: %s", pcTaskName);
-    while (1)
-        ;
-}
-
-/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
-implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
-used by the Idle task. */
-void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
-                                   StackType_t **ppxIdleTaskStackBuffer,
-                                   uint32_t *pulIdleTaskStackSize)
-{
-    /* If the buffers to be provided to the Idle task are declared inside this
-    function then they must be declared static - otherwise they will be allocated on
-    the stack and so not exists after this function exits. */
-    static StaticTask_t xIdleTaskTCB;
-    static StackType_t uxIdleTaskStack[configMINIMAL_STACK_SIZE];
-
-    /* Pass out a pointer to the StaticTask_t structure in which the Idle task's
-    state will be stored. */
-    *ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
-
-    /* Pass out the array that will be used as the Idle task's stack. */
-    *ppxIdleTaskStackBuffer = uxIdleTaskStack;
-
-    /* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
-    Note that, as the array is necessarily of type StackType_t,
-    configMINIMAL_STACK_SIZE is specified in words, not bytes. */
-    *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
-}
-/*-----------------------------------------------------------*/
-
-/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
-application must provide an implementation of vApplicationGetTimerTaskMemory()
-to provide the memory that is used by the Timer service task. */
-void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
-                                    StackType_t **ppxTimerTaskStackBuffer,
-                                    uint32_t *pulTimerTaskStackSize)
-{
-    /* If the buffers to be provided to the Timer task are declared inside this
-    function then they must be declared static - otherwise they will be allocated on
-    the stack and so not exists after this function exits. */
-    static StaticTask_t xTimerTaskTCB;
-    static StackType_t uxTimerTaskStack[configTIMER_TASK_STACK_DEPTH];
-
-    /* Pass out a pointer to the StaticTask_t structure in which the Timer
-    task's state will be stored. */
-    *ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
-
-    /* Pass out the array that will be used as the Timer task's stack. */
-    *ppxTimerTaskStackBuffer = uxTimerTaskStack;
-
-    /* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
-    Note that, as the array is necessarily of type StackType_t,
-    configMINIMAL_STACK_SIZE is specified in words, not bytes. */
-    *pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
-}

blinky/main.c

+/* Copyright (c) 2017-2022, Arm Limited and Contributors. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include "tfm_ns_interface.h"
+#include "bsp_serial.h"
+
+#include "cmsis_os2.h"
+#include "hal/gpio_api.h"
+
+extern uint32_t tfm_ns_interface_init(void);
+
+static void app_task(void *arg)
+{
+    (void)arg;
+
+    gpio_t led_gpio;
+    gpio_init_out(&led_gpio, LED1);
+
+    printf("The LED started blinking...\r\n");
+    while (1) {
+        gpio_write(&led_gpio, 1);
+        printf("LED on\r\n");
+        osDelay(1000u);
+        gpio_write(&led_gpio, 0);
+        printf("LED off\r\n");
+        osDelay(1000u);
+    }
+}
+
+int main()
+{
+    bsp_serial_init();
+
+    uint32_t ret = tfm_ns_interface_init();
+    if (ret != 0) {
+        printf("tfm_ns_interface_init() failed: %d\r\n", ret);
+        return EXIT_FAILURE;
+    }
+
+    printf("Initialising kernel\r\n");
+    osStatus_t os_status = osKernelInitialize();
+    if (os_status != osOK) {
+        printf("osKernelInitialize failed: %d\r\n", os_status);
+        return EXIT_FAILURE;
+    }
+
+    osThreadId_t app_thread = osThreadNew(app_task, NULL, NULL);
+    if (!app_thread) {
+        printf("Failed to create app thread\r\n");
+        return EXIT_FAILURE;
+    }
+
+    osKernelState_t os_state = osKernelGetState();
+    if (os_state != osKernelReady) {
+        printf("Kernel not ready %d\r\n", os_state);
+        return EXIT_FAILURE;
+    }
+
+    printf("Starting kernel and threads\r\n");
+    os_status = osKernelStart();
+    if (os_status != osOK) {
+        printf("Failed to start kernel: %d\r\n", os_status);
+        return EXIT_FAILURE;
+    }
+
+    return 0;
+}

blinky/main_ns.c

-/*
- * Copyright (c) 2017-2021 Arm Limited
- *
- * 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
- *
- *     http://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.
- */
-
-#include <stdio.h>
-#include "FreeRTOS.h"
-#include "task.h"
-#include "tfm_ns_interface.h"
-#include "psa/protected_storage.h"
-#include "bsp_serial.h"
-
-/*
- * Semihosting is a mechanism that enables code running on an ARM target
- * to communicate and use the Input/Output facilities of a host computer
- * that is running a debugger.
- * There is an issue where if you use armclang at -O0 optimisation with
- * no parameters specified in the main function, the initialisation code
- * contains a breakpoint for semihosting by default. This will stop the
- * code from running before main is reached.
- * Semihosting can be disabled by defining __ARM_use_no_argv symbol
- * (or using higher optimization level).
- */
-#if defined(__ARMCC_VERSION) && (__ARMCC_VERSION >= 6010050)
-__asm("  .global __ARM_use_no_argv\n");
-#endif
-
-extern uint32_t tfm_ns_interface_init(void);
-
-uint8_t ucHeap[configTOTAL_HEAP_SIZE];
-
-/*
- * Main task to run TFM and ethernet communication testing
- */
-static void blink_task(void *pvParameters)
-{
-    uint32_t *fpgaio_leds = (uint32_t *)0x49302000;
-    const TickType_t xDelay = portTICK_PERIOD_MS * 200;
-
-    printf("FreeRTOS blink task started\r\n");
-    while (1) {
-        *fpgaio_leds = 0xFF;
-        printf("LED on\r\n");
-        vTaskDelay(xDelay);
-        *fpgaio_leds = 0x00;
-        printf("LED off\r\n");
-        vTaskDelay(xDelay);
-    }
-}
-
-int main()
-{
-    tfm_ns_interface_init();
-    bsp_serial_init();
-
-    xTaskCreate(blink_task, "test task", configMINIMAL_STACK_SIZE * 2, NULL, configMAX_PRIORITIES - 2, NULL);
-
-    /* Start the scheduler itself. */
-    vTaskStartScheduler();
-
-    printf("End of main. Halting!\r\n");
-    while (1) {
-    }
-}
-
-/**
- * @brief   Defines the Ethos-U interrupt handler: just a wrapper around the default
- *          implementation.
- **/
-void arm_npu_irq_handler(void)
-{
-}

blinky/tests/test_blinky.py

-#  Copyright (c) 2021 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
-#
-#      http://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.
+# Copyright (c) 2021-2022, Arm Limited and Contributors. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
 
 from timeit import default_timer as timer
 import pytest
@@ -27,7 +15,9 @@ def test_blinky(fvp):
     expectations = [
         'Starting bootloader',
         'Booting TF-M v1.6.0-RC3',
-        'FreeRTOS blink task started',
+        'Initialising kernel',
+        'Starting kernel and threads',
+        'The LED started blinking...',
         'LED on',
         'LED off',
         'LED on',

bsp/CMakeLists.txt

-# Copyright (c) 2021 ARM Limited. All rights reserved.
+# Copyright (c) 2021-2022, Arm Limited and Contributors. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 cmake_minimum_required(VERSION 3.18)
@@ -86,6 +86,7 @@ target_include_directories(${LIB_NAME}
         ${PRJ_DIR}/bsp/aws_libraries/freertos_plus/standard/tls/include
         ${PRJ_DIR}/bsp/aws_libraries/logging/include
         ${PRJ_DIR}/bsp/aws_libraries/3rdparty/lwip_osal/include
+        ${PRJ_DIR}/bsp/freertos-config
         ${PRJ_DIR}/bsp/freertos-platform
 )
 

bsp/freertos-platform/application_helpers.c

-/*
- * Copyright (c) 2021 Arm Limited
- *
- * 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
- *
- *     http://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.
+/* Copyright (c) 2021-2022, Arm Limited and Contributors. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "stdio.h"
@@ -28,6 +16,16 @@
 #include "psa/protected_storage.h"
 #include "psa/crypto.h"
 
+/* -----------------------------------------------------------------------------
+ *  Helper declarations
+ * -----------------------------------------------------------------------------
+ */
+/**
+ * Freertos heap declaration. It's required when configAPPLICATION_ALLOCATED_HEAP i set.
+ */
+#if (configAPPLICATION_ALLOCATED_HEAP == 1)
+    uint8_t ucHeap[configTOTAL_HEAP_SIZE];
+#endif /* configAPPLICATION_ALLOCATED_HEAP */
 
 /* -----------------------------------------------------------------------------
  *  Helper functions

kws/source/main_ns.c

-/*
- * Copyright (c) 2017-2021 Arm Limited
- *
- * 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
- *
- *     http://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.
+/* Copyright (c) 2017-2022, Arm Limited and Contributors. All rights reserved.
+ * SPDX-License-Identifier: Apache-2.0
  */
 
 #include "stdio.h"
@@ -68,8 +56,6 @@ extern uint32_t tfm_ns_interface_init(void);
 
 #define FREERTOS_HIGHEST_TASK_PRIORITY (configMAX_PRIORITIES - 1)
 
-uint8_t ucHeap[configTOTAL_HEAP_SIZE];
-
 /**
  * Network information
  */

lib/AWS/FreeRTOS-Plus-TCP/CMakeLists.txt

-# Copyright (c) 2021 ARM Limited. All rights reserved.
+# Copyright (c) 2021-2022, Arm Limited and Contributors. All rights reserved.
 # SPDX-License-Identifier: Apache-2.0
 
 set(LIB_NAME FreeRTOS-Plus-TCP)
@@ -32,6 +32,7 @@ add_library(${LIB_NAME} STATIC EXCLUDE_FROM_ALL
 target_include_directories(${LIB_NAME}
     PUBLIC
         ${PRJ_DIR}/bsp/aws_configs
+        ${PRJ_DIR}/bsp/freertos-config
         ${freertos-plus-tcp_SOURCE_DIR}/include
         ${freertos-plus-tcp_SOURCE_DIR}/portable/Compiler/GCC
         ${TFM_PLATFORM_TARGET_DIR}/arm/mps3/an547