add H7 FreeRTOS example

.github/workflows/test.yml

@@ -167,6 +167,8 @@ jobs:
       run: sudo apt -y update; sudo apt -y install gcc-arm-none-eabi
     - if: ${{ env.GO == 1 }}
       run:  make -C examples/stm32/nucleo-h743zi-make-baremetal-builtin test VCON_API_KEY=${{secrets.VCON_API_KEY}}
+    - if: ${{ env.GO == 1 }}
+      run:  make -C examples/stm32/nucleo-h743zi-make-freertos-builtin test VCON_API_KEY=${{secrets.VCON_API_KEY}}
     - run: echo GO=0 >> $GITHUB_ENV ; if ./test/match_changed_files.sh '^src|examples/stm32/nucleo-h7.*-cube-'; then echo GO=1 >> $GITHUB_ENV ; fi
     - if: ${{ env.GO == 1 }}
       run: make -C test/cube test PROJECTS=../../examples/stm32/nucleo-h743zi-cube-baremetal-builtin VCON_API_KEY=${{secrets.VCON_API_KEY}} DEVICE=6
@@ -231,6 +233,7 @@ jobs:
           - path: stm32/nucleo-f746zg-make-freertos-tcp
           - path: stm32/nucleo-f746zg-make-baremetal-builtin-rndis
           - path: stm32/nucleo-h743zi-make-baremetal-builtin
+          - path: stm32/nucleo-h743zi-make-freertos-builtin
           - path: nxp/nxp-mimxrt1020-azurertos
           - path: nxp/nxp-frdmk66f-freertos
           - path: nxp/nxp-lpcxpresso54s018m-freertos

examples/stm32/nucleo-h743zi-make-freertos-builtin/FreeRTOSConfig.h

@@ -0,0 +1,38 @@
+#pragma once
+
+#include "hal.h"
+
+#define configUSE_PREEMPTION 1
+#define configCPU_CLOCK_HZ CPU_FREQUENCY
+#define configTICK_RATE_HZ 1000
+#define configMAX_PRIORITIES 5
+#define configUSE_16_BIT_TICKS 0
+#define configUSE_TICK_HOOK 0
+#define configUSE_IDLE_HOOK 0
+#define configUSE_TIMERS 0
+#define configUSE_CO_ROUTINES 0
+#define configUSE_MALLOC_FAILED_HOOK 0
+#define configMINIMAL_STACK_SIZE 128
+#define configTOTAL_HEAP_SIZE (1024 * 128)
+#define INCLUDE_vTaskDelay 1
+#define INCLUDE_xTaskGetSchedulerState 1  // trying
+
+#ifdef __NVIC_PRIO_BITS
+#define configPRIO_BITS __NVIC_PRIO_BITS
+#else
+#define configPRIO_BITS 4
+#endif
+#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
+#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
+#define configKERNEL_INTERRUPT_PRIORITY \
+  (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
+
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY \
+  (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
+
+#define configASSERT(expr) \
+  if (!(expr)) printf("FAILURE %s:%d: %s\n", __FILE__, __LINE__, #expr)
+
+#define vPortSVCHandler SVC_Handler
+#define xPortPendSVHandler PendSV_Handler
+#define xPortSysTickHandler SysTick_Handler

examples/stm32/nucleo-h743zi-make-freertos-builtin/Makefile

@@ -0,0 +1,59 @@
+CFLAGS  = -W -Wall -Wextra -Werror -Wundef -Wshadow -Wdouble-promotion
+CFLAGS += -Wformat-truncation -fno-common -Wconversion -Wno-sign-conversion
+CFLAGS += -g3 -Os -ffunction-sections -fdata-sections
+CFLAGS += -I. -Icmsis_core/CMSIS/Core/Include -Icmsis_h7/Include
+CFLAGS += -mcpu=cortex-m7 -mthumb -mfloat-abi=hard -mfpu=fpv5-d16
+LDFLAGS ?= -Tlink.ld -nostdlib -nostartfiles --specs nano.specs -lc -lgcc -Wl,--gc-sections -Wl,-Map=$@.map
+
+SOURCES = main.c syscalls.c sysinit.c
+SOURCES += cmsis_h7/Source/Templates/gcc/startup_stm32h743xx.s # ST startup file. Compiler-dependent!
+
+# FreeRTOS. H7 has a Cortex-M7 r1p0 core, FreeRTOS recommends using CM4F port for non-r0p1 CM7 micros
+SOURCES += FreeRTOS-Kernel/portable/MemMang/heap_4.c
+SOURCES += FreeRTOS-Kernel/portable/GCC/ARM_CM4F/port.c
+CFLAGS += -IFreeRTOS-Kernel/include 
+CFLAGS += -IFreeRTOS-Kernel/portable/GCC/ARM_CM4F -Wno-conversion
+
+SOURCES += mongoose.c  net.c packed_fs.c
+CFLAGS += $(CFLAGS_EXTRA)       # Mongoose options are defined in mongoose_custom.h
+
+# Example specific build options. See README.md
+CFLAGS += -DHTTP_URL=\"http://0.0.0.0/\"
+
+ifeq ($(OS),Windows_NT)
+  RM = cmd /C del /Q /F /S
+else
+  RM = rm -rf
+endif
+
+all build example: firmware.bin
+
+firmware.bin: firmware.elf
+	arm-none-eabi-objcopy -O binary $< $@
+
+firmware.elf: FreeRTOS-Kernel cmsis_core cmsis_h7 $(SOURCES) hal.h link.ld mongoose_custom.h
+	arm-none-eabi-gcc $(SOURCES) $(wildcard FreeRTOS-Kernel/*.c) $(CFLAGS) $(LDFLAGS) -o $@
+
+flash: firmware.bin
+	st-flash --reset write $< 0x8000000
+
+cmsis_core:  # ARM CMSIS core headers
+	git clone --depth 1 -b 5.9.0 https://github.com/ARM-software/CMSIS_5 $@
+cmsis_h7:       # ST CMSIS headers for STM32H7 series
+	git clone --depth 1 -b v1.10.3 https://github.com/STMicroelectronics/cmsis_device_h7 $@
+FreeRTOS-Kernel:  # FreeRTOS sources
+	git clone --depth 1 -b V10.5.0 https://github.com/FreeRTOS/FreeRTOS-Kernel $@
+
+# Automated remote test. Requires env variable VCON_API_KEY set. See https://vcon.io/automated-firmware-tests/
+DEVICE_URL ?= https://dash.vcon.io/api/v3/devices/6
+update: firmware.bin
+	curl --fail-with-body -su :$(VCON_API_KEY) $(DEVICE_URL)/ota --data-binary @$<
+
+test update: CFLAGS += -DUART_DEBUG=USART1
+test: update
+	curl --fail-with-body -su :$(VCON_API_KEY) $(DEVICE_URL)/tx?t=5 | tee /tmp/output.txt
+	grep 'READY, IP:' /tmp/output.txt       # Check for network init
+#	grep 'MQTT connected' /tmp/output.txt   # Check for MQTT connection success
+
+clean:
+	$(RM) firmware.* *.su cmsis_core cmsis_h7 FreeRTOS-Kernel

examples/stm32/nucleo-h743zi-make-freertos-builtin/README.md

@@ -0,0 +1,3 @@
+# FreeRTOS Web device dashboard on NUCLEO-H743ZI
+
+See https://mongoose.ws/tutorials/stm32/all-make-freertos-builtin/

examples/stm32/nucleo-h743zi-make-freertos-builtin/hal.h

@@ -0,0 +1,184 @@
+// Copyright (c) 2022-2023 Cesanta Software Limited
+// All rights reserved
+//
+// Datasheet: RM0433, devboard manual: UM2407
+// https://www.st.com/resource/en/reference_manual/rm0433-stm32h742-stm32h743753-and-stm32h750-value-line-advanced-armbased-32bit-mcus-stmicroelectronics.pdf
+// Alternate functions: https://www.st.com/resource/en/datasheet/stm32h743vi.pdf
+
+#pragma once
+
+#include <stm32h743xx.h>
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <string.h>
+
+#define BIT(x) (1UL << (x))
+#define SETBITS(R, CLEARMASK, SETMASK) (R) = ((R) & ~(CLEARMASK)) | (SETMASK)
+#define PIN(bank, num) ((((bank) - 'A') << 8) | (num))
+#define PINNO(pin) (pin & 255)
+#define PINBANK(pin) (pin >> 8)
+
+#define LED1 PIN('B', 0)   // On-board LED pin (green)
+#define LED2 PIN('E', 1)   // On-board LED pin (yellow)
+#define LED3 PIN('B', 14)  // On-board LED pin (red)
+
+#define LED LED2              // Use yellow LED for blinking
+
+// System clock (2.1, Figure 1; 8.5, Figure 45; 8.5.5, Figure 47; 8.5.6, Figure
+// 49) CPU_FREQUENCY <= 480 MHz; hclk = CPU_FREQUENCY / HPRE ; hclk <= 240 MHz;
+// APB clocks <= 120 MHz. D1 domain bus matrix (and so flash) runs at hclk
+// frequency. Configure flash latency (WS) in accordance to hclk freq (4.3.8,
+// Table 17) The Ethernet controller is in D2 domain and runs at hclk frequency
+enum {
+  D1CPRE = 1,  // actual divisor value
+  HPRE = 2,    // actual divisor value
+  D1PPRE = 4,  // register values, divisor value = BIT(value - 3) = / 2
+  D2PPRE1 = 4,
+  D2PPRE2 = 4,
+  D3PPRE = 4
+};
+// PLL1_P: odd division factors are not allowed (8.7.13) (according to Cube, '1'
+// is also an "odd division factor").
+// Make sure your chip is revision 'V', otherwise set PLL1_N = 400
+enum { PLL1_HSI = 64, PLL1_M = 32, PLL1_N = 480, PLL1_P = 2 };
+#define FLASH_LATENCY 0x24  // WRHIGHFREQ LATENCY
+#define CPU_FREQUENCY ((PLL1_HSI * PLL1_N / PLL1_M / PLL1_P / D1CPRE) * 1000000)
+// #define CPU_FREQUENCY ((PLL1_HSI / D1CPRE) * 1000000)
+#define AHB_FREQUENCY (CPU_FREQUENCY / HPRE)
+#define APB2_FREQUENCY (AHB_FREQUENCY / (BIT(D2PPRE2 - 3)))
+#define APB1_FREQUENCY (AHB_FREQUENCY / (BIT(D2PPRE1 - 3)))
+
+static inline void spin(volatile uint32_t n) {
+  while (n--) (void) 0;
+}
+
+enum { GPIO_MODE_INPUT, GPIO_MODE_OUTPUT, GPIO_MODE_AF, GPIO_MODE_ANALOG };
+enum { GPIO_OTYPE_PUSH_PULL, GPIO_OTYPE_OPEN_DRAIN };
+enum { GPIO_SPEED_LOW, GPIO_SPEED_MEDIUM, GPIO_SPEED_HIGH, GPIO_SPEED_INSANE };
+enum { GPIO_PULL_NONE, GPIO_PULL_UP, GPIO_PULL_DOWN };
+
+#define GPIO(N) ((GPIO_TypeDef *) (0x40000000 + 0x18020000UL + 0x400 * (N)))
+
+static GPIO_TypeDef *gpio_bank(uint16_t pin) { return GPIO(PINBANK(pin)); }
+static inline void gpio_toggle(uint16_t pin) {
+  GPIO_TypeDef *gpio = gpio_bank(pin);
+  uint32_t mask = BIT(PINNO(pin));
+  gpio->BSRR = mask << (gpio->ODR & mask ? 16 : 0);
+}
+static inline int gpio_read(uint16_t pin) {
+  return gpio_bank(pin)->IDR & BIT(PINNO(pin)) ? 1 : 0;
+}
+static inline void gpio_write(uint16_t pin, bool val) {
+  GPIO_TypeDef *gpio = gpio_bank(pin);
+  gpio->BSRR = BIT(PINNO(pin)) << (val ? 0 : 16);
+}
+static inline void gpio_init(uint16_t pin, uint8_t mode, uint8_t type,
+                             uint8_t speed, uint8_t pull, uint8_t af) {
+  GPIO_TypeDef *gpio = gpio_bank(pin);
+  uint8_t n = (uint8_t) (PINNO(pin));
+  RCC->AHB4ENR |= BIT(PINBANK(pin));  // Enable GPIO clock
+  SETBITS(gpio->OTYPER, 1UL << n, ((uint32_t) type) << n);
+  SETBITS(gpio->OSPEEDR, 3UL << (n * 2), ((uint32_t) speed) << (n * 2));
+  SETBITS(gpio->PUPDR, 3UL << (n * 2), ((uint32_t) pull) << (n * 2));
+  SETBITS(gpio->AFR[n >> 3], 15UL << ((n & 7) * 4),
+          ((uint32_t) af) << ((n & 7) * 4));
+  SETBITS(gpio->MODER, 3UL << (n * 2), ((uint32_t) mode) << (n * 2));
+}
+static inline void gpio_input(uint16_t pin) {
+  gpio_init(pin, GPIO_MODE_INPUT, GPIO_OTYPE_PUSH_PULL, GPIO_SPEED_HIGH,
+            GPIO_PULL_NONE, 0);
+}
+static inline void gpio_output(uint16_t pin) {
+  gpio_init(pin, GPIO_MODE_OUTPUT, GPIO_OTYPE_PUSH_PULL, GPIO_SPEED_HIGH,
+            GPIO_PULL_NONE, 0);
+}
+
+#ifndef UART_DEBUG
+#define UART_DEBUG USART1
+#endif
+
+// D2 Kernel clock (8.7.21) USART1 defaults to pclk2 (APB2), while USART2,3
+// default to pclk1 (APB1). Even if using other kernel clocks, the APBx clocks
+// must be enabled for CPU access, as the kernel clock drives the BRR, not the
+// APB bus interface
+static inline void uart_init(USART_TypeDef *uart, unsigned long baud) {
+  uint8_t af = 7;           // Alternate function
+  uint16_t rx = 0, tx = 0;  // pins
+  uint32_t freq = 0;        // Bus frequency. UART1 is on APB2, rest on APB1
+
+  if (uart == USART1) freq = APB2_FREQUENCY, RCC->APB2ENR |= BIT(4);
+  if (uart == USART2) freq = APB1_FREQUENCY, RCC->APB1LENR |= BIT(17);
+  if (uart == USART3) freq = APB1_FREQUENCY, RCC->APB1LENR |= BIT(18);
+
+  if (uart == USART1) tx = PIN('A', 9), rx = PIN('A', 10);
+  if (uart == USART2) tx = PIN('A', 2), rx = PIN('A', 3);
+  if (uart == USART3) tx = PIN('D', 8), rx = PIN('D', 9);
+
+#if 0  // CONSTANT BAUD RATE FOR REMOTE DEBUGGING WHILE SETTING THE PLL
+  SETBITS(RCC->D2CCIP2R, 7 << 3, 3 << 3);  // use HSI for UART1
+  freq = 64000000;
+#endif
+
+  gpio_init(tx, GPIO_MODE_AF, GPIO_OTYPE_PUSH_PULL, GPIO_SPEED_HIGH, 0, af);
+  gpio_init(rx, GPIO_MODE_AF, GPIO_OTYPE_PUSH_PULL, GPIO_SPEED_HIGH, 0, af);
+  uart->CR1 = 0;                         // Disable this UART
+  uart->BRR = freq / baud;               // Set baud rate
+  uart->CR1 = BIT(0) | BIT(2) | BIT(3);  // Set UE, RE, TE
+}
+static inline void uart_write_byte(USART_TypeDef *uart, uint8_t byte) {
+  uart->TDR = byte;
+  while ((uart->ISR & BIT(7)) == 0) spin(1);
+}
+static inline void uart_write_buf(USART_TypeDef *uart, char *buf, size_t len) {
+  while (len-- > 0) uart_write_byte(uart, *(uint8_t *) buf++);
+}
+static inline int uart_read_ready(USART_TypeDef *uart) {
+  return uart->ISR & BIT(5);  // If RXNE bit is set, data is ready
+}
+static inline uint8_t uart_read_byte(USART_TypeDef *uart) {
+  return (uint8_t) (uart->RDR & 255);
+}
+
+static inline void rng_init(void) {
+  RCC->D2CCIP2R |= RCC_D2CCIP2R_RNGSEL_0;  // RNG clock source pll1_q_ck
+  RCC->AHB2ENR |= RCC_AHB2ENR_RNGEN;       // Enable RNG clock
+  RNG->CR = RNG_CR_RNGEN;                  // Enable RNG
+}
+
+static inline uint32_t rng_read(void) {
+  while ((RNG->SR & RNG_SR_DRDY) == 0) (void) 0;
+  return RNG->DR;
+}
+
+static inline char chiprev(void) {
+  uint16_t rev = (uint16_t) (((uint32_t) DBGMCU->IDCODE) >> 16);
+  if (rev == 0x1003) return 'Y';
+  if (rev == 0x2003) return 'V';
+  return '?';
+}
+
+static inline void ethernet_init(void) {
+  // Initialise Ethernet. Enable MAC GPIO pins, see
+  // https://www.st.com/resource/en/user_manual/um2407-stm32h7-nucleo144-boards-mb1364-stmicroelectronics.pdf
+  uint16_t pins[] = {PIN('A', 1),  PIN('A', 2),  PIN('A', 7),
+                     PIN('B', 13), PIN('C', 1),  PIN('C', 4),
+                     PIN('C', 5),  PIN('G', 11), PIN('G', 13)};
+  for (size_t i = 0; i < sizeof(pins) / sizeof(pins[0]); i++) {
+    gpio_init(pins[i], GPIO_MODE_AF, GPIO_OTYPE_PUSH_PULL, GPIO_SPEED_INSANE,
+              GPIO_PULL_NONE, 11);  // 11 is the Ethernet function
+  }
+  NVIC_EnableIRQ(ETH_IRQn);                     // Setup Ethernet IRQ handler
+  SETBITS(SYSCFG->PMCR, 7 << 21, 4 << 21);      // Use RMII (12.3.1)
+  RCC->AHB1ENR |= BIT(15) | BIT(16) | BIT(17);  // Enable Ethernet clocks
+}
+
+#define UUID ((uint8_t *) UID_BASE)  // Unique 96-bit chip ID. TRM 61.1
+
+// Helper macro for MAC generation
+#define GENERATE_LOCALLY_ADMINISTERED_MAC()                        \
+  {                                                                \
+    2, UUID[0] ^ UUID[1], UUID[2] ^ UUID[3], UUID[4] ^ UUID[5],    \
+        UUID[6] ^ UUID[7] ^ UUID[8], UUID[9] ^ UUID[10] ^ UUID[11] \
+  }

examples/stm32/nucleo-h743zi-make-freertos-builtin/link.ld

@@ -0,0 +1,32 @@
+ENTRY(Reset_Handler);
+MEMORY {
+  flash(rx) : ORIGIN = 0x08000000, LENGTH = 2048k
+  sram(rwx) : ORIGIN = 0x24000000, LENGTH = 512k  /* AXI SRAM in domain D1 */
+  /* 2.3.2: remaining SRAM is in other (non-contiguous) banks,
+     DTCM @0x20000000 is in domain D1 and not accessible by the ETH DMA controller in domain D2
+     SRAM @0x30000000 is in domain D2 and not directly available at startup to be used as stack (8.5.9 page 366) */
+}
+_estack     = ORIGIN(sram) + LENGTH(sram);    /* stack points to end of SRAM */
+
+SECTIONS {
+  .vectors  : { KEEP(*(.isr_vector)) }  > flash
+  .text     : { *(.text* .text.*) }     > flash
+  .rodata   : { *(.rodata*) }           > flash
+
+  .data : {
+    _sdata = .;   /* for init_ram() */
+    *(.first_data)
+    *(.data SORT(.data.*))
+    _edata = .;  /* for init_ram() */
+  } > sram AT > flash
+  _sidata = LOADADDR(.data);
+
+  .bss : {
+    _sbss = .;              /* for init_ram() */
+    *(.bss SORT(.bss.*) COMMON)
+    _ebss = .;              /* for init_ram() */
+  } > sram
+
+  . = ALIGN(8);
+  _end = .;     /* for cmsis_gcc.h and init_ram() */
+}