Moved FreeRTOS to an object library

This also allows for reducing the propagated includes and thus avoid name clashes to FreeRTOS.

radio/src/CMakeLists.txt

@@ -76,7 +76,7 @@ set(FIRMWARE_RANLIB "${GCC_ARM_PATH}arm-none-eabi-ranlib" CACHE STRING "Specific
 
 set(THIRDPARTY_DIR thirdparty)
 set(LUA_DIR ${THIRDPARTY_DIR}/Lua/src)
-set(RTOS_DIR ${THIRDPARTY_DIR}/FreeRTOS-Kernel-10.4.4)
+set(RTOS_DIR ${THIRDPARTY_DIR}/FreeRTOS)
 set(FATFS_DIR ${THIRDPARTY_DIR}/FatFs)
 set(RADIO_BIN_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
 

radio/src/cli.cpp

@@ -19,8 +19,8 @@
  * GNU General Public License for more details.
  */
 
-#include <FreeRTOS.h>
-#include <stream_buffer.h>
+#include <FreeRTOS/include/FreeRTOS.h>
+#include <FreeRTOS/include/stream_buffer.h>
 
 #include "opentx.h"
 #include "diskio.h"

radio/src/pulses/pulses.cpp

@@ -49,9 +49,6 @@
 #include "pulses/afhds2.h"
 #endif
 
-#include <FreeRTOS.h>
-#include <timers.h>
-
 uint8_t s_pulses_paused = 0;
 ModuleState moduleState[NUM_MODULES];
 InternalModulePulsesData intmodulePulsesData __DMA;

radio/src/rtos.c

@@ -23,8 +23,8 @@
 
 #if configSUPPORT_STATIC_ALLOCATION > 0
 
-#include <FreeRTOS.h>
-#include <task.h>
+#include <FreeRTOS/include/FreeRTOS.h>
+#include <FreeRTOS/include/task.h>
 
 /* configSUPPORT_STATIC_ALLOCATION is set to 1, so the application must provide an
    implementation of vApplicationGetIdleTaskMemory() to provide the memory that is

radio/src/rtos.h

@@ -141,9 +141,9 @@ inline void RTOS_CREATE_TASK(pthread_t &taskId, void * (*task)(void *), const ch
 #ifdef __cplusplus
   extern "C" {
 #endif
-    #include <FreeRTOS.h>
-    #include <task.h>
-    #include <semphr.h>
+    #include <FreeRTOS/include/FreeRTOS.h>
+    #include <FreeRTOS/include/task.h>
+    #include <FreeRTOS/include/semphr.h>
 #ifdef __cplusplus
   }
 #endif

radio/src/syscalls.c

@@ -47,8 +47,8 @@ extern caddr_t _sbrk(int nbytes)
 
 #if defined(THREADSAFE_MALLOC) && !defined(BOOT)
 
-#include <FreeRTOS.h>
-#include <task.h>
+#include <FreeRTOS/include/FreeRTOS.h>
+#include <FreeRTOS/include/task.h>
 
 void __malloc_lock(struct _reent *r)
 {

radio/src/targets/common/arm/CMakeLists.txt

@@ -270,8 +270,6 @@ add_definitions(-DGPS)
 add_definitions(-DBATTGRAPH -DTHRTRACE)
 add_definitions(-DSBUS_TRAINER)
 
-include_directories(${RTOS_DIR}/include)
-
 foreach(LANGUAGE ${TTS_LANGUAGES})
   string(TOLOWER ${LANGUAGE} lang_lower)
   set(SRC ${SRC} translations/tts_${lang_lower}.cpp)
@@ -299,22 +297,6 @@ set(FIRMWARE_TARGET_SRC
   telemetry_driver.cpp
 )
 
-set(FIRMWARE_SRC
-  ${FIRMWARE_SRC}
-  ${RTOS_DIR}/list.c
-  ${RTOS_DIR}/queue.c
-  ${RTOS_DIR}/tasks.c
-  ${RTOS_DIR}/event_groups.c
-  ${RTOS_DIR}/timers.c
-  rtos.c)
-
-if(CLI)
-  set(FIRMWARE_SRC
-    ${FIRMWARE_SRC}
-    ${RTOS_DIR}/stream_buffer.c)
-endif()
-
-
 set(PULSES_SRC
   ${PULSES_SRC}
   pulses.cpp

radio/src/targets/common/arm/stm32/f2/CMakeLists.txt

@@ -47,16 +47,36 @@ set(STM32LIB_SRC
   STM32F2xx_StdPeriph_Driver/src/stm32f2xx_adc.c
   )
 
-#
-# FreeRTOS port specific include
-#
-include_directories(${RTOS_DIR}/portable/GCC/ARM_CM3)
+if(NOT NATIVE_BUILD)
+  #
+  # FreeRTOS port specific include
+  #
+  add_library(freertos OBJECT EXCLUDE_FROM_ALL
+    ${RTOS_DIR}/list.c
+    ${RTOS_DIR}/queue.c
+    ${RTOS_DIR}/tasks.c
+    ${RTOS_DIR}/event_groups.c
+    ${RTOS_DIR}/timers.c
+    ${RTOS_DIR}/stream_buffer.c
+    ${RTOS_DIR}/portable/GCC/ARM_CM3/port.c
+    )
 
-#
-# System and FreeRTOS port files
-#
-set(FIRMWARE_TARGET_SRC ${FIRMWARE_TARGET_SRC}
-  ../common/arm/stm32/f2/system_stm32f2xx.c
-  ../../${RTOS_DIR}/portable/GCC/ARM_CM3/port.c
-  )
+  target_include_directories(freertos
+    PUBLIC  ${RTOS_DIR}/portable/GCC/ARM_CM3
+    PRIVATE ${RTOS_DIR}/include
+    )
+
+  include_directories(${RTOS_DIR}/portable/GCC/ARM_CM3)
+
+  # EdgeTx Compat layer
+  set(FIRMWARE_SRC ${FIRMWARE_SRC} rtos.c)
+
+  #
+  # System and FreeRTOS port files
+  #
+  set(FIRMWARE_SRC ${FIRMWARE_SRC}
+    $<TARGET_OBJECTS:freertos>
+    targets/common/arm/stm32/f2/system_stm32f2xx.c
+    )
+endif()
 

radio/src/targets/common/arm/stm32/f4/CMakeLists.txt

@@ -49,16 +49,35 @@ set(STM32LIB_SRC
   STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
   )
 
-#
-# FreeRTOS port specific include
-#
-include_directories(${RTOS_DIR}/portable/GCC/ARM_CM4F)
+if(NOT NATIVE_BUILD)
+  #
+  # FreeRTOS port specific include
+  #
+  add_library(freertos OBJECT EXCLUDE_FROM_ALL
+    ${RTOS_DIR}/list.c
+    ${RTOS_DIR}/queue.c
+    ${RTOS_DIR}/tasks.c
+    ${RTOS_DIR}/event_groups.c
+    ${RTOS_DIR}/timers.c
+    ${RTOS_DIR}/stream_buffer.c
+    ${RTOS_DIR}/portable/GCC/ARM_CM4F/port.c
+    )
 
-#
-# System and FreeRTOS port files
-#
-set(FIRMWARE_TARGET_SRC ${FIRMWARE_TARGET_SRC}
-  ../common/arm/stm32/f4/system_stm32f4xx.c
-  ../../${RTOS_DIR}/portable/GCC/ARM_CM4F/port.c
-  )
+  target_include_directories(freertos
+    PUBLIC  ${RTOS_DIR}/portable/GCC/ARM_CM4F
+    PRIVATE ${RTOS_DIR}/include
+    )
 
+  include_directories(${RTOS_DIR}/portable/GCC/ARM_CM4F)
+  
+  # EdgeTx Compat layer
+  set(FIRMWARE_SRC ${FIRMWARE_SRC} rtos.c)
+
+  #
+  # System and FreeRTOS port files
+  #
+  set(FIRMWARE_SRC ${FIRMWARE_SRC}
+    $<TARGET_OBJECTS:freertos>
+    targets/common/arm/stm32/f4/system_stm32f4xx.c
+    )
+endif()

radio/src/telemetry/telemetry.cpp

@@ -31,8 +31,10 @@
   #include "libopenui.h"
 #endif
 
-#include <FreeRTOS.h>
-#include <timers.h>
+#if !defined(SIMU)
+  #include <FreeRTOS/include/FreeRTOS.h>
+  #include <FreeRTOS/include/timers.h>
+#endif
 
 uint8_t telemetryStreaming = 0;
 uint8_t telemetryRxBuffer[TELEMETRY_RX_PACKET_SIZE];   // Receive buffer. 9 bytes (full packet), worst case 18 bytes with byte-stuffing (+1)