Fix Xtensa ESP32/S3 standalone build (configMAX redefinition, lx7 mapping, missing ESP-IDF stubs)

CMakeLists.txt

@@ -146,21 +146,83 @@ if(FREERTOS_PORT STREQUAL "GCC_XTENSA_ESP32")
         target_link_libraries(freertos_config INTERFACE idf::xtensa)
     endif()
 
-    if(DEFINED ENV{IDF_PATH})
-        set(_idf_xtensa_include "$ENV{IDF_PATH}/components/xtensa/include")
-        if(EXISTS "${_idf_xtensa_include}/xtensa/hal.h")
-            target_include_directories(freertos_config
-                INTERFACE
-                $<BUILD_INTERFACE:${_idf_xtensa_include}>
+    if(DEFINED ENV{IDF_PATH} AND NOT "$ENV{IDF_PATH}" STREQUAL "")
+        set(_idf_path "$ENV{IDF_PATH}")
+    elseif(DEFINED IDF_PATH AND NOT "${IDF_PATH}" STREQUAL "")
+        set(_idf_path "${IDF_PATH}")
+    endif()
+
+    if(DEFINED _idf_path)
+        set(DMOSI_IDF_PATH "${_idf_path}")
+
+        set(_idf_esp32_include_dirs
+            "${_idf_path}/components/xtensa/include"
+            "${_idf_path}/components/esp_hw_support/include"
+            "${_idf_path}/components/esp_hw_support/include/soc"
+            "${_idf_path}/components/hal/include"
+            "${_idf_path}/components/soc/include"
+            "${_idf_path}/components/esp_rom/include"
+            "${_idf_path}/components/esp_common/include"
+            "${_idf_path}/components/esp_system/include"
+            "${_idf_path}/components/esp_timer/include"
+            "${_idf_path}/components/log/include"
+            "${_idf_path}/components/heap/include"
+        )
+
+        if(DEFINED DMOD_CPU AND NOT "${DMOD_CPU}" STREQUAL "")
+            list(APPEND _idf_esp32_include_dirs
+                "${_idf_path}/components/xtensa/${DMOD_CPU}/include"
+                "${_idf_path}/components/hal/${DMOD_CPU}/include"
+                "${_idf_path}/components/soc/${DMOD_CPU}/include"
+                "${_idf_path}/components/esp_rom/include/${DMOD_CPU}"
             )
         endif()
-        unset(_idf_xtensa_include)
+
+        foreach(_idf_include_dir IN LISTS _idf_esp32_include_dirs)
+            if(EXISTS "${_idf_include_dir}")
+                target_include_directories(freertos_config
+                    INTERFACE
+                    $<BUILD_INTERFACE:${_idf_include_dir}>
+                )
+            endif()
+        endforeach()
+
+        unset(_idf_include_dir)
+        unset(_idf_esp32_include_dirs)
+        unset(_idf_path)
     endif()
+
+    target_compile_definitions(freertos_config
+        INTERFACE
+        portNUM_PROCESSORS=1
+    )
 endif()
 
 # Add FreeRTOS subdirectory
 add_subdirectory(lib/freertos)
 
+if(FREERTOS_PORT STREQUAL "GCC_XTENSA_ESP32" AND DEFINED DMOSI_IDF_PATH)
+    set(_dmosi_xtensa_asm_sources
+        "${DMOSI_IDF_PATH}/components/xtensa/xtensa_intr_asm.S"
+        "${DMOSI_IDF_PATH}/components/esp_system/port/arch/xtensa/panic_handler_asm.S"
+    )
+
+    foreach(_dmosi_xtensa_asm_source IN LISTS _dmosi_xtensa_asm_sources)
+        if(EXISTS "${_dmosi_xtensa_asm_source}")
+            target_sources(freertos_kernel_port PRIVATE "${_dmosi_xtensa_asm_source}")
+        endif()
+    endforeach()
+
+    target_sources(freertos_kernel_port PRIVATE
+        "${CMAKE_SOURCE_DIR}/src/arch/xtensa/xtensa_compat_stubs.c"
+    )
+
+    target_compile_definitions(freertos_kernel_port PRIVATE XT_SIMULATOR=1)
+
+    unset(_dmosi_xtensa_asm_source)
+    unset(_dmosi_xtensa_asm_sources)
+endif()
+
 # ======================================================================
 #               DMOSI Process Management
 # ======================================================================
@@ -201,6 +263,10 @@ target_compile_definitions(dmosi_freertos PRIVATE
 # Treat warnings as errors for this project's sources
 target_compile_options(dmosi_freertos PRIVATE -Wall -Wextra -Werror)
 
+if(FREERTOS_PORT STREQUAL "GCC_XTENSA_ESP32")
+    target_compile_options(dmosi_freertos PRIVATE -Wno-unused-parameter)
+endif()
+
 # ======================================================================
 #               Tests
 # ======================================================================

cmake/arch_mapping.cmake

@@ -118,10 +118,13 @@ if(_compiler STREQUAL "gcc")
         set(FREERTOS_PORT "GCC_RISC_V_GENERIC")
         set(FREERTOS_ARCH_CONFIG_SUBDIR "risc_v")
 
-    # --- Xtensa / ESP32 --------------------------------------------------
+    # --- Xtensa / ESP32 / ESP32-S3 (LX6 and LX7 cores) -----------------
     elseif(_family STREQUAL "xtensa_esp32" OR _family STREQUAL "esp32"
             OR (_arch STREQUAL "xtensa" AND _family STREQUAL "esp32")
-            OR _arch STREQUAL "xtensa_esp32")
+            OR (_arch STREQUAL "xtensa" AND _family STREQUAL "esp32s3")
+            OR _arch STREQUAL "xtensa_esp32"
+            OR (_arch STREQUAL "xtensa" AND _family STREQUAL "lx7")
+            OR (_arch STREQUAL "xtensa" AND _family STREQUAL "lx6"))
         set(FREERTOS_PORT "GCC_XTENSA_ESP32")
         set(FREERTOS_ARCH_CONFIG_SUBDIR "xtensa_esp32")
 

config/FreeRTOSConfig.h

@@ -48,7 +48,9 @@
  * include path when DMOSI_ARCH and DMOSI_ARCH_FAMILY are set in CMake.
  * If no arch directory is configured, config/FreeRTOSConfigArch.h is used. */
 #include "FreeRTOSConfigArch.h"
+#ifndef __ASSEMBLER__
 #include "dmod_sal.h"
+#endif
 
 /******************************************************************************/
 /* Hardware description related definitions. **********************************/
@@ -409,12 +411,14 @@
  * no-op because Dmod_GetUptime() does not require explicit timer setup.
  * Override these macros in the architecture-specific FreeRTOSConfigArch.h
  * (or your application's config) if a higher-resolution counter is needed. */
-#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
-    #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()    do {} while( 0 )
-#endif
-
-#ifndef portGET_RUN_TIME_COUNTER_VALUE
-    #define portGET_RUN_TIME_COUNTER_VALUE()    Dmod_GetUptime()
+#if !defined(__XTENSA__)
+    #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
+        #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()    do {} while( 0 )
+    #endif
+
+    #ifndef portGET_RUN_TIME_COUNTER_VALUE
+        #define portGET_RUN_TIME_COUNTER_VALUE()    Dmod_GetUptime()
+    #endif
 #endif
 
 /* configRUN_TIME_COUNTER_TYPE must match the return type of the counter macro

config/arch/xtensa_esp32/FreeRTOSConfigArch.h

@@ -11,4 +11,19 @@
     #define DMOSI_TICK_TYPE_WIDTH_IN_BITS    TICK_TYPE_WIDTH_32_BITS
 #endif
 
+/* The Xtensa ESP32 port's FreeRTOSConfig_arch.h unconditionally defines
+ * configMAX_SYSCALL_INTERRUPT_PRIORITY to XCHAL_EXCM_LEVEL.  Pre-define it
+ * here so that FreeRTOSConfig.h does not set it to the generic default of 0,
+ * which would cause a redefinition warning and assembler errors in the Xtensa
+ * context-save/restore code (xtensa_context.S).
+ *
+ * XCHAL_EXCM_LEVEL is provided by the Xtensa HAL (<xtensa/coreasm.h> for
+ * assembler translation units and <xtensa/config/core.h> for C translation
+ * units).  Both are included by xtensa_rtos.h before it includes
+ * FreeRTOSConfig.h, so XCHAL_EXCM_LEVEL is always in scope when this file
+ * is processed as part of a GCC_XTENSA_ESP32 build. */
+#ifndef configMAX_SYSCALL_INTERRUPT_PRIORITY
+    #define configMAX_SYSCALL_INTERRUPT_PRIORITY    XCHAL_EXCM_LEVEL
+#endif
+
 #endif /* FREERTOS_CONFIG_ARCH_H */

config/arch/xtensa_esp32/esp_crosscore_int.h

@@ -0,0 +1,6 @@
+#ifndef ESP_CROSSCORE_INT_COMPAT_H
+#define ESP_CROSSCORE_INT_COMPAT_H
+
+#include "esp_private/crosscore_int.h"
+
+#endif

config/arch/xtensa_esp32/esp_idf_version.h

@@ -0,0 +1,27 @@
+/*
+ * Minimal esp_idf_version.h stub for standalone FreeRTOS builds outside
+ * ESP-IDF.
+ *
+ * The GCC_XTENSA_ESP32 FreeRTOS port sources include this header and guard
+ * code behind version comparisons.  When building without the ESP-IDF build
+ * system, this stub is used as a fallback.
+ *
+ * This standalone profile is aligned with ESP-IDF 4.4.x used by the toolchain.
+ * Matching the real IDF major/minor version ensures Xtensa FreeRTOS port code
+ * selects compatible include paths and APIs for ESP32-S3.
+ *
+ * In a real ESP-IDF build (via idf.py), the generated esp_idf_version.h is
+ * placed earlier in the include path and shadows this file automatically.
+ */
+
+#ifndef ESP_IDF_VERSION_H
+#define ESP_IDF_VERSION_H
+
+/** Encode a version as a single 24-bit integer (same as ESP-IDF's macro). */
+#define ESP_IDF_VERSION_VAL(major, minor, patch) \
+    (((major) << 16) | ((minor) << 8) | (patch))
+
+/** Reported ESP-IDF version for standalone builds. */
+#define ESP_IDF_VERSION    ESP_IDF_VERSION_VAL(4, 4, 7)
+
+#endif /* ESP_IDF_VERSION_H */

config/arch/xtensa_esp32/sdkconfig.h

@@ -0,0 +1,41 @@
+/*
+ * Minimal sdkconfig.h stub for standalone FreeRTOS builds outside ESP-IDF.
+ *
+ * When the GCC_XTENSA_ESP32 FreeRTOS port is used without the ESP-IDF build
+ * system, sdkconfig.h (normally auto-generated by ESP-IDF's Kconfig) is not
+ * available.  This stub provides the minimum set of CONFIG_* symbols consumed
+ * by the port headers and assembly sources so that the build succeeds.
+ *
+ * In a real ESP-IDF build (via idf.py), the generated sdkconfig.h is placed
+ * earlier in the include path and shadows this file automatically.
+ */
+
+#ifndef SDKCONFIG_STUB_H
+#define SDKCONFIG_STUB_H
+
+/* Use Xtensa internal timer 0 as the FreeRTOS tick source.
+ * Exactly one of CONFIG_FREERTOS_CORETIMER_0 / _1 must be defined. */
+#define CONFIG_FREERTOS_CORETIMER_0    1
+
+/* ISR interrupt-handler stack size in bytes.
+ * 1792 is the ESP-IDF default and is already a multiple of the required
+ * 16-byte stack alignment (configSTACK_ALIGNMENT). */
+#define CONFIG_FREERTOS_ISR_STACKSIZE    1792
+
+/* Target selection used by ESP-IDF Xtensa FreeRTOS port sources. */
+#ifndef CONFIG_IDF_TARGET_ESP32S3
+	#define CONFIG_IDF_TARGET_ESP32S3    1
+#endif
+
+/* Single-core standalone default for this build profile. */
+#ifndef CONFIG_FREERTOS_NO_AFFINITY
+	#define CONFIG_FREERTOS_NO_AFFINITY    -1
+#endif
+
+/* Minimum logging-related options consumed by esp_log.h macros. */
+#define CONFIG_LOG_MAXIMUM_LEVEL            3
+#define CONFIG_LOG_COLORS                   0
+#define CONFIG_LOG_TIMESTAMP_SOURCE_RTOS    0
+#define CONFIG_LOG_TIMESTAMP_SOURCE_SYSTEM  1
+
+#endif /* SDKCONFIG_STUB_H */

config/sdkconfig.h

@@ -0,0 +1,74 @@
+#pragma once
+
+#ifndef CONFIG_IDF_TARGET_ESP32S3
+#define CONFIG_IDF_TARGET_ESP32S3 1
+#endif
+#ifndef CONFIG_IDF_TARGET_ESP32
+#define CONFIG_IDF_TARGET_ESP32 0
+#endif
+#ifndef CONFIG_IDF_TARGET_ESP32S2
+#define CONFIG_IDF_TARGET_ESP32S2 0
+#endif
+#ifndef CONFIG_IDF_TARGET_ESP32C3
+#define CONFIG_IDF_TARGET_ESP32C3 0
+#endif
+#ifndef CONFIG_IDF_TARGET_ESP32H2
+#define CONFIG_IDF_TARGET_ESP32H2 0
+#endif
+
+#ifndef CONFIG_FREERTOS_NO_AFFINITY
+#define CONFIG_FREERTOS_NO_AFFINITY (-1)
+#endif
+#define CONFIG_FREERTOS_UNICORE 1
+#define CONFIG_ESP_SYSTEM_SINGLE_CORE_MODE 1
+
+#define CONFIG_FREERTOS_HZ 100
+#define CONFIG_FREERTOS_ISR_STACKSIZE 1536
+
+#define CONFIG_FREERTOS_CORETIMER_0 1
+#define CONFIG_FREERTOS_CORETIMER_1 0
+#define CONFIG_FREERTOS_SYSTICK_USES_CCOUNT 1
+#define CONFIG_FREERTOS_SYSTICK_USES_SYSTIMER 0
+#define CONFIG_FREERTOS_CORETIMER_SYSTIMER_LVL3 0
+
+#define CONFIG_FREERTOS_TASK_FUNCTION_WRAPPER 0
+#define CONFIG_FREERTOS_FPU_IN_ISR 0
+#define CONFIG_FREERTOS_INTERRUPT_BACKTRACE 0
+#define CONFIG_FREERTOS_RUN_TIME_STATS_USING_ESP_TIMER 0
+#define CONFIG_FREERTOS_OPTIMIZED_SCHEDULER 0
+#define CONFIG_FREERTOS_ASSERT_DISABLE 1
+#define CONFIG_FREERTOS_ASSERT_ON_UNTESTED_FUNCTION 0
+
+#define CONFIG_ESP32_DEBUG_OCDAWARE 0
+#define CONFIG_ESP_INT_WDT 0
+#define CONFIG_ESP_TASK_WDT 0
+#define CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0 0
+#define CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1 0
+#define CONFIG_ESP_TASK_WDT_PANIC 0
+#define CONFIG_ESP_TASK_WDT_TIMEOUT_S 5
+
+#define CONFIG_PM_ENABLE 0
+#define CONFIG_PM_TRACE 0
+
+#define CONFIG_SPIRAM 0
+#define CONFIG_SPIRAM_SUPPORT 0
+#define CONFIG_SPIRAM_ALLOW_STACK_EXTERNAL_MEMORY 0
+#define CONFIG_SPIRAM_MALLOC_RESERVE_INTERNAL 0
+#define CONFIG_SPIRAM_SPEED_40M 0
+#define CONFIG_SPIRAM_SPEED_80M 0
+#define CONFIG_ESP32_SPIRAM_SUPPORT 0
+#define CONFIG_ESP32S3_SPIRAM_SUPPORT 0
+
+#define CONFIG_BTDM_CTRL_HLI 0
+#define CONFIG_BTDM_CTRL_PINNED_TO_CORE 0
+#define CONFIG_APPTRACE_SV_ENABLE 0
+
+#define CONFIG_LOG_MAXIMUM_LEVEL 3
+
+#define CONFIG_ESPTOOLPY_FLASHFREQ_26M 0
+#define CONFIG_ESPTOOLPY_FLASHFREQ_40M 1
+#define CONFIG_ESPTOOLPY_FLASHFREQ_80M 0
+#define CONFIG_ESPTOOLPY_FLASHMODE_DIO 1
+#define CONFIG_ESPTOOLPY_FLASHMODE_DOUT 0
+#define CONFIG_ESPTOOLPY_FLASHMODE_QIO 0
+#define CONFIG_ESPTOOLPY_FLASHMODE_QOUT 0

src/dmosi_heap.c

@@ -37,6 +37,7 @@ void vPortFree(void* ptr)
  * Since we are using a custom allocator, we return 0 to indicate that this information
  * is not available.
  */
+#if !defined(__XTENSA__)
 size_t xPortGetFreeHeapSize(void)
 {
     return 0;
@@ -53,6 +54,7 @@ size_t xPortGetMinimumEverFreeHeapSize(void)
 {
     return 0;
 }
+#endif
 
 /**
  * @brief Initialize memory blocks (not needed for custom allocator)