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Merge pull request #60 from zevorn/feat/zynq-a9
platform: add Zynq-A9 QEMU target with standalone FreeRTOS
2 parents 937dc4b + d47aa81 commit 7707e84

63 files changed

Lines changed: 15979 additions & 5 deletions

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‎Makefile‎

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Original file line numberDiff line numberDiff line change
@@ -34,6 +34,10 @@ help:
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@echo " make vexpress-a9-qemu Build QEMU vexpress-a9"
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@echo " make run-vexpress-a9-qemu Build + launch vexpress-a9"
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@echo ""
37+
@echo "Zynq-A9 (FreeRTOS):"
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@echo " make build-zynq-a9-qemu Build QEMU Zynq-A9"
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@echo " make run-zynq-a9-qemu Build + launch Zynq-A9"
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@echo ""
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@echo "Options:"
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@echo " GDB=1 Debug mode (GDB port 1234)"
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@echo " GRAPHICS=1 LCD display window (QEMU only)"
@@ -43,6 +47,7 @@ help:
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@echo ""
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@echo "Tests (unit — cross-compiled, QEMU semihosting):"
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@echo " make test-unit Build + run unit tests (vexpress-a9)"
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@echo " make test-unit-zynq Build + run unit tests (zynq-a9)"
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@echo ""
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@echo "Tests (functional — requires pre-built firmware):"
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@echo " make test-functional Run all functional tests"
@@ -55,6 +60,7 @@ help:
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@echo " make test-smoke-esp32c3 Smoke tests (ESP32-C3)"
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@echo " make test-smoke-esp32s3 Smoke tests (ESP32-S3)"
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@echo " make test-smoke-vexpress Smoke tests (vexpress-a9)"
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@echo " make test-smoke-zynq Smoke tests (zynq-a9)"
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@echo " make test-online-esp32c3 AI online tests (ESP32-C3)"
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@echo " make test-online-esp32s3 AI online tests (ESP32-S3)"
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@echo ""
@@ -102,6 +108,42 @@ run-vexpress-a9-qemu: vexpress-a9-qemu
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-nic user,model=lan9118 \
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$(if $(filter 1,$(GDB)),-S -s)
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# --- Zynq-A9 QEMU (FreeRTOS) ---
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MESON_BUILDDIR_ZYNQ := $(BUILD_DIR)/zynq-a9-qemu
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CROSS_FILE_ZYNQ := platform/zynq-a9/cross.ini
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.PHONY: build-zynq-a9-qemu
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build-zynq-a9-qemu:
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@if [ ! -f $(MESON_BUILDDIR_ZYNQ)/build.ninja ]; then \
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meson setup $(MESON_BUILDDIR_ZYNQ) --cross-file $(CROSS_FILE_ZYNQ); \
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fi
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meson compile -C $(MESON_BUILDDIR_ZYNQ)
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@echo "Output: $(MESON_BUILDDIR_ZYNQ)/platform/zynq-a9/rtclaw.elf"
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.PHONY: run-zynq-a9-qemu
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run-zynq-a9-qemu: build-zynq-a9-qemu
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@if [ "$(GDB)" = "1" ]; then \
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echo "Starting QEMU in debug mode (GDB port 1234)..."; \
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echo "Connect: arm-none-eabi-gdb $(MESON_BUILDDIR_ZYNQ)/platform/zynq-a9/rtclaw.elf -ex 'target remote :1234'"; \
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fi
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qemu-system-arm \
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-M xilinx-zynq-a9 \
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-smp 1 \
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-nographic \
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-kernel $(MESON_BUILDDIR_ZYNQ)/platform/zynq-a9/rtclaw.elf \
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-nic user,model=cadence_gem \
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$(if $(filter 1,$(GDB)),-S -s)
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.PHONY: test-unit-zynq
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test-unit-zynq:
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python3 tests/unit/run_zynq.py
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.PHONY: test-smoke-zynq
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test-smoke-zynq: build-zynq-a9-qemu
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RTCLAW_TEST_PLATFORM=zynq-a9-qemu python3 -m unittest discover \
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-s tests/functional -p 'test_boot.py' -v
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# --- ESP32-C3 unified targets ---
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# Prerequisite: source $$HOME/esp/esp-idf/export.sh
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#

‎meson.build‎

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@@ -42,9 +42,23 @@ if osal_backend == 'rtthread'
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is_system: true,
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)
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elif osal_backend == 'freertos'
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# ESP-IDF defines and include paths are provided by the auto-generated
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# cross.ini (scripts/gen-esp32c3-cross.py). No platform_incs needed.
47-
platform_defs += ['-DCLAW_PLATFORM_ESP_IDF']
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_plat = get_option('platform')
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if _plat == 'zynq-a9'
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platform_defs += ['-DCLAW_PLATFORM_FREERTOS']
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platform_incs += include_directories(
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'vendor/os/freertos/include',
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'vendor/os/freertos/portable/GCC/ARM_CA9',
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'vendor/bsp/xilinx',
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'vendor/bsp/xilinx/standalone/common',
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'vendor/bsp/xilinx/standalone/cortexa9',
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'vendor/bsp/xilinx/drivers/scugic',
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'vendor/bsp/xilinx/drivers/scutimer',
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'platform/zynq-a9',
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is_system: true,
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)
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else
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platform_defs += ['-DCLAW_PLATFORM_ESP_IDF']
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endif
4862
endif
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5064
# ---- Unified configuration via claw_config_generated.h ----
@@ -127,3 +141,8 @@ subdir('vendor/lib/cjson')
127141
subdir('osal')
128142
subdir('claw')
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subdir('tests/unit')
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145+
_fw_plat = get_option('platform')
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if _fw_plat == 'zynq-a9'
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subdir('platform/zynq-a9')
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endif

‎meson_options.txt‎

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Original file line numberDiff line numberDiff line change
@@ -2,6 +2,8 @@ option('osal', type: 'combo',
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choices: ['rtthread', 'freertos', 'none'],
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value: 'none',
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description: 'OSAL backend (none = library only, no OSAL compiled)')
5+
option('platform', type: 'string', value: '',
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description: 'Target platform for full firmware build (zynq-a9)')
57
option('rtthread_bsp', type: 'string', value: 'platform/vexpress-a9',
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description: 'RT-Thread BSP directory for rtconfig.h/lwipopts.h')
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option('rtthread_cpuport', type: 'string',

‎osal/freertos/claw_net_freertos.c‎

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Original file line numberDiff line numberDiff line change
@@ -2,16 +2,21 @@
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* Copyright (c) 2026, Chao Liu <chao.liu.zevorn@gmail.com>
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* SPDX-License-Identifier: MIT
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*
5-
* OSAL network — ESP-IDF implementation using esp_http_client.
5+
* OSAL network — FreeRTOS implementation.
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* ESP-IDF: uses esp_http_client (full HTTPS)
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* Standalone: stub (network added in later phase)
68
*/
79

810
#include "osal/claw_os.h"
911
#include "osal/claw_net.h"
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13+
#include <string.h>
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#ifdef CLAW_PLATFORM_ESP_IDF
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1117
#include "esp_http_client.h"
1218
#include "esp_crt_bundle.h"
1319

14-
#include <string.h>
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#define TAG "net_http"
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#define HTTP_TIMEOUT_MS 60000
@@ -126,8 +131,45 @@ int claw_net_get(const char *url,
126131
return CLAW_ERROR;
127132
}
128133

134+
if (resp_len) {
135+
*resp_len = ctx.len;
136+
}
129137
if (resp_len) {
130138
*resp_len = ctx.len;
131139
}
132140
return status;
133141
}
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#else /* Standalone FreeRTOS stub */
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#define TAG "net_stub"
146+
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int claw_net_post(const char *url,
148+
const claw_net_header_t *headers, int header_count,
149+
const char *body, size_t body_len,
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char *resp, size_t resp_size, size_t *resp_len)
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{
152+
(void)url; (void)headers; (void)header_count;
153+
(void)body; (void)body_len;
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(void)resp; (void)resp_size;
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if (resp_len) {
156+
*resp_len = 0;
157+
}
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CLAW_LOGW(TAG, "net_post: not implemented (standalone FreeRTOS)");
159+
return CLAW_ERROR;
160+
}
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int claw_net_get(const char *url,
163+
const claw_net_header_t *headers, int header_count,
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char *resp, size_t resp_size, size_t *resp_len)
165+
{
166+
(void)url; (void)headers; (void)header_count;
167+
(void)resp; (void)resp_size;
168+
if (resp_len) {
169+
*resp_len = 0;
170+
}
171+
CLAW_LOGW(TAG, "net_get: not implemented (standalone FreeRTOS)");
172+
return CLAW_ERROR;
173+
}
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#endif /* CLAW_PLATFORM_ESP_IDF */

‎platform/zynq-a9/FreeRTOSConfig.h‎

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@@ -0,0 +1,116 @@
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/* SPDX-License-Identifier: MIT */
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/*
3+
* FreeRTOS configuration for QEMU Xilinx Zynq-7000 (Cortex-A9)
4+
*
5+
* Based on the FreeRTOS official Zynq QEMU Demo configuration,
6+
* adapted for rt-claw embedded AI assistant platform.
7+
*/
8+
9+
#ifndef FREERTOS_CONFIG_H
10+
#define FREERTOS_CONFIG_H
11+
12+
#include "xparameters.h"
13+
14+
/*-----------------------------------------------------------
15+
* Application-specific definitions
16+
*----------------------------------------------------------*/
17+
18+
/* Scheduling */
19+
#define configUSE_PREEMPTION 1
20+
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
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#define configUSE_TICKLESS_IDLE 0
22+
#define configCPU_CLOCK_HZ 100000000UL
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#define configTICK_RATE_HZ 1000
24+
#define configMAX_PRIORITIES 8
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#define configMINIMAL_STACK_SIZE 256
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#define configMAX_TASK_NAME_LEN 16
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#define configIDLE_SHOULD_YIELD 1
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29+
/* Memory */
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#define configTOTAL_HEAP_SIZE (512 * 1024)
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#define configSUPPORT_STATIC_ALLOCATION 0
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#define configSUPPORT_DYNAMIC_ALLOCATION 1
33+
34+
/* Data types */
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#define configUSE_16_BIT_TICKS 0
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#define configTASK_RETURN_ADDRESS NULL
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/* Hooks */
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#define configUSE_IDLE_HOOK 0
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#define configUSE_TICK_HOOK 0
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#define configCHECK_FOR_STACK_OVERFLOW 2
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#define configUSE_MALLOC_FAILED_HOOK 1
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/* Synchronization */
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#define configUSE_MUTEXES 1
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#define configUSE_RECURSIVE_MUTEXES 1
47+
#define configUSE_COUNTING_SEMAPHORES 1
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#define configQUEUE_REGISTRY_SIZE 8
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/* Software timers */
51+
#define configUSE_TIMERS 1
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#define configTIMER_TASK_PRIORITY (configMAX_PRIORITIES - 1)
53+
#define configTIMER_QUEUE_LENGTH 10
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#define configTIMER_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE * 2)
55+
56+
/* Trace and stats */
57+
#define configUSE_TRACE_FACILITY 1
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#define configGENERATE_RUN_TIME_STATS 0
59+
#define configUSE_STATS_FORMATTING_FUNCTIONS 0
60+
61+
/* Co-routines (unused) */
62+
#define configUSE_CO_ROUTINES 0
63+
#define configMAX_CO_ROUTINE_PRIORITIES 2
64+
65+
/* FPU support: all tasks save/restore FPU context */
66+
#define configUSE_TASK_FPU_SUPPORT 2
67+
68+
/* QEMU marker */
69+
#define configUSING_QEMU 1
70+
71+
/*-----------------------------------------------------------
72+
* Optional function inclusion
73+
*----------------------------------------------------------*/
74+
75+
#define INCLUDE_vTaskPrioritySet 1
76+
#define INCLUDE_uxTaskPriorityGet 1
77+
#define INCLUDE_vTaskDelete 1
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#define INCLUDE_vTaskCleanUpResources 1
79+
#define INCLUDE_vTaskSuspend 1
80+
#define INCLUDE_vTaskDelayUntil 1
81+
#define INCLUDE_vTaskDelay 1
82+
#define INCLUDE_xTimerPendFunctionCall 1
83+
#define INCLUDE_eTaskGetState 1
84+
85+
/*-----------------------------------------------------------
86+
* Zynq-7000 GIC (Generic Interrupt Controller) configuration
87+
*----------------------------------------------------------*/
88+
89+
#define configINTERRUPT_CONTROLLER_BASE_ADDRESS XPAR_PS7_SCUGIC_0_DIST_BASEADDR
90+
#define configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET (-0xf00)
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#define configUNIQUE_INTERRUPT_PRIORITIES 32
92+
#define configMAX_API_CALL_INTERRUPT_PRIORITY 18
93+
94+
/*-----------------------------------------------------------
95+
* Tick interrupt setup (provided by platform port)
96+
*----------------------------------------------------------*/
97+
98+
void vConfigureTickInterrupt(void);
99+
#define configSETUP_TICK_INTERRUPT() vConfigureTickInterrupt()
100+
101+
void vClearTickInterrupt(void);
102+
#define configCLEAR_TICK_INTERRUPT() vClearTickInterrupt()
103+
104+
/*-----------------------------------------------------------
105+
* Assert and debug
106+
*----------------------------------------------------------*/
107+
108+
void vAssertCalled(const char *pcFile, unsigned long ulLine);
109+
#define configASSERT(x) \
110+
do { \
111+
if ((x) == 0) { \
112+
vAssertCalled(__FILE__, __LINE__); \
113+
} \
114+
} while (0)
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#endif /* FREERTOS_CONFIG_H */

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