App loading improvements and more

CMakeLists.txt

@@ -94,17 +94,17 @@ if (DEFINED ENV{ESP_IDF_VERSION})
 
     # opendir()/readdir()/closedir() also define the plain names directly (vfs_calls.c).
     # Wrapped so opendir("/") synthesizes a listing of own registered filesystems instead of ENOENT.
-    # See Platforms/platform-esp32/source/root_dir.cpp.
+    # See Modules/app-esp32-module/source/root_dir.cpp.
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=opendir" APPEND)
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=readdir" APPEND)
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=closedir" APPEND)
 
     # mkdir() is an alias in vfs_calls.c. Wrapped so an existing mount root reports EEXIST.
-    # See Platforms/platform-esp32/source/mkdir.cpp.
+    # See Modules/app-esp32-module/source/path_wrap.cpp.
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=mkdir" APPEND)
 
-    # Path-based VFS calls are aliases in vfs_calls.c. Wrapped so a NULL path fails with EFAULT instead of crashing.
-    # See Platforms/platform-esp32/source/vfs_null_path.cpp.
+    # Path-based VFS calls are aliases in vfs_calls.c. Wrapped so an app's relative path is resolved against its cwd,
+    # and a NULL path fails with EFAULT instead of crashing. See Modules/app-esp32-module/source/path_wrap.cpp.
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=_open_r" APPEND)
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=_stat_r" APPEND)
     idf_build_set_property(LINK_OPTIONS "-Wl,--wrap=_link_r" APPEND)
@@ -200,6 +200,13 @@ if (NOT DEFINED ENV{ESP_IDF_VERSION})
     set(FREERTOS_PORT GCC_POSIX CACHE STRING "")
     add_subdirectory(Libraries/FreeRTOS-Kernel)
     target_compile_definitions(freertos_kernel PUBLIC "projCOVERAGE_TEST=0")
+    # xTaskCreate() and vTaskDelete() are defined by freertos_task_hooks.c instead, see its header
+    set_source_files_properties(Libraries/FreeRTOS-Kernel/tasks.c
+        TARGET_DIRECTORY freertos_kernel
+        PROPERTIES COMPILE_DEFINITIONS "xTaskCreate=freertos_real_xTaskCreate;vTaskDelete=freertos_real_vTaskDelete"
+    )
+    target_sources(freertos_kernel PRIVATE Platforms/platform-posix/freertos/freertos_task_hooks.c)
+    target_include_directories(freertos_kernel PUBLIC Platforms/platform-posix/freertos)
 
     # EmbedTLS
     set(ENABLE_TESTING OFF)

Documentation/ideas.md

@@ -7,6 +7,8 @@
 
 ## Higher Priority
 
+- Terminal app should always run in non-LVGL mode if no PSRAM is present.
+- Crash app should work without LVGL, like Boot app. It should wait for any input (keyboard or pointer) to continue.
 - NimBLE looses pairing key after reboot
 - CrashDiagnostics shouldn't show a QR when there's no callstack
 - Move USB host task stacks to SPIRAM when available: esp32_usbhost*.cpp

Modules/app-esp32-module/source/app_esp32_loader_service.cpp

@@ -87,7 +87,12 @@ std::string resolve_elf_path(const std::string& path) {
 constexpr ElfRequirements EXECUTABLE_REQUIREMENTS = {
     .elf_class = ELF_CLASS_32,
     .data = ELF_DATA_2LSB,
-    .type = ELF_TYPE_DYN,
+#if CONFIG_ELF_LOADER_BUS_ADDRESS_MIRROR
+    // Loaded by section rather than by program header, so a relocatable object without any (e.g. xcc700's output) loads too
+    .types = ELF_TYPE_MASK(ELF_TYPE_DYN) | ELF_TYPE_MASK(ELF_TYPE_REL),
+#else
+    .types = ELF_TYPE_MASK(ELF_TYPE_DYN),
+#endif
 #if defined(__XTENSA__)
     .machine = ELF_MACHINE_XTENSA,
 #elif defined(__riscv)
@@ -107,7 +112,7 @@ bool is_executable_file(const std::string& resolved_path) {
 
 error_t api_load(AppLocation location, AppRuntime* out_runtime) {
     if (location.type != APP_LOCATION_PATH) {
-        LOG_E(TAG, "Out of memory");
+        LOG_E(TAG, "Unsupported location type");
         return ERROR_NOT_SUPPORTED;
     }