add freertos lib
This commit is contained in:
rmanach
parent
a159937fa9
commit
02e1de09ff
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.gitignore
vendored
1
.gitignore
vendored
@ -2,6 +2,7 @@
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picotool
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sdk
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freertos
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build
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toolchain
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104
config/FreeRTOSConfig.h
Normal file
104
config/FreeRTOSConfig.h
Normal file
@ -0,0 +1,104 @@
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#ifndef FREERTOS_CONFIG_H
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#define FREERTOS_CONFIG_H
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/*-----------------------------------------------------------
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* Application specific definitions.
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*
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* These definitions should be adjusted for your particular hardware and
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* application requirements.
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*
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* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
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* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
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*
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* See http://www.freertos.org/a00110.html.
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*----------------------------------------------------------*/
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#define configUSE_PREEMPTION 1
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#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
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#define configUSE_IDLE_HOOK 0
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#define configUSE_TICK_HOOK 0
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#define configCPU_CLOCK_HZ ((unsigned long)150000000) // RP2350 default clock is 150 MHz
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#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
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#define configMAX_PRIORITIES 5
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#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 256 )
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#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 16 * 1024 ) )
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#define configMAX_TASK_NAME_LEN ( 16 )
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#define configUSE_TRACE_FACILITIES 0
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#define configUSE_16_BIT_TICKS 0
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#define configIDLE_SHOULD_YIELD 1
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#define configUSE_MUTEXES 1
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#define configQUEUE_REGISTRY_SIZE 8
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#define configCHECK_FOR_STACK_OVERFLOW 2
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#define configUSE_RECURSIVE_MUTEXES 1
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#define configUSE_MALLOC_FAILED_HOOK 0
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#define configUSE_APPLICATION_TASK_TAG 0
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#define configUSE_COUNTING_SEMAPHORES 1
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#define configGENERATE_RUN_TIME_STATS 0
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#define configSUPPORT_DYNAMIC_ALLOCATION 1
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#define configENABLE_FPU 0
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#define configENABLE_TRUSTZONE 0
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/* Co-routine definitions. */
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#define configUSE_CO_ROUTINES 0
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#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
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/* Software timer definitions. */
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#define configUSE_TIMERS 1
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#define configTIMER_TASK_PRIORITY ( 2 )
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#define configTIMER_QUEUE_LENGTH 10
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#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 2 )
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#define configENABLE_MPU 0
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/* Set the following definitions to 1 to include the API function, or zero
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to exclude the API function. */
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#define INCLUDE_vTaskPrioritySet 1
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#define INCLUDE_uxTaskPriorityGet 1
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#define INCLUDE_vTaskDelete 1
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#define INCLUDE_vTaskCleanUpResources 0
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#define INCLUDE_vTaskSuspend 1
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#define INCLUDE_vTaskDelayUntil 1
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#define INCLUDE_vTaskDelay 1
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#define INCLUDE_xTaskGetSchedulerState 1
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#define INCLUDE_xTaskGetCurrentTaskHandle 1
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#define INCLUDE_uxTaskGetStackHighWaterMark 0
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#define INCLUDE_xTaskGetIdleTaskHandle 0
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#define INCLUDE_eTaskGetState 0
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#define INCLUDE_xSemaphoreGetMutexHolder 0
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#define INCLUDE_xTimerPendFunctionCall 1
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#define INCLUDE_xQueueGetMutexHolder 0
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#define INCLUDE_xEventGroupSetBitFromISR 1
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#define INCLUDE_xTimerPendFunctionCall 1
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/* Cortex-M specific definitions. */
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#ifdef __NVIC_PRIO_BITS
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/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
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#define configPRIO_BITS __NVIC_PRIO_BITS
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#else
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#define configPRIO_BITS 3 /* 7 priority levels */
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#endif
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/* The lowest interrupt priority that can be used in a call to a "set priority"
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function. */
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#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x7
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/* The highest interrupt priority that can be used by any interrupt service
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routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
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INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
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PRIORITY THAN THIS! (higher priorities are lower numeric values. */
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#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
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/* Interrupt priorities used by the kernel port layer itself. These are generic
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to all Cortex-M ports, and do not rely on any particular library functions. */
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#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
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/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
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See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
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#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
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/* Normal assert() semantics without relying on the provision of an assert.h
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header file. */
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#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
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#endif /* FREERTOS_CONFIG_H */
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@ -5,35 +5,63 @@ cmake_minimum_required(VERSION 3.13)
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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set(CMAKE_C_COMPILER "/home/romain/Downloads/pico-sdk/toolchain/riscv/bin/riscv32-unknown-elf-gcc")
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# Pull in Raspberry Pi Pico SDK (must be before project)
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include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
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project(simple_led C CXX ASM)
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# Initialise the Raspberry Pi Pico SDK
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pico_sdk_init()
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# Add executable. Default name is the project name, version 0.1
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set(FREERTOS_SRC_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../freertos/FreeRTOSv202411.00/FreeRTOS/Source)
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set(FREERTOS_CONFIG_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../config)
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add_executable(simple_led main.c )
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# add_library(FreeRTOS STATIC
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# ${FREERTOS_SRC_DIRECTORY}/event_groups.c
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# ${FREERTOS_SRC_DIRECTORY}/list.c
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# ${FREERTOS_SRC_DIRECTORY}/queue.c
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# ${FREERTOS_SRC_DIRECTORY}/stream_buffer.c
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# ${FREERTOS_SRC_DIRECTORY}/tasks.c
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# ${FREERTOS_SRC_DIRECTORY}/timers.c
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# ${FREERTOS_SRC_DIRECTORY}/portable/MemMang/heap_3.c
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# ${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
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# ${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c
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# )
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# Include FreeRTOS directories
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include_directories(
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${FREERTOS_CONFIG_DIRECTORY}
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${FREERTOS_SRC_DIRECTORY}/include
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${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure
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)
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set(FREERTOS_SOURCES
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${FREERTOS_SRC_DIRECTORY}/event_groups.c
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${FREERTOS_SRC_DIRECTORY}/list.c
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${FREERTOS_SRC_DIRECTORY}/queue.c
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${FREERTOS_SRC_DIRECTORY}/stream_buffer.c
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${FREERTOS_SRC_DIRECTORY}/tasks.c
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${FREERTOS_SRC_DIRECTORY}/timers.c
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${FREERTOS_SRC_DIRECTORY}/portable/MemMang/heap_3.c
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)
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set(FREERTOS_PORT_FILES
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${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
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${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c
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)
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add_executable(simple_led main.c ${FREERTOS_SOURCES} ${FREERTOS_PORT_FILES})
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pico_set_program_name(simple_led "simple_led")
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pico_set_program_version(simple_led "0.1")
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# Modify the below lines to enable/disable output over UART/USB
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target_link_libraries(
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simple_led
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pico_stdlib
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# FreeRTOS
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)
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pico_enable_stdio_uart(simple_led 0)
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pico_enable_stdio_usb(simple_led 1)
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# Add the standard library to the build
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target_link_libraries(simple_led
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pico_stdlib)
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# Add the standard include files to the build
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target_include_directories(simple_led PRIVATE
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${CMAKE_CURRENT_LIST_DIR}
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)
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pico_add_extra_outputs(simple_led)
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@ -1,52 +1,90 @@
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#include <stdio.h>
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#include "pico/stdlib.h"
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#include <stdlib.h>
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#include <time.h>
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#include <stdio.h>
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#include "pico/stdlib.h"
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#include <FreeRTOS.h>
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#include <task.h>
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#include <queue.h>
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#ifndef LED_DELAY_MS
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#define LED_DELAY_MS 250
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#define LED_DELAY_MS 500
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#endif
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#define GPIO_15 15
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#define GPIO_13 13
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void pico_led_init(void) {
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#ifdef PICO_DEFAULT_LED_PIN
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gpio_init(PICO_DEFAULT_LED_PIN);
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gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
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#endif
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gpio_init(GPIO_15);
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gpio_set_dir(GPIO_15, GPIO_OUT);
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void blink_success(bool in_task) {
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gpio_put(PICO_DEFAULT_LED_PIN, true);
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if (in_task)
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vTaskDelay(pdMS_TO_TICKS(500));
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else
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sleep_ms(500);
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gpio_put(PICO_DEFAULT_LED_PIN, false);
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}
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void blink_led(void) {
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pico_led_init();
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while (true) {
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gpio_put(GPIO_15, false);
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void blink_failed(bool in_task) {
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for (;;) {
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gpio_put(PICO_DEFAULT_LED_PIN, true);
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if (in_task)
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vTaskDelay(pdMS_TO_TICKS(500));
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else
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sleep_ms(500);
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sleep_ms(LED_DELAY_MS);
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gpio_put(GPIO_15, true);
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gpio_put(PICO_DEFAULT_LED_PIN, false);
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sleep_ms(1000);
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if (in_task)
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vTaskDelay(pdMS_TO_TICKS(500));
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else
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sleep_ms(500);
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}
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}
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enum button_state {OFF, ON};
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void blink_default_led(void) {
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#ifdef PICO_DEFAULT_LED_PIN
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while (true) {
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gpio_put(PICO_DEFAULT_LED_PIN, true);
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// sleep_ms(LED_DELAY_MS);
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vTaskDelay(LED_DELAY_MS / portTICK_PERIOD_MS);
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gpio_put(PICO_DEFAULT_LED_PIN, false);
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// sleep_ms(1000);
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vTaskDelay(LED_DELAY_MS / portTICK_PERIOD_MS);
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}
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#endif
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}
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void run_health() {
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BaseType_t res = xTaskCreate(
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blink_default_led,
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"healthcheck",
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configMINIMAL_STACK_SIZE,
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NULL,
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configMAX_PRIORITIES - 1U,
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NULL
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);
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if (res != pdPASS) {
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printf("error: unable to launch healthcheck task, code error: %d\n", res);
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}
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return;
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}
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typedef struct state state;
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struct state {
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int counter;
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int bs;
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bool can_incr;
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clock_t push_clock;
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bool on_reset;
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bool is_reset;
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};
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static state global_state = (state) {
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.counter = 0,
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.can_incr = true
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.can_incr = true,
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.on_reset = false,
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.is_reset = false,
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};
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void incr_counter(state *s) {
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@ -70,28 +108,144 @@ bool can_push(state *s) {
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return true;
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}
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void set_push_clock(state *s) {
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if (s != NULL) {
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if (s->push_clock)
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return;
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s->push_clock = clock();
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}
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}
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int main()
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{
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gpio_init(GPIO_15);
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gpio_set_dir(GPIO_15, GPIO_OUT);
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bool is_resetting(state *s) {
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if (s != NULL) {
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clock_t c = clock();
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double exec_time = (double)(c - s->push_clock) / CLOCKS_PER_SEC;
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if (exec_time >= 2)
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return true;
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}
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return false;
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}
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gpio_init(GPIO_13);
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gpio_set_dir(GPIO_13, GPIO_IN);
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void reset(state *s) {
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s->push_clock = 0;
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s->counter = 0;
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s->is_reset = true;
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}
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void led_control() {
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while (1) {
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// return low level when the button is pressed
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if (!gpio_get(GPIO_13)) {
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sleep_ms(20); // avoid "bounce" phenomenon (buffeting)
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// sleep_ms(20); // avoid "bounce" phenomenon (buffeting)
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vTaskDelay(20 / portTICK_PERIOD_MS);
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if (!gpio_get(GPIO_13)) {
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if (global_state.is_reset)
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continue;
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set_push_clock(&global_state);
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if (is_resetting(&global_state)) {
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gpio_put(GPIO_15, true);
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// sleep_ms(500);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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gpio_put(GPIO_15, false);
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// sleep_ms(500);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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gpio_put(GPIO_15, true);
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// sleep_ms(500);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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gpio_put(GPIO_15, false);
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// sleep_ms(500);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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gpio_put(GPIO_15, true);
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// sleep_ms(500);
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vTaskDelay(500 / portTICK_PERIOD_MS);
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gpio_put(GPIO_15, false);
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reset(&global_state);
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continue;
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}
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incr_counter(&global_state);
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if (can_push(&global_state))
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gpio_put(GPIO_15, true);
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continue;
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}
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}
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if (global_state.is_reset) {
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global_state.on_reset = false;
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global_state.is_reset = false;
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}
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global_state.push_clock = 0;
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set_can_incr(&global_state, true);
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gpio_put(GPIO_15, false);
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}
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}
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void run_led_control() {
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BaseType_t res = xTaskCreate(
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led_control,
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"led_controller",
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configMINIMAL_STACK_SIZE,
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NULL,
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configMAX_PRIORITIES - 1U,
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NULL
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);
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if (res != pdPASS) {
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printf("error: unable to launch led control task, code error: %d\n", res);
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}
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}
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void init_gpio() {
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#ifdef PICO_DEFAULT_LED_PIN
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gpio_init(PICO_DEFAULT_LED_PIN);
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gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
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#endif
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gpio_init(GPIO_15);
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gpio_set_dir(GPIO_15, GPIO_OUT);
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gpio_init(GPIO_13);
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gpio_set_dir(GPIO_13, GPIO_IN);
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}
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void check_scheduler_init(void *pvParameters) {
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for (;;) {
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BaseType_t state = xTaskGetSchedulerState();
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if (state == taskSCHEDULER_RUNNING)
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blink_success(true);
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blink_success(true);
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// vTaskDelay(pdMS_TO_TICKS(500));
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}
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}
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void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
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blink_failed(false);
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}
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int main()
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{
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stdio_init_all();
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init_gpio();
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// TaskHandle_t health_task = run_health();
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// TaskHandle_t led_task = run_led_control();
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BaseType_t res = xTaskCreate(
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check_scheduler_init,
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"check_init",
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256,
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NULL,
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configMAX_PRIORITIES - 1,
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NULL
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);
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if (res != pdPASS)
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blink_failed(false);
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else
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blink_success(false);
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vTaskStartScheduler();
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blink_failed(false);
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}
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