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add freertos lib

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This commit is contained in:
rmanach
2025-02-20 14:31:09 +01:00
parent a159937fa9
commit 02e1de09ff
4 changed files with 332 additions and 45 deletions
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simple_led/CMakeLists.txt
+43 -15
View File
@@ -5,35 +5,63 @@ cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
set(CMAKE_C_COMPILER "/home/romain/Downloads/pico-sdk/toolchain/riscv/bin/riscv32-unknown-elf-gcc")
# Pull in Raspberry Pi Pico SDK (must be before project)
include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
project(simple_led C CXX ASM)
# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()
# Add executable. Default name is the project name, version 0.1
set(FREERTOS_SRC_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../freertos/FreeRTOSv202411.00/FreeRTOS/Source)
set(FREERTOS_CONFIG_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../config)
add_executable(simple_led main.c )
# add_library(FreeRTOS STATIC
# ${FREERTOS_SRC_DIRECTORY}/event_groups.c
# ${FREERTOS_SRC_DIRECTORY}/list.c
# ${FREERTOS_SRC_DIRECTORY}/queue.c
# ${FREERTOS_SRC_DIRECTORY}/stream_buffer.c
# ${FREERTOS_SRC_DIRECTORY}/tasks.c
# ${FREERTOS_SRC_DIRECTORY}/timers.c
# ${FREERTOS_SRC_DIRECTORY}/portable/MemMang/heap_3.c
# ${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
# ${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c
# )
# Include FreeRTOS directories
include_directories(
${FREERTOS_CONFIG_DIRECTORY}
${FREERTOS_SRC_DIRECTORY}/include
${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure
)
set(FREERTOS_SOURCES
${FREERTOS_SRC_DIRECTORY}/event_groups.c
${FREERTOS_SRC_DIRECTORY}/list.c
${FREERTOS_SRC_DIRECTORY}/queue.c
${FREERTOS_SRC_DIRECTORY}/stream_buffer.c
${FREERTOS_SRC_DIRECTORY}/tasks.c
${FREERTOS_SRC_DIRECTORY}/timers.c
${FREERTOS_SRC_DIRECTORY}/portable/MemMang/heap_3.c
)
set(FREERTOS_PORT_FILES
${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c
)
add_executable(simple_led main.c ${FREERTOS_SOURCES} ${FREERTOS_PORT_FILES})
pico_set_program_name(simple_led "simple_led")
pico_set_program_version(simple_led "0.1")
# Modify the below lines to enable/disable output over UART/USB
target_link_libraries(
simple_led
pico_stdlib
# FreeRTOS
)
pico_enable_stdio_uart(simple_led 0)
pico_enable_stdio_usb(simple_led 1)
# Add the standard library to the build
target_link_libraries(simple_led
pico_stdlib)
# Add the standard include files to the build
target_include_directories(simple_led PRIVATE
${CMAKE_CURRENT_LIST_DIR}
)
pico_add_extra_outputs(simple_led)
simple_led/main.c
+184 -30
View File
@@ -1,52 +1,90 @@
#include <stdio.h>
#include "pico/stdlib.h"
#include <stdlib.h>
#include <time.h>
#include <stdio.h>
#include "pico/stdlib.h"
#include <FreeRTOS.h>
#include <task.h>
#include <queue.h>
#ifndef LED_DELAY_MS
#define LED_DELAY_MS 250
#define LED_DELAY_MS 500
#endif
#define GPIO_15 15
#define GPIO_13 13
void pico_led_init(void) {
#ifdef PICO_DEFAULT_LED_PIN
gpio_init(PICO_DEFAULT_LED_PIN);
gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
#endif
gpio_init(GPIO_15);
gpio_set_dir(GPIO_15, GPIO_OUT);
void blink_success(bool in_task) {
gpio_put(PICO_DEFAULT_LED_PIN, true);
if (in_task)
vTaskDelay(pdMS_TO_TICKS(500));
else
sleep_ms(500);
gpio_put(PICO_DEFAULT_LED_PIN, false);
}
void blink_led(void) {
pico_led_init();
while (true) {
gpio_put(GPIO_15, false);
void blink_failed(bool in_task) {
for (;;) {
gpio_put(PICO_DEFAULT_LED_PIN, true);
if (in_task)
vTaskDelay(pdMS_TO_TICKS(500));
else
sleep_ms(500);
sleep_ms(LED_DELAY_MS);
gpio_put(GPIO_15, true);
gpio_put(PICO_DEFAULT_LED_PIN, false);
sleep_ms(1000);
if (in_task)
vTaskDelay(pdMS_TO_TICKS(500));
else
sleep_ms(500);
}
}
enum button_state {OFF, ON};
void blink_default_led(void) {
#ifdef PICO_DEFAULT_LED_PIN
while (true) {
gpio_put(PICO_DEFAULT_LED_PIN, true);
// sleep_ms(LED_DELAY_MS);
vTaskDelay(LED_DELAY_MS / portTICK_PERIOD_MS);
gpio_put(PICO_DEFAULT_LED_PIN, false);
// sleep_ms(1000);
vTaskDelay(LED_DELAY_MS / portTICK_PERIOD_MS);
}
#endif
}
void run_health() {
BaseType_t res = xTaskCreate(
blink_default_led,
"healthcheck",
configMINIMAL_STACK_SIZE,
NULL,
configMAX_PRIORITIES - 1U,
NULL
);
if (res != pdPASS) {
printf("error: unable to launch healthcheck task, code error: %d\n", res);
}
return;
}
typedef struct state state;
struct state {
int counter;
int bs;
bool can_incr;
clock_t push_clock;
bool on_reset;
bool is_reset;
};
static state global_state = (state) {
.counter = 0,
.can_incr = true
.can_incr = true,
.on_reset = false,
.is_reset = false,
};
void incr_counter(state *s) {
@@ -70,28 +108,144 @@ bool can_push(state *s) {
return true;
}
void set_push_clock(state *s) {
if (s != NULL) {
if (s->push_clock)
return;
s->push_clock = clock();
}
}
int main()
{
gpio_init(GPIO_15);
gpio_set_dir(GPIO_15, GPIO_OUT);
bool is_resetting(state *s) {
if (s != NULL) {
clock_t c = clock();
double exec_time = (double)(c - s->push_clock) / CLOCKS_PER_SEC;
if (exec_time >= 2)
return true;
}
return false;
}
gpio_init(GPIO_13);
gpio_set_dir(GPIO_13, GPIO_IN);
void reset(state *s) {
s->push_clock = 0;
s->counter = 0;
s->is_reset = true;
}
void led_control() {
while (1) {
// return low level when the button is pressed
if (!gpio_get(GPIO_13)) {
sleep_ms(20); // avoid "bounce" phenomenon (buffeting)
// sleep_ms(20); // avoid "bounce" phenomenon (buffeting)
vTaskDelay(20 / portTICK_PERIOD_MS);
if (!gpio_get(GPIO_13)) {
if (global_state.is_reset)
continue;
set_push_clock(&global_state);
if (is_resetting(&global_state)) {
gpio_put(GPIO_15, true);
// sleep_ms(500);
vTaskDelay(500 / portTICK_PERIOD_MS);
gpio_put(GPIO_15, false);
// sleep_ms(500);
vTaskDelay(500 / portTICK_PERIOD_MS);
gpio_put(GPIO_15, true);
// sleep_ms(500);
vTaskDelay(500 / portTICK_PERIOD_MS);
gpio_put(GPIO_15, false);
// sleep_ms(500);
vTaskDelay(500 / portTICK_PERIOD_MS);
gpio_put(GPIO_15, true);
// sleep_ms(500);
vTaskDelay(500 / portTICK_PERIOD_MS);
gpio_put(GPIO_15, false);
reset(&global_state);
continue;
}
incr_counter(&global_state);
if (can_push(&global_state))
gpio_put(GPIO_15, true);
continue;
}
}
if (global_state.is_reset) {
global_state.on_reset = false;
global_state.is_reset = false;
}
global_state.push_clock = 0;
set_can_incr(&global_state, true);
gpio_put(GPIO_15, false);
}
}
void run_led_control() {
BaseType_t res = xTaskCreate(
led_control,
"led_controller",
configMINIMAL_STACK_SIZE,
NULL,
configMAX_PRIORITIES - 1U,
NULL
);
if (res != pdPASS) {
printf("error: unable to launch led control task, code error: %d\n", res);
}
}
void init_gpio() {
#ifdef PICO_DEFAULT_LED_PIN
gpio_init(PICO_DEFAULT_LED_PIN);
gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
#endif
gpio_init(GPIO_15);
gpio_set_dir(GPIO_15, GPIO_OUT);
gpio_init(GPIO_13);
gpio_set_dir(GPIO_13, GPIO_IN);
}
void check_scheduler_init(void *pvParameters) {
for (;;) {
BaseType_t state = xTaskGetSchedulerState();
if (state == taskSCHEDULER_RUNNING)
blink_success(true);
blink_success(true);
// vTaskDelay(pdMS_TO_TICKS(500));
}
}
void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
blink_failed(false);
}
int main()
{
stdio_init_all();
init_gpio();
// TaskHandle_t health_task = run_health();
// TaskHandle_t led_task = run_led_control();
BaseType_t res = xTaskCreate(
check_scheduler_init,
"check_init",
256,
NULL,
configMAX_PRIORITIES - 1,
NULL
);
if (res != pdPASS)
blink_failed(false);
else
blink_success(false);
vTaskStartScheduler();
blink_failed(false);
}