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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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1
.gitignore vendored
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@ -2,6 +2,7 @@
picotool
sdk
freertos
build
toolchain

104
config/FreeRTOSConfig.h Normal file
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@ -0,0 +1,104 @@
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/
#define configUSE_PREEMPTION 1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ((unsigned long)150000000) // RP2350 default clock is 150 MHz
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES 5
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 256 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 16 * 1024 ) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITIES 0
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_MUTEXES 1
#define configQUEUE_REGISTRY_SIZE 8
#define configCHECK_FOR_STACK_OVERFLOW 2
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configGENERATE_RUN_TIME_STATS 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configENABLE_FPU 0
#define configENABLE_TRUSTZONE 0
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Software timer definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( 2 )
#define configTIMER_QUEUE_LENGTH 10
#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 2 )
#define configENABLE_MPU 0
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 0
#define INCLUDE_xTaskGetIdleTaskHandle 0
#define INCLUDE_eTaskGetState 0
#define INCLUDE_xSemaphoreGetMutexHolder 0
#define INCLUDE_xTimerPendFunctionCall 1
#define INCLUDE_xQueueGetMutexHolder 0
#define INCLUDE_xEventGroupSetBitFromISR 1
#define INCLUDE_xTimerPendFunctionCall 1
/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 3 /* 7 priority levels */
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x7
/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
#endif /* FREERTOS_CONFIG_H */

58
simple_led/CMakeLists.txt
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@ -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)

220
simple_led/main.c
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@ -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_led(void) {
pico_led_init();
while (true) {
gpio_put(GPIO_15, false);
void blink_success(bool in_task) {
gpio_put(PICO_DEFAULT_LED_PIN, true);
sleep_ms(LED_DELAY_MS);
gpio_put(GPIO_15, true);
if (in_task)
vTaskDelay(pdMS_TO_TICKS(500));
else
sleep_ms(500);
gpio_put(PICO_DEFAULT_LED_PIN, false);
}
sleep_ms(1000);
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);
gpio_put(PICO_DEFAULT_LED_PIN, false);
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);
}