fix freertos kernel compatibility
This commit is contained in:
rmanach
parent
02e1de09ff
commit
b27b45fb9a
4
.gitignore
vendored
4
.gitignore
vendored
@ -2,7 +2,9 @@
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picotool
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sdk
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freertos
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freertos*
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build
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toolchain
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*.orig
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20
Makefile
20
Makefile
@ -4,7 +4,7 @@ SDK_VERSION := 2.1.0
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PICOTOOL := $(INSTALL_PATH)/picotool/$(SDK_VERSION)/build/picotool
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export PICO_SDK_PATH=$(INSTALL_PATH)/sdk/$(SDK_VERSION)
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# if using a different platform or arch, set ot here
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# if using a different platform or arch, set it here
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export PICO_PLATFORM=rp2350
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# project name, need to be passed as make input (ex: make project name=test)
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@ -13,6 +13,7 @@ name := ""
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install:
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@./scripts/install_sdk.bash $(SDK_VERSION)
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@./scripts/install_picotool.bash $(SDK_VERSION)
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@./scripts/install_freertos.bash
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info:
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@$(PICOTOOL) info -a
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@ -20,7 +21,22 @@ info:
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project:
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@./scripts/scaffold_project.bash $(name) $(SDK_VERSION)
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compile:
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.check-name:
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ifeq ($(strip $(name)), "")
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@echo "error: project name must be set, ex: name=<project_name>"
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@false
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endif
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ifeq ($(shell test -d $(name) && echo "ok"),)
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@echo "error: project $(name) does not exist"
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@false
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endif
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format: .check-name
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@test -f "$(shell find /usr/bin/ -name astyle)" && astyle --style=java --indent=spaces=4 -K -xC120 $(name)/*.c
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compile: format
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rm -f ${name}/build/CMakeCache.txt
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@(test -d ${name} && mkdir -p ${name}/build && cd ${name}/build && cmake .. && make -j$(nproc) && echo "project compile successfully") || echo "error: unable to compile project: $(name)"
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push: compile
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@ -13,92 +13,88 @@
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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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// Scheduler Configuration
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#define configUSE_PREEMPTION 1 // 1: Preemptive scheduler, 0: Cooperative scheduler
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#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 // Use optimized task selection if available
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#define configUSE_IDLE_HOOK 0 // 1: Use Idle hook function
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#define configUSE_TICK_HOOK 0 // 1: Use Tick hook function
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#define configIDLE_SHOULD_YIELD 1 // 1: Idle task yields to same priority tasks
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#define configSUPPORT_DYNAMIC_ALLOCATION 1
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// System Clock Configuration
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#define configCPU_CLOCK_HZ ((unsigned long)150000000) // CPU frequency: 150 MHz for RP2350
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#define configTICK_RATE_HZ ((TickType_t)1000) // RTOS tick frequency (1000 Hz = 1ms tick)
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#define configENABLE_FPU 0
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#define configENABLE_TRUSTZONE 0
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// Task Configuration
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#define configMAX_PRIORITIES 5 // Maximum number of priority levels
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#define configMINIMAL_STACK_SIZE ((unsigned short)256) // Minimum stack size in words
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#define configMAX_TASK_NAME_LEN (16) // Maximum length of task names
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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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// Memory Configuration
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#define configTOTAL_HEAP_SIZE ((size_t)(16 * 1024)) // Total RTOS heap size (16 KB)
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#define configSUPPORT_DYNAMIC_ALLOCATION 1 // 1: Enable dynamic memory allocation
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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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// Synchronization Primitives
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#define configUSE_MUTEXES 1 // 1: Enable mutexes
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#define configUSE_RECURSIVE_MUTEXES 1 // 1: Enable recursive mutexes
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#define configUSE_COUNTING_SEMAPHORES 1 // 1: Enable counting semaphores
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#define configQUEUE_REGISTRY_SIZE 8 // Number of queues/semaphores that can be registered
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#define configENABLE_MPU 0
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// Debugging and Diagnostics
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#define configUSE_TRACE_FACILITIES 0 // 1: Enable trace/debug facilities
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#define configCHECK_FOR_STACK_OVERFLOW 2 // Stack overflow checking method (0=off, 1=method1, 2=method2)
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#define configUSE_MALLOC_FAILED_HOOK 0 // 1: Use memory allocation failure hook
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#define configUSE_APPLICATION_TASK_TAG 0 // 1: Enable task tagging
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#define configGENERATE_RUN_TIME_STATS 0 // 1: Generate run-time statistics
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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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// Timer Configuration
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#define configUSE_TIMERS 1 // 1: Enable software timers
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#define configTIMER_TASK_PRIORITY (2) // Timer service task priority
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#define configTIMER_QUEUE_LENGTH 10 // Timer command queue length
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#define configTIMER_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE * 2) // Timer task stack size
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/* Cortex-M specific definitions. */
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// Co-routine Configuration
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#define configUSE_CO_ROUTINES 0 // 1: Enable co-routines
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#define configMAX_CO_ROUTINE_PRIORITIES (2) // Maximum co-routine priorities
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// Hardware Specific Configuration
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#define configENABLE_FPU 1 // 1: Enable Floating Point Unit
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#define configENABLE_TRUSTZONE 0 // 1: Enable TrustZone
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#define configENABLE_MPU 0 // 1: Enable Memory Protection Unit (defined twice in original)
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#define configRUN_FREERTOS_SECURE_ONLY 1 // 1: Run in secure mode only
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#define configUSE_16_BIT_TICKS 0 // 0: Use 32-bit ticks, 1: Use 16-bit ticks
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// API Inclusion Configuration
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#define INCLUDE_vTaskPrioritySet 1 // Include task priority set API
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#define INCLUDE_uxTaskPriorityGet 1 // Include task priority get API
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#define INCLUDE_vTaskDelete 1 // Include task delete API
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#define INCLUDE_vTaskCleanUpResources 0 // Include task cleanup API
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#define INCLUDE_vTaskSuspend 1 // Include task suspend API
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#define INCLUDE_vTaskDelayUntil 1 // Include delay until API
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#define INCLUDE_vTaskDelay 1 // Include delay API
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#define INCLUDE_xTaskGetSchedulerState 1 // Include scheduler state API
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#define INCLUDE_xTaskGetCurrentTaskHandle 1 // Include current task handle API
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#define INCLUDE_uxTaskGetStackHighWaterMark 0 // Include stack high water mark API
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#define INCLUDE_xTaskGetIdleTaskHandle 0 // Include idle task handle API
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#define INCLUDE_eTaskGetState 0 // Include task state API
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#define INCLUDE_xSemaphoreGetMutexHolder 0 // Include mutex holder API
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#define INCLUDE_xTimerPendFunctionCall 1 // Include timer pend function call API (defined twice in original)
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#define INCLUDE_xQueueGetMutexHolder 0 // Include queue mutex holder API
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#define INCLUDE_xEventGroupSetBitFromISR 1 // Include event group set bit from ISR API
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// Cortex-M Interrupt Configuration
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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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#define configPRIO_BITS __NVIC_PRIO_BITS // Use CMSIS defined priority bits
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#else
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#define configPRIO_BITS 3 /* 7 priority levels */
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#define configPRIO_BITS 3 // 7 priority levels (default)
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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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#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x7 // Lowest interrupt priority
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#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5 // Highest priority for FreeRTOS API calls
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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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#define configKERNEL_INTERRUPT_PRIORITY (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
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#define configMAX_SYSCALL_INTERRUPT_PRIORITY (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
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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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// Assertion Definition
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#define configASSERT(x) if((x) == 0) { taskDISABLE_INTERRUPTS(); for(;;); } // Basic assert implementation
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#endif /* FREERTOS_CONFIG_H */
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28
scripts/install_freertos.bash
Executable file
28
scripts/install_freertos.bash
Executable file
@ -0,0 +1,28 @@
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#!/bin/bash
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######################################################
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#
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# Install FreeRTOS Raspberry Pi Kernel.
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# src: https://github.com/raspberrypi/FreeRTOS-Kernel
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#
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# ex: ./install_freertos.bash
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#
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######################################################
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if [[ -z ${INSTALL_PATH} ]]
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then
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INSTALL_PATH=${PWD}
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fi
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if [[ ! -d ${INSTALL_PATH}/freertos ]]
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then
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echo "installing freertos..."
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git clone https://github.com/raspberrypi/FreeRTOS-Kernel ${INSTALL_PATH}/freertos
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if [[ $? != 0 ]]
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then
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echo "error: unable to clone freertos"
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exit 1
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fi
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fi
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echo "freertos installation completed"
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@ -12,9 +12,11 @@ project(simple_led C CXX ASM)
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pico_sdk_init()
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set(FREERTOS_SRC_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../freertos/FreeRTOSv202411.00/FreeRTOS/Source)
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set(FREERTOS_SRC_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../freertos)
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set(FREERTOS_CONFIG_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../config)
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include(${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2350_ARM_NTZ/FreeRTOS_Kernel_import.cmake)
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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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@ -31,7 +33,7 @@ set(FREERTOS_CONFIG_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/../config)
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include_directories(
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${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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${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure
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)
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set(FREERTOS_SOURCES
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@ -45,8 +47,9 @@ set(FREERTOS_SOURCES
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)
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set(FREERTOS_PORT_FILES
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${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/port.c
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${FREERTOS_SRC_DIRECTORY}/portable/GCC/ARM_CM33_NTZ/non_secure/portasm.c
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${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/port.c
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${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/portasm.c
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${FREERTOS_SRC_DIRECTORY}/portable/ThirdParty/GCC/RP2350_ARM_NTZ/non_secure/mpu_wrappers_v2_asm.c
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)
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add_executable(simple_led main.c ${FREERTOS_SOURCES} ${FREERTOS_PORT_FILES})
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@ -57,10 +60,11 @@ pico_set_program_version(simple_led "0.1")
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target_link_libraries(
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simple_led
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pico_stdlib
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hardware_exception
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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_uart(simple_led 1)
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pico_enable_stdio_usb(simple_led 1)
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pico_add_extra_outputs(simple_led)
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@ -1,92 +1,55 @@
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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 <pico/printf.h>
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#include <pico/stdlib.h>
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#include <pico/time.h>
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#include <semphr.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 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 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_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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gpio_put(PICO_DEFAULT_LED_PIN, false);
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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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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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enum status { STOP, RUNNING, FAILED, UNKNOWN };
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/**
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* Handle the application state.
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*/
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typedef struct state state;
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struct state {
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SemaphoreHandle_t lock;
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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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absolute_time_t push_clock;
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bool on_reset;
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bool is_reset;
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int status;
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};
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static state global_state = (state) {
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/**
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* Parameters available to be passed in task function.
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*/
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typedef struct params params;
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struct params {
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uint gpio;
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uint32_t delays_ms;
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bool in_task;
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state *s;
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};
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static state global_state = {
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.counter = 0,
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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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.status = RUNNING,
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};
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void init_state(state *s) {
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s->lock = xSemaphoreCreateMutex();
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}
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void incr_counter(state *s) {
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if (s != NULL) {
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if (s->can_incr) {
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@ -112,15 +75,37 @@ void set_push_clock(state *s) {
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if (s != NULL) {
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if (s->push_clock)
|
||||
return;
|
||||
s->push_clock = clock();
|
||||
s->push_clock = get_absolute_time();
|
||||
}
|
||||
}
|
||||
|
||||
void set_status(state *s, int status) {
|
||||
if (s != NULL) {
|
||||
if (xSemaphoreTake(s->lock, (TickType_t)10) == pdTRUE) {
|
||||
s->status = status;
|
||||
xSemaphoreGive(s->lock);
|
||||
return;
|
||||
}
|
||||
blink_failed(PICO_DEFAULT_LED_PIN, 200, false);
|
||||
}
|
||||
}
|
||||
|
||||
int get_status(state *s) {
|
||||
if (s != NULL) {
|
||||
if (xSemaphoreTake(s->lock, (TickType_t)10) == pdTRUE) {
|
||||
int res = s->status;
|
||||
xSemaphoreGive(s->lock);
|
||||
return res;
|
||||
}
|
||||
blink_failed(PICO_DEFAULT_LED_PIN, 200, false);
|
||||
}
|
||||
}
|
||||
|
||||
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)
|
||||
absolute_time_t end = get_absolute_time();
|
||||
uint64_t elapsed_ms = absolute_time_diff_us(s->push_clock, end) / 1000;
|
||||
if (elapsed_ms >= 2000)
|
||||
return true;
|
||||
}
|
||||
return false;
|
||||
@ -132,76 +117,133 @@ void reset(state *s) {
|
||||
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)
|
||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||
if (!gpio_get(GPIO_13)) {
|
||||
if (global_state.is_reset)
|
||||
continue;
|
||||
void blink_success(uint gpio, uint32_t delay_ms, bool in_task) {
|
||||
gpio_put(gpio, true);
|
||||
if (in_task)
|
||||
vTaskDelay(pdMS_TO_TICKS(delay_ms));
|
||||
else
|
||||
sleep_ms(delay_ms);
|
||||
gpio_put(gpio, false);
|
||||
}
|
||||
|
||||
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);
|
||||
void blink_failed(uint gpio, uint32_t delay_ms, bool in_task) {
|
||||
for (;;) {
|
||||
gpio_put(gpio, false);
|
||||
if (in_task)
|
||||
vTaskDelay(pdMS_TO_TICKS(delay_ms));
|
||||
else
|
||||
sleep_ms(delay_ms);
|
||||
|
||||
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);
|
||||
gpio_put(gpio, true);
|
||||
if (in_task)
|
||||
vTaskDelay(pdMS_TO_TICKS(delay_ms));
|
||||
else
|
||||
sleep_ms(delay_ms);
|
||||
}
|
||||
}
|
||||
|
||||
void run_led_control() {
|
||||
BaseType_t res = xTaskCreate(
|
||||
led_control,
|
||||
"led_controller",
|
||||
configMINIMAL_STACK_SIZE,
|
||||
NULL,
|
||||
configMAX_PRIORITIES - 1U,
|
||||
NULL
|
||||
);
|
||||
void healtchheck(void *const vParameters) {
|
||||
params *p = (params *const)vParameters;
|
||||
for (;;) {
|
||||
if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING ||
|
||||
get_status(p->s) != RUNNING)
|
||||
gpio_put(p->gpio, false);
|
||||
else
|
||||
gpio_put(p->gpio, true);
|
||||
vTaskDelay(pdMS_TO_TICKS(p->delays_ms));
|
||||
}
|
||||
}
|
||||
|
||||
void run_health(state *s) {
|
||||
static params p = {
|
||||
.delays_ms = 50,
|
||||
.gpio = PICO_DEFAULT_LED_PIN,
|
||||
.in_task = true,
|
||||
};
|
||||
p.s = s;
|
||||
|
||||
TaskHandle_t t;
|
||||
BaseType_t res =
|
||||
xTaskCreate(healtchheck, "healthcheck", configMINIMAL_STACK_SIZE,
|
||||
(void *const)&p, configMAX_PRIORITIES - 1U, &t);
|
||||
|
||||
if (res != pdPASS) {
|
||||
printf("error: unable to launch led control task, code error: %d\n", res);
|
||||
stdio_printf("error: unable to launch healthcheck task, code error: %d\n",
|
||||
res);
|
||||
blink_failed(PICO_DEFAULT_LED_PIN, 200, false);
|
||||
}
|
||||
|
||||
return;
|
||||
}
|
||||
|
||||
void led_control(void *const vParameters) {
|
||||
params *p = (params *const)vParameters;
|
||||
|
||||
for (;;) {
|
||||
// return low level when the button is pressed
|
||||
if (!gpio_get(GPIO_13)) {
|
||||
vTaskDelay(pdMS_TO_TICKS(20)); // avoid "bounce" phenomenon (buffeting)
|
||||
if (!gpio_get(GPIO_13)) {
|
||||
if (p->s->is_reset)
|
||||
continue;
|
||||
|
||||
set_push_clock(p->s);
|
||||
if (is_resetting(p->s)) {
|
||||
set_status(p->s, STOP);
|
||||
reset(p->s);
|
||||
for (int i = 0; i < 3; i++) {
|
||||
gpio_put(GPIO_15, true);
|
||||
vTaskDelay(pdMS_TO_TICKS(200));
|
||||
|
||||
gpio_put(GPIO_15, false);
|
||||
vTaskDelay(pdMS_TO_TICKS(200));
|
||||
}
|
||||
continue;
|
||||
}
|
||||
|
||||
incr_counter(p->s);
|
||||
if (can_push(p->s))
|
||||
gpio_put(GPIO_15, true);
|
||||
else
|
||||
set_status(p->s, STOP);
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
if (p->s->is_reset) {
|
||||
set_status(p->s, RUNNING);
|
||||
p->s->on_reset = false;
|
||||
p->s->is_reset = false;
|
||||
}
|
||||
p->s->push_clock = 0;
|
||||
set_can_incr(p->s, true);
|
||||
gpio_put(GPIO_15, false);
|
||||
}
|
||||
}
|
||||
|
||||
void run_led_control(state *s) {
|
||||
static params p;
|
||||
p.s = s;
|
||||
|
||||
BaseType_t res =
|
||||
xTaskCreate(led_control, "led_controller", configMINIMAL_STACK_SIZE,
|
||||
(void *const)&p, configMAX_PRIORITIES - 1U, NULL);
|
||||
|
||||
if (res != pdPASS) {
|
||||
stdio_printf("error: unable to launch led control task, code error: %d\n",
|
||||
res);
|
||||
blink_failed(PICO_DEFAULT_LED_PIN, 200, false);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize needed GPIO.
|
||||
*/
|
||||
void init_gpio() {
|
||||
#ifdef PICO_DEFAULT_LED_PIN
|
||||
#ifdef PICO_DEFAULT_LED_PIN
|
||||
gpio_init(PICO_DEFAULT_LED_PIN);
|
||||
gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
|
||||
#endif
|
||||
#endif
|
||||
|
||||
gpio_init(GPIO_15);
|
||||
gpio_set_dir(GPIO_15, GPIO_OUT);
|
||||
@ -210,42 +252,41 @@ void init_gpio() {
|
||||
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));
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Callback when unable to initialize task (not enough stask memory).
|
||||
* Increase `uxStackDepth` arg when creating task if needed.
|
||||
*/
|
||||
void vApplicationStackOverflowHook(TaskHandle_t pxTask, char *pcTaskName) {
|
||||
blink_failed(false);
|
||||
blink_failed(PICO_DEFAULT_LED_PIN, 100, true);
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
/**
|
||||
* A simple application to play with leds with FreeRTOS.
|
||||
* Yes, FreeRTOS is overkill for this kind of application
|
||||
* but it's cool to see how easyly it can be integrated and
|
||||
* easy to use for concurrent tasks.
|
||||
*
|
||||
* Hardware:
|
||||
* - a push button switch
|
||||
* - a red led
|
||||
* - 2 10k ohm resistors
|
||||
* - 1 200 ohm resistor
|
||||
*
|
||||
* When the Pico is on, the default led is on (acts as a healthcheck).
|
||||
* You can then push the button and see the red led lights on.
|
||||
* After 10 pushed, the red light lights off and the default led too.
|
||||
* To reset the application, holds the button ~2 secs, the red light will
|
||||
* blink two time and the application will be started again.
|
||||
*
|
||||
*/
|
||||
int main() {
|
||||
stdio_init_all();
|
||||
init_gpio();
|
||||
|
||||
// TaskHandle_t health_task = run_health();
|
||||
// TaskHandle_t led_task = run_led_control();
|
||||
init_state(&global_state);
|
||||
|
||||
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);
|
||||
run_health(&global_state);
|
||||
run_led_control(&global_state);
|
||||
|
||||
vTaskStartScheduler();
|
||||
|
||||
blink_failed(false);
|
||||
}
|
||||
Loading…
x
Reference in New Issue
Block a user