Merge pull request #369 from facchinm/freertos_wrap_loop

Arduino_FreeRTOS: automatically start loop
arduino · Nov 28, 2024 · 428df2a · 428df2a
2 parents 7c59871 + fee8ca9
commit 428df2a
Show file tree

Hide file tree

Showing 2 changed files with 24 additions and 0 deletions.
diff --git a/cores/arduino/main.cpp b/cores/arduino/main.cpp
@@ -64,6 +64,7 @@ void unsecure_registers() {
 #define str(s) #s
 
 extern "C" void Stacktrace_Handler(void);
+extern "C" __attribute__((weak)) void start_freertos_on_header_inclusion() {}
 
 void arduino_main(void)
 {
@@ -111,6 +112,7 @@ void arduino_main(void)
    Serial.begin(115200);
 #endif
    startAgt();
+   start_freertos_on_header_inclusion();
    setup();
    while (1)
    {

diff --git a/libraries/Arduino_FreeRTOS/src/portable/FSP/port.c b/libraries/Arduino_FreeRTOS/src/portable/FSP/port.c
@@ -225,6 +225,28 @@ static void prvTaskExitError(void);
 
 #endif
 
+void loop_thread_func(void* arg) {
+    setup();
+    while (1)
+    {
+        loop();
+    }
+}
+
+static TaskHandle_t loop_task;
+void start_freertos_on_header_inclusion() {
+    xTaskCreate(
+      (TaskFunction_t)loop_thread_func,
+      "Loop Thread",
+      4096 / 4,   /* usStackDepth in words */
+      NULL,   /* pvParameters */
+      4,         /* uxPriority */
+      &loop_task /* pxCreatedTask */
+    );
+
+    vTaskStartScheduler();
+}
+
 /* Arduino specific overrides */
 void delay(uint32_t ms) {
     if (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING) {