From 4457cf9404a177834125494190ac7e8bb0492696 Mon Sep 17 00:00:00 2001 From: lukstep Date: Thu, 4 Apr 2024 21:24:27 +0200 Subject: [PATCH] Add FreeRTOS to container image and demo project --- Dockerfile | 10 +- freertos_test_project/CMakeLists.txt | 29 ++++ freertos_test_project/config/FreeRTOSConfig.h | 136 ++++++++++++++++++ freertos_test_project/main.cpp | 45 ++++++ 4 files changed, 219 insertions(+), 1 deletion(-) create mode 100644 freertos_test_project/CMakeLists.txt create mode 100644 freertos_test_project/config/FreeRTOSConfig.h create mode 100644 freertos_test_project/main.cpp diff --git a/Dockerfile b/Dockerfile index b46ec5d..13955e8 100644 --- a/Dockerfile +++ b/Dockerfile @@ -14,13 +14,21 @@ RUN apk update && \ gcc-arm-none-eabi # Raspberry Pi Pico SDK -ARG SDK_PATH=/usr/share/pico_sdk +ARG SDK_PATH=/usr/local/picosdk RUN git clone --depth 1 --branch 1.5.1 https://github.com/raspberrypi/pico-sdk $SDK_PATH && \ cd $SDK_PATH && \ git submodule update --init ENV PICO_SDK_PATH=$SDK_PATH +# FreeRTOS +ARG FREERTOS_PATH=/usr/local/freertos +RUN git clone --depth 1 --branch V11.0.1 https://github.com/FreeRTOS/FreeRTOS-Kernel $FREERTOS_PATH && \ + cd $FREERTOS_PATH && \ + git submodule update --init --recursive + +ENV FREERTOS_KERNEL_PATH=$FREERTOS_PATH + # Picotool installation RUN git clone --depth 1 --branch 1.1.2 https://github.com/raspberrypi/picotool.git /home/picotool && \ cd /home/picotool && \ diff --git a/freertos_test_project/CMakeLists.txt b/freertos_test_project/CMakeLists.txt new file mode 100644 index 0000000..fef85aa --- /dev/null +++ b/freertos_test_project/CMakeLists.txt @@ -0,0 +1,29 @@ +cmake_minimum_required(VERSION 3.13) + +include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake) +include($ENV{FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake) + +set(CMAKE_C_COMPILER /usr/bin/arm-none-eabi-gcc CACHE PATH "" FORCE) +set(CMAKE_CXX_COMPILER /usr/bin/arm-none-eabi-g++ CACHE PATH "" FORCE) + +project(freertos_demo C CXX ASM) + +set(CMAKE_C_STANDARD 11) +set(CMAKE_CXX_STANDARD 17) + +pico_sdk_init() + +add_library(FreeRTOS-Config INTERFACE) +target_include_directories(FreeRTOS-Config INTERFACE ${CMAKE_SOURCE_DIR}/config) + +add_executable(freertos_demo main.cpp) + +target_include_directories(freertos_demo PRIVATE ${CMAKE_CURRENT_LIST_DIR}) + +target_link_libraries(freertos_demo + pico_stdlib + FreeRTOS-Config + FreeRTOS-Kernel + FreeRTOS-Kernel-Heap4) + +pico_add_extra_outputs(freertos_demo) diff --git a/freertos_test_project/config/FreeRTOSConfig.h b/freertos_test_project/config/FreeRTOSConfig.h new file mode 100644 index 0000000..f632862 --- /dev/null +++ b/freertos_test_project/config/FreeRTOSConfig.h @@ -0,0 +1,136 @@ +/* + * FreeRTOS V202107.00 + * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved. + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of + * this software and associated documentation files (the "Software"), to deal in + * the Software without restriction, including without limitation the rights to + * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of + * the Software, and to permit persons to whom the Software is furnished to do so, + * subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS + * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR + * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER + * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN + * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + * http://www.FreeRTOS.org + * http://aws.amazon.com/freertos + * + * 1 tab == 4 spaces! + */ + +#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 + *----------------------------------------------------------*/ + +/* Scheduler Related */ +#define configUSE_PREEMPTION 1 +#define configUSE_TICKLESS_IDLE 0 +#define configUSE_IDLE_HOOK 0 +#define configUSE_TICK_HOOK 1 +#define configTICK_RATE_HZ ( ( TickType_t ) 1000 ) +#define configMAX_PRIORITIES 32 +#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 256 +#define configUSE_16_BIT_TICKS 0 + +#define configIDLE_SHOULD_YIELD 1 + +/* Synchronization Related */ +#define configUSE_MUTEXES 1 +#define configUSE_RECURSIVE_MUTEXES 1 +#define configUSE_APPLICATION_TASK_TAG 0 +#define configUSE_COUNTING_SEMAPHORES 1 +#define configQUEUE_REGISTRY_SIZE 8 +#define configUSE_QUEUE_SETS 1 +#define configUSE_TIME_SLICING 1 +#define configUSE_NEWLIB_REENTRANT 0 +#define configENABLE_BACKWARD_COMPATIBILITY 1 +#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5 + +/* System */ +#define configSTACK_DEPTH_TYPE uint32_t +#define configMESSAGE_BUFFER_LENGTH_TYPE size_t + +/* Memory allocation related definitions. */ +#define configSUPPORT_STATIC_ALLOCATION 0 +#define configSUPPORT_DYNAMIC_ALLOCATION 1 +#define configTOTAL_HEAP_SIZE (128*1024) +#define configAPPLICATION_ALLOCATED_HEAP 0 + +/* Hook function related definitions. */ +#define configCHECK_FOR_STACK_OVERFLOW 2 +#define configUSE_MALLOC_FAILED_HOOK 1 +#define configUSE_DAEMON_TASK_STARTUP_HOOK 0 + +/* Run time and task stats gathering related definitions. */ +#define configGENERATE_RUN_TIME_STATS 0 +#define configUSE_TRACE_FACILITY 1 +#define configUSE_STATS_FORMATTING_FUNCTIONS 0 + +/* Co-routine related definitions. */ +#define configUSE_CO_ROUTINES 0 +#define configMAX_CO_ROUTINE_PRIORITIES 1 + +/* Software timer related definitions. */ +#define configUSE_TIMERS 1 +#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 ) +#define configTIMER_QUEUE_LENGTH 10 +#define configTIMER_TASK_STACK_DEPTH 1024 + +/* Interrupt nesting behaviour configuration. */ +/* +#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor] +#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application] +#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application] +*/ + +/* SMP port only */ +#define configNUM_CORES 2 +#define configTICK_CORE 0 +#define configRUN_MULTIPLE_PRIORITIES 1 +#define configSUPPORT_PICO_SYNC_INTEROP 1 +#define configSUPPORT_PICO_TIME_INTEROP 1 + +#include +/* Define to trap errors during development. */ +#define configASSERT(x) assert(x) + +/* 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_vTaskSuspend 1 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 +#define INCLUDE_xTaskGetSchedulerState 1 +#define INCLUDE_xTaskGetCurrentTaskHandle 1 +#define INCLUDE_uxTaskGetStackHighWaterMark 1 +#define INCLUDE_xTaskGetIdleTaskHandle 1 +#define INCLUDE_eTaskGetState 1 +#define INCLUDE_xTimerPendFunctionCall 1 +#define INCLUDE_xTaskAbortDelay 1 +#define INCLUDE_xTaskGetHandle 1 +#define INCLUDE_xTaskResumeFromISR 1 +#define INCLUDE_xQueueGetMutexHolder 1 + +/* A header file that defines trace macro can be included here. */ + +#endif /* FREERTOS_CONFIG_H */ diff --git a/freertos_test_project/main.cpp b/freertos_test_project/main.cpp new file mode 100644 index 0000000..0ec4ef9 --- /dev/null +++ b/freertos_test_project/main.cpp @@ -0,0 +1,45 @@ +#include "FreeRTOS.h" +#include "task.h" +#include +#include "pico/stdlib.h" +#include "hardware/gpio.h" + +#ifdef __cplusplus +extern "C" { +void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ); +void vApplicationTickHook( void ); +void vApplicationMallocFailedHook( void ); +} +#endif + +void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ) {} +void vApplicationTickHook( void ) {} +void vApplicationMallocFailedHook( void ) {} + +void vBlink(void* unused_arg) { + + for (;;) { + + gpio_put(PICO_DEFAULT_LED_PIN, 1); + + vTaskDelay(250); + + gpio_put(PICO_DEFAULT_LED_PIN, 0); + + vTaskDelay(250); + + } + +} + +int main() { + + gpio_init(PICO_DEFAULT_LED_PIN); + + gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT); + + xTaskCreate(vBlink, "Blink", 128, NULL, 1, NULL); + + vTaskStartScheduler(); + +}