From c71c7da2ff128c715c64885d708b9bf403274299 Mon Sep 17 00:00:00 2001 From: Eugene Lykov Date: Wed, 10 Dec 2025 14:11:10 +0000 Subject: [PATCH] Initial commit --- .gitignore | 2 + .gitmodules | 3 + .vscode/c_cpp_properties.json | 22 ++++ .vscode/cmake-kits.json | 15 +++ .vscode/extensions.json | 9 ++ .vscode/launch.json | 50 +++++++++ .vscode/settings.json | 40 +++++++ .vscode/tasks.json | 102 +++++++++++++++++ CMakeLists.txt | 46 ++++++++ README.md | 2 + cmake/SubDirList.cmake | 25 +++++ esPicoFreeRTOS.code-workspace | 109 ++++++++++++++++++ lib/freertos/config/FreeRTOSConfig.h | 160 +++++++++++++++++++++++++++ lib/freertos/kernel | 1 + sdk/pico_sdk_import.cmake | 121 ++++++++++++++++++++ src/CMakeLists.txt | 41 +++++++ src/main.cpp | 56 ++++++++++ 17 files changed, 804 insertions(+) create mode 100644 .gitignore create mode 100644 .gitmodules create mode 100644 .vscode/c_cpp_properties.json create mode 100644 .vscode/cmake-kits.json create mode 100644 .vscode/extensions.json create mode 100644 .vscode/launch.json create mode 100644 .vscode/settings.json create mode 100644 .vscode/tasks.json create mode 100644 CMakeLists.txt create mode 100644 README.md create mode 100644 cmake/SubDirList.cmake create mode 100644 esPicoFreeRTOS.code-workspace create mode 100644 lib/freertos/config/FreeRTOSConfig.h create mode 160000 lib/freertos/kernel create mode 100644 sdk/pico_sdk_import.cmake create mode 100644 src/CMakeLists.txt create mode 100644 src/main.cpp diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..4e7724f --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +**/bin/ +**/build/ diff --git a/.gitmodules b/.gitmodules new file mode 100644 index 0000000..7638bf6 --- /dev/null +++ b/.gitmodules @@ -0,0 +1,3 @@ +[submodule "lib/freertos/kernel"] + path = lib/freertos/kernel + url = https://github.com/FreeRTOS/FreeRTOS-Kernel diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..0a6cd5a --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,22 @@ +{ + "configurations": [ + { + "name": "Pico", + "includePath": [ + "${workspaceFolder}/**", + "${userHome}/.pico-sdk/sdk/2.2.0/**" + ], + "forcedInclude": [ + "${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h", + "${userHome}/.pico-sdk/sdk/2.2.0/src/common/pico_base_headers/include/pico.h" + ], + "defines": [], + "compilerPath": "${userHome}/.pico-sdk/toolchain/14_2_Rel1/bin/arm-none-eabi-gcc", + "compileCommands": "${workspaceFolder}/build/compile_commands.json", + "cStandard": "c17", + "cppStandard": "c++14", + "intelliSenseMode": "linux-gcc-arm" + } + ], + "version": 4 +} diff --git a/.vscode/cmake-kits.json b/.vscode/cmake-kits.json new file mode 100644 index 0000000..b0f3815 --- /dev/null +++ b/.vscode/cmake-kits.json @@ -0,0 +1,15 @@ +[ + { + "name": "Pico", + "compilers": { + "C": "${command:raspberry-pi-pico.getCompilerPath}", + "CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}" + }, + "environmentVariables": { + "PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}" + }, + "cmakeSettings": { + "Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}" + } + } +] \ No newline at end of file diff --git a/.vscode/extensions.json b/.vscode/extensions.json new file mode 100644 index 0000000..a940d7c --- /dev/null +++ b/.vscode/extensions.json @@ -0,0 +1,9 @@ +{ + "recommendations": [ + "marus25.cortex-debug", + "ms-vscode.cpptools", + "ms-vscode.cpptools-extension-pack", + "ms-vscode.vscode-serial-monitor", + "raspberry-pi.raspberry-pi-pico" + ] +} \ No newline at end of file diff --git a/.vscode/launch.json b/.vscode/launch.json new file mode 100644 index 0000000..424aa71 --- /dev/null +++ b/.vscode/launch.json @@ -0,0 +1,50 @@ +{ + "version": "0.2.0", + "configurations": [ + { + "name": "Pico Debug (Cortex-Debug)", + "cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts", + "executable": "${command:raspberry-pi-pico.launchTargetPath}", + "request": "launch", + "type": "cortex-debug", + "servertype": "openocd", + "serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", + "gdbPath": "${command:raspberry-pi-pico.getGDBPath}", + "device": "${command:raspberry-pi-pico.getChipUppercase}", + "configFiles": [ + "interface/cmsis-dap.cfg", + "target/${command:raspberry-pi-pico.getTarget}.cfg" + ], + "svdFile": "${userHome}/.pico-sdk/sdk/2.2.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd", + "runToEntryPoint": "main", + // Fix for no_flash binaries, where monitor reset halt doesn't do what is expected + // Also works fine for flash binaries + "overrideLaunchCommands": [ + "monitor reset init", + "load \"${command:raspberry-pi-pico.launchTargetPath}\"" + ], + "openOCDLaunchCommands": [ + "adapter speed 5000" + ] + }, + { + "name": "Pico Debug (Cortex-Debug with external OpenOCD)", + "cwd": "${workspaceRoot}", + "executable": "${command:raspberry-pi-pico.launchTargetPath}", + "request": "launch", + "type": "cortex-debug", + "servertype": "external", + "gdbTarget": "localhost:3333", + "gdbPath": "${command:raspberry-pi-pico.getGDBPath}", + "device": "${command:raspberry-pi-pico.getChipUppercase}", + "svdFile": "${userHome}/.pico-sdk/sdk/2.2.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd", + "runToEntryPoint": "main", + // Fix for no_flash binaries, where monitor reset halt doesn't do what is expected + // Also works fine for flash binaries + "overrideLaunchCommands": [ + "monitor reset init", + "load \"${command:raspberry-pi-pico.launchTargetPath}\"" + ] + }, + ] +} diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..cd4187a --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,40 @@ +{ + "cmake.showSystemKits": false, + "cmake.options.statusBarVisibility": "hidden", + "cmake.options.advanced": { + "build": { + "statusBarVisibility": "hidden" + }, + "launch": { + "statusBarVisibility": "hidden" + }, + "debug": { + "statusBarVisibility": "hidden" + } + }, + "cmake.configureOnEdit": true, + "cmake.automaticReconfigure": true, + "cmake.configureOnOpen": true, + "cmake.generator": "Ninja", + "cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.31.5/bin/cmake", + "C_Cpp.debugShortcut": false, + "terminal.integrated.env.windows": { + "PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.2.0", + "PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/14_2_Rel1", + "Path": "${env:USERPROFILE}/.pico-sdk/toolchain/14_2_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.2.0-a4/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.31.5/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}" + }, + "terminal.integrated.env.osx": { + "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.2.0", + "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1", + "PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.2.0-a4/picotool:${env:HOME}/.pico-sdk/cmake/v3.31.5/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}" + }, + "terminal.integrated.env.linux": { + "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.2.0", + "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1", + "PATH": "${env:HOME}/.pico-sdk/toolchain/14_2_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.2.0-a4/picotool:${env:HOME}/.pico-sdk/cmake/v3.31.5/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}" + }, + "raspberry-pi-pico.cmakeAutoConfigure": false, + "raspberry-pi-pico.useCmakeTools": true, + "raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.31.5/bin/cmake", + "raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja" +} diff --git a/.vscode/tasks.json b/.vscode/tasks.json new file mode 100644 index 0000000..d1b3193 --- /dev/null +++ b/.vscode/tasks.json @@ -0,0 +1,102 @@ +{ + "version": "2.0.0", + "tasks": [ + { + "label": "Compile Project", + "type": "process", + "isBuildCommand": true, + "command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja", + "args": ["-C", "${workspaceFolder}/build"], + "group": "build", + "presentation": { + "reveal": "always", + "panel": "dedicated" + }, + "problemMatcher": "$gcc", + "windows": { + "command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe" + } + }, + { + "label": "Run Project", + "type": "process", + "command": "${env:HOME}/.pico-sdk/picotool/2.2.0-a4/picotool/picotool", + "args": [ + "load", + "${command:raspberry-pi-pico.launchTargetPath}", + "-fx" + ], + "presentation": { + "reveal": "always", + "panel": "dedicated" + }, + "problemMatcher": [], + "windows": { + "command": "${env:USERPROFILE}/.pico-sdk/picotool/2.2.0-a4/picotool/picotool.exe" + } + }, + { + "label": "Flash", + "type": "process", + "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", + "args": [ + "-s", + "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts", + "-f", + "interface/cmsis-dap.cfg", + "-f", + "target/${command:raspberry-pi-pico.getTarget}.cfg", + "-c", + "adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify reset exit" + ], + "problemMatcher": [], + "windows": { + "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", + } + }, + { + "label": "Rescue Reset", + "type": "process", + "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", + "args": [ + "-s", + "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts", + "-f", + "interface/cmsis-dap.cfg", + "-f", + "target/${command:raspberry-pi-pico.getChip}-rescue.cfg", + "-c", + "adapter speed 5000; reset halt; exit" + ], + "problemMatcher": [], + "windows": { + "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", + } + }, + { + "label": "RISC-V Reset (RP2350)", + "type": "process", + "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", + "args": [ + "-s", + "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts", + "-c", + "set USE_CORE { rv0 rv1 cm0 cm1 }", + "-f", + "interface/cmsis-dap.cfg", + "-f", + "target/rp2350.cfg", + "-c", + "adapter speed 5000; init;", + "-c", + "write_memory 0x40120158 8 { 0x3 }; echo [format \"Info : ARCHSEL 0x%02x\" [read_memory 0x40120158 8 1]];", + "-c", + "reset halt; targets rp2350.rv0; echo [format \"Info : ARCHSEL_STATUS 0x%02x\" [read_memory 0x4012015C 8 1]]; exit" + ], + "problemMatcher": [], + "windows": { + "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", + } + } + ] +} diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..7e2f645 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,46 @@ +# Generated Cmake Pico project file + +cmake_minimum_required(VERSION 3.13) + +set(CMAKE_C_STANDARD 17) +set(CMAKE_CXX_STANDARD 20) +set(CMAKE_CXX_STANDARD_REQUIRED ON) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_SOURCE_DIR}/bin/${CMAKE_BUILD_TYPE}/bin) + +# Initialise pico_sdk from installed location +# (note this can come from environment, CMake cache etc) + +# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work == +if(WIN32) + set(USERHOME $ENV{USERPROFILE}) +else() + set(USERHOME $ENV{HOME}) +endif() +set(sdkVersion 2.2.0) +set(toolchainVersion 14_2_Rel1) +set(picotoolVersion 2.2.0-a4) +set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake) +if (EXISTS ${picoVscode}) + include(${picoVscode}) +endif() +# ==================================================================================== +set(PICO_BOARD pico CACHE STRING "Board type") + +# Pull in Raspberry Pi Pico SDK (must be before project) +include(sdk/pico_sdk_import.cmake) + +# SET(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib/FreeRTOS-Kernel) +# include(${FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake) +set(FREERTOS_CFG_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/lib/freertos/config) +include(${CMAKE_CURRENT_SOURCE_DIR}/lib/freertos/kernel/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake) + +project(esPicoFreeRTOS C CXX ASM) + +# Initialise the Raspberry Pi Pico SDK +pico_sdk_init() + +include(cmake/SubDirList.cmake) + +add_subdirectory(src) diff --git a/README.md b/README.md new file mode 100644 index 0000000..87b62e9 --- /dev/null +++ b/README.md @@ -0,0 +1,2 @@ +# esPico + diff --git a/cmake/SubDirList.cmake b/cmake/SubDirList.cmake new file mode 100644 index 0000000..7fde817 --- /dev/null +++ b/cmake/SubDirList.cmake @@ -0,0 +1,25 @@ +macro(SubDirList curdir result) + file(GLOB children RELATIVE ${curdir} ${curdir}/*) + + foreach(child ${children}) + if(IS_DIRECTORY ${curdir}/${child}) + list(APPEND ${result} ${child}) + endif() + endforeach() +endmacro() + +macro(SubDirListRecurse curdir basedir result) + file(GLOB children RELATIVE ${curdir} ${curdir}/*) + + foreach(child ${children}) + if(IS_DIRECTORY ${curdir}/${child}) + if(${child} STREQUAL ${basedir}) + list(APPEND ${result} ${child}) + else() + file(RELATIVE_PATH relpath ${basedir} ${curdir}/${child}) + list(APPEND ${result} ${relpath}) + SubDirListRecurse(${curdir}/${child} ${basedir} ${result}) + endif() + endif() + endforeach() +endmacro() diff --git a/esPicoFreeRTOS.code-workspace b/esPicoFreeRTOS.code-workspace new file mode 100644 index 0000000..2ee335a --- /dev/null +++ b/esPicoFreeRTOS.code-workspace @@ -0,0 +1,109 @@ +{ + "folders": [ + { + "path": "." + } + ], + "settings": { + "files.associations": { + "vector": "cpp", + "array": "cpp", + "cctype": "cpp", + "clocale": "cpp", + "cmath": "cpp", + "cstddef": "cpp", + "cstdint": "cpp", + "cstdio": "cpp", + "cstdlib": "cpp", + "ctime": "cpp", + "cwchar": "cpp", + "cwctype": "cpp", + "atomic": "cpp", + "bit": "cpp", + "*.tcc": "cpp", + "charconv": "cpp", + "chrono": "cpp", + "compare": "cpp", + "concepts": "cpp", + "cstdarg": "cpp", + "deque": "cpp", + "map": "cpp", + "string": "cpp", + "unordered_map": "cpp", + "exception": "cpp", + "algorithm": "cpp", + "functional": "cpp", + "iterator": "cpp", + "memory": "cpp", + "memory_resource": "cpp", + "netfwd": "cpp", + "numeric": "cpp", + "optional": "cpp", + "random": "cpp", + "ratio": "cpp", + "string_view": "cpp", + "system_error": "cpp", + "tuple": "cpp", + "type_traits": "cpp", + "utility": "cpp", + "format": "cpp", + "initializer_list": "cpp", + "iomanip": "cpp", + "iosfwd": "cpp", + "istream": "cpp", + "limits": "cpp", + "new": "cpp", + "numbers": "cpp", + "ostream": "cpp", + "semaphore": "cpp", + "span": "cpp", + "sstream": "cpp", + "stdexcept": "cpp", + "stop_token": "cpp", + "streambuf": "cpp", + "thread": "cpp", + "cinttypes": "cpp", + "typeinfo": "cpp", + "variant": "cpp", + "text_encoding": "cpp", + "bitset": "cpp", + "codecvt": "cpp", + "complex": "cpp", + "csignal": "cpp", + "cstring": "cpp", + "cuchar": "cpp", + "set": "cpp", + "regex": "cpp", + "fstream": "cpp", + "iostream": "cpp", + "cfenv": "cpp", + "any": "cpp", + "barrier": "cpp", + "condition_variable": "cpp", + "coroutine": "cpp", + "csetjmp": "cpp", + "forward_list": "cpp", + "list": "cpp", + "unordered_set": "cpp", + "expected": "cpp", + "source_location": "cpp", + "rope": "cpp", + "slist": "cpp", + "future": "cpp", + "generator": "cpp", + "latch": "cpp", + "mutex": "cpp", + "print": "cpp", + "ranges": "cpp", + "scoped_allocator": "cpp", + "shared_mutex": "cpp", + "spanstream": "cpp", + "stacktrace": "cpp", + "stdfloat": "cpp", + "syncstream": "cpp", + "typeindex": "cpp", + "valarray": "cpp" + }, + "raspberry-pi-pico.useCmakeTools": true + }, +} \ No newline at end of file diff --git a/lib/freertos/config/FreeRTOSConfig.h b/lib/freertos/config/FreeRTOSConfig.h new file mode 100644 index 0000000..6312c85 --- /dev/null +++ b/lib/freertos/config/FreeRTOSConfig.h @@ -0,0 +1,160 @@ +/* + * FreeRTOS V202111.00 + * 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_EXAMPLES_COMMON_H +#define FREERTOS_CONFIG_EXAMPLES_COMMON_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 0 +#define configTICK_RATE_HZ ( ( TickType_t ) 1000 ) +#define configMAX_PRIORITIES 32 +#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 512 +#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 +// todo need this for lwip FreeRTOS sys_arch to compile +#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. */ +#ifndef configSUPPORT_STATIC_ALLOCATION +#define configSUPPORT_STATIC_ALLOCATION 0 +#endif +#ifndef configSUPPORT_DYNAMIC_ALLOCATION +#define configSUPPORT_DYNAMIC_ALLOCATION 1 +#endif +#define configTOTAL_HEAP_SIZE (128*1024) +#define configAPPLICATION_ALLOCATED_HEAP 0 + +/* Hook function related definitions. */ +#define configCHECK_FOR_STACK_OVERFLOW 0 +#define configUSE_MALLOC_FAILED_HOOK 0 +#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] +*/ + +#if FREE_RTOS_KERNEL_SMP // set by the RP2xxx SMP port of FreeRTOS +/* SMP port only */ +#ifndef configNUMBER_OF_CORES +#define configNUMBER_OF_CORES 2 +#endif +#define configNUM_CORES configNUMBER_OF_CORES +#define configTICK_CORE 0 +#define configRUN_MULTIPLE_PRIORITIES 1 +#if configNUMBER_OF_CORES > 1 +#define configUSE_CORE_AFFINITY 1 +#endif +#define configUSE_PASSIVE_IDLE_HOOK 0 +#endif + +/* RP2040 specific */ +#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 + +#if PICO_RP2350 +#define configENABLE_MPU 0 +#define configENABLE_TRUSTZONE 0 +#define configRUN_FREERTOS_SECURE_ONLY 1 +#define configENABLE_FPU 1 +#define configMAX_SYSCALL_INTERRUPT_PRIORITY 16 +#endif + +/* A header file that defines trace macro can be included here. */ + +#endif /* FREERTOS_CONFIG_H */ diff --git a/lib/freertos/kernel b/lib/freertos/kernel new file mode 160000 index 0000000..fed39c5 --- /dev/null +++ b/lib/freertos/kernel @@ -0,0 +1 @@ +Subproject commit fed39c5ea7483dde7bf7c92950d49e6b75539f5a diff --git a/sdk/pico_sdk_import.cmake b/sdk/pico_sdk_import.cmake new file mode 100644 index 0000000..d493cc2 --- /dev/null +++ b/sdk/pico_sdk_import.cmake @@ -0,0 +1,121 @@ +# This is a copy of /external/pico_sdk_import.cmake + +# This can be dropped into an external project to help locate this SDK +# It should be include()ed prior to project() + +# Copyright 2020 (c) 2020 Raspberry Pi (Trading) Ltd. +# +# Redistribution and use in source and binary forms, with or without modification, are permitted provided that the +# following conditions are met: +# +# 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following +# disclaimer. +# +# 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided with the distribution. +# +# 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products +# derived from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, +# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +# DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +# SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +# WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF +# THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + +if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH)) + set(PICO_SDK_PATH $ENV{PICO_SDK_PATH}) + message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT)) + set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT}) + message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH)) + set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH}) + message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')") +endif () + +if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG)) + set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG}) + message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')") +endif () + +if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG) + set(PICO_SDK_FETCH_FROM_GIT_TAG "master") + message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG") +endif() + +set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK") +set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable") +set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK") +set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK") + +if (NOT PICO_SDK_PATH) + if (PICO_SDK_FETCH_FROM_GIT) + include(FetchContent) + set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR}) + if (PICO_SDK_FETCH_FROM_GIT_PATH) + get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}") + endif () + FetchContent_Declare( + pico_sdk + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + ) + + if (NOT pico_sdk) + message("Downloading Raspberry Pi Pico SDK") + # GIT_SUBMODULES_RECURSE was added in 3.17 + if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0") + FetchContent_Populate( + pico_sdk + QUIET + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + GIT_SUBMODULES_RECURSE FALSE + + SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src + BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build + SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild + ) + else () + FetchContent_Populate( + pico_sdk + QUIET + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + + SOURCE_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-src + BINARY_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-build + SUBBUILD_DIR ${FETCHCONTENT_BASE_DIR}/pico_sdk-subbuild + ) + endif () + + set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR}) + endif () + set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE}) + else () + message(FATAL_ERROR + "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git." + ) + endif () +endif () + +get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}") +if (NOT EXISTS ${PICO_SDK_PATH}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found") +endif () + +set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake) +if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE}) + message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK") +endif () + +set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE) + +include(${PICO_SDK_INIT_CMAKE_FILE}) diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt new file mode 100644 index 0000000..d71e745 --- /dev/null +++ b/src/CMakeLists.txt @@ -0,0 +1,41 @@ +# Add executable. Default name is the project name, version 0.1 + +set(TARGET_NAME ${PROJECT_NAME}) +message(STATUS "Configuring ${TARGET_NAME}") + +set(${PROJECT_NAME}_SOURCES "main.cpp") +set(${PROJECT_NAME}_INCLUDES "") +set(${PROJECT_NAME}_INCLUDE_DIRS "${CMAKE_SOURCE_DIR}/lib/freertos/config") +set(${PROJECT_NAME}_DEPENDENCIES pico_stdlib FreeRTOS-Kernel-Heap4) + +set(SUBDIRS_LIST "") + +SubDirListRecurse(${CMAKE_CURRENT_LIST_DIR} ${CMAKE_CURRENT_LIST_DIR} SUBDIRS_LIST) + +foreach(SUBDIR IN LISTS SUBDIRS_LIST) + file(GLOB_RECURSE SUBDIR_SOURCES ${CMAKE_CURRENT_LIST_DIR}/${SUBDIR}/*.cc ${CMAKE_CURRENT_LIST_DIR}/${SUBDIR}/*.cpp) + list(APPEND ${PROJECT_NAME}_SOURCES ${SUBDIR_SOURCES}) + file(GLOB_RECURSE SUBDIR_INCLUDES ${CMAKE_CURRENT_LIST_DIR}/${SUBDIR}/*.h) + list(APPEND ${PROJECT_NAME}_INCLUDES ${SUBDIR_INCLUDES}) + list(APPEND ${PROJECT_NAME}_INCLUDE_DIRS ${CMAKE_CURRENT_LIST_DIR}/${SUBDIR}) +endforeach() + +add_executable(${TARGET_NAME} ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_INCLUDES}) + +pico_set_program_name(${TARGET_NAME} "${TARGET_NAME}") +pico_set_program_version(${TARGET_NAME} "0.1") + +# Modify the below lines to enable/disable output over UART/USB +pico_enable_stdio_uart(${TARGET_NAME} 0) +pico_enable_stdio_usb(${TARGET_NAME} 1) + +# Add the standard include files to the build +target_include_directories(${TARGET_NAME} PRIVATE ${${PROJECT_NAME}_INCLUDE_DIRS}) + +# Add any user requested libraries +add_dependencies(${TARGET_NAME} ${${PROJECT_NAME}_DEPENDENCIES}) +target_link_libraries(${TARGET_NAME} ${${PROJECT_NAME}_DEPENDENCIES}) + +pico_add_extra_outputs(${TARGET_NAME}) + +add_custom_command(TARGET ${TARGET_NAME} POST_BUILD COMMAND ${CMAKE_COMMAND} -E copy ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}.uf2 ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}) \ No newline at end of file diff --git a/src/main.cpp b/src/main.cpp new file mode 100644 index 0000000..312a397 --- /dev/null +++ b/src/main.cpp @@ -0,0 +1,56 @@ +#include +#include +#include +#include +#include "pico/stdlib.h" +#include "pico/binary_info.h" +#include "boards/pico.h" + +volatile QueueHandle_t queue = NULL; +const TickType_t ms_delay = 500 / portTICK_PERIOD_MS; +TaskHandle_t pico_task_handle = NULL; + +void led_task_pico(void *unused_arg) +{ + + // Store the Pico LED state + uint8_t pico_led_state = 0; + + // Configure the Pico's on-board LED + gpio_init(PICO_DEFAULT_LED_PIN); + gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT); + + while (true) + { + pico_led_state = 1; + gpio_put(PICO_DEFAULT_LED_PIN, pico_led_state); + xQueueSendToBack(queue, &pico_led_state, 0); + vTaskDelay(ms_delay); + + pico_led_state = 0; + gpio_put(PICO_DEFAULT_LED_PIN, pico_led_state); + xQueueSendToBack(queue, &pico_led_state, 0); + vTaskDelay(ms_delay); + } +} + +int main() +{ + stdio_init_all(); + + BaseType_t pico_status = xTaskCreate(led_task_pico, + "PICO_LED_TASK", + 128, + NULL, + 1, + &pico_task_handle); + queue = xQueueCreate(4, sizeof(uint8_t)); + if (pico_status == pdPASS) + { + vTaskStartScheduler(); + } + + while (true) + { + } +}