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Add FreeRTOS to container image and demo project
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‎Dockerfile

+9-1
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@@ -14,13 +14,21 @@ RUN apk update && \
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gcc-arm-none-eabi
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# Raspberry Pi Pico SDK
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ARG SDK_PATH=/usr/share/pico_sdk
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ARG SDK_PATH=/usr/local/picosdk
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RUN git clone --depth 1 --branch 1.5.1 https://github.com/raspberrypi/pico-sdk $SDK_PATH && \
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cd $SDK_PATH && \
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git submodule update --init
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ENV PICO_SDK_PATH=$SDK_PATH
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# FreeRTOS
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ARG FREERTOS_PATH=/usr/local/freertos
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RUN git clone --depth 1 --branch V11.0.1 https://github.com/FreeRTOS/FreeRTOS-Kernel $FREERTOS_PATH && \
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cd $FREERTOS_PATH && \
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git submodule update --init --recursive
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ENV FREERTOS_KERNEL_PATH=$FREERTOS_PATH
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# Picotool installation
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RUN git clone --depth 1 --branch 1.1.2 https://github.com/raspberrypi/picotool.git /home/picotool && \
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cd /home/picotool && \

‎freertos_test_project/CMakeLists.txt

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cmake_minimum_required(VERSION 3.13)
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include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
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include($ENV{FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
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set(CMAKE_C_COMPILER /usr/bin/arm-none-eabi-gcc CACHE PATH "" FORCE)
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set(CMAKE_CXX_COMPILER /usr/bin/arm-none-eabi-g++ CACHE PATH "" FORCE)
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project(freertos_demo C CXX ASM)
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_CXX_STANDARD 17)
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pico_sdk_init()
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add_library(FreeRTOS-Config INTERFACE)
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target_include_directories(FreeRTOS-Config INTERFACE ${CMAKE_SOURCE_DIR}/config)
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add_executable(freertos_demo main.cpp)
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target_include_directories(freertos_demo PRIVATE ${CMAKE_CURRENT_LIST_DIR})
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target_link_libraries(freertos_demo
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pico_stdlib
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FreeRTOS-Config
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FreeRTOS-Kernel
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FreeRTOS-Kernel-Heap4)
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pico_add_extra_outputs(freertos_demo)

‎freertos_test_project/config/FreeRTOSConfig.h

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/*
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* FreeRTOS V202107.00
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* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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#ifndef FREERTOS_CONFIG_H
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#define FREERTOS_CONFIG_H
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/*-----------------------------------------------------------
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* Application specific definitions.
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*
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* These definitions should be adjusted for your particular hardware and
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* application requirements.
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*
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* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
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* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
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*
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* See http://www.freertos.org/a00110.html
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*----------------------------------------------------------*/
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/* Scheduler Related */
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#define configUSE_PREEMPTION 1
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#define configUSE_TICKLESS_IDLE 0
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#define configUSE_IDLE_HOOK 0
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#define configUSE_TICK_HOOK 1
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#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
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#define configMAX_PRIORITIES 32
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#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 256
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#define configUSE_16_BIT_TICKS 0
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#define configIDLE_SHOULD_YIELD 1
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/* Synchronization Related */
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#define configUSE_MUTEXES 1
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#define configUSE_RECURSIVE_MUTEXES 1
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#define configUSE_APPLICATION_TASK_TAG 0
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#define configUSE_COUNTING_SEMAPHORES 1
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#define configQUEUE_REGISTRY_SIZE 8
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#define configUSE_QUEUE_SETS 1
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#define configUSE_TIME_SLICING 1
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#define configUSE_NEWLIB_REENTRANT 0
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#define configENABLE_BACKWARD_COMPATIBILITY 1
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#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
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/* System */
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#define configSTACK_DEPTH_TYPE uint32_t
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#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
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/* Memory allocation related definitions. */
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#define configSUPPORT_STATIC_ALLOCATION 0
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#define configSUPPORT_DYNAMIC_ALLOCATION 1
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#define configTOTAL_HEAP_SIZE (128*1024)
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#define configAPPLICATION_ALLOCATED_HEAP 0
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/* Hook function related definitions. */
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#define configCHECK_FOR_STACK_OVERFLOW 2
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#define configUSE_MALLOC_FAILED_HOOK 1
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#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
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/* Run time and task stats gathering related definitions. */
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#define configGENERATE_RUN_TIME_STATS 0
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#define configUSE_TRACE_FACILITY 1
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#define configUSE_STATS_FORMATTING_FUNCTIONS 0
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/* Co-routine related definitions. */
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#define configUSE_CO_ROUTINES 0
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#define configMAX_CO_ROUTINE_PRIORITIES 1
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/* Software timer related definitions. */
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#define configUSE_TIMERS 1
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#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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#define configTIMER_QUEUE_LENGTH 10
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#define configTIMER_TASK_STACK_DEPTH 1024
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/* Interrupt nesting behaviour configuration. */
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/*
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#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
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#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
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#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
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*/
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/* SMP port only */
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#define configNUM_CORES 2
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#define configTICK_CORE 0
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#define configRUN_MULTIPLE_PRIORITIES 1
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#define configSUPPORT_PICO_SYNC_INTEROP 1
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#define configSUPPORT_PICO_TIME_INTEROP 1
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#include <assert.h>
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/* Define to trap errors during development. */
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#define configASSERT(x) assert(x)
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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_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 1
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#define INCLUDE_xTaskGetIdleTaskHandle 1
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#define INCLUDE_eTaskGetState 1
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#define INCLUDE_xTimerPendFunctionCall 1
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#define INCLUDE_xTaskAbortDelay 1
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#define INCLUDE_xTaskGetHandle 1
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#define INCLUDE_xTaskResumeFromISR 1
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#define INCLUDE_xQueueGetMutexHolder 1
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/* A header file that defines trace macro can be included here. */
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#endif /* FREERTOS_CONFIG_H */

‎freertos_test_project/main.cpp

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#include "FreeRTOS.h"
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#include "task.h"
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#include <stdio.h>
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#include "pico/stdlib.h"
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#include "hardware/gpio.h"
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#ifdef __cplusplus
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extern "C" {
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void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
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void vApplicationTickHook( void );
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void vApplicationMallocFailedHook( void );
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}
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#endif
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void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ) {}
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void vApplicationTickHook( void ) {}
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void vApplicationMallocFailedHook( void ) {}
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void vBlink(void* unused_arg) {
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for (;;) {
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gpio_put(PICO_DEFAULT_LED_PIN, 1);
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vTaskDelay(250);
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gpio_put(PICO_DEFAULT_LED_PIN, 0);
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vTaskDelay(250);
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}
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}
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int main() {
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gpio_init(PICO_DEFAULT_LED_PIN);
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gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
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xTaskCreate(vBlink, "Blink", 128, NULL, 1, NULL);
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vTaskStartScheduler();
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}

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