参考
rp2040-freertos-project
目录结构
PS D:\workspace\gitee\2\rp2040-freertos-project> tree /F
卷 新加卷 的文件夹 PATH 列表
卷序列号为 64EF-5EB7
D:.
│ .gitignore
│ CMakeLists.txt
│ copy_uf2.bat
│ pico_sdk_import.cmake
│
├─freertos
│ │ CMakeLists.txt
│ │ FreeRTOSConfig.h
│ │
│ └─FreeRTOS-Kernel
│ │ .git-blame-ignore-revs
│ │ .gitattributes
│ │ .gitmodules
│ │ CMakeLists.txt
│ │ croutine.c
│ │ cspell.config.yaml
│ │ event_groups.c
│ │ History.txt
│ │ LICENSE.md
│ │ list.c
│ │ manifest.yml
│ │ MISRA.md
│ │ queue.c
│ │ README.md
│ │ stream_buffer.c
│ │ tasks.c
│ │ timers.c
│ │
│ ├─include
│ │ atomic.h
│ │ CMakeLists.txt
│ │ croutine.h
│ │ deprecated_definitions.h
│ │ event_groups.h
│ │ FreeRTOS.h
│ │ list.h
│ │ message_buffer.h
│ │ mpu_prototypes.h
│ │ mpu_syscall_numbers.h
│ │ mpu_wrappers.h
│ │ newlib-freertos.h
│ │ picolibc-freertos.h
│ │ portable.h
│ │ projdefs.h
│ │ queue.h
│ │ semphr.h
│ │ StackMacros.h
│ │ stack_macros.h
│ │ stdint.readme
│ │ stream_buffer.h
│ │ task.h
│ │ timers.h
│ │
│ └─portable
│ │ CMakeLists.txt
│ │ readme.txt
│ │
│ ├─GCC
│ │ └─ARM_CM0
│ │ mpu_wrappers_v2_asm.c
│ │ port.c
│ │ portasm.c
│ │ portasm.h
│ │ portmacro.h
│ │
│ ├─MemMang
│ │ heap_1.c
│ │ heap_2.c
│ │ heap_3.c
│ │ heap_4.c
│ │ heap_5.c
│ │ ReadMe.url
│ │
│ └─ThirdParty
│ └─GCC
│ └─RP2040
│ │ .gitignore
│ │ CMakeLists.txt
│ │ FreeRTOS_Kernel_import.cmake
│ │ library.cmake
│ │ LICENSE.md
│ │ pico_sdk_import.cmake
│ │ port.c
│ │ README.md
│ │
│ └─include
│ freertos_sdk_config.h
│ portmacro.h
│ rp2040_config.h
│
└─ProjectFiles
CMakeLists.txt
main.cpp
CMakeLists.txt
cmake_minimum_required(VERSION 3.12)
include(pico_sdk_import.cmake)
project(Pico-FreeRTOS)
pico_sdk_init()
add_subdirectory(freertos)
add_subdirectory(ProjectFiles)
pico_sdk_import.cmake
set(PICO_SDK_PATH "D:/Program Files/Raspberry Pi/Pico SDK v1.5.1/pico-sdk")
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 ()
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the PICO SDK")
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of PICO 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")
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 master
)
if (NOT pico_sdk)
message("Downloading PICO SDK")
FetchContent_Populate(pico_sdk)
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
endif ()
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
else ()
message(FATAL_ERROR
"PICO SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
)
endif ()
endif ()
get_filename_component(PICO_SDK_PATH "${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 PICO SDK")
endif ()
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the PICO SDK" FORCE)
include(${PICO_SDK_INIT_CMAKE_FILE})
copy_uf2.bat
@echo off
set "src=D:\workspace\gitee\2\rp2040-freertos-project\cmake-build-debug\ProjectFiles\blink.uf2"
set "dst=F:"
if not exist "%src%" (
echo Error: UF2 file not found!
pause
exit 1
)
if not exist "%dst%" (
echo Error: USB drive %dst% not found!
pause
exit 1
)
copy /Y "%src%" %dst%
if %errorlevel% equ 0 (
echo Success! Pico is rebooting...
) else (
echo Failed! Reconnect Pico and try again.
)
pause
.gitignore
build
.idea
cmake-build-debug
ProjectFiles/CMakeLists.txt
add_executable(blink
main.cpp
)
target_link_libraries(blink
pico_stdlib
freertos
)
pico_add_extra_outputs(blink)
ProjectFiles/main.cpp
#include <FreeRTOS.h>
#include <task.h>
#include <stdio.h>
#include "pico/stdlib.h"
void led_task(void *pvParameters)
{
const uint LED_PIN = PICO_DEFAULT_LED_PIN;
gpio_init(LED_PIN);
gpio_set_dir(LED_PIN, GPIO_OUT);
while (true) {
gpio_put(LED_PIN, 1);
vTaskDelay(pdMS_TO_TICKS(1000));
gpio_put(LED_PIN, 0);
vTaskDelay(pdMS_TO_TICKS(1000));
}
// 理论上不会走到这里
vTaskDelete(NULL);
}
int main()
{
stdio_init_all();
xTaskCreate(
led_task, // 任务函数
"LED_Task", // 名字
256, // 栈大小（words，不是 bytes）
NULL, // 参数
1, // 优先级
NULL // 任务句柄
);
vTaskStartScheduler();
while (1) {
tight_loop_contents();
}
}
freertos/CMakeLists.txt
set(PICO_SDK_FREERTOS_SOURCE FreeRTOS-Kernel)
add_library(freertos
${PICO_SDK_FREERTOS_SOURCE}/event_groups.c
${PICO_SDK_FREERTOS_SOURCE}/list.c
${PICO_SDK_FREERTOS_SOURCE}/queue.c
${PICO_SDK_FREERTOS_SOURCE}/stream_buffer.c
${PICO_SDK_FREERTOS_SOURCE}/tasks.c
${PICO_SDK_FREERTOS_SOURCE}/timers.c
${PICO_SDK_FREERTOS_SOURCE}/portable/MemMang/heap_3.c
${PICO_SDK_FREERTOS_SOURCE}/portable/ThirdParty/GCC/RP2040/port.c
)
target_include_directories(freertos PUBLIC
.
${PICO_SDK_FREERTOS_SOURCE}/include
${PICO_SDK_FREERTOS_SOURCE}/portable/ThirdParty/GCC/RP2040/include
)
target_link_libraries(freertos
PUBLIC
pico_stdlib
hardware_irq
hardware_timer
hardware_sync
hardware_clocks
hardware_exception
pico_multicore
)
freertos/FreeRTOSConfig.h
#ifndef FREERTOS_CONFIG_EXAMPLES_COMMON_H
#define FREERTOS_CONFIG_EXAMPLES_COMMON_H
/* 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 <assert.h>
/* 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 */
FreeRTOS-Kernel
[submodule "freertos/FreeRTOS-Kernel"]
path = freertos/FreeRTOS-Kernel
url = https://github.com/FreeRTOS/FreeRTOS-Kernel
# 执行并删减没有的文件
cd freertos
git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git