树莓派 pico 移植 FreeRTOS

1、FreeRTOS

FreeRTOS 是一个迷你的实时操作系统内核。作为一个轻量级的操作系统，功能包括：任务管理、时间管理、信号量、消息队列、内存管理、记录功能、软件定时器、协程等，可基本满足较小系统的需要。
FreeRTOS 在内核中增加了对称多处理 (SMP) 支持，使开发人员在设计基于 FreeRTOS 的应用程序时能够利用多核微控制器的 SMP 功能。最重要的是 FreeRTOS 支持树莓派 Pico RP2040 的两个内核的 SMP。

2、创建工程

工具	版本
CMake	3.24.1
Arm GNU Toolchain	12.2.0
python	3.10.6

首先使用 pico-project-generator 创建 树莓派 pico 的工程

../pico-project-generator/pico_project.py --gui

进入工程文件夹，使用 vscode 打开项目

编译

cmake .. && make

3、移植FreeRTOS

获取 FreeRTOS 源码

git clone https://github.com/FreeRTOS/FreeRTOS-SMP-Demos.git

进入 FreeRTOS-SMP-Demos 目录

cd FreeRTOS-SMP-Demos

更新子模块

git submodule update --init --recursive

将 FreeRTOS-SMP-Demos/FreeRTOS/Source 目录放入我们创建的 Pico 工程中

cp -r FreeRTOS-SMP-Demos/FreeRTOS/Source .

将 FreeRTOS-SMP-Demos/FreeRTOS/Demo/CORTEX_M0+_RP2040/OnEitherCore/FreeRTOS_Kernel_import.cmake 文件放入 Pico 工程中

cp FreeRTOS-SMP-Demos/FreeRTOS/Demo/CORTEX_M0+_RP2040/OnEitherCore/FreeRTOS_Kernel_import.cmake .

将 FreeRTOS-SMP-Demos/FreeRTOS/Demo/CORTEX_M0+_RP2040/OnEitherCore/FreeRTOSConfig.h 文件放入 Pico 工程中

cp FreeRTOS-SMP-Demos/FreeRTOS/Demo/CORTEX_M0+_RP2040/OnEitherCore/FreeRTOSConfig.h .

最后 Pico 工程的结构是

修改 .vscode/c_cpp_properties.json 文件
在 includePath 中加入 FreeRTOS 的头文件

{
  "configurations": [
    {
      "name": "Linux",
      "includePath": [
        "${workspaceFolder}/**",
        "${env:PICO_SDK_PATH}**",
        "${workspaceFolder}/Source/include/**"	// FreeRTOS 头文件
      ],
      "defines": [],
      "compilerPath": "/usr/bin/arm-none-eabi-gcc",
      "cStandard": "gnu17",
      "cppStandard": "gnu++14",
      "intelliSenseMode": "linux-gcc-arm",
      "configurationProvider" : "ms-vscode.cmake-tools"
    }
  ],
  "version": 4
}

修改 FreeRTOS_Kernel_import.cmake 文件
在开头加入

set(FREERTOS_KERNEL_PATH "${CMAKE_CURRENT_LIST_DIR}/Source")
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "../Source/portable/ThirdParty/GCC/RP2040")
set(FREERTOS_KERNEL_RP2040_BACK_PATH "../Source/../../../..")

修改 CMakeLists.txt 文件
在 include(pico_sdk_import.cmake)
下面添加

# Pull in FreeRTOS
include(FreeRTOS_Kernel_import.cmake)

修改target_link_libraries为

target_link_libraries(FreeRTOS PRIVATE
    pico_stdlib
    FreeRTOS-Kernel
    FreeRTOS-Kernel-Heap4
    pico_multicore)

在最后添加target_include_directories

target_include_directories(FreeRTOS PRIVATE
    ${CMAKE_CURRENT_LIST_DIR})

添加target_compile_definitions

target_compile_definitions(FreeRTOS PRIVATE
    mainRUN_FREE_RTOS_ON_CORE=1
    PICO_STACK_SIZE=0x1000
    PICO_STDIO_STACK_BUFFER_SIZE=64 # use a small printf on stack buffer
)

CMakeLists.txt 文件

# Generated Cmake Pico project file

cmake_minimum_required(VERSION 3.13)

set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)

# Initialise pico_sdk from installed location
# (note this can come from environment, CMake cache etc)
set(PICO_SDK_PATH "/home/kjlsai/pico/pico-sdk")

# Pull in Raspberry Pi Pico SDK (must be before project)
include(pico_sdk_import.cmake)
# Pull in FreeRTOS
include(FreeRTOS_Kernel_import.cmake)

project(FreeRTOS C CXX ASM)

set(PICO_CXX_ENABLE_EXCEPTIONS 1)

set(PICO_CXX_ENABLE_RTTI 1)

# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()

# Add executable. Default name is the project name, version 0.1

add_executable(FreeRTOS main.cc )

pico_set_program_name(FreeRTOS "FreeRTOS")
pico_set_program_version(FreeRTOS "0.1")

pico_enable_stdio_uart(FreeRTOS 0)
pico_enable_stdio_usb(FreeRTOS 1)

# Add the standard library to the build
target_link_libraries(FreeRTOS PRIVATE
    pico_stdlib
    FreeRTOS-Kernel
    FreeRTOS-Kernel-Heap4
    pico_multicore)

pico_add_extra_outputs(FreeRTOS)

target_include_directories(FreeRTOS PRIVATE
    ${CMAKE_CURRENT_LIST_DIR})

target_compile_definitions(FreeRTOS PRIVATE
    mainRUN_FREE_RTOS_ON_CORE=1
    PICO_STACK_SIZE=0x1000
    PICO_STDIO_STACK_BUFFER_SIZE=64 # use a small printf on stack buffer
    )

修改 FreeRTOSConfig.h 文件，将宏定义

• configUSE_TICK_HOOK
• configCHECK_FOR_STACK_OVERFLOW
• configUSE_MALLOC_FAILED_HOOK
• configTICK_CORE

改为 0

将宏定义

• configNUM_CORES

改为 2

添加宏定义

• #define configUSE_CORE_AFFINITY 1

4、编写代码

我们写一个打印程序来验证移植是否成功

#include <stdio.h>
#include "pico/stdlib.h"
#include "pico/mutex.h"
#include "pico/sem.h"
#include "FreeRTOS.h" /* Must come first. */
#include "task.h"     /* RTOS task related API prototypes. */
#include "queue.h"    /* RTOS queue related API prototypes. */
#include "timers.h"   /* Software timer related API prototypes. */
#include "semphr.h"   /* Semaphore related API prototypes. */

void task0(void *pvParam)
{
    for(;;)
    {
        uint CORE_ID;
        CORE_ID = portGET_CORE_ID();                        // 获取核心ID
        printf("task0 is runing in core %d\r\n",CORE_ID);   // 打印核心ID
        vTaskDelay(1000 / portTICK_PERIOD_MS);              // 延时1秒
    }
}

void task1(void *pvParam)
{
    for(;;)
    {
        uint CORE_ID;
        CORE_ID = portGET_CORE_ID();
        printf("task1 is runing in core %d\r\n",CORE_ID);
        vTaskDelay(1000 / portTICK_PERIOD_MS);
    }
}

int main()
{
    stdio_init_all();

    /* 创建任务0 */
    TaskHandle_t task0_Handle = NULL;
    UBaseType_t task0_CoreAffinityMask = (1 << 0);              // 指示该任务可以运行在哪个核心上
    xTaskCreate(task0, "task0", 1024, NULL, 1, &task0_Handle);
    vTaskCoreAffinitySet(task0_Handle, task0_CoreAffinityMask); // 为任务设置核心关联掩码

    /* 创建任务1 */
    TaskHandle_t task1_Handle = NULL;
    UBaseType_t task1_CoreAffinityMask = (1 << 1);
    xTaskCreate(task1, "task1", 1024, NULL, 1, &task1_Handle);
    vTaskCoreAffinitySet(task1_Handle, task1_CoreAffinityMask);

    vTaskStartScheduler();

    return 0;
}

编译工程

烧录程序后，打开串口助手可以看到任务0运行在核心0上，任务1运行在核心1上。

可见我们成功将 FreeRTOS 移植到 树莓派 Pico 上，并且成功调用 SMP 功能。