树莓派pico(RP2040)配置FreeRTOS

树莓派pico(RP2040)从零配置FreeRTOS-202210.01 LTS

前期准备

工作环境是Windos 11+wsl2.0(debian)+arm-none-eabi-gcc(12.2.1),vscode,pico_c/c++_sdk(最新版),FreeRTOS(202210.01 LTS)。本文的起点是vscode可以正常编译rp2040工程。不在文中赘述开发环境的安装细节，也不提供相关文件的安装包，搭建环境有困难的私信，不定时回复。涉及到的软件在以下链接下载：

FreeRTOS:

https://github.com/FreeRTOS/FreeRTOS-LTS/releases/download/202210.01-LTS/FreeRTOSv202210.01-LTS.zip

pico-sdk

https://github.com/raspberrypi/pico-sdk

pico-project-generator

https://github.com/raspberrypi/pico-project-generator

step0-准备一个可以正常编译通过的工程

为了保证你的操作完全和我同步，用pico_project_generator来生成模板工程：

 ./pico_project.py RtosPico

以上代码会在脚本所在目录生成一个名为RtosPico的目录，目录下是名为RtosPico的工程，目录可以移动到任意地方。移动工程后清理cmake缓存或删除build目录。
注意pico_project_generator是一个python脚本，运行时如果提示找不到tk模块，请移步百度自己找安装方法。
如果有可用的工程可以直接拿来用，此步骤非必须。

step1-把FreeRTOS-Kernel文件夹放到工程目录下

注意下载的文件解压后包含多级目录,我们要复制的目录为"FreeRTOS-Kernel"

复制完成后，工程目录的结构如下：

wjl@WWJJLL:~/RtosPico$ ls -all
total 24
drwxr-xr-x  3 wjl wjl 4096 Feb 26 15:52 .
drwx------ 13 wjl wjl 4096 Feb 26 15:49 ..
-rw-r--r--  1 wjl wjl 1290 Feb 26 15:39 CMakeLists.txt
drwxr-xr-x  4 wjl wjl 4096 Feb 26 15:52 FreeRTOS-Kernel
-rw-r--r--  1 wjl wjl 3165 Feb 26 15:39 pico_sdk_import.cmake
-rw-r--r--  1 wjl wjl  126 Feb 26 15:39 RtosPico.c

step2-修改工程顶层CMakeLists.txt文件

# Pull in Raspberry Pi Pico SDK (must be before project)
include(pico_sdk_import.cmake)
if (PICO_SDK_VERSION_STRING VERSION_LESS "1.4.0")
  message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.4.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}")
endif()

project(RtosPico C CXX ASM)
pico_sdk_init()
add_subdirectory(FreeRTOS-Kernel)         #将FreeRTOS作为子模块添加到工程
include_directories(
FreeRTOS-Kernel/include                    #增加freertos的include目录
)
add_executable(RtosPico RtosPico.c )
pico_set_program_name(RtosPico "RtosPico")
pico_set_program_version(RtosPico "0.1")
pico_enable_stdio_uart(RtosPico 1)
pico_enable_stdio_usb(RtosPico 0)
target_link_libraries(RtosPico        
        pico_stdlib      
        freertos_kernel                  #静态链接Freertos库
        hardware_gpio                    #GPIO用来测试freertos
        )

step2-添加FreeRTOSConfig.h文件

在FreeRTOS-Kernel目录下，新建文件"FreeRTOSConfig.h",复制以下内容到文件中：

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
#define configUSE_PREEMPTION                    1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
#define configUSE_TICKLESS_IDLE                 0
#define configCPU_CLOCK_HZ                      125000000
#define configSYSTICK_CLOCK_HZ                  1000000  
#define configTICK_RATE_HZ                      1000      
#define configMAX_PRIORITIES                    4
#define configMINIMAL_STACK_SIZE                256     
#define configMAX_TASK_NAME_LEN                 16
#define configUSE_16_BIT_TICKS                  0
#define configIDLE_SHOULD_YIELD                 1
#define configUSE_TASK_NOTIFICATIONS            1
#define configTASK_NOTIFICATION_ARRAY_ENTRIES   3
#define configUSE_MUTEXES                       0
#define configUSE_RECURSIVE_MUTEXES             0
#define configUSE_COUNTING_SEMAPHORES           0
#define configUSE_ALTERNATIVE_API               0 /* Deprecated! */
#define configQUEUE_REGISTRY_SIZE               10
#define configUSE_QUEUE_SETS                    0
#define configUSE_TIME_SLICING                  0
#define configUSE_NEWLIB_REENTRANT              0
#define configENABLE_BACKWARD_COMPATIBILITY     0
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
#define configSTACK_DEPTH_TYPE                  uint16_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                   50000
#define configAPPLICATION_ALLOCATED_HEAP        0

/* Hook function related definitions. */
#define configUSE_IDLE_HOOK                     0
#define configUSE_TICK_HOOK                     0
#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                0
#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               3
#define configTIMER_QUEUE_LENGTH                10
#define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE

/* 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]

/* Define to trap errors during development. */
//#define configASSERT( ( x ) ) assert()

/* FreeRTOS MPU specific definitions. */
#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
#define configTOTAL_MPU_REGIONS                                8 /* Default value. */
#define configTEX_S_C_B_FLASH                                  0x07UL /* Default value. */
#define configTEX_S_C_B_SRAM                                   0x07UL /* Default value. */
#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY            1

/* Optional functions - most linkers will remove unused functions anyway. */
#define INCLUDE_vTaskPrioritySet                1
#define INCLUDE_uxTaskPriorityGet               1
#define INCLUDE_vTaskDelete                     1
#define INCLUDE_vTaskSuspend                    1
#define INCLUDE_xResumeFromISR                  1
#define INCLUDE_vTaskDelayUntil                 1
#define INCLUDE_vTaskDelay                      1
#define INCLUDE_xTaskGetSchedulerState          1
#define INCLUDE_xTaskGetCurrentTaskHandle       1
#define INCLUDE_uxTaskGetStackHighWaterMark     0
#define INCLUDE_xTaskGetIdleTaskHandle          0
#define INCLUDE_eTaskGetState                   0
#define INCLUDE_xEventGroupSetBitFromISR        1
#define INCLUDE_xTimerPendFunctionCall          1
#define INCLUDE_xTaskAbortDelay                 0
#define INCLUDE_xTaskGetHandle                  0
#define INCLUDE_xTaskResumeFromISR              1

#define vPortSVCHandler isr_svcall
#define xPortPendSVHandler isr_pendsv
#define xPortSysTickHandler isr_systick


/* A header file that defines trace macro can be included here. */

#endif /* FREERTOS_CONFIG_H */

step3-修改FreeRTOS的CMakeLists.txt文件

freertos的cmake配置有两处内容是明确要用户做配置的

# User is responsible to set two mandatory options:
# FREERTOS_CONFIG_FILE_DIRECTORY
# FREERTOS_PORT

1.FREERTOS_CONFIG_FILE_DIRECTORY是内核的工程配置文件，填写上一步新建文件的文件路径，注意是绝对路径.
2.FREERTOS_PORT，是平台相关的接口定义文件。文件中有所有内核支持的平台名称，此处我们按说明，配置为"GCC_RP2040"
3.找到这两处定义并修改为如下：

set(FREERTOS_CONFIG_FILE_DIRECTORY "/home/wjl/RtosPico/FreeRTOS-Kernel/" CACHE STRING "Absolute path to the directory with FreeRTOSConfig.h")
set(FREERTOS_PORT "GCC_RP2040" CACHE STRING "")

step4-修改RtosPico.c文件

#include <stdio.h>
#include <hardware/gpio.h>
#include <FreeRTOS.h>
#include <timers.h>
#include <task.h>
#include "pico/stdlib.h"


#define ledApp1 2
#define ledApp2 4
static void app1(void*);
static void app2(void*);

int main()
{
    stdio_init_all();
    xTaskCreate(app1,"app1",1024,NULL,1,NULL);
    xTaskCreate(app2,"app1",1024,NULL,1,NULL);
    vTaskStartScheduler();
    while(1);
    return 0;
}


void app1(void* vp)
{
    gpio_init(ledApp1);
    gpio_set_dir(ledApp1,GPIO_OUT);
    while(1)
    {
        gpio_put(ledApp1,0);
        vTaskDelay(1000);
        gpio_put(ledApp1,1);
        vTaskDelay(1000);
    }
}

void app2(void* vp)
{
    gpio_init(ledApp2);
    gpio_set_dir(ledApp2,GPIO_OUT);
    while(1)
    {
        gpio_put(ledApp2,0);
        vTaskDelay(500);
        gpio_put(ledApp2,1);
        vTaskDelay(500);
    }
}

创建两个应用程序app1，app2分别驱动不同的io，
两个led分别接到gpio2和gpio4，程序正常运行时，两个led以不同的频率闪烁。

step5-注意事项

1.如果工程的包含文件改动后不能生效，尝试清理cmake缓存，或者直接删除build文件夹后重新生成工程。
2.最终版本的工程已上传到git，修改CMakeLists.txt中的pico_sdk_path为你自己的sdk路径就可以直接编译通过。

https://github.com/AndrewWang1111/RtosPico