From ec2225aa4ed031ccfbeb17908efc5e769a50afea Mon Sep 17 00:00:00 2001 From: AlexanderHD27 Date: Sun, 29 Dec 2024 17:30:22 +0100 Subject: [PATCH] Got Pico SDK + FreeRTOS to work --- .gitmodules | 4 +- i2c-hub/firmware/i2c-hub-firmware/.gitignore | 3 + .../.vscode/c_cpp_properties.json | 23 + .../i2c-hub-firmware/.vscode/cmake-kits.json | 15 + .../i2c-hub-firmware/.vscode/extensions.json | 9 + .../i2c-hub-firmware/.vscode/launch.json | 70 ++ .../i2c-hub-firmware/.vscode/settings.json | 43 ++ .../i2c-hub-firmware/.vscode/tasks.json | 105 +++ .../firmware/i2c-hub-firmware/CMakeLists.txt | 73 ++ .../i2c-hub-firmware/FreeRTOSConfig.h | 142 ++++ .../cmake/FreeRTOS_Kernel_import.cmake | 61 ++ .../i2c-hub-firmware/cmake/freeRTOS.cmake | 14 + .../i2c-hub-firmware/docs/NetworkStack.drawio | 697 ++++++++++++++++++ .../i2c-hub-firmware/lib/FreeRTOS-Kernel | 1 + .../i2c-hub-firmware/pico_sdk_import.cmake | 84 +++ .../firmware/i2c-hub-firmware/src/main.cpp | 38 + .../include/freeRTOS/FreeRTOSConfig.h | 4 +- 17 files changed, 1382 insertions(+), 4 deletions(-) create mode 100644 i2c-hub/firmware/i2c-hub-firmware/.gitignore create mode 100644 i2c-hub/firmware/i2c-hub-firmware/.vscode/c_cpp_properties.json create mode 100644 i2c-hub/firmware/i2c-hub-firmware/.vscode/cmake-kits.json create mode 100644 i2c-hub/firmware/i2c-hub-firmware/.vscode/extensions.json create mode 100644 i2c-hub/firmware/i2c-hub-firmware/.vscode/launch.json create mode 100644 i2c-hub/firmware/i2c-hub-firmware/.vscode/settings.json create mode 100644 i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json create mode 100644 i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt create mode 100644 i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h create mode 100644 i2c-hub/firmware/i2c-hub-firmware/cmake/FreeRTOS_Kernel_import.cmake create mode 100644 i2c-hub/firmware/i2c-hub-firmware/cmake/freeRTOS.cmake create mode 100644 i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio create mode 160000 i2c-hub/firmware/i2c-hub-firmware/lib/FreeRTOS-Kernel create mode 100644 i2c-hub/firmware/i2c-hub-firmware/pico_sdk_import.cmake create mode 100644 i2c-hub/firmware/i2c-hub-firmware/src/main.cpp diff --git a/.gitmodules b/.gitmodules index 105665e..e3b8c76 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:f470c64aba8821beae87d20659b0fbf29f1f5a0a5d26f818b980c14f8067f690 -size 1062 +oid sha256:c3885f497d57d3895555d57e5b538d3230c1e808422cd46b306b11764946093f +size 1376 diff --git a/i2c-hub/firmware/i2c-hub-firmware/.gitignore b/i2c-hub/firmware/i2c-hub-firmware/.gitignore new file mode 100644 index 0000000..72fda45 --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/.gitignore @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f10ec3ffef16a8dace9b58801e0da28819c98af4c8933410d7e7cacc952f9e9b +size 6 diff --git a/i2c-hub/firmware/i2c-hub-firmware/.vscode/c_cpp_properties.json b/i2c-hub/firmware/i2c-hub-firmware/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..ef476a3 --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/.vscode/c_cpp_properties.json @@ -0,0 +1,23 @@ +{ + "configurations": [ + { + "name": "Pico", + "includePath": [ + "${workspaceFolder}/**", + "${userHome}/.pico-sdk/sdk/2.1.0/**" + ], + "forcedInclude": [ + "${userHome}/.pico-sdk/sdk/2.1.0/src/common/pico_base_headers/include/pico.h", + "${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h" + ], + "defines": [], + "compilerPath": "${userHome}/.pico-sdk/toolchain/13_3_Rel1/bin/arm-none-eabi-gcc", + "compileCommands": "${workspaceFolder}/build/compile_commands.json", + "cStandard": "c17", + "cppStandard": "c++14", + "intelliSenseMode": "linux-gcc-arm", + "configurationProvider": "ms-vscode.cmake-tools" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/i2c-hub/firmware/i2c-hub-firmware/.vscode/cmake-kits.json b/i2c-hub/firmware/i2c-hub-firmware/.vscode/cmake-kits.json new file mode 100644 index 0000000..b0f3815 --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/.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": "${command:raspberry-pi-pico.getPythonPath}" + } + } +] \ No newline at end of file diff --git a/i2c-hub/firmware/i2c-hub-firmware/.vscode/extensions.json b/i2c-hub/firmware/i2c-hub-firmware/.vscode/extensions.json new file mode 100644 index 0000000..a940d7c --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/.vscode/extensions.json @@ -0,0 +1,9 @@ +{ + "recommendations": [ + "marus25.cortex-debug", + "ms-vscode.cpptools", + "ms-vscode.cpptools-extension-pack", + "ms-vscode.vscode-serial-monitor", + "raspberry-pi.raspberry-pi-pico" + ] +} \ No newline at end of file diff --git a/i2c-hub/firmware/i2c-hub-firmware/.vscode/launch.json b/i2c-hub/firmware/i2c-hub-firmware/.vscode/launch.json new file mode 100644 index 0000000..d921c35 --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/.vscode/launch.json @@ -0,0 +1,70 @@ +{ + "version": "0.2.0", + "configurations": [ + { + "name": "Pico Debug (Cortex-Debug)", + "cwd": "${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/2.1.0/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/2.1.0/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 \"${command:raspberry-pi-pico.launchTargetPath}\"" + ] + }, + { + "name": "Pico Debug (C++ Debugger)", + "type": "cppdbg", + "request": "launch", + "cwd": "${workspaceRoot}", + "program": "${command:raspberry-pi-pico.launchTargetPath}", + "MIMode": "gdb", + "miDebuggerPath": "${command:raspberry-pi-pico.getGDBPath}", + "miDebuggerServerAddress": "localhost:3333", + "debugServerPath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", + "debugServerArgs": "-f interface/cmsis-dap.cfg -f target/${command:raspberry-pi-pico.getTarget}.cfg -c \"adapter speed 5000\"", + "serverStarted": "Listening on port .* for gdb connections", + "filterStderr": true, + "hardwareBreakpoints": { + "require": true, + "limit": 4 + }, + "preLaunchTask": "Flash", + "svdPath": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd" + }, + ] +} diff --git a/i2c-hub/firmware/i2c-hub-firmware/.vscode/settings.json b/i2c-hub/firmware/i2c-hub-firmware/.vscode/settings.json new file mode 100644 index 0000000..b448cd8 --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/.vscode/settings.json @@ -0,0 +1,43 @@ +{ + "cmake.options.statusBarVisibility": "hidden", + "cmake.options.advanced": { + "build": { + "statusBarVisibility": "hidden" + }, + "launch": { + "statusBarVisibility": "hidden" + }, + "debug": { + "statusBarVisibility": "hidden" + } + }, + "cmake.configureOnEdit": true, + "cmake.automaticReconfigure": true, + "cmake.configureOnOpen": true, + "cmake.generator": "Ninja", + "cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.29.9/bin/cmake", + "C_Cpp.debugShortcut": false, + "terminal.integrated.env.windows": { + "PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.1.0", + "PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1", + "Path": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.29.9/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}" + }, + "terminal.integrated.env.osx": { + "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0", + "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1", + "PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}" + }, + "terminal.integrated.env.linux": { + "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0", + "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1", + "PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${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/v3.29.9/bin/cmake", + "raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja", + "files.associations": { + "uart.h": "c", + "freertos.h": "c" + } +} diff --git a/i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json b/i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json new file mode 100644 index 0000000..862f6ac --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json @@ -0,0 +1,105 @@ +{ + "version": "2.0.0", + "tasks": [ + { + "label": "Compile Project", + "type": "process", + "isBuildCommand": true, + "command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja", + "args": ["-C", "${workspaceFolder}/build"], + "group": "build", + "presentation": { + "echo": true, + "reveal": "always", + "focus": true, + "panel": "shared", + "showReuseMessage": true, + "clear": true + }, + "problemMatcher": "$gcc", + "windows": { + "command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe" + } + }, + { + "label": "Run Project", + "type": "process", + "command": "${env:HOME}/.pico-sdk/picotool/2.1.0/picotool/picotool", + "args": [ + "load", + "${command:raspberry-pi-pico.launchTargetPath}", + "-fx" + ], + "presentation": { + "echo": true, + "reveal": "always", + "focus": true, + "panel": "shared", + "showReuseMessage": true, + "clear": true + }, + "problemMatcher": [], + "windows": { + "command": "${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/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", + "-c", "reset halt", + "-c", "rp2040.core1 arp_reset assert 0", + "-c", "rp2040.core0 arp_reset assert 0", + "-c", "exit" + ], + "presentation": { + "echo": true, + "reveal": "always", + "focus": true, + "panel": "shared", + "showReuseMessage": true, + "clear": true + }, + "problemMatcher": [], + "windows": { + "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", + } + }, + { + "label": "Reset", + "type": "process", + "command": "${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.getTarget}.cfg", + "-c", "adapter speed 5000; init; reset halt;", + "-c", "rp2040.core1 arp_reset assert 0", + "-c", "rp2040.core0 arp_reset assert 0", + "-c", "exit" + ], + "presentation": { + "echo": true, + "reveal": "always", + "focus": true, + "panel": "shared", + "showReuseMessage": true, + "clear": true + }, + "problemMatcher": [], + "windows": { + "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe", + } + } + ] +} diff --git a/i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt b/i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt new file mode 100644 index 0000000..01280fb --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt @@ -0,0 +1,73 @@ +# Generated Cmake Pico project file + +cmake_minimum_required(VERSION 3.13) + +set(CMAKE_C_STANDARD 11) +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_EXPORT_COMPILE_COMMANDS ON) + +# 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 2.1.0) +set(toolchainVersion 13_3_Rel1) +set(picotoolVersion 2.1.0) +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(pico_sdk_import.cmake) + +# Adding FreeRTOS +set(FREERTOS_KERNEL_PATH ../lib/FreeRTOS-Kernel) +include(cmake/FreeRTOS_Kernel_import.cmake) +#include(cmake/freeRTOS.cmake) + +project(i2c-hub-firmware C CXX ASM) + +# Initialise the Raspberry Pi Pico SDK +pico_sdk_init() + +# Add executable. Default name is the project name, version 0.1 + +add_executable(i2c-hub-firmware + src/main.cpp + #src/freeRTOS_impl.c + ) + +pico_set_program_name(i2c-hub-firmware "i2c-hub-firmware") +pico_set_program_version(i2c-hub-firmware "0.1") + +# Modify the below lines to enable/disable output over UART/USB +pico_enable_stdio_uart(i2c-hub-firmware 1) +pico_enable_stdio_usb(i2c-hub-firmware 0) + +# Add the standard library to the build +target_link_libraries(i2c-hub-firmware + FreeRTOS-Kernel-Heap4 + #FreeRTOS + pico_stdlib + ) + +# Add the standard include files to the build +target_include_directories(i2c-hub-firmware PRIVATE + ${CMAKE_CURRENT_LIST_DIR} +) + +# Add any user requested libraries +target_link_libraries(i2c-hub-firmware + hardware_i2c + ) + +pico_add_extra_outputs(i2c-hub-firmware) + diff --git a/i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h b/i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h new file mode 100644 index 0000000..fcfded3 --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h @@ -0,0 +1,142 @@ +/* + * 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_H +#define FREERTOS_CONFIG_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 ) 256 +#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. */ +#define configSUPPORT_STATIC_ALLOCATION 0 +#define configSUPPORT_DYNAMIC_ALLOCATION 1 +#define configTOTAL_HEAP_SIZE (128*1024) +#define configAPPLICATION_ALLOCATED_HEAP 1024 + +/* 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 RP2040 SMP port of FreeRTOS +/* SMP port only */ +#define configNUMBER_OF_CORES 1 +#define configTICK_CORE 0 +#define configRUN_MULTIPLE_PRIORITIES 1 +#define configUSE_CORE_AFFINITY 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 + +/* A header file that defines trace macro can be included here. */ + +#endif /* FREERTOS_CONFIG_H */ \ No newline at end of file diff --git a/i2c-hub/firmware/i2c-hub-firmware/cmake/FreeRTOS_Kernel_import.cmake b/i2c-hub/firmware/i2c-hub-firmware/cmake/FreeRTOS_Kernel_import.cmake new file mode 100644 index 0000000..109a54e --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/cmake/FreeRTOS_Kernel_import.cmake @@ -0,0 +1,61 @@ +# This is a copy of /portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake + +# This can be dropped into an external project to help locate the FreeRTOS kernel +# It should be include()ed prior to project(). Alternatively this file may +# or the CMakeLists.txt in this directory may be included or added via add_subdirectory +# respectively. + +if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH)) + set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH}) + message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')") +endif () + +set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040") +# undo the above +set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..") + +if (NOT FREERTOS_KERNEL_PATH) + # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly) + get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH) + get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH) + if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) + get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) + endif() + if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH) + get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH) + message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake") + elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel") + set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel) + message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}") + endif() +endif () + +if (NOT FREERTOS_KERNEL_PATH) + foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source) + # check if FreeRTOS-Kernel exists under directory that included us + set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR}) + get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH) + if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt) + get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH) + message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project") + break() + endif() + endforeach() +endif() + +if (NOT FREERTOS_KERNEL_PATH) + message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.") +endif() + +set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel") + +get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}") +if (NOT EXISTS ${FREERTOS_KERNEL_PATH}) + message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found") +endif() +if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt) + message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}") +endif() +set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE) + +add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL) diff --git a/i2c-hub/firmware/i2c-hub-firmware/cmake/freeRTOS.cmake b/i2c-hub/firmware/i2c-hub-firmware/cmake/freeRTOS.cmake new file mode 100644 index 0000000..e654935 --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/cmake/freeRTOS.cmake @@ -0,0 +1,14 @@ +SET(FreeRTOS_DIR ${CMAKE_CURRENT_LIST_DIR}/../lib/FreeRTOS-Kernel) +FILE(GLOB FreeRTOS_src ${FreeRTOS_DIR}/*.c) + +add_library(FreeRTOS STATIC + ${FreeRTOS_src} + ${FreeRTOS_DIR}/portable/GCC/ARM_CM0/port.c + ${FreeRTOS_DIR}/portable/MemMang/heap_4.c +) + +target_include_directories(FreeRTOS PUBLIC + ${FreeRTOS_DIR}/portable/GCC/ARM_CM0/ + ${FreeRTOS_DIR}/include/ + ${CMAKE_CURRENT_LIST_DIR}/.. +) \ No newline at end of file diff --git a/i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio b/i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio new file mode 100644 index 0000000..d0a99ce --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio @@ -0,0 +1,697 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/i2c-hub/firmware/i2c-hub-firmware/lib/FreeRTOS-Kernel b/i2c-hub/firmware/i2c-hub-firmware/lib/FreeRTOS-Kernel new file mode 160000 index 0000000..dbf7055 --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/lib/FreeRTOS-Kernel @@ -0,0 +1 @@ +Subproject commit dbf70559b27d39c1fdb68dfb9a32140b6a6777a0 diff --git a/i2c-hub/firmware/i2c-hub-firmware/pico_sdk_import.cmake b/i2c-hub/firmware/i2c-hub-firmware/pico_sdk_import.cmake new file mode 100644 index 0000000..a0721d0 --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/pico_sdk_import.cmake @@ -0,0 +1,84 @@ +# 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() + +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 "${CMAKE_SOURCE_DIR}") + endif () + # GIT_SUBMODULES_RECURSE was added in 3.17 + if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0") + FetchContent_Declare( + pico_sdk + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + GIT_SUBMODULES_RECURSE FALSE + ) + else () + FetchContent_Declare( + pico_sdk + GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk + GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG} + ) + endif () + + if (NOT pico_sdk) + message("Downloading Raspberry Pi Pico SDK") + FetchContent_Populate(pico_sdk) + set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR}) + endif () + set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE}) + else () + message(FATAL_ERROR + "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git." + ) + endif () +endif () + +get_filename_component(PICO_SDK_PATH "${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/i2c-hub/firmware/i2c-hub-firmware/src/main.cpp b/i2c-hub/firmware/i2c-hub-firmware/src/main.cpp new file mode 100644 index 0000000..18988f6 --- /dev/null +++ b/i2c-hub/firmware/i2c-hub-firmware/src/main.cpp @@ -0,0 +1,38 @@ +#include +#include "pico/stdlib.h" + +#include "FreeRTOSConfig.h" +#include "FreeRTOS.h" +#include "task.h" + +#define LED_PIN 25 + + +void TaskFn(void * args) { + while (true) { + gpio_put(LED_PIN, false); + vTaskDelay(500 / portTICK_PERIOD_MS); + gpio_put(LED_PIN, true); + vTaskDelay(500 / portTICK_PERIOD_MS); + } + +} + +int main() +{ + stdio_init_all(); + + gpio_init(LED_PIN); + gpio_set_dir(LED_PIN, true); + + stdio_init_all(); + printf("HelloWorld!\n"); + + TaskHandle_t taskHandle; + BaseType_t res = xTaskCreate(TaskFn, "UART Task", 128, NULL, 1, &taskHandle); + printf("%d\n"); + + vTaskStartScheduler(); + + while(1) {} +} diff --git a/motor-control/firmware/include/freeRTOS/FreeRTOSConfig.h b/motor-control/firmware/include/freeRTOS/FreeRTOSConfig.h index 9be5aa2..779b390 100644 --- a/motor-control/firmware/include/freeRTOS/FreeRTOSConfig.h +++ b/motor-control/firmware/include/freeRTOS/FreeRTOSConfig.h @@ -1,7 +1,7 @@ #ifndef FREERTOS_CONFIG_H #define FREERTOS_CONFIG_H -#define configENABLE_MPU 1 +#define configENABLE_MPU 0 #define configUSE_PREEMPTION 1 #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0 @@ -52,7 +52,7 @@ #define configMAX_CO_ROUTINE_PRIORITIES 1 /* Software timer related definitions. */ -#define configUSE_TIMERS 1 +#define configUSE_TIMERS 0 #define configTIMER_TASK_PRIORITY 3 #define configTIMER_QUEUE_LENGTH 10 #define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE