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SomeFreeRTOSExamples
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Add more examples

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John Kenyon 2024-11-12 20:46:24 -08:00
parent 55929635e5
commit 8398761e7c
16 changed files with 1331 additions and 1 deletions
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7
BUILD.md
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# IN PROGRESS
The build process for this repo is still not stabilized.
First, be sure to init the submodules: `git submodule update --init --recursive`
Second, each example should be built individually
`(cd examples/ex0_no_freertos/; rm -rf build; mkdir -p build; cd build; cmake ..; make -j 8; ls ex0_hello_world.uf2)`
`(cd examples/ex1_task_hello/; rm -rf build; mkdir -p build; cd build; cmake ..; make -j 8; ls ex1_task_hello.uf2)`

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examples/ex2_read_input/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.13)
if(NOT DEFINED LIB_ROOT)
set(LIB_ROOT ${CMAKE_SOURCE_DIR}/../..)
endif(NOT DEFINED LIB_ROOT)
set(PICO_SDK_PATH ${LIB_ROOT}/submodules/pico-sdk/)
include( ${LIB_ROOT}/submodules/pico-sdk/external/pico_sdk_import.cmake)
# Pull in FreeRTOS
include(${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
set(PICOTOOL_FETCH_FROM_GIT_PATH ${LIB_ROOT}/submodules/picotool/)
# Include the Pico SDK (make sure to use the correct path to pico_sdk_import.cmake)
include(FetchContent)
# Define the project
set(PROJECT ex2_read_input)
project(${PROJECT} C CXX ASM)
# Initialize the Pico SDK
pico_sdk_init()
include_directories(
${LIB_ROOT}/submodules/pico-sdk/src/rp2040/hardware_structs/include/
${LIB_ROOT}/submodules/FreeRTOS-Kernel/include/
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/
include/
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/hardware_exception/include/
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/pico_multicore/include/
)
# Create the executable
add_executable(${PROJECT} main.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/tasks.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/queue.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/list.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/MemMang/heap_3.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/event_groups.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/timers.c
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/hardware_exception/exception.c
)
# Link against FreeRTOS, Pico SDK, and freertos_config
target_link_libraries(${PROJECT} pico_stdlib)
pico_add_extra_outputs(${PROJECT})
pico_enable_stdio_usb( ${PROJECT} 1)
pico_enable_stdio_uart(${PROJECT} 0)

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examples/ex2_read_input/include/FreeRTOSConfig.h Normal file
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/*
* FreeRTOS V202212.00
* 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.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#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
#define configENABLE_BACKWARD_COMPATIBILITY 0
#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 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]
*/
/* SMP port only */
#define configNUMBER_OF_CORES 1
#define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 0
/* 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
#define INCLUDE_vApplicationStackOverflowHook 0
#define INCLUDE_vApplicationTickHook 1
#define INCLUDE_vApplicationMallocFailedHook 1
#define LIB_PICO_MULTICORE 1
/* A header file that defines trace macro can be included here. */
#endif /* FREERTOS_CONFIG_H */

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#include <stdio.h>
#include "pico/stdlib.h"
#include "FreeRTOS.h"
#include "task.h"
void usbInputTask(void *params) {
char inputBuffer[100];
int bufferIndex = 0;
while (1) {
// Check if a character is available from USB
if (stdio_usb_connected()) { // Make sure USB is connected
int ch = getchar_timeout_us(0); // Non-blocking read
if (ch != PICO_ERROR_TIMEOUT) { // Data available
if (ch == '\n' || ch == '\r') {
if (ch == '\r') {
putchar('\n');
}
inputBuffer[bufferIndex] = '\0'; // Null-terminate the string
// Parse the buffer as needed
int value;
if (sscanf(inputBuffer, "%d", &value) == 1) {
printf("Received integer: %d\n", value);
}
bufferIndex = 0; // Reset buffer index for next input
} else if (bufferIndex < sizeof(inputBuffer) - 1) {
inputBuffer[bufferIndex++] = ch;
putchar(ch);
}
}
}
vTaskDelay(10 / portTICK_PERIOD_MS); // Small delay to prevent task hogging
}
}
int main() {
stdio_init_all(); // Initialize stdio over USB
xTaskCreate(usbInputTask, "USB Input", 1024, NULL, 1, NULL);
vTaskStartScheduler(); // Start FreeRTOS scheduler
for (;;);
}

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examples/ex3_producer_consumer/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.13)
if(NOT DEFINED LIB_ROOT)
set(LIB_ROOT ${CMAKE_SOURCE_DIR}/../..)
endif(NOT DEFINED LIB_ROOT)
set(PICO_SDK_PATH ${LIB_ROOT}/submodules/pico-sdk/)
include( ${LIB_ROOT}/submodules/pico-sdk/external/pico_sdk_import.cmake)
# Pull in FreeRTOS
include(${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
set(PICOTOOL_FETCH_FROM_GIT_PATH ${LIB_ROOT}/submodules/picotool/)
# Include the Pico SDK (make sure to use the correct path to pico_sdk_import.cmake)
include(FetchContent)
# Define the project
set(PROJECT ex3_queues)
project(${PROJECT} C CXX ASM)
# Initialize the Pico SDK
pico_sdk_init()
include_directories(
${LIB_ROOT}/submodules/pico-sdk/src/rp2040/hardware_structs/include/
${LIB_ROOT}/submodules/FreeRTOS-Kernel/include/
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/
include/
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/hardware_exception/include/
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/pico_multicore/include/
)
# Create the executable
add_executable(${PROJECT} main.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/tasks.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/queue.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/list.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/MemMang/heap_3.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/event_groups.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/timers.c
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/hardware_exception/exception.c
)
# Link against FreeRTOS, Pico SDK, and freertos_config
target_link_libraries(${PROJECT} pico_stdlib)
pico_add_extra_outputs(${PROJECT})
pico_enable_stdio_usb( ${PROJECT} 1)
pico_enable_stdio_uart(${PROJECT} 0)

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examples/ex3_producer_consumer/include/FreeRTOSConfig.h Normal file
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/*
* FreeRTOS V202212.00
* 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.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#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
#define configENABLE_BACKWARD_COMPATIBILITY 0
#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 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]
*/
/* SMP port only */
#define configNUMBER_OF_CORES 1
#define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 0
/* 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
#define INCLUDE_vApplicationStackOverflowHook 0
#define INCLUDE_vApplicationTickHook 1
#define INCLUDE_vApplicationMallocFailedHook 1
#define LIB_PICO_MULTICORE 1
/* A header file that defines trace macro can be included here. */
#endif /* FREERTOS_CONFIG_H */

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#include <stdio.h>
#include "pico/stdlib.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
// Define the queue handle globally
QueueHandle_t dataQueue;
// Task 1: Produces data and sends it to the queue
void producerTask(void *params) {
int counter = 0;
while (1) {
// Send the counter value to the queue
if (xQueueSend(dataQueue, &counter, 0) == pdPASS) {
printf("Producer: Sent %d to queue\n", counter);
} else {
printf("Producer: Failed to send to queue\n");
}
counter++;
// Delay to simulate periodic data production
vTaskDelay(2000 / portTICK_PERIOD_MS); // 1 second delay
}
}
// Task 2: Consumes data from the queue and processes it
void consumerTask(void *params) {
int receivedValue;
while (1) {
// Receive data from the queue
if (xQueueReceive(dataQueue, &receivedValue, portMAX_DELAY) == pdPASS) {
printf("Consumer: Received %d from queue\n", receivedValue);
}
}
}
void usbInputTask(void *params) {
char inputBuffer[100];
int bufferIndex = 0;
while (1) {
// Check if a character is available from USB
if (stdio_usb_connected()) { // Make sure USB is connected
int ch = getchar_timeout_us(0); // Non-blocking read
if (ch != PICO_ERROR_TIMEOUT) { // Data available
if (ch == '\n' || ch == '\r') {
if (ch == '\r') {
putchar('\n');
}
inputBuffer[bufferIndex] = '\0'; // Null-terminate the string
// Parse the buffer as needed
int value;
if (sscanf(inputBuffer, "%d", &value) == 1) {
printf("Received integer: %d\n", value);
}
bufferIndex = 0; // Reset buffer index for next input
} else if (bufferIndex < sizeof(inputBuffer) - 1) {
inputBuffer[bufferIndex++] = ch;
putchar(ch);
}
}
}
vTaskDelay(10 / portTICK_PERIOD_MS); // Small delay to prevent task hogging
}
}
int main() {
stdio_init_all(); // Initialize stdio over USB
// Create a queue to hold integers, with a capacity of 5 items
dataQueue = xQueueCreate(5, sizeof(int));
if (dataQueue == NULL) {
printf("Failed to create queue\n");
while (1); // Loop indefinitely if queue creation fails
}
xTaskCreate(producerTask, "Producer Task", 1024, NULL, 1, NULL);
xTaskCreate(consumerTask, "Consumer Task", 1024, NULL, 1, NULL);
xTaskCreate(usbInputTask, "USB Input", 1024, NULL, 1, NULL);
vTaskStartScheduler(); // Start FreeRTOS scheduler
for (;;);
}

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examples/ex4_mutex/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.13)
if(NOT DEFINED LIB_ROOT)
set(LIB_ROOT ${CMAKE_SOURCE_DIR}/../..)
endif(NOT DEFINED LIB_ROOT)
set(PICO_SDK_PATH ${LIB_ROOT}/submodules/pico-sdk/)
include( ${LIB_ROOT}/submodules/pico-sdk/external/pico_sdk_import.cmake)
# Pull in FreeRTOS
include(${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
set(PICOTOOL_FETCH_FROM_GIT_PATH ${LIB_ROOT}/submodules/picotool/)
# Include the Pico SDK (make sure to use the correct path to pico_sdk_import.cmake)
include(FetchContent)
# Define the project
set(PROJECT ex4_mutex)
project(${PROJECT} C CXX ASM)
# Initialize the Pico SDK
pico_sdk_init()
include_directories(
${LIB_ROOT}/submodules/pico-sdk/src/rp2040/hardware_structs/include/
${LIB_ROOT}/submodules/FreeRTOS-Kernel/include/
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/
include/
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/hardware_exception/include/
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/pico_multicore/include/
)
# Create the executable
add_executable(${PROJECT} main.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/tasks.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/queue.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/list.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/MemMang/heap_3.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/event_groups.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/timers.c
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/hardware_exception/exception.c
)
# Link against FreeRTOS, Pico SDK, and freertos_config
target_link_libraries(${PROJECT} pico_stdlib)
pico_add_extra_outputs(${PROJECT})
pico_enable_stdio_usb( ${PROJECT} 1)
pico_enable_stdio_uart(${PROJECT} 0)

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examples/ex4_mutex/include/FreeRTOSConfig.h Normal file
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/*
* FreeRTOS V202212.00
* 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.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#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
#define configENABLE_BACKWARD_COMPATIBILITY 0
#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 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]
*/
/* SMP port only */
#define configNUMBER_OF_CORES 1
#define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 0
/* 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
#define INCLUDE_vApplicationStackOverflowHook 0
#define INCLUDE_vApplicationTickHook 1
#define INCLUDE_vApplicationMallocFailedHook 1
#define LIB_PICO_MULTICORE 1
/* A header file that defines trace macro can be included here. */
#endif /* FREERTOS_CONFIG_H */

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#include <stdio.h>
#include "pico/stdlib.h"
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
SemaphoreHandle_t xMutex;
void taskA(void *params) {
while (1) {
// Attempt to take the mutex, waiting indefinitely if necessary
if (xSemaphoreTake(xMutex, portMAX_DELAY) == pdTRUE) {
// Critical section: Access the shared resource
printf("Task A: Accessing shared resource\n");
vTaskDelay(500 / portTICK_PERIOD_MS); // Simulate work by delaying
// Release the mutex after finishing work
xSemaphoreGive(xMutex);
}
vTaskDelay(1000 / portTICK_PERIOD_MS); // Delay before trying to access again
}
}
void taskB(void *params) {
while (1) {
// Attempt to take the mutex, waiting indefinitely if necessary
if (xSemaphoreTake(xMutex, portMAX_DELAY) == pdTRUE) {
// Critical section: Access the shared resource
printf("Task B: Accessing shared resource\n");
vTaskDelay(500 / portTICK_PERIOD_MS); // Simulate work by delaying
// Release the mutex after finishing work
xSemaphoreGive(xMutex);
}
vTaskDelay(1500 / portTICK_PERIOD_MS); // Delay before trying to access again
}
}
int main() {
stdio_init_all(); // Initialize stdio over USB
// Create a semaphore
xMutex = xSemaphoreCreateMutex();
if (xMutex == NULL) {
printf("Failed to create mutex\n");
while (1); // Loop forever if mutex creation fails
}
xTaskCreate(taskA, "Task A", 1024, NULL, 1, NULL);
xTaskCreate(taskB, "Task B", 1024, NULL, 1, NULL);
vTaskStartScheduler(); // Start FreeRTOS scheduler
for (;;);
}

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cmake_minimum_required(VERSION 3.13)
if(NOT DEFINED LIB_ROOT)
set(LIB_ROOT ${CMAKE_SOURCE_DIR}/../..)
endif(NOT DEFINED LIB_ROOT)
set(PICO_SDK_PATH ${LIB_ROOT}/submodules/pico-sdk/)
include( ${LIB_ROOT}/submodules/pico-sdk/external/pico_sdk_import.cmake)
# Pull in FreeRTOS
include(${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
set(PICOTOOL_FETCH_FROM_GIT_PATH ${LIB_ROOT}/submodules/picotool/)
# Include the Pico SDK (make sure to use the correct path to pico_sdk_import.cmake)
include(FetchContent)
# Define the project
set(PROJECT ex5_metrics)
project(${PROJECT} C CXX ASM)
# Initialize the Pico SDK
pico_sdk_init()
include_directories(
${LIB_ROOT}/submodules/pico-sdk/src/rp2040/hardware_structs/include/
${LIB_ROOT}/submodules/FreeRTOS-Kernel/include/
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/
include/
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/hardware_exception/include/
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/pico_multicore/include/
)
# Create the executable
add_executable(${PROJECT} main.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/tasks.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/queue.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/list.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/MemMang/heap_3.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/event_groups.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/timers.c
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/hardware_exception/exception.c
)
# Link against FreeRTOS, Pico SDK, and freertos_config
target_link_libraries(${PROJECT} pico_stdlib)
pico_add_extra_outputs(${PROJECT})
pico_enable_stdio_usb( ${PROJECT} 1)
pico_enable_stdio_uart(${PROJECT} 0)

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/*
* FreeRTOS V202212.00
* 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.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#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
#define configENABLE_BACKWARD_COMPATIBILITY 0
#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 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 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 1
#define portGET_RUN_TIME_COUNTER_VALUE() (getRunTimeCounterValue())
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() // No setup needed on RP2040
#define configUSE_TRACE_FACILITY 1
/* 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]
*/
/* SMP port only */
#define configNUMBER_OF_CORES 1
#define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 0
/* 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
#define INCLUDE_vApplicationStackOverflowHook 0
#define INCLUDE_vApplicationTickHook 1
#define INCLUDE_vApplicationMallocFailedHook 1
#define LIB_PICO_MULTICORE 1
/* A header file that defines trace macro can be included here. */
#endif /* FREERTOS_CONFIG_H */

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#include <stdio.h>
#include "pico/stdlib.h"
#include "pico/time.h"
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
SemaphoreHandle_t xMutex;
uint32_t getRunTimeCounterValue() {
return to_ms_since_boot(get_absolute_time());
}
void taskA(void *params) {
while (1) {
// Attempt to take the mutex, waiting indefinitely if necessary
if (xSemaphoreTake(xMutex, portMAX_DELAY) == pdTRUE) {
// Critical section: Access the shared resource
printf("Task A: Accessing shared resource\n");
vTaskDelay(500 / portTICK_PERIOD_MS); // Simulate work by delaying
// Release the mutex after finishing work
xSemaphoreGive(xMutex);
}
vTaskDelay(1000 / portTICK_PERIOD_MS); // Delay before trying to access again
}
}
void taskB(void *params) {
while (1) {
// Attempt to take the mutex, waiting indefinitely if necessary
if (xSemaphoreTake(xMutex, portMAX_DELAY) == pdTRUE) {
// Critical section: Access the shared resource
printf("Task B: Accessing shared resource\n");
vTaskDelay(500 / portTICK_PERIOD_MS); // Simulate work by delaying
// Release the mutex after finishing work
xSemaphoreGive(xMutex);
}
vTaskDelay(1500 / portTICK_PERIOD_MS); // Delay before trying to access again
}
}
void printTaskStats(void *params) {
char buffer[256];
while (1) {
vTaskGetRunTimeStats(buffer);
printf("Task run-time stats:\n%s\n", buffer);
vTaskDelay(pdMS_TO_TICKS(5000)); // Print stats every 5 seconds
}
}
int main() {
stdio_init_all(); // Initialize stdio over USB
// Create a semaphore
xMutex = xSemaphoreCreateMutex();
if (xMutex == NULL) {
printf("Failed to create mutex\n");
while (1); // Loop forever if mutex creation fails
}
xTaskCreate(taskA, "Task A", 1024, NULL, 1, NULL);
xTaskCreate(taskB, "Task B", 1024, NULL, 1, NULL);
xTaskCreate(printTaskStats, "Stats Printer", 1024, NULL, 1, NULL);
vTaskStartScheduler(); // Start FreeRTOS scheduler
for (;;);
}

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cmake_minimum_required(VERSION 3.13)
if(NOT DEFINED LIB_ROOT)
set(LIB_ROOT ${CMAKE_SOURCE_DIR}/../..)
endif(NOT DEFINED LIB_ROOT)
set(PICO_SDK_PATH ${LIB_ROOT}/submodules/pico-sdk/)
include( ${LIB_ROOT}/submodules/pico-sdk/external/pico_sdk_import.cmake)
# Pull in FreeRTOS
include(${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
set(PICOTOOL_FETCH_FROM_GIT_PATH ${LIB_ROOT}/submodules/picotool/)
# Include the Pico SDK (make sure to use the correct path to pico_sdk_import.cmake)
include(FetchContent)
# Define the project
set(PROJECT ex6_reboot_to_bootloader)
project(${PROJECT} C CXX ASM)
# Initialize the Pico SDK
pico_sdk_init()
include_directories(
${LIB_ROOT}/submodules/pico-sdk/src/rp2040/hardware_structs/include/
${LIB_ROOT}/submodules/FreeRTOS-Kernel/include/
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/include/
include/
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/hardware_exception/include/
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/pico_multicore/include/
)
# Create the executable
add_executable(${PROJECT} main.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/tasks.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/queue.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/list.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/port.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/portable/MemMang/heap_3.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/event_groups.c
${LIB_ROOT}/submodules/FreeRTOS-Kernel/timers.c
${LIB_ROOT}/submodules/pico-sdk/src/rp2_common/hardware_exception/exception.c
)
# Link against FreeRTOS, Pico SDK, and freertos_config
target_link_libraries(${PROJECT} pico_stdlib)
pico_add_extra_outputs(${PROJECT})
pico_enable_stdio_usb( ${PROJECT} 1)
pico_enable_stdio_uart(${PROJECT} 0)

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/*
* FreeRTOS V202212.00
* 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.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
#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
#define configENABLE_BACKWARD_COMPATIBILITY 0
#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 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 1
#define configUSE_STATS_FORMATTING_FUNCTIONS 1
#define portGET_RUN_TIME_COUNTER_VALUE() (getRunTimeCounterValue())
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() // No setup needed on RP2040
#define configUSE_TRACE_FACILITY 1
/* 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]
*/
/* SMP port only */
#define configNUMBER_OF_CORES 1
#define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 0
/* 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
#define INCLUDE_vApplicationStackOverflowHook 0
#define INCLUDE_vApplicationTickHook 1
#define INCLUDE_vApplicationMallocFailedHook 1
#define LIB_PICO_MULTICORE 1
/* A header file that defines trace macro can be included here. */
#endif /* FREERTOS_CONFIG_H */

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#include <stdio.h>
#include "pico/stdlib.h"
#include "pico/time.h"
#include "pico/bootrom.h"
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
SemaphoreHandle_t xMutex;
uint32_t getRunTimeCounterValue() {
return to_ms_since_boot(get_absolute_time());
}
void taskA(void *params) {
while (1) {
// Attempt to take the mutex, waiting indefinitely if necessary
if (xSemaphoreTake(xMutex, portMAX_DELAY) == pdTRUE) {
// Critical section: Access the shared resource
printf("Task A: Accessing shared resource\n");
vTaskDelay(500 / portTICK_PERIOD_MS); // Simulate work by delaying
// Release the mutex after finishing work
xSemaphoreGive(xMutex);
}
vTaskDelay(1000 / portTICK_PERIOD_MS); // Delay before trying to access again
}
}
void taskB(void *params) {
while (1) {
// Attempt to take the mutex, waiting indefinitely if necessary
if (xSemaphoreTake(xMutex, portMAX_DELAY) == pdTRUE) {
// Critical section: Access the shared resource
printf("Task B: Accessing shared resource\n");
vTaskDelay(500 / portTICK_PERIOD_MS); // Simulate work by delaying
// Release the mutex after finishing work
xSemaphoreGive(xMutex);
}
vTaskDelay(1500 / portTICK_PERIOD_MS); // Delay before trying to access again
}
}
void printTaskStats(void *params) {
char buffer[256];
while (1) {
vTaskGetRunTimeStats(buffer);
printf("Task run-time stats:\n%s\n", buffer);
vTaskDelay(pdMS_TO_TICKS(5000)); // Print stats every 5 seconds
}
}
void theFinalCountdown(void *params) {
vTaskDelay(15000 / portTICK_PERIOD_MS);
reset_usb_boot(0,0);
}
int main() {
stdio_init_all(); // Initialize stdio over USB
// Create a semaphore
xMutex = xSemaphoreCreateMutex();
if (xMutex == NULL) {
printf("Failed to create mutex\n");
while (1); // Loop forever if mutex creation fails
}
xTaskCreate(taskA, "Task A", 1024, NULL, 1, NULL);
xTaskCreate(taskB, "Task B", 1024, NULL, 1, NULL);
xTaskCreate(printTaskStats, "Stats Printer", 1024, NULL, 1, NULL);
xTaskCreate(theFinalCountdown, "The Final Countdown", 1024, NULL, 1, NULL);
vTaskStartScheduler(); // Start FreeRTOS scheduler
for (;;);
}