轻松玩转树莓派Pico之九、RP2040-SMP自定义工程创建
@[toc]## 1、工程创建
运行完 FreeRTOS-SMP-Demos 后，我们对 SMP 运行有了一定的了解，接下来我们自己创建工程编译运行。
- 按照前文 轻松玩转树莓派Pico之二、创建自己的pico工程项目 一文创建 pico_smp 项目。
创建 pico_smp.c，并输入：
#include - 创建项目CMakeLists.txt
cmake_minimum_required(VERSION 3.13)
include(pico_sdk_import.cmake)
project(pico_smp C CXX ASM)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
pico_sdk_init()
add_executable(pico_smp
pico_smp.c
)
pico_add_extra_outputs(pico_smp)
target_link_libraries(pico_smp pico_stdlib)
- 在项目 pico_freertos_smp 目录下依次输入：
$ mkdir build && cd build
$ cmake ..
$ make
测试是否可以正常编译
2、FreeRTOS-SMP源码下载
下载 smp 分支源码，采用 git submodule 模式，在命令行中输入：
$ git submodule add -b smp https://github.com/FreeRTOS/FreeRTOS-Kernel
下载完成后，可以在 FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040 目录下看到 RP2040-SMP 相关的适配。
根据 README.md 文件介绍，可以将 FreeRTOS_Kernel_import.cmake 文件复制到项目工程下，并在项目 CMakeLists.txt 文件夹加入该文件即可。
修改 pico-smp 工程
- 修改 CMakeLists.txt，加入
include(FreeRTOS_Kernel_import.cmake)
因为我们的下载的 FreeRTOS-Kernel 就在当前工程目录下，以子模块类型存在。
cmake_minimum_required(VERSION 3.13)
include(pico_sdk_import.cmake)
include(FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
project(pico_smp C CXX ASM)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
pico_sdk_init()
add_executable(pico_smp
pico_smp.c
)
target_link_libraries(pico_smp pico_stdlib FreeRTOS-Kernel FreeRTOS-Kernel-Heap4)
include_directories(${CMAKE_CURRENT_LIST_DIR})
pico_add_extra_outputs(pico_smp)
- 加入 smp 相关代码，修改 main() 函数，创建 2个任务，并让 task0 运行在 core0，task1 运行在 core1。
- 调用 vTaskStartScheduler() 函数启动调度器。
#include "FreeRTOS.h"
#include "task.h"
void task0(void *param)
{
static uint32_t cnt = 0;
while (1) {
printf("%s cnt: %d\n", __FUNCTION__, cnt ++);
printf("task %s is runing in core %d\r\n", __FUNCTION__, portGET_CORE_ID());
vTaskDelay(1000);
}
}
void task1(void *param)
{
static uint32_t cnt = 0;
while (1) {
printf("%s cnt: %d\n", __FUNCTION__, cnt ++);
printf("task %s is runing in core %d\r\n", __FUNCTION__, portGET_CORE_ID());
vTaskDelay(1000);
}
}
int main()
{
setup_default_uart();
TaskHandle_t task0_Handle = NULL;
xTaskCreate(task0, "task0", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, &task0_Handle);
UBaseType_t task0_CoreAffinityMask = (1 << 0);
vTaskCoreAffinitySet(task0_Handle, task0_CoreAffinityMask);
TaskHandle_t task1_Handle = NULL;
xTaskCreate(task1, "task1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 2, &task1_Handle);
UBaseType_t task1_CoreAffinityMask = (1 << 1);
vTaskCoreAffinitySet(task1_Handle, task1_CoreAffinityMask);
vTaskStartScheduler();
return 0;
}
需要特别注意需要开启下面这 2 个宏
#define configRUN_MULTIPLE_PRIORITIES 1
#define configUSE_CORE_AFFINITY 1
- 添加 FreeRTOSConfig.h
/*
* FreeRTOS V202107.00
* 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
#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 configNUM_CORES 2
#define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 1
#define configUSE_CORE_AFFINITY 1
/* RP2040 specific */
#define configSUPPORT_PICO_SYNC_INTEROP 1
#define configSUPPORT_PICO_TIME_INTEROP 1
#include 3、编译
在项目 pico_freertos_smp 目录下依次输入:
$ mkdir build && cd build
$ cmake ..
$ make
即可完成编译，编译完成后在 builld 目录下已经生成了 .uf2 .bin .elf 等文件。
下载至 pico 开发板后，运行如下：
task0 cnt: 0
task1 cnt: 0
task task1 is runing in core 1
task task0 is runing in core 0
task1 cnt: 1
task task1 is runing in core 1
task0 cnt: 1
task task0 is runing in core 0
task1 cnt: 2
task task1 is runing in core 1
task0 cnt: 2
task task0 is runing in core 0