网站突然搜不到了,湖北网站定制开发价格表,微信公众号服务号网站开发流程,公司做网站 优帮云[toc]## 1、工程创建 运行完 FreeRTOS-SMP-Demos 后#xff0c;我们对 SMP 运行有了一定的了解#xff0c;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#xff0c;并输入#x…[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 stdio.h
#include pico/stdlib.hint main()
{setup_default_uart();while(1) {printf(Hello World!\r\n);sleep_ms(1000);}return 0;
}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_smppico_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_smppico_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 core0task1 运行在 core1。调用 vTaskStartScheduler() 函数启动调度器。
#include FreeRTOS.h
#include task.hvoid 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 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/* A header file that defines trace macro can be included here. */#endif /* FREERTOS_CONFIG_H */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
