FreeRTOS - spp_streamer pi pico2 w

[ispydre]

Hi all -

I originally posted this issue on - bluekitchen/btstack#682 - but this repo might be better suited for this issue.

Background:
I'm trying to port spp_streamer.c to use FreeRTOS to my pi pico2 w. I made a project build with just the spp_streamer.c (bare-metal). I have tested that out by connecting my laptop (windows 11) to the pico2w over bluetooth. I open the serial monitor on VSCode, see the comport available, open that port and can get the test data.

Where I'm At:

Below is a core snippet of my FreeRTOS port.

// FreeRTOS config

/* 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 ) 512 
#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        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]
*/

#if FREE_RTOS_KERNEL_SMP // set by the RP2xxx SMP port of FreeRTOS
/* SMP port only */
#ifndef configNUMBER_OF_CORES
#define configNUMBER_OF_CORES                   2
#endif
#define configNUM_CORES                         configNUMBER_OF_CORES
#define configTICK_CORE                         0
#define configRUN_MULTIPLE_PRIORITIES           1
#if configNUMBER_OF_CORES > 1
#define configUSE_CORE_AFFINITY                 1
#endif
#define configUSE_PASSIVE_IDLE_HOOK             0
#endif

/* 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

#if PICO_RP2350
#define configENABLE_FPU                        1
#define configENABLE_MPU                        0
#define configENABLE_TRUSTZONE                  0
#define configRUN_FREERTOS_SECURE_ONLY          1
#define configMAX_SYSCALL_INTERRUPT_PRIORITY    16
#endif


// Bluetooth FreeRTOS Task
void bluetooth_task(void *pvParameters) {
    (void) pvParameters;
   
    int res = picow_bt_example_init();
    if (res){
        while (1) { tight_loop_contents(); }
    }

    // Call main BTstack setup
    picow_bt_example_main();
    btstack_run_loop_execute();


    // Should never reach here
    vTaskDelete(NULL);
}


void create_tasks(void) {
  xTaskCreate(bluetooth_task, "BluetoothTask", 4096, NULL, 2, &bluetooth_task_handle);

  vTaskStartScheduler();
}

int main( void )
{
    stdio_init_all();

    create_tasks();
}

// CMakeLists.txt  libraries
target_link_libraries(spp_freertos
  pico_stdlib
  pico_async_context_freertos
  pico_cyw43_arch_threadsafe_background
  pico_lwip_nosys
  pico_btstack_cyw43
  pico_btstack_classic
  FreeRTOS-Kernel
  FreeRTOS-Kernel-Heap4
)

I'm using spp_streamer.c, picow_bt_example_common.c. I'm able to connect to it - via my laptop and successfully view the test data 1/10 times. The other 9/10 times I'm able to connect to it - via my laptop but the com ports don't show up on the serial monitor.

I believe there might be some setup calls i might need to change to fully get freertos working with spp_streamer. Happy to read more documentation, additional examples, or try any suggestions here.

Thanks!

[peterharperuk]

Presumably you have modified pico-examples directly to try this? Can you attach a patch so I don't have to copy and paste your changes? Or zip them up and attach them here?

In theory you can build the examples for freertos by using the following cmake command line: cmake .. -DBTSTACK_EXAMPLE_TYPE=freertos

However you will need this fix #643

[mringwal]

Isn't FreeRTOS one of the options for the run mode in PicoSDK?
(I remember: polling, background task, FreeRTOS, while I usually went along with polling)

[peterharperuk]

Yes. It worked for me first time.

[ispydre]

Currently not at my machine till later today. But I overlooked the freertos example on the pi pico 2 w. I thought didn’t see it called the btstack_main. I would have tested this out first before making my own project.

I’ll test the:

cmake .. -DPICO_BOARD=pico2_w -DBTSTACK_EXAMPLE_TYPE=freertos

With the spp_streamer example later today and report back.

Appreciate the help!

[ispydre]

@peterharperuk Ran the example with the fix you suggested. Works great. Thanks for the help