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RP2040 fixes #424

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Merged
merged 4 commits into from
Dec 21, 2021
Merged

RP2040 fixes #424

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18acd92
RP2040: malloc needs to be thread safe for FreeRTOS whether both core…
kilograham Dec 15, 2021
7940e98
RP2040: CMake file had broken left over test code
kilograham Dec 15, 2021
e73a361
RP2040: portIS_FREE_RTOS_CORE() returned an incorrect value prior to …
kilograham Dec 15, 2021
fad53d1
RP2040: Bad initialization code was causing IRQs to get disabled befo…
kilograham Dec 15, 2021
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3 changes: 1 addition & 2 deletions portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake
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Original file line number Diff line number Diff line change
Expand Up @@ -33,8 +33,7 @@ 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}})
set(SEARCH_ROOT ../../../..)
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)
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5 changes: 4 additions & 1 deletion portable/ThirdParty/GCC/RP2040/include/freertos_sdk_config.h
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Expand Up @@ -32,7 +32,10 @@
#ifndef __ASSEMBLER__
#include "FreeRTOSConfig.h"
#include "rp2040_config.h"

#ifndef PICO_USE_MALLOC_MUTEX
// malloc needs to be made thread safe
#define PICO_USE_MALLOC_MUTEX 1
#endif /* PICO_USE_MALLOC_MUTEX */
#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
// increase the amount of time it may reasonably take to wake us up
#ifndef PICO_TIME_SLEEP_OVERHEAD_ADJUST_US
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23 changes: 11 additions & 12 deletions portable/ThirdParty/GCC/RP2040/port.c
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Original file line number Diff line number Diff line change
Expand Up @@ -110,8 +110,9 @@ static void prvTaskExitError( void );
/*-----------------------------------------------------------*/

/* Each task maintains its own interrupt status in the critical nesting
* variable. */
static UBaseType_t uxCriticalNesting = {0xaaaaaaaa};
* variable. This is initialized to 0 to allow vPortEnter/ExitCritical
* to be called before the scheduler is started */
static UBaseType_t uxCriticalNesting;

/*-----------------------------------------------------------*/

Expand Down Expand Up @@ -158,13 +159,9 @@ static UBaseType_t uxCriticalNesting = {0xaaaaaaaa};

/*-----------------------------------------------------------*/

#if ( LIB_PICO_MULTICORE == 1 )
#define INVALID_LAUNCH_CORE_NUM 0xffu
static uint8_t ucLaunchCoreNum = INVALID_LAUNCH_CORE_NUM;
#define portIS_FREE_RTOS_CORE() ( ucLaunchCoreNum == get_core_num() )
#else
#define portIS_FREE_RTOS_CORE() pdTRUE
#endif /* LIB_PICO_MULTICORE */
#define INVALID_LAUNCH_CORE_NUM 0xffu
static uint8_t ucLaunchCoreNum = INVALID_LAUNCH_CORE_NUM;
#define portIS_FREE_RTOS_CORE() ( ucLaunchCoreNum == get_core_num() )

/*
* See header file for description.
Expand Down Expand Up @@ -266,8 +263,8 @@ BaseType_t xPortStartScheduler( void )
/* Initialise the critical nesting count ready for the first task. */
uxCriticalNesting = 0;

ucLaunchCoreNum = get_core_num();
#if (LIB_PICO_MULTICORE == 1)
ucLaunchCoreNum = get_core_num();
#if ( configSUPPORT_PICO_SYNC_INTEROP == 1)
multicore_fifo_clear_irq();
multicore_fifo_drain();
Expand Down Expand Up @@ -728,7 +725,6 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
void vPortLockInternalSpinUnlockWithWait( struct lock_core * pxLock, uint32_t ulSave )
{
configASSERT( !portCHECK_IF_IN_ISR() );
// note no need to check LIB_PICO_MULTICORE, as this is always returns true if that is not defined
if( !portIS_FREE_RTOS_CORE() )
{
spin_unlock(pxLock->spin_lock, ulSave );
Expand Down Expand Up @@ -806,7 +802,6 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
}
else
{
configASSERT( portIS_FREE_RTOS_CORE() );
configASSERT( pxYieldSpinLock == NULL );

TickType_t uxTicksToWait = prvGetTicksToWaitBefore( uxUntil );
Expand Down Expand Up @@ -858,6 +853,10 @@ __attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void )
#if ( configSUPPORT_STATIC_ALLOCATION == 1 )
xEventGroup = xEventGroupCreateStatic(&xStaticEventGroup);
#else
/* Note that it is slightly dubious calling this here before the scheduler is initialized,
* however the only thing it touches is the allocator which then calls vPortEnterCritical
* and vPortExitCritical, and allocating here saves us checking the one time initialized variable in
* some rather critical code paths */
xEventGroup = xEventGroupCreate();
#endif /* configSUPPORT_STATIC_ALLOCATION */
}
Expand Down