[BUG] RP2040 Port SMP Compile Error #1354
Description
Describe the bug
There is a compile error when using the RP2040 port with SMP enabled.
In file included from C:/repos/blink/build/_deps/freertos_kernel-src/include/portable.h:53,
from C:/repos/blink/build/_deps/freertos_kernel-src/include/FreeRTOS.h:108,
from C:/repos/blink/build/_deps/freertos_kernel-src/tasks.c:39:
C:/repos/blink/build/_deps/freertos_kernel-src/tasks.c: In function 'prvCheckForRunStateChange':
C:/repos/blink/build/_deps/freertos_kernel-src/portable/ThirdParty/GCC/RP2040/include/portmacro.h:259:105: error: 'configSMP_SPINLOCK_0' undeclared (first use in this function)
259 | #define portRELEASE_ISR_LOCK( xCoreID ) vPortRecursiveLock( ( xCoreID ), 0, spin_lock_instance( configSMP_SPINLOCK_0 ), pdFALSE )
|
^~~~~~~~~~~~~~~~~~~~
There seems to be a missing include in portmacro.h :
#ifndef PORTMACRO_H
#define PORTMACRO_H
/* *INDENT-OFF* */
#ifdef __cplusplus
extern "C" {
#endif
/* *INDENT-ON* */
#include "pico.h"
#include "hardware/sync.h"
#include "rp2040_config.h" //adding this include resolves the compile error
Target
- Development board: Raspberry Pi Pico H
- Instruction Set Architecture: Arm Cortex M0+
- IDE and version: VSCode Pico SDK 2.2.0
- Toolchain and version: arm-none-eabi-gcc-14.2
Host
- Host OS: Windows
- Version: 11
To Reproduce
- Blink example project.
Expected behavior
A concise description of what you expected to happen.
Screenshots
If applicable, add screenshots to help explain your problem.
Additional context
CMakeLists.txt
# Generated Cmake Pico project file
cmake_minimum_required(VERSION 3.13)
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Initialise pico_sdk from installed location
# (note this can come from environment, CMake cache etc)
# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
if(WIN32)
set(USERHOME $ENV{USERPROFILE})
else()
set(USERHOME $ENV{HOME})
endif()
set(sdkVersion 2.2.0)
set(toolchainVersion 14_2_Rel1)
set(picotoolVersion 2.2.0-a4)
set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
if (EXISTS ${picoVscode})
include(${picoVscode})
endif()
# ====================================================================================
set(PICO_BOARD pico CACHE STRING "Board type")
# Pull in Raspberry Pi Pico SDK (must be before project)
include(pico_sdk_import.cmake)
project(blink C CXX ASM)
# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()
# Set up FreeRTOS here
include(FetchContent)
FetchContent_Declare(
freertos_kernel
GIT_REPOSITORY https://github.com/FreeRTOS/FreeRTOS-Kernel.git
GIT_TAG
V11.2.0 #Note: Best practice to use specific git-hash or tagged version
)
add_library(freertos_config INTERFACE)
target_include_directories(freertos_config SYSTEM INTERFACE include)
target_compile_definitions(freertos_config INTERFACE projCOVERAGE_TEST=0)
set(FREERTOS_HEAP "4" CACHE STRING "" FORCE)
# Select the cross-compile PORT
if(CMAKE_CROSSCOMPILING)
set(FREERTOS_PORT "GCC_RP2040" CACHE STRING "" FORCE)
endif()
FetchContent_MakeAvailable(freertos_kernel)
include(
${freertos_kernel_SOURCE_DIR}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake
)
#end FreeRTOS
# Add executable. Default name is the project name, version 0.1
add_executable(blink
blink.c
)
# pull in common dependencies
target_link_libraries(
blink
pico_stdlib
FreeRTOS-Kernel
FreeRTOS-Kernel-Heap4
freertos_config
)
if (PICO_CYW43_SUPPORTED)
target_link_libraries(blink pico_cyw43_arch_none)
endif()
# create map/bin/hex file etc.
pico_add_extra_outputs(blink)
# add url via pico_set_program_url
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 configNUMBER_OF_CORES 2
#define configTICK_CORE 0
#define configRUN_MULTIPLE_PRIORITIES 1
#define configUSE_CORE_AFFINITY 1
#define configUSE_PASSIVE_IDLE_HOOK 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
/* A header file that defines trace macro can be included here. */
#endif /* FREERTOS_CONFIG_H */
blink.c
/**
* Copyright (c) 2020 Raspberry Pi (Trading) Ltd.
*
* SPDX-License-Identifier: BSD-3-Clause
*/
#include "pico/stdlib.h"
#include "FreeRTOS.h"
#include "task.h"
// Pico W devices use a GPIO on the WIFI chip for the LED,
// so when building for Pico W, CYW43_WL_GPIO_LED_PIN will be defined
#ifdef CYW43_WL_GPIO_LED_PIN
#include "pico/cyw43_arch.h"
#endif
#ifndef LED_DELAY_MS
#define LED_DELAY_MS 250
#endif
// Perform initialisation
int pico_led_init(void) {
#if defined(PICO_DEFAULT_LED_PIN)
// A device like Pico that uses a GPIO for the LED will define PICO_DEFAULT_LED_PIN
// so we can use normal GPIO functionality to turn the led on and off
gpio_init(PICO_DEFAULT_LED_PIN);
gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
return PICO_OK;
#elif defined(CYW43_WL_GPIO_LED_PIN)
// For Pico W devices we need to initialise the driver etc
return cyw43_arch_init();
#endif
}
// Turn the led on or off
void pico_set_led(bool led_on) {
#if defined(PICO_DEFAULT_LED_PIN)
// Just set the GPIO on or off
gpio_put(PICO_DEFAULT_LED_PIN, led_on);
#elif defined(CYW43_WL_GPIO_LED_PIN)
// Ask the wifi "driver" to set the GPIO on or off
cyw43_arch_gpio_put(CYW43_WL_GPIO_LED_PIN, led_on);
#endif
}
void led_handler(void * parameter)
{
while (true) {
pico_set_led(true);
vTaskDelay(pdMS_TO_TICKS(LED_DELAY_MS));
pico_set_led(false);
vTaskDelay(pdMS_TO_TICKS(LED_DELAY_MS));
}
}
int main()
{
int rc = pico_led_init();
hard_assert(rc == PICO_OK);
xTaskCreate(led_handler, "led_handler", 1024, NULL, 1, NULL);
/* Start the RTOS scheduler. */
vTaskStartScheduler();
/* If all is well, the scheduler will now be running, and the following
line will never be reached. If the following line does execute, then
there was insufficient FreeRTOS heap memory available for the idle and/or
timer tasks to be created. */
for (;;);
}