Commit 71e2fd2

facchinmpennam

authored and

committed

FreeRTOS: allow override startup hooks default implementation

The default behaviour is do nothing: scheduler has to be started manually by the user. Use AUTOSTART_FREERTOS if you declare tasks in your setup() and use them in loop(). Use EARLY_AUTOSTART_FREERTOS if you need the scheduler to be already running in setup(). Libraries that need to use threads/semaphores during setup() (for example, to implement the usual myObj.begin(); <- this starts a thread while (!myObj) { <- this becomes true when the thread is unlocked delay(); } will need to declare EARLY_START_FREERTOS_HOOK in one of their cpp files

1 parent 00692e6 commit 71e2fd2Copy full SHA for 71e2fd2

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3 files changed

+53

-0

lines changed

cores/arduino
- main.cpp
libraries/Arduino_FreeRTOS/src
- Arduino_FreeRTOS.h
- portable/FSP
  - port.c

3 files changed

+53

-0

lines changed

`‎cores/arduino/main.cpp‎`

Lines changed: 4 additions & 0 deletions

Original file line number	Diff line number	Diff line change
`@@ -64,6 +64,8 @@ void unsecure_registers() {`
`64`	`64`	`#define str(s) #s`
`65`	`65`
`66`	`66`	`extern "C" void Stacktrace_Handler(void);`
	`67`	`+extern "C" __attribute__((weak)) void start_freertos_on_header_inclusion() {}`
	`68`	`+extern "C" __attribute__((weak)) void early_start_freertos_on_header_inclusion() {}`
`67`	`69`
`68`	`70`	`void arduino_main(void)`
`69`	`71`	`{`
`@@ -111,7 +113,9 @@ void arduino_main(void)`
`111`	`113`	`Serial.begin(115200);`
`112`	`114`	`#endif`
`113`	`115`	`startAgt();`
	`116`	`+ early_start_freertos_on_header_inclusion();`
`114`	`117`	`setup();`
	`118`	`+ start_freertos_on_header_inclusion();`
`115`	`119`	`while (1)`
`116`	`120`	`{`
`117`	`121`	`loop();`

`‎libraries/Arduino_FreeRTOS/src/Arduino_FreeRTOS.h‎`

Lines changed: 21 additions & 0 deletions

Original file line number	Diff line number	Diff line change
`@@ -27,6 +27,27 @@ extern "C" {`
`27`	`27`	`#include "lib/FreeRTOS-Kernel-v10.5.1/semphr.h"`
`28`	`28`	`#include "lib/FreeRTOS-Kernel-v10.5.1/task.h"`
`29`	`29`	`#include "lib/FreeRTOS-Kernel-v10.5.1/timers.h"`
	`30`	`+#include <stdbool.h>`
	`31`	`+`
	`32`	`+`
	`33`	`+// If you need to automatically start FREERTOS, declare either EARLY_AUTOSTART_FREERTOS or`
	`34`	`+// AUTOSTART_FREERTOS in your library or sketch code (.ino or .cpp file)`
	`35`	`+//`
	`36`	`+// EARLY_AUTOSTART_FREERTOS -> if you need the scheduler to be already running in setup()`
	`37`	`+// AUTOSTART_FREERTOS -> if you only declare the threads in setup() and use them in loop()`
	`38`	`+`
	`39`	`+void _start_freertos_on_header_inclusion_impl(bool early_start);`
	`40`	`+void early_start_freertos_on_header_inclusion();`
	`41`	`+void start_freertos_on_header_inclusion();`
	`42`	`+#define EARLY_AUTOSTART_FREERTOS \`
	`43`	`+ void early_start_freertos_on_header_inclusion() { \`
	`44`	`+ _start_freertos_on_header_inclusion_impl(true); \`
	`45`	`+ }`
	`46`	`+#define AUTOSTART_FREERTOS \`
	`47`	`+ void start_freertos_on_header_inclusion() { \`
	`48`	`+ _start_freertos_on_header_inclusion_impl(false); \`
	`49`	`+ }`
	`50`	`+`
`30`	`51`
`31`	`52`	`#ifdef __cplusplus`
`32`	`53`	`}`

`‎libraries/Arduino_FreeRTOS/src/portable/FSP/port.c‎`

Lines changed: 28 additions & 0 deletions

Original file line number	Diff line number	Diff line change
`@@ -32,6 +32,7 @@`
`32`	`32`	`#include "FreeRTOSConfig.h"`
`33`	`33`	`#include "../../lib/FreeRTOS-Kernel-v10.5.1/FreeRTOS.h"`
`34`	`34`	`#include "../../lib/FreeRTOS-Kernel-v10.5.1/task.h"`
	`35`	`+#include "portmacro.h"`
`35`	`36`
`36`	`37`	`#if BSP_TZ_NONSECURE_BUILD`
`37`	`38`	`#include "tz_context.h"`
`@@ -225,6 +226,33 @@ static void prvTaskExitError(void);`
`225`	`226`
`226`	`227`	`#endif`
`227`	`228`
	`229`	`+`
	`230`	`+static void sketch_thread_func(void* arg) {`
	`231`	`+ bool early_start = (bool)arg;`
	`232`	`+ if (early_start) {`
	`233`	`+ setup();`
	`234`	`+ }`
	`235`	`+ while (1)`
	`236`	`+ {`
	`237`	`+ loop();`
	`238`	`+ }`
	`239`	`+}`
	`240`	`+`
	`241`	`+void _start_freertos_on_header_inclusion_impl(bool early_start) {`
	`242`	`+ static TaskHandle_t sketch_task;`
	`243`	`+ if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {`
	`244`	`+ xTaskCreate(`
	`245`	`+ (TaskFunction_t)sketch_thread_func,`
	`246`	`+ "Sketch Thread",`
	`247`	`+ 4096 / 4, /* usStackDepth in words */`
	`248`	`+ (void)early_start, / pvParameters */`
	`249`	`+ 4, /* uxPriority */`
	`250`	`+ &sketch_task /* pxCreatedTask */`
	`251`	`+ );`
	`252`	`+ vTaskStartScheduler();`
	`253`	`+ }`
	`254`	`+}`
	`255`	`+`
`228`	`256`	`/* Arduino specific overrides */`
`229`	`257`	`void delay(uint32_t ms) {`
`230`	`258`	`if (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING) {`

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Commit 71e2fd2

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3 files changed

3 files changed

`‎cores/arduino/main.cpp‎`

`‎libraries/Arduino_FreeRTOS/src/Arduino_FreeRTOS.h‎`

`‎libraries/Arduino_FreeRTOS/src/portable/FSP/port.c‎`

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