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Commit c081119

Browse files
authored
Merge pull request #445 from pennam/restore-freertos
FreeRTOS restore original behaviour and allow override startup hooks
2 parents 212f999 + 11fb728 commit c081119

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4 files changed

+46
-18
lines changed

4 files changed

+46
-18
lines changed

‎boards.txt‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -12,7 +12,7 @@ portenta_c33.build.fpu=-mfpu=fpv5-sp-d16
1212
portenta_c33.build.float-abi=-mfloat-abi=hard
1313

1414
portenta_c33.build.board=PORTENTA_C33
15-
portenta_c33.build.defines=-DF_CPU=200000000 -DPROVIDE_FREERTOS_HOOK
15+
portenta_c33.build.defines=-DF_CPU=200000000
1616
portenta_c33.vid.0=0x2341
1717
portenta_c33.pid.0=0x0068
1818
portenta_c33.vid.1=0x2341

‎cores/arduino/main.cpp‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -65,6 +65,7 @@ void unsecure_registers() {
6565

6666
extern "C" void Stacktrace_Handler(void);
6767
extern "C" __attribute__((weak)) void start_freertos_on_header_inclusion() {}
68+
extern "C" __attribute__((weak)) void early_start_freertos_on_header_inclusion() {}
6869

6970
void arduino_main(void)
7071
{
@@ -112,10 +113,9 @@ void arduino_main(void)
112113
Serial.begin(115200);
113114
#endif
114115
startAgt();
116+
early_start_freertos_on_header_inclusion();
115117
setup();
116-
#ifdef PROVIDE_FREERTOS_HOOK
117118
start_freertos_on_header_inclusion();
118-
#endif
119119
while (1)
120120
{
121121
loop();

‎libraries/Arduino_FreeRTOS/src/Arduino_FreeRTOS.h‎

Lines changed: 21 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -27,6 +27,27 @@ extern "C" {
2727
#include "lib/FreeRTOS-Kernel-v10.5.1/semphr.h"
2828
#include "lib/FreeRTOS-Kernel-v10.5.1/task.h"
2929
#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+
3051

3152
#ifdef __cplusplus
3253
}

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

Lines changed: 22 additions & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -32,6 +32,7 @@
3232
#include "FreeRTOSConfig.h"
3333
#include "../../lib/FreeRTOS-Kernel-v10.5.1/FreeRTOS.h"
3434
#include "../../lib/FreeRTOS-Kernel-v10.5.1/task.h"
35+
#include "portmacro.h"
3536

3637
#if BSP_TZ_NONSECURE_BUILD
3738
#include "tz_context.h"
@@ -225,28 +226,34 @@ static void prvTaskExitError(void);
225226

226227
#endif
227228

228-
#ifdef PROVIDE_FREERTOS_HOOK
229-
void loop_thread_func(void* arg) {
229+
extern void setup(void);
230+
extern void loop(void);
231+
232+
static void sketch_thread_func(void* arg) {
233+
bool early_start = (bool)arg;
234+
if (early_start) {
235+
setup();
236+
}
230237
while (1)
231238
{
232239
loop();
233240
}
234241
}
235242

236-
static TaskHandle_t loop_task;
237-
void start_freertos_on_header_inclusion() {
238-
xTaskCreate(
239-
(TaskFunction_t)loop_thread_func,
240-
"Loop Thread",
241-
4096 / 4, /* usStackDepth in words */
242-
NULL, /* pvParameters */
243-
4, /* uxPriority */
244-
&loop_task /* pxCreatedTask */
245-
);
246-
247-
vTaskStartScheduler();
243+
void _start_freertos_on_header_inclusion_impl(bool early_start) {
244+
static TaskHandle_t sketch_task;
245+
if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
246+
xTaskCreate(
247+
(TaskFunction_t)sketch_thread_func,
248+
"Sketch Thread",
249+
4096 / 4, /* usStackDepth in words */
250+
(void*)early_start, /* pvParameters */
251+
4, /* uxPriority */
252+
&sketch_task /* pxCreatedTask */
253+
);
254+
vTaskStartScheduler();
255+
}
248256
}
249-
#endif
250257

251258
/* Arduino specific overrides */
252259
void delay(uint32_t ms) {

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