Merge pull request #445 from pennam/restore-freertos

FreeRTOS restore original behaviour and allow override startup hooks

Author: pennam

boards.txt

@@ -12,7 +12,7 @@ portenta_c33.build.fpu=-mfpu=fpv5-sp-d16
 portenta_c33.build.float-abi=-mfloat-abi=hard
 
 portenta_c33.build.board=PORTENTA_C33
-portenta_c33.build.defines=-DF_CPU=200000000 -DPROVIDE_FREERTOS_HOOK
+portenta_c33.build.defines=-DF_CPU=200000000
 portenta_c33.vid.0=0x2341
 portenta_c33.pid.0=0x0068
 portenta_c33.vid.1=0x2341

cores/arduino/main.cpp

@@ -65,6 +65,7 @@ void unsecure_registers() {
 
 extern "C" void Stacktrace_Handler(void);
 extern "C" __attribute__((weak)) void start_freertos_on_header_inclusion() {}
+extern "C" __attribute__((weak)) void early_start_freertos_on_header_inclusion() {}
 
 void arduino_main(void)
 {
@@ -112,10 +113,9 @@ void arduino_main(void)
    Serial.begin(115200);
 #endif
    startAgt();
+   early_start_freertos_on_header_inclusion();
    setup();
-#ifdef PROVIDE_FREERTOS_HOOK
    start_freertos_on_header_inclusion();
-#endif
    while (1)
    {
       loop();

libraries/Arduino_FreeRTOS/src/Arduino_FreeRTOS.h

@@ -27,6 +27,27 @@ extern "C" {
 #include "lib/FreeRTOS-Kernel-v10.5.1/semphr.h"
 #include "lib/FreeRTOS-Kernel-v10.5.1/task.h"
 #include "lib/FreeRTOS-Kernel-v10.5.1/timers.h"
+#include <stdbool.h>
+
+
+// If you need to automatically start FREERTOS, declare either EARLY_AUTOSTART_FREERTOS or
+// AUTOSTART_FREERTOS in your library or sketch code (.ino or .cpp file)
+//
+// EARLY_AUTOSTART_FREERTOS -> if you need the scheduler to be already running in setup()
+// AUTOSTART_FREERTOS -> if you only declare the threads in setup() and use them in loop()
+
+void _start_freertos_on_header_inclusion_impl(bool early_start);
+void early_start_freertos_on_header_inclusion();
+void start_freertos_on_header_inclusion();
+#define EARLY_AUTOSTART_FREERTOS \
+    void early_start_freertos_on_header_inclusion() { \
+        _start_freertos_on_header_inclusion_impl(true); \
+    }
+#define AUTOSTART_FREERTOS \
+    void start_freertos_on_header_inclusion() { \
+        _start_freertos_on_header_inclusion_impl(false); \
+    }
+
 
 #ifdef __cplusplus
 }

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

@@ -32,6 +32,7 @@
 #include "FreeRTOSConfig.h"
 #include "../../lib/FreeRTOS-Kernel-v10.5.1/FreeRTOS.h"
 #include "../../lib/FreeRTOS-Kernel-v10.5.1/task.h"
+#include "portmacro.h"
 
 #if BSP_TZ_NONSECURE_BUILD
  #include "tz_context.h"
@@ -225,28 +226,34 @@ static void prvTaskExitError(void);
 
 #endif
 
-#ifdef PROVIDE_FREERTOS_HOOK
-void loop_thread_func(void* arg) {
+extern void setup(void);
+extern void loop(void);
+
+static void sketch_thread_func(void* arg) {
+    bool early_start = (bool)arg;
+    if (early_start) {
+        setup();
+    }
     while (1)
     {
         loop();
     }
 }
 
-static TaskHandle_t loop_task;
-void start_freertos_on_header_inclusion() {
-    xTaskCreate(
-      (TaskFunction_t)loop_thread_func,
-      "Loop Thread",
-      4096 / 4,   /* usStackDepth in words */
-      NULL,   /* pvParameters */
-      4,         /* uxPriority */
-      &loop_task /* pxCreatedTask */
-    );
-
-    vTaskStartScheduler();
+void _start_freertos_on_header_inclusion_impl(bool early_start) {
+    static TaskHandle_t sketch_task;
+    if (xTaskGetSchedulerState() != taskSCHEDULER_RUNNING) {
+        xTaskCreate(
+        (TaskFunction_t)sketch_thread_func,
+        "Sketch Thread",
+        4096 / 4,   /* usStackDepth in words */
+        (void*)early_start,   /* pvParameters */
+        4,         /* uxPriority */
+        &sketch_task /* pxCreatedTask */
+        );
+        vTaskStartScheduler();
+    }
 }
-#endif
 
 /* Arduino specific overrides */
 void delay(uint32_t ms) {