Merge pull request XxLittleCxX#3 from mxihan/master

update freertos-kernel and pico-sdk version, use freertos-smp to manage tasks, move aime task to core1 and add lever sampling task to core0
mxihan · Mar 1, 2024 · c4c4889 · c4c4889
2 parents 73dd8d9 + 0f8d444
commit c4c4889
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diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -6,8 +6,9 @@ jobs:
   build:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
         with:
+          fetch-depth: 0
           submodules: 'recursive'
       - run: |
           sudo apt update

diff --git a/.gitmodules b/.gitmodules
@@ -1,9 +1,9 @@
 [submodule "pico-sdk"]
 	path = pico-sdk
 	url = https://github.com/raspberrypi/pico-sdk/
-[submodule "freertos/FreeRTOS-Kernel"]
-	path = freertos/FreeRTOS-Kernel
-	url = https://github.com/FreeRTOS/FreeRTOS-Kernel/
 [submodule "src/PicoLed"]
 	path = src/PicoLed
 	url = https://github.com/ForsakenNGS/PicoLED
+[submodule "FreeRTOS-Kernel"]
+	path = FreeRTOS-Kernel
+	url = https://github.com/FreeRTOS/FreeRTOS-Kernel.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -4,7 +4,6 @@ include(pico-sdk/pico_sdk_init.cmake)
 
 project(LKICK)
 
-
 set(PICO_CXX_ENABLE_EXCEPTIONS 1)
 
 pico_sdk_init()
@@ -34,9 +33,8 @@ target_include_directories(LKICK PUBLIC
         ${CMAKE_CURRENT_LIST_DIR}/src/analogRead
         )
 
-add_subdirectory(freertos)
 add_subdirectory(src/PicoLed)
-target_link_libraries(LKICK pico_stdlib pico_multicore hardware_adc hardware_i2c tinyusb_device tinyusb_board freertos PicoLed hardware_flash)
-
+add_subdirectory(FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040 FreeRTOS-Kernel)
+target_link_libraries(LKICK pico_stdlib pico_multicore hardware_adc hardware_i2c FreeRTOS-Kernel FreeRTOS-Kernel-Heap4 tinyusb_device tinyusb_board PicoLed hardware_flash)
 #pico_enable_stdio_uart(LKICK 1)
 pico_add_extra_outputs(LKICK)
diff --git a/FreeRTOS-Kernel b/FreeRTOS-Kernel
diff --git a/freertos/CMakeLists.txt b/freertos/CMakeLists.txt
diff --git a/freertos/FreeRTOS-Kernel b/freertos/FreeRTOS-Kernel
diff --git a/pico-sdk b/pico-sdk
diff --git a/src/PicoLed b/src/PicoLed
diff --git a/freertos/FreeRTOSConfig.h → src/components/FreeRTOSConfig.h b/freertos/FreeRTOSConfig.h → src/components/FreeRTOSConfig.h
@@ -1,84 +1,97 @@
-#ifndef FREERTOS_CONFIG_H
-#define FREERTOS_CONFIG_H
-
-/* Use Pico SDK ISR handlers */
-#define vPortSVCHandler         isr_svcall
-#define xPortPendSVHandler      isr_pendsv
-#define xPortSysTickHandler     isr_systick
-
-#define configUSE_PREEMPTION                    1
-#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
-#define configUSE_TICKLESS_IDLE                 0
-#define configCPU_CLOCK_HZ                      133000000
-#define configTICK_RATE_HZ                      100
-#define configMAX_PRIORITIES                    5
-#define configMINIMAL_STACK_SIZE                128
-#define configMAX_TASK_NAME_LEN                 16
-#define configUSE_16_BIT_TICKS                  0
-#define configIDLE_SHOULD_YIELD                 1
-#define configUSE_TASK_NOTIFICATIONS            1
-#define configTASK_NOTIFICATION_ARRAY_ENTRIES   3
-#define configUSE_MUTEXES                       0
-#define configUSE_RECURSIVE_MUTEXES             0
-#define configUSE_COUNTING_SEMAPHORES           0
-#define configQUEUE_REGISTRY_SIZE               10
-#define configUSE_QUEUE_SETS                    0
-#define configUSE_TIME_SLICING                  0
-#define configUSE_NEWLIB_REENTRANT              0
-#define configENABLE_BACKWARD_COMPATIBILITY     0
-#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
-#define configSTACK_DEPTH_TYPE                  uint16_t
-#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
-
-/* Memory allocation related definitions. */
-#define configSUPPORT_STATIC_ALLOCATION         0
-#define configSUPPORT_DYNAMIC_ALLOCATION        1
-#define configAPPLICATION_ALLOCATED_HEAP        1
-
-/* Hook function related definitions. */
-#define configUSE_IDLE_HOOK                     0
-#define configUSE_TICK_HOOK                     0
-#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                0
-#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               3
-#define configTIMER_QUEUE_LENGTH                10
-#define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE
-
-/* Define to trap errors during development. */
-#define configASSERT( x )
-
-/* Optional functions - most linkers will remove unused functions anyway. */
-#define INCLUDE_vTaskPrioritySet                1
-#define INCLUDE_uxTaskPriorityGet               1
-#define INCLUDE_vTaskDelete                     1
-#define INCLUDE_vTaskSuspend                    1
-#define INCLUDE_xResumeFromISR                  1
-#define INCLUDE_vTaskDelayUntil                 1
-#define INCLUDE_vTaskDelay                      1
-#define INCLUDE_xTaskGetSchedulerState          1
-#define INCLUDE_xTaskGetCurrentTaskHandle       1
-#define INCLUDE_uxTaskGetStackHighWaterMark     0
-#define INCLUDE_xTaskGetIdleTaskHandle          0
-#define INCLUDE_eTaskGetState                   0
-#define INCLUDE_xEventGroupSetBitFromISR        1
-#define INCLUDE_xTimerPendFunctionCall          0
-#define INCLUDE_xTaskAbortDelay                 0
-#define INCLUDE_xTaskGetHandle                  0
-#define INCLUDE_xTaskResumeFromISR              1
-
-/* A header file that defines trace macro can be included here. */
-
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/* Use Pico SDK ISR handlers */
+#define vPortSVCHandler         isr_svcall
+#define xPortPendSVHandler      isr_pendsv
+#define xPortSysTickHandler     isr_systick
+
+#define configUSE_PREEMPTION                    1
+#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
+#define configUSE_TICKLESS_IDLE                 0
+#define configCPU_CLOCK_HZ                      133000000
+#define configTICK_RATE_HZ                      100
+#define configMAX_PRIORITIES                    5
+#define configMINIMAL_STACK_SIZE                128
+#define configMAX_TASK_NAME_LEN                 16
+#define configUSE_16_BIT_TICKS                  0
+#define configIDLE_SHOULD_YIELD                 1
+#define configUSE_TASK_NOTIFICATIONS            1
+#define configTASK_NOTIFICATION_ARRAY_ENTRIES   3
+#define configUSE_MUTEXES                       0
+#define configUSE_RECURSIVE_MUTEXES             0
+#define configUSE_COUNTING_SEMAPHORES           0
+#define configQUEUE_REGISTRY_SIZE               10
+#define configUSE_QUEUE_SETS                    0
+#define configUSE_TIME_SLICING                  0
+#define configUSE_NEWLIB_REENTRANT              0
+#define configENABLE_BACKWARD_COMPATIBILITY     0
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+#define configSTACK_DEPTH_TYPE                  uint16_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+#define configAPPLICATION_ALLOCATED_HEAP        0
+#define configTOTAL_HEAP_SIZE                   (128*1024)
+
+/* Hook function related definitions. */
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#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                0
+#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               3
+#define configTIMER_QUEUE_LENGTH                10
+#define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE
+
+/* SMP port only */
+#define configNUMBER_OF_CORES                   2
+#define configNUM_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
+
+/* Define to trap errors during development. */
+#define configASSERT( x )
+
+/* Optional functions - most linkers will remove unused functions anyway. */
+#define INCLUDE_vTaskPrioritySet                1
+#define INCLUDE_uxTaskPriorityGet               1
+#define INCLUDE_vTaskDelete                     1
+#define INCLUDE_vTaskSuspend                    1
+#define INCLUDE_xResumeFromISR                  1
+#define INCLUDE_vTaskDelayUntil                 1
+#define INCLUDE_vTaskDelay                      1
+#define INCLUDE_xTaskGetSchedulerState          1
+#define INCLUDE_xTaskGetCurrentTaskHandle       1
+#define INCLUDE_uxTaskGetStackHighWaterMark     0
+#define INCLUDE_xTaskGetIdleTaskHandle          0
+#define INCLUDE_eTaskGetState                   0
+#define INCLUDE_xEventGroupSetBitFromISR        1
+#define INCLUDE_xTimerPendFunctionCall          1
+#define INCLUDE_xTaskAbortDelay                 0
+#define INCLUDE_xTaskGetHandle                  0
+#define INCLUDE_xTaskResumeFromISR              1
+
+/* A header file that defines trace macro can be included here. */
+
 #endif /* FREERTOS_CONFIG_H */
diff --git a/src/components/io4_usb.cpp b/src/components/io4_usb.cpp
@@ -9,7 +9,15 @@ namespace component {
         output_keyboard_t output_keyboard_data;
 
         void usb_init() {
-            xTaskCreate(tud, "tud", 2048, NULL, 10, NULL);
+            TaskHandle_t tud_handle = nullptr;
+            xTaskCreate(tud, "tud", 2048, NULL, 10, &tud_handle);
+            UBaseType_t tud_CoreAffinityMask = (1 << 0);
+            vTaskCoreAffinitySet(tud_handle, tud_CoreAffinityMask);
+
+            TaskHandle_t lever_sampling_handle = nullptr;
+            xTaskCreate(lever_sampling, "lever_sampling", 2048, NULL, 10, &lever_sampling_handle);
+            UBaseType_t lever_sampling_CoreAffinityMask = (1 << 0);
+            vTaskCoreAffinitySet(lever_sampling_handle, lever_sampling_CoreAffinityMask);
         }
 
         [[noreturn]] void tud(void *pVoid) {
@@ -71,6 +79,13 @@ namespace component {
             }
         }
 
+        [[noreturn]] void lever_sampling(void *pVoid) {
+            while (true) {
+                component::ongeki_hardware::update_analog();
+                vTaskDelay(1 / portTICK_PERIOD_MS);
+            }
+        }
+
         void process_data(const input_t *data) {
             switch (data->cmd) {
                 case io4_usb::SET_COMM_TIMEOUT:

diff --git a/src/components/io4_usb.h b/src/components/io4_usb.h
@@ -51,6 +51,8 @@ namespace component {
 
         [[noreturn]] void tud(void *pVoid);
 
+        [[noreturn]] void lever_sampling(void *pVoid);
+
         void process_data(const input_t *data);
     }
 }
diff --git a/src/components/ongeki_hardware.cpp b/src/components/ongeki_hardware.cpp
@@ -42,7 +42,7 @@ namespace component {
     bool hasI2cLever = false;
     uint8_t addr = 0b0000110;
     uint8_t reg1 = 0x03, reg2 = 0x04;
-    ResponsiveAnalogRead analog(LEVER_PIN, true, 0.0005);
+    ResponsiveAnalogRead analog(LEVER_PIN, true, 0.002);
     namespace ongeki_hardware {
         void init() {
             for (unsigned char i: PIN_MAP) {
@@ -192,13 +192,19 @@ namespace component {
 //                tud_cdc_write_char('\r');
 //                tud_cdc_write_char('\n');
             } else {
-                analog.update();
                 uint16_t raw = analog.getValue() << 4;
                 data->analog[0] = *(int16_t *) &raw;
                 data->rotary[0] = *(int16_t *) &raw;
             }
         }
 
+        void update_analog()
+        {
+            for (int i = 0; i < 10; i++) {
+                analog.update();
+            }
+        }
+
         void add_key(uint8_t *keycodes, uint8_t key, int index) {
             if (index >= 6) return;
             keycodes[index] = key;

diff --git a/src/components/ongeki_hardware.h b/src/components/ongeki_hardware.h
@@ -5,6 +5,7 @@ namespace component {
         void init();
         void update_hardware(component::io4_usb::output_t *data);
         void update_keyboard(component::io4_usb::output_keyboard_t *data);
+        void update_analog();
         void set_led(uint ledData);
         void set_led_brightness(uint8_t brightness);
     }

diff --git a/src/components/serial.cpp b/src/components/serial.cpp
@@ -1,7 +1,5 @@
 #include "stdinclude.h"
-#define configUSE_CORE_AFFINITY 1
 
-#include "pico/multicore.h"
 namespace component {
     namespace serial {
         stream streams[CFG_TUD_CDC] = {
@@ -10,17 +8,24 @@ namespace component {
         };
 
 
-        [[noreturn]] void core1(){
+        [[noreturn]] void led_board(void *pVoid){
             led_board::init(&component::serial::streams[1]);
             while(true){
                 led_board::update();
+                vTaskDelay(2 / portTICK_PERIOD_MS);
             }
         }
 
         void init() {
-            xTaskCreate(component::serial::aimeUpdate, "aime", 2048, NULL, 6, NULL);
-
-            multicore_launch_core1(core1);
+            TaskHandle_t aime_handle = nullptr;
+            xTaskCreate(component::serial::aimeUpdate, "aime", 2048, NULL, 6, &aime_handle);
+            UBaseType_t aime_CoreAffinityMask = (1 << 1);
+            vTaskCoreAffinitySet(aime_handle, aime_CoreAffinityMask);
+
+            TaskHandle_t led_board_handle = nullptr;
+            xTaskCreate(component::serial::led_board, "led_board", 4096, NULL, 6, &led_board_handle);
+            UBaseType_t led_board_CoreAffinityMask = (1 << 1);
+            vTaskCoreAffinitySet(led_board_handle, led_board_CoreAffinityMask);
         }
 
         [[noreturn]] void aimeUpdate(void *pVoid) {