Add FreeRTOS to container image and demo project

Dockerfile

@@ -14,13 +14,21 @@ RUN apk update && \
             gcc-arm-none-eabi
 
 # Raspberry Pi Pico SDK
-ARG SDK_PATH=/usr/share/pico_sdk
+ARG SDK_PATH=/usr/local/picosdk
 RUN git clone --depth 1 --branch 1.5.1 https://github.com/raspberrypi/pico-sdk $SDK_PATH && \
     cd $SDK_PATH && \
     git submodule update --init
 
 ENV PICO_SDK_PATH=$SDK_PATH
 
+# FreeRTOS
+ARG FREERTOS_PATH=/usr/local/freertos
+RUN git clone --depth 1 --branch V11.0.1 https://github.com/FreeRTOS/FreeRTOS-Kernel $FREERTOS_PATH && \
+    cd $FREERTOS_PATH && \
+    git submodule update --init --recursive
+
+ENV FREERTOS_KERNEL_PATH=$FREERTOS_PATH
+
 # Picotool installation
 RUN git clone --depth 1 --branch 1.1.2 https://github.com/raspberrypi/picotool.git /home/picotool && \
     cd /home/picotool && \

freertos_test_project/CMakeLists.txt

@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.13)
+
+include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
+include($ENV{FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)
+
+set(CMAKE_C_COMPILER /usr/bin/arm-none-eabi-gcc CACHE PATH "" FORCE)
+set(CMAKE_CXX_COMPILER /usr/bin/arm-none-eabi-g++ CACHE PATH "" FORCE)
+
+project(freertos_demo C CXX ASM)
+
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+
+pico_sdk_init()
+
+add_library(FreeRTOS-Config INTERFACE)
+target_include_directories(FreeRTOS-Config INTERFACE ${CMAKE_SOURCE_DIR}/config)
+
+add_executable(freertos_demo main.cpp)
+
+target_include_directories(freertos_demo PRIVATE ${CMAKE_CURRENT_LIST_DIR})
+
+target_link_libraries(freertos_demo 
+                      pico_stdlib
+                      FreeRTOS-Config
+                      FreeRTOS-Kernel
+                      FreeRTOS-Kernel-Heap4)
+
+pico_enable_stdio_usb(freertos_demo 1)
+pico_enable_stdio_uart(freertos_demo 1)
+pico_add_extra_outputs(freertos_demo)

freertos_test_project/config/FreeRTOSConfig.h

@@ -0,0 +1,136 @@
+/*
+ * 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                     1
+#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     1
+#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          2
+#define configUSE_MALLOC_FAILED_HOOK            1
+#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 configNUM_CORES                         2
+#define configTICK_CORE                         0
+#define configRUN_MULTIPLE_PRIORITIES           1
+#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 */

freertos_test_project/main.cpp

@@ -0,0 +1,41 @@
+#include "FreeRTOS.h"
+#include "task.h"
+#include <stdio.h>
+#include "pico/stdlib.h"
+#include "hardware/gpio.h"
+
+#ifdef __cplusplus
+extern "C" {
+void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
+void vApplicationTickHook( void );
+void vApplicationMallocFailedHook( void );
+}
+#endif
+
+void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName ) {}
+void vApplicationTickHook( void ) {}
+void vApplicationMallocFailedHook( void ) {}
+
+constexpr int LED_PIN = 25;
+
+void vBlink(void* unused_arg) {
+    stdio_init_all();
+    for (;;) {
+
+        gpio_put(LED_PIN, 1);
+        vTaskDelay(250);
+        gpio_put(LED_PIN, 0);
+        puts("Hello FreeRTOS\n");
+        vTaskDelay(250);
+    }
+}
+
+int main() {
+    gpio_init(LED_PIN);
+
+    gpio_set_dir(LED_PIN, GPIO_OUT);
+
+    xTaskCreate(vBlink, "Blink", 128, NULL, 1, NULL);
+
+    vTaskStartScheduler();
+}

test_sdk.sh

@@ -7,3 +7,9 @@ docker exec pico-sdk /bin/sh -c "cd /home/dev && mkdir build && cd build && cmak
 docker exec pico-sdk /bin/sh -c "picotool"
 docker container kill pico-sdk
 docker container rm pico-sdk
+
+docker run -d -it --name pico-sdk --mount type=bind,source=${PWD}/freertos_test_project,target=/home/dev $1
+docker exec pico-sdk /bin/sh -c "cd /home/dev && mkdir build && cd build && cmake .. && make -j4"
+docker exec pico-sdk /bin/sh -c "picotool"
+docker container kill pico-sdk
+docker container rm pico-sdk