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43 lines
2.1 KiB
Markdown
43 lines
2.1 KiB
Markdown
## Overview
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This directory provides a FreeRTOS-Kernel port that can be used with the Raspberry Pi Pico SDK. It supports:
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* Simple CMake INTERFACE libraries, to provide the FreeRTOS-Kernel and also the individual allocator types, without copying code into the user's project.
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* Running the FreeRTOS-Kernel and tasks on either core 0 or core 1
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* Use of SDK synchronization primitives (such as mutexes, semaphores, queues from pico_sync) between FreeRTOS tasks and code executing on the other core, or in IRQ handlers.
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Note that a FreeRTOS SMP version of this port is also available in the FreeRTOS-Kernel smp branch, which additionally supports utilizing both RP2040 CPU cores for FreeRTOS tasks simultaneously.
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## Using this port
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You can copy [FreeRTOS-Kernel-import.cmake](FreeRTOS-Kernel-import.cmake) into your project, and
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add the following in your `CMakeLists.txt`:
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```cmake
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include(FreeRTOS_Kernel_import.cmake)
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```
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This will locate the FreeRTOS kernel if it is a direct sub-module of your project, or if you provide the
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`FREERTOS_KERNEL_PATH` variable in your environment or via `-DFREERTOS_KERNEL_PATH=/path/to/FreeRTOS-Kernel` on the CMake command line.
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**NOTE:** If you are using version 1.3.1 or older of the Raspberry Pi Pico SDK then this line must appear before the
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`pico_sdk_init()` and will cause FreeRTOS to be included/required in all RP2040 targets in your project. After this SDK
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version, you can include the FreeRTOS-Kernel support later in your CMake build (possibly in a subdirectory) and the
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FreeRTOS-Kernel support will only apply to those targets which explicitly include FreeRTOS support.
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As an alternative to the `import` statement above, you can just add this directory directly via thw following (with
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the same placement restrictions related to the Raspberry Pi Pico SDK version above):
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```cmake
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add_subdirectory(path/to/this/directory FreeRTOS-Kernel)
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```
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## Advanced Configuration
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Some additional `config` options are defined [here](include/rp2040_config.h) which control some low level implementation details.
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## Known Limitations
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- Tickless idle has not currently been tested, and is likely non-functional
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