Debugging POC

Dockerfile

@@ -11,24 +11,17 @@ RUN apk update && \
             libusb-dev \
             bsd-compat-headers \
             newlib-arm-none-eabi \
-            gcc-arm-none-eabi
+            gcc-arm-none-eabi \
+            gdb-multiarch
 
 # Raspberry Pi Pico SDK
-ARG SDK_PATH=/usr/local/picosdk
+ARG SDK_PATH=/usr/share/pico_sdk
 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

@@ -1,31 +0,0 @@
-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

@@ -1,136 +0,0 @@
-/*
- * 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

@@ -1,41 +0,0 @@
-#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();
-}

sdk_session.sh

@@ -0,0 +1,20 @@
+#!/bin/bash
+
+docker run --rm -d -it --name pico-sdk --network=host --mount type=bind,source=${PWD},target=/home/dev pico-sdk-debug
+
+session="Pico-sdk"
+
+tmux new-session -d -s $session
+
+window=0
+tmux rename-window -t $session:$window 'Docker' 
+tmux send-keys -t $session:$window 'docker exec -it pico-sdk ./bin/sh' C-m
+
+window=1
+tmux new-window -t $session:$window -n 'OpenOCD'
+tmux send-keys -t $session:$window 'sudo openocd -f interface/cmsis-dap.cfg -f target/rp2040.cfg -c "bindto 0.0.0.0"' C-m
+
+window=2
+tmux new-window -t $session:$window -n 'UART'
+
+tmux attach-session -t $session

test_poject/.vscode/extensions.json

@@ -0,0 +1,8 @@
+{
+    "recommendations": ["llvm-vs-code-extensions.vscode-clangd",
+                        "marus25.cortex-debug",
+                        "ms-vscode.cmake-tools",
+                        "ms-vscode.cpptools",
+                        "ms-vscode.cpptools-extension-pack"
+    ]
+}

test_poject/.vscode/launch.json

@@ -0,0 +1,25 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Pico debug",
+            "cwd": "${workspaceFolder}",
+            "gdbPath": "/usr/bin/gdb-multiarch",
+            "executable": "/home/dev/build/sample.elf",
+            "request": "launch",
+            "type": "cortex-debug",
+            "runToEntryPoint": "main",
+            "servertype": "external",
+            "gdbTarget": "host.docker.internal:3333",
+            "overrideLaunchCommands": [
+                "monitor adapter speed 5000",
+                "monitor reset init",
+                "load ${command:cmake.launchTargetPath}"
+            ],
+
+        }
+    ]
+}

test_poject/.vscode/settings.json

@@ -0,0 +1,13 @@
+{
+    "C_Cpp.intelliSenseEngine": "disabled",
+    "clangd.path": "/usr/bin/clangd",
+    "clangd.checkUpdates": false,
+    "clangd.restartAfterCrash": true,
+    "clangd.detectExtensionConflicts": true,
+    "clangd.arguments": ["-log=verbose", 
+                         "-pretty", 
+                         "--background-index", 
+                         "--query-driver=/usr/bin/arm-none-eabi-gcc",
+                         "--compile-commands-dir=/home/dev/build"],
+    "cmake.sourceDirectory": "/home/dev"
+}

test_poject/CMakeLists.txt

@@ -9,13 +9,21 @@ set(CMAKE_CXX_COMPILER /usr/bin/arm-none-eabi-g++ CACHE PATH "" FORCE)
 
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+add_compile_options(-Wall -g -O1)
 
 pico_sdk_init()
 
 add_executable(sample main.c)
 
-pico_enable_stdio_usb(sample 1)
+pico_enable_stdio_usb(sample 0)
 pico_enable_stdio_uart(sample 1)
 pico_add_extra_outputs(sample)
 
-target_link_libraries(sample pico_stdlib)
+target_link_libraries(sample
+                      pico_stdlib
+                      hardware_pio
+                      hardware_timer
+                      hardware_clocks
+                      hardware_pwm
+)

test_poject/main.c

@@ -3,12 +3,11 @@
 #include "hardware/gpio.h"
 #include "pico/binary_info.h"
 
-const int LED_PIN = 25;
+const int LED_PIN = 0;
 
 int main ()
 {
-    bi_decl(bi_program_description("Sample binary"));
-    bi_decl(bi_1pin_with_name(LED_PIN, "on-board PIN"));
+    int test = 0;
 
     stdio_init_all();
 
@@ -20,8 +19,9 @@ int main ()
         gpio_put(LED_PIN, 0);
         sleep_ms(250);
         gpio_put(LED_PIN, 1);
-        puts("Hello Word\n");
+        printf("Hello Word %d\n", test);
         sleep_ms(1000);
+        test++;
     }
 }
 

test_sdk.sh

@@ -7,9 +7,3 @@ 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