Compiling for rp2040 using earlephilhower/arduino-pico by removing LockGuards

[pepeRossRobotics]

Hello I was having issues getting my Pi-pico running properly on the ArduinoCre-mbed for the pi-pico as the serial interface seems to have some issues ad my code was hanging (i think it was crashing the chip) So I decided to try to compile this library for the pi-pico using the earlephilhower/arduino-pico project.

I was not able to do it straight out of the box, but wen I removed the calls for the LockGuard (that seems to be mbed only) I was able to compile it and even receive frames.

I am yet to test more functionality as I am still learning and setting up.

I would like to know if I will be getting into some kind of trouble by removing the LockGuard calls even if I am not using the mbed library. I assume that the RTOS of ArdunoCore make LockGuard needed but I might be just 100% wrong.

If this approach is not wrong, could this be something that the library incorporate? Checking if Arduino is running mbed, and if not, just removing the Lockuards?

[aentinger]

Hi @pepeRossRobotics :wave:

I'm still on vacation 🍹 A couple of pointers though:

1) This library does not support earlephilhower/arduino-pico. Consequently the arduino-pico core is not listed in either README or within library.properties.

2) If you disable locking AND you don't know what you are doing (i.e. accessing the API of this library from both ISR context and normal execution - which is quite a common scenarion) you will suffer from race conditions. Proceed on your own risk.

3) If you want this library to support earlephilhower/arduino-pico than I suggest to provide a CritSec-pico.c/cpp and create a pull request. I can help with sorting out the details.

[pepeRossRobotics]

Hello,

I made a small CritSec-rpipico.cpp file that uses the built in noInterrupts() and interrupts() built in function. Do you think this can work, I am testing on my small system while still getting familiarised with UAVCAN so I might be oversimplifying things.

#include "CritSec.h"
#ifdef ARDUINO_RASPBERRY_PI_PICO
#include "Arduino.h"

/**************************************************************************************
 * FUNCTION DEFINITION
 **************************************************************************************/

extern "C" void crit_sec_enter()
{
  noInterrupts();
}

extern "C" void crit_sec_leave()
{
  interrupts();
}

#endif /* ARDUINO_RASPBERRY_PI_PICO */

I can make a PR if you want, but I think that requires some permissions for me to push into the repository.

[aentinger]

Please create a PR :+1: (And no, you don't need some permissions). Details see here.

[pepeRossRobotics]

PR done -> https://github.com/107-systems/107-Arduino-UAVCAN/pull/125