cyw43_arch_init stuck in infinite loop

[tomosnelli]

Currently working on project that uses pico_cyw43_arch_lwip_sys_freertos library. Upon calling cyw43_arch_init within a FreeRTOS task, cyw43_arch_init ever exists and gets stuck in an infinite loop on line 59 ~ 60 at function multicore_fifo_pop_blocking_inline() in file pico-sdk/src/rp2_common/pico_multicore/multicore.c.

Apologies if this is an already known issue or is a config error.

I'll post my main program along with the config files for further inspection.

pico_w_freertos_ble.c

#include "pico/stdlib.h"
#include "pico/cyw43_arch.h"
#include "pico/btstack_cyw43.h"
#include "FreeRTOS.h"
#include "task.h"

void vTaskBlink( void * pvParameters )
{
    if( cyw43_arch_init() )
    {
        printf("Failed to run cyw43_arch_init");
    }

    for( ;; )
    {
        printf("blink loop");
        cyw43_arch_gpio_put( CYW43_WL_GPIO_LED_PIN, 1 );
        vTaskDelay( pdMS_TO_TICKS( 250 ) );
        cyw43_arch_gpio_put( CYW43_WL_GPIO_LED_PIN, 0 );
        vTaskDelay( pdMS_TO_TICKS( 250 ) );
    }

    cyw43_arch_deinit();
}

void vLaunch( void )
{
    BaseType_t xStatus;

    xStatus = xTaskCreate( vTaskBlink, "BLINK", 1024, NULL, configMAX_PRIORITIES - 4, NULL );

    if( xStatus != pdPASS )
    {
        printf("Error: xTaskCreate failed");
        exit 1;
    }
    else
    {
        vTaskStartScheduler();
    }
}

int main()
{
    stdio_init_all();
    printf("init stuff");

    vLaunch();

    for( ;; );

    return 0;
}

CMakeList.txt

# Changing from pico to pico w board so running some blinky stuff

cmake_minimum_required(VERSION 3.13)

set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)

# have to set this manually
# set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})

set(PICO_BOARD pico_w CACHE STRING "Board type")

# pull in pico sdk (must before project according to the pico documents)
include($ENV{PICO_SDK_PATH}/external/pico_sdk_import.cmake)
include($ENV{FREERTOS_KERNEL_PATH}/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake)

if (PICO_SDK_VERSION_STRING VERSION_LESS "1.4.0")
  message(FATAL_ERROR "Raspberry Pi Pico SDK version 1.4.0 (or later) required. Your version is ${PICO_SDK_VERSION_STRING}")
endif()

project(pico_w_freertos_ble C CXX ASM)

# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()

# Add executable. Default name is the project name, version 0.1

add_executable(pico_w_freertos_ble pico_w_freertos_ble.c )

pico_set_program_name(pico_w_freertos_ble "pico_w_freertos_ble")
pico_set_program_version(pico_w_freertos_ble "0.1")

pico_enable_stdio_uart(pico_w_freertos_ble 1)
pico_enable_stdio_usb(pico_w_freertos_ble 0)

# Add the standard library to the build
target_link_libraries(pico_w_freertos_ble
        pico_stdlib)

# Add the standard include files to the build
target_include_directories(pico_w_freertos_ble PRIVATE
  ${CMAKE_CURRENT_LIST_DIR}
  ${CMAKE_CURRENT_LIST_DIR}/.. # for our common lwipopts or any other standard includes, if required
)

# Add any user requested libraries
target_link_libraries(pico_w_freertos_ble 
        pico_stdlib
        pico_btstack_ble
        pico_btstack_cyw43
        pico_cyw43_arch_lwip_sys_freertos
        FreeRTOS-Kernel
        FreeRTOS-Kernel-Heap4
        )

pico_add_extra_outputs(pico_w_freertos_ble)

FreeRTOSConfig.h

/*
 * FreeRTOS V202111.00
 * 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                     0
#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
// todo need this for lwip FreeRTOS sys_arch to compile
#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          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                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]
*/

#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
/* SMP port only */
#define configNUMBER_OF_CORES                   2
#define configNUM_CORES                         configNUMBER_OF_CORES
#define configTICK_CORE                         0
#define configRUN_MULTIPLE_PRIORITIES           1
#define configUSE_CORE_AFFINITY                 1
#endif

/* RP2040 specific */
#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 */

btstack_config.h

#ifndef _PICO_BTSTACK_BTSTACK_CONFIG_H
#define _PICO_BTSTACK_BTSTACK_CONFIG_H

#ifndef ENABLE_BLE
#error Please link to pico_btstack_ble
#endif

// BTstack features that can be enabled
#define ENABLE_LE_PERIPHERAL
#define ENABLE_LOG_INFO
#define ENABLE_LOG_ERROR
#define ENABLE_PRINTF_HEXDUMP

// for the client
#if RUNNING_AS_CLIENT
#define ENABLE_LE_CENTRAL
#define MAX_NR_GATT_CLIENTS 1
#else
#define MAX_NR_GATT_CLIENTS 0
#endif

// BTstack configuration. buffers, sizes, ...
#define HCI_OUTGOING_PRE_BUFFER_SIZE 4
#define HCI_ACL_PAYLOAD_SIZE (255 + 4)
#define HCI_ACL_CHUNK_SIZE_ALIGNMENT 4
#define MAX_NR_HCI_CONNECTIONS 1
#define MAX_NR_SM_LOOKUP_ENTRIES 3
#define MAX_NR_WHITELIST_ENTRIES 16
#define MAX_NR_LE_DEVICE_DB_ENTRIES 16

// Limit number of ACL/SCO Buffer to use by stack to avoid cyw43 shared bus overrun
#define MAX_NR_CONTROLLER_ACL_BUFFERS 3
#define MAX_NR_CONTROLLER_SCO_PACKETS 3

// Enable and configure HCI Controller to Host Flow Control to avoid cyw43 shared bus overrun
#define ENABLE_HCI_CONTROLLER_TO_HOST_FLOW_CONTROL
#define HCI_HOST_ACL_PACKET_LEN (255+4)
#define HCI_HOST_ACL_PACKET_NUM 3
#define HCI_HOST_SCO_PACKET_LEN 120
#define HCI_HOST_SCO_PACKET_NUM 3

// Link Key DB and LE Device DB using TLV on top of Flash Sector interface
#define NVM_NUM_DEVICE_DB_ENTRIES 16
#define NVM_NUM_LINK_KEYS 16

// We don't give btstack a malloc, so use a fixed-size ATT DB.
#define MAX_ATT_DB_SIZE 512

// BTstack HAL configuration
#define HAVE_EMBEDDED_TIME_MS
// map btstack_assert onto Pico SDK assert()
#define HAVE_ASSERT
// Some USB dongles take longer to respond to HCI reset (e.g. BCM20702A).
#define HCI_RESET_RESEND_TIMEOUT_MS 1000
#define ENABLE_SOFTWARE_AES128
#define ENABLE_MICRO_ECC_FOR_LE_SECURE_CONNECTIONS

#endif // MICROPY_INCLUDED_EXTMOD_BTSTACK_BTSTACK_CONFIG_H

lwipopts.h

#ifndef __LWIPOPTS_H__
#define __LWIPOPTS_H__

// Common settings used in most of the pico_w examples
// (see https://www.nongnu.org/lwip/2_1_x/group__lwip__opts.html for details)

// allow override in some examples
#ifndef NO_SYS
#define NO_SYS                      0
#endif
// allow override in some examples
#ifndef LWIP_SOCKET
#define LWIP_SOCKET                 0
#endif
#if PICO_CYW43_ARCH_POLL
#define MEM_LIBC_MALLOC             1
#else
// MEM_LIBC_MALLOC is incompatible with non polling versions
#define MEM_LIBC_MALLOC             0
#endif
#define MEM_ALIGNMENT               4
#define MEM_SIZE                    4000
#define MEMP_NUM_TCP_SEG            32
#define MEMP_NUM_ARP_QUEUE          10
#define PBUF_POOL_SIZE              24
#define LWIP_ARP                    1
#define LWIP_ETHERNET               1
#define LWIP_ICMP                   1
#define LWIP_RAW                    1
#define TCP_WND                     (8 * TCP_MSS)
#define TCP_MSS                     1460
#define TCP_SND_BUF                 (8 * TCP_MSS)
#define TCP_SND_QUEUELEN            ((4 * (TCP_SND_BUF) + (TCP_MSS - 1)) / (TCP_MSS))
#define LWIP_NETIF_STATUS_CALLBACK  1
#define LWIP_NETIF_LINK_CALLBACK    1
#define LWIP_NETIF_HOSTNAME         1
#define LWIP_NETCONN                0
#define MEM_STATS                   0
#define SYS_STATS                   0
#define MEMP_STATS                  0
#define LINK_STATS                  0
// #define ETH_PAD_SIZE                2
#define LWIP_CHKSUM_ALGORITHM       3
#define LWIP_DHCP                   1
#define LWIP_IPV4                   1
#define LWIP_TCP                    1
#define LWIP_UDP                    1
#define LWIP_DNS                    1
#define LWIP_TCP_KEEPALIVE          1
#define LWIP_NETIF_TX_SINGLE_PBUF   1
#define DHCP_DOES_ARP_CHECK         0
#define LWIP_DHCP_DOES_ACD_CHECK    0

#ifndef NDEBUG
#define LWIP_DEBUG                  1
#define LWIP_STATS                  1
#define LWIP_STATS_DISPLAY          1
#endif

#define ETHARP_DEBUG                LWIP_DBG_OFF
#define NETIF_DEBUG                 LWIP_DBG_OFF
#define PBUF_DEBUG                  LWIP_DBG_OFF
#define API_LIB_DEBUG               LWIP_DBG_OFF
#define API_MSG_DEBUG               LWIP_DBG_OFF
#define SOCKETS_DEBUG               LWIP_DBG_OFF
#define ICMP_DEBUG                  LWIP_DBG_OFF
#define INET_DEBUG                  LWIP_DBG_OFF
#define IP_DEBUG                    LWIP_DBG_OFF
#define IP_REASS_DEBUG              LWIP_DBG_OFF
#define RAW_DEBUG                   LWIP_DBG_OFF
#define MEM_DEBUG                   LWIP_DBG_OFF
#define MEMP_DEBUG                  LWIP_DBG_OFF
#define SYS_DEBUG                   LWIP_DBG_OFF
#define TCP_DEBUG                   LWIP_DBG_OFF
#define TCP_INPUT_DEBUG             LWIP_DBG_OFF
#define TCP_OUTPUT_DEBUG            LWIP_DBG_OFF
#define TCP_RTO_DEBUG               LWIP_DBG_OFF
#define TCP_CWND_DEBUG              LWIP_DBG_OFF
#define TCP_WND_DEBUG               LWIP_DBG_OFF
#define TCP_FR_DEBUG                LWIP_DBG_OFF
#define TCP_QLEN_DEBUG              LWIP_DBG_OFF
#define TCP_RST_DEBUG               LWIP_DBG_OFF
#define UDP_DEBUG                   LWIP_DBG_OFF
#define TCPIP_DEBUG                 LWIP_DBG_OFF
#define PPP_DEBUG                   LWIP_DBG_OFF
#define SLIP_DEBUG                  LWIP_DBG_OFF
#define DHCP_DEBUG                  LWIP_DBG_OFF

#if !NO_SYS
  #define TCPIP_THREAD_STACKSIZE      1024
  #define TCPIP_THREAD_PRIO           3
  #define DEFAULT_THREAD_STACKSIZE    1024
  #define DEFAULT_RAW_RECVMBOX_SIZE   8
  #define TCPIP_MBOX_SIZE             8
  #define LWIP_TIMEVAL_PRIVATE        0

  // not necessary, can be done either way
  #define LWIP_TCPIP_CORE_LOCKING_INPUT 1
#endif

#endif /* __LWIPOPTS_H__ */

[HarterHorst]

What happens if you put the the following lines into main just after the stdio_init_all() and remove the cyw43_arch_deinit call from the vTaskBlink function?

In my code I only init the cyw43 driver once in the main function and I never touch it again.

int main()
{
    stdio_init_all();
    if( cyw43_arch_init() )
        {
            printf("Failed to run cyw43_arch_init");
        }
    ...