Unable to build when using `pico_cyw43_arch_lwip_sys_freertos`

[stackjohn]

Lets say I have the following cmake config:

target_link_libraries(
  main
  pico_stdlib
  cyw43_driver_base
  pico_cyw43_arch_lwip_threadsafe_background
  pico_lwip_http
  hardware_adc
  freertos
)

This all builds fine. I can then start the httpd server in it's own freertos task:

void pico_w_http_task()
{
    httpd_init();
    ssi_init();
    printf("Http server initialized.\n");
    for (;;)
    {
        vTaskDelay(pdMS_TO_TICKS(10));
    }
}

    xTaskCreate(pico_w_http_task, "HTTP_Task", 4000, NULL, 1, NULL);

Not really sure if this is the correct way to do things however 😬 It works ok but sometimes it seems to lock up the Pico when making a number of concurrent http requests.

The release notes make a mention of pico_cyw43_arch_lwip_sys_freertos to replace pico_cyw43_arch_lwip_threadsafe_background. Trying this in my cmake config:

target_link_libraries(
  main
  pico_stdlib
  cyw43_driver_base
  pico_cyw43_arch_lwip_sys_freertos
  pico_lwip_http
  hardware_adc
  freertos
)

I get the following errors:

[ 12%] Building C object CMakeFiles/reboot_post.dir/pico-sdk/lib/lwip/contrib/ports/freertos/sys_arch.c.obj
/pico-sdk/lib/lwip/contrib/ports/freertos/sys_arch.c: In function 'sys_arch_msleep':
/pico-sdk/lib/lwip/contrib/ports/freertos/sys_arch.c:192:39: error: 'portTICK_RATE_MS' undeclared (first use in this function); did you mean 'portTICK_PERIOD_MS'?
  192 |   TickType_t delay_ticks = delay_ms / portTICK_RATE_MS;
      |                                       ^~~~~~~~~~~~~~~~
      |                                       portTICK_PERIOD_MS
/pico-sdk/lib/lwip/contrib/ports/freertos/sys_arch.c:192:39: note: each undeclared identifier is reported only once for each function it appears in
/pico-sdk/lib/lwip/contrib/ports/freertos/sys_arch.c: In function 'sys_arch_sem_wait':
/pico-sdk/lib/lwip/contrib/ports/freertos/sys_arch.c:294:45: error: 'portTICK_RATE_MS' undeclared (first use in this function); did you mean 'portTICK_PERIOD_MS'?
  294 |     TickType_t timeout_ticks = timeout_ms / portTICK_RATE_MS;
      |                                             ^~~~~~~~~~~~~~~~
      |                                             portTICK_PERIOD_MS
/pico-sdk/lib/lwip/contrib/ports/freertos/sys_arch.c: In function 'sys_arch_mbox_fetch':
/pico-sdk/lib/lwip/contrib/ports/freertos/sys_arch.c:401:45: error: 'portTICK_RATE_MS' undeclared (first use in this function); did you mean 'portTICK_PERIOD_MS'?
  401 |     TickType_t timeout_ticks = timeout_ms / portTICK_RATE_MS;
      |                                             ^~~~~~~~~~~~~~~~
      |                                             portTICK_PERIOD_MS
make[2]: *** [CMakeFiles/reboot_post.dir/pico-sdk/lib/lwip/contrib/ports/freertos/sys_arch.c.obj] Error 1
make[1]: *** [CMakeFiles/reboot_post.dir/all] Error 2
make: *** [all] Error 2

How can I resolve these errors? Are there any docs around how to use pico_lwip_http when using pico_cyw43_arch_lwip_sys_freertos? Such as should it be started in it's own thread or started independently during main?

[peterharperuk]

Have you looked at the freertos sdk examples? It looks like you have a configuration issue. Do the examples build? https://github.com/raspberrypi/pico-examples/tree/master/pico_w/freertos

[peterharperuk]

A quick play and this worked for me https://github.com/peterharperuk/pico-examples/commit/9e63d6daf8e375b12a157746482e5f0afcc5f6d0

[stackjohn]

Thanks @peterharperuk

This single line seems to allow it to build, set in FreeRTOSConfig.h:

#define configENABLE_BACKWARD_COMPATIBILITY     1

But then the pico just seems to fail to boot.

I also tried with just this, also in FreeRTOSConfig.h:

#define portTICK_RATE_MS portTICK_PERIOD_MS

It builds, but again the pico just seems to lockup, pretty instantly, I get no output via usb even when just sitting in a busy_wait loop for a while after running stdio_init_all();

I'm using the SMP branch of the FreeRtos_kernel repo, not sure if that makes any difference.

This is how FreeRTOSConfig.h looks:

/*
 * FreeRTOS V202104.00
 * 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
#define configENABLE_BACKWARD_COMPATIBILITY 0
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5

#define portTICK_RATE_MS portTICK_PERIOD_MS
/* 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]
*/

/* SMP port only */
#define configNUM_CORES 2
#define configTICK_CORE 1
#define configRUN_MULTIPLE_PRIORITIES 1
#define configUSE_CORE_AFFINITY 1

/* 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 */

This is lwipopts.h:

#pragma once

// apparently needed...
// from: https://github.com/raspberrypi/pico-examples/blob/01e8128953a9766608be0a9254afb7900107e222/pico_w/lwipopts_examples_common.h
// 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
#define LWIP_HTTPD_SUPPORT_POST 1

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

#define LWIP_HTTPD 1
#define LWIP_HTTPD_SSI 1
// don't include the tag comment - less work for the CPU, but may be harder to debug
#define LWIP_HTTPD_SSI_INCLUDE_TAG 0
// use generated fsdata
#define HTTPD_FSDATA_FILE "my_fsdata.c"

[peterharperuk]

I'm using the SMP branch of the FreeRtos_kernel repo, not sure if that makes any difference. Can you try using main?

Does this work? https://github.com/peterharperuk/pico-examples/commit/9e63d6daf8e375b12a157746482e5f0afcc5f6d0

[stackjohn]

I'm using the SMP branch of the FreeRtos_kernel repo, not sure if that makes any difference. Can you try using main?

Does this work? peterharperuk/pico-examples@9e63d6d

Can you explain how to build it? I tried:

mkdir build
cd build
cmake ..
make

I get plenty of *.uf2 files but nothing for the pico_w.

[JamesH65]

cmake .. -DPICO_BOARD=pico_w

?

[peterharperuk]

cmake .. -DPICO_BOARD=pico_w -DWIFI_SSID='<wifi ssid name>' -DWIFI_PASSWORD=<wifi password> -DFREERTOS_KERNEL_PATH=<path to FreeRTOS-Kernel>

[peterharperuk]

alternatively - if you stick your code somewhere I can try and build it with my setup.

[stackjohn]

Thanks @JamesH65 @peterharperuk

I managed to get it to build. That works fine for me.... must be some wrong config somewhere in my code.

Will try and figure it out. Thanks for the help!

[stackjohn]

Going to close this.......... I think I had issues with my cmakelists file, it's all working fine now. Thanks again for the help!