This directory provides a FreeRTOS-Kernel port that can be used with the Raspberry Pi Pico SDK. It supports:
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.
You can copy FreeRTOS-Kernel-import.cmake into your project, and add the following in your CMakeLists.txt
:
include(FreeRTOS_Kernel_import.cmake)
This will locate the FreeRTOS kernel if it is a direct sub-module of your project, or if you provide the FREERTOS_KERNEL_PATH
variable in your environment or via -DFREERTOS_KERNEL_PATH=/path/to/FreeRTOS-Kernel
on the CMake command line.
NOTE: If you are using version 1.3.1 or older of the Raspberry Pi Pico SDK then this line must appear before the pico_sdk_init()
and will cause FreeRTOS to be included/required in all RP2040 targets in your project. After this SDK version, you can include the FreeRTOS-Kernel support later in your CMake build (possibly in a subdirectory) and the FreeRTOS-Kernel support will only apply to those targets which explicitly include FreeRTOS support.
As an alternative to the import
statement above, you can just add this directory directly via thw following (with the same placement restrictions related to the Raspberry Pi Pico SDK version above):
add_subdirectory(path/to/this/directory FreeRTOS-Kernel)
Some additional config
options are defined here which control some low level implementation details.