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raspberrypi
cyw43_arch_init stuck in infinite loop
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__ */
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");
}
...
I tested this and it seemed to work ok. I assume we've fixed the problem elsewhere.
