Support static allocation in Freertos example

peterharperuk · peterharperuk · commit 213f97904c8b · 2025-05-30T13:07:46.000+01:00
diff --git a/freertos/FreeRTOSConfig_examples_common.h b/freertos/FreeRTOSConfig_examples_common.h
@@ -70,8 +70,12 @@
 #define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
 
 /* Memory allocation related definitions. */
+#ifndef configSUPPORT_STATIC_ALLOCATION
 #define configSUPPORT_STATIC_ALLOCATION         0
+#endif
+#ifndef configSUPPORT_DYNAMIC_ALLOCATION
 #define configSUPPORT_DYNAMIC_ALLOCATION        1
+#endif
 #define configTOTAL_HEAP_SIZE                   (128*1024)
 #define configAPPLICATION_ALLOCATED_HEAP        0
 
diff --git a/freertos/hello_freertos/CMakeLists.txt b/freertos/hello_freertos/CMakeLists.txt
@@ -1,3 +1,5 @@
+set(USE_STATIC_ALLOC ON)
+
 set(TARGET_NAME hello_freertos1)
 add_executable(${TARGET_NAME}
     hello_freertos.c
@@ -7,14 +9,26 @@ target_include_directories(${TARGET_NAME} PRIVATE
     )
 target_link_libraries(${TARGET_NAME} PRIVATE
     pico_async_context_freertos
-    FreeRTOS-Kernel-Heap4
     pico_stdlib
     )
+if(USE_STATIC_ALLOC)
+    target_compile_definitions(${TARGET_NAME} PRIVATE
+        configSUPPORT_STATIC_ALLOCATION=1
+        configSUPPORT_DYNAMIC_ALLOCATION=0
+        )
+    target_link_libraries(${TARGET_NAME} PRIVATE
+        FreeRTOS-Kernel-Static
+        )
+else()
+    target_link_libraries(${TARGET_NAME} PRIVATE
+        FreeRTOS-Kernel-Heap4
+        )
+endif()
 if(PICO_CYW43_SUPPORTED)
     # For led support on pico_w
     target_link_libraries(${TARGET_NAME} PRIVATE
         pico_cyw43_arch_none
-    )
+        )
 endif()
 target_compile_definitions(${TARGET_NAME} PRIVATE
     configNUMBER_OF_CORES=1
@@ -30,13 +44,25 @@ target_include_directories(${TARGET_NAME} PRIVATE
     )
 target_link_libraries(${TARGET_NAME} PRIVATE
     pico_async_context_freertos
-    FreeRTOS-Kernel-Heap4
     pico_stdlib
     )
+if(USE_STATIC_ALLOC)
+    target_compile_definitions(${TARGET_NAME} PRIVATE
+        configSUPPORT_STATIC_ALLOCATION=1
+        configSUPPORT_DYNAMIC_ALLOCATION=0
+        )
+    target_link_libraries(${TARGET_NAME} PRIVATE
+        FreeRTOS-Kernel-Static
+        )
+else()
+    target_link_libraries(${TARGET_NAME} PRIVATE
+        FreeRTOS-Kernel-Heap4
+        )
+endif()
 if(PICO_CYW43_SUPPORTED)
     # For led support on pico_w
     target_link_libraries(${TARGET_NAME} PRIVATE
         pico_cyw43_arch_none
-    )
+        )
 endif()
 pico_add_extra_outputs(${TARGET_NAME})
diff --git a/freertos/hello_freertos/hello_freertos.c b/freertos/hello_freertos/hello_freertos.c
@@ -52,6 +52,10 @@ static async_context_t *example_async_context(void) {
     async_context_freertos_config_t config = async_context_freertos_default_config();
     config.task_priority = WORKER_TASK_PRIORITY; // defaults to ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_PRIORITY
     config.task_stack_size = WORKER_TASK_STACK_SIZE; // defaults to ASYNC_CONTEXT_DEFAULT_FREERTOS_TASK_STACK_SIZE
+#if configSUPPORT_STATIC_ALLOCATION
+    static StackType_t async_context_freertos_task_stack[WORKER_TASK_STACK_SIZE];
+    config.task_stack = async_context_freertos_task_stack;
+#endif
     if (!async_context_freertos_init(&async_context_instance, &config))
         return NULL;
     return &async_context_instance.core;
@@ -127,8 +131,15 @@ void main_task(__unused void *params) {
     async_context_add_at_time_worker_in_ms(context, &worker_timeout, 0);
 #if USE_LED
     // start the led blinking
+#if configSUPPORT_STATIC_ALLOCATION
+    static StackType_t blink_stack[BLINK_TASK_STACK_SIZE];
+    static StaticTask_t blink_buf;
+    xTaskCreateStatic(blink_task, "BlinkThread", BLINK_TASK_STACK_SIZE, NULL, BLINK_TASK_PRIORITY, blink_stack, &blink_buf);
+#else
+    static_assert(configSUPPORT_DYNAMIC_ALLOCATION, "");
     xTaskCreate(blink_task, "BlinkThread", BLINK_TASK_STACK_SIZE, NULL, BLINK_TASK_PRIORITY, NULL);
-#endif
+#endif // configSUPPORT_STATIC_ALLOCATION
+#endif // USE_LED
     int count = 0;
     while(true) {
 #if configNUMBER_OF_CORES > 1
@@ -146,11 +157,19 @@ void main_task(__unused void *params) {
 
 void vLaunch( void) {
     TaskHandle_t task;
+#if configSUPPORT_STATIC_ALLOCATION
+    static StackType_t main_stack[MAIN_TASK_STACK_SIZE];
+    static StaticTask_t main_buf;
+    task = xTaskCreateStatic(main_task, "MainThread", MAIN_TASK_STACK_SIZE, NULL, MAIN_TASK_PRIORITY, main_stack, &main_buf);
+#else
+    static_assert(configSUPPORT_DYNAMIC_ALLOCATION, "");
     xTaskCreate(main_task, "MainThread", MAIN_TASK_STACK_SIZE, NULL, MAIN_TASK_PRIORITY, &task);
-
+#endif // configSUPPORT_STATIC_ALLOCATION
 #if configUSE_CORE_AFFINITY && configNUMBER_OF_CORES > 1
     // we must bind the main task to one core (well at least while the init is called)
     vTaskCoreAffinitySet(task, 1);
+#else
+    (void)task;
 #endif
 
     /* Start the tasks and timer running. */
