FreeRTOS assert in cyw43_irq_init

[bergp1]

Hi

I've changed my project to use FreeRTOS but I run in some issues:
assert(get_core_num() == async_context_core_num(cyw43_async_context));

I'm using SDK V2.2.0 that includes the fix from raspberrypi/pico-sdk#1526.
The config file looks like

#if FREE_RTOS_KERNEL_SMP // set by the RP2xxx SMP port of FreeRTOS
/* SMP port only */
#ifndef configNUMBER_OF_CORES
#define configNUMBER_OF_CORES                   2
#endif
#define configNUM_CORES                         configNUMBER_OF_CORES
#define configTICK_CORE                         0
#define configRUN_MULTIPLE_PRIORITIES           1
#if configNUMBER_OF_CORES > 1
#define configUSE_CORE_AFFINITY                 1
#endif
#define configUSE_PASSIVE_IDLE_HOOK             0
#endif

this is the recommendation from raspberrypi/pico-sdk#2101 and #428

The behaviour is very strange: sometimes it works, but then it asserts all time (after reboot dev pc, pico debug probe or the pico itself) - nothing works. I've observed that there is also no core affinity - sometimes it asserts on core0 and sometime on core1.

Call-Stack:

_exit@0x100045b0 (c:\Users\paber.pico-sdk\sdk\2.2.0\src\rp2_common\pico_clib_interface\newlib_interface.c:45)
__assert_func@0x10004688 (c:\Users\paber.pico-sdk\sdk\2.2.0\src\rp2_common\pico_clib_interface\newlib_interface.c:173)
cyw43_irq_init@0x1001a3e4 (c:\Users\paber.pico-sdk\sdk\2.2.0\src\rp2_common\pico_cyw43_driver\cyw43_driver.c:65)
handle_sync_func_call@0x1001a70e (c:\Users\paber.pico-sdk\sdk\2.2.0\src\rp2_common\pico_async_context\async_context_freertos.c:225)
async_context_base_execute_once@0x1000931a (c:\Users\paber.pico-sdk\sdk\2.2.0\src\rp2_common\pico_async_context\async_context_base.c:101)
process_under_lock@0x1001a814 (c:\Users\paber.pico-sdk\sdk\2.2.0\src\rp2_common\pico_async_context\async_context_freertos.c:49)
async_context_task@0x1001a8fa (c:\Users\paber.pico-sdk\sdk\2.2.0\src\rp2_common\pico_async_context\async_context_freertos.c:72)
xPortPendSVHandler@0x10004ff8 (c:\GitRepo\WordClock\lib\FreeRTOS-Kernel\portable\ThirdParty\GCC\RP2040\port.c:614)

I'm using FreeRTOS V10.4.0-kernel-only as a submodule.

Any Ideas?
Best regards
Patrick

[peterharperuk]

Is this on Pico 1 or 2? (later: looks like Pico W) It's unhappy that async_context_task is on a different core to cyw43_async_context. Not entirely sure how that can happen. The core affinity is set in async_context_freertos_init.

How did you create the async context? Just called cyw43_arch_init or called async_context_freertos_init in your code?
If you create the context yourself by calling async_context_freertos_init you MUST pass this to the driver by calling cyw43_arch_set_async_context or else it will create another one. I'm not sure what will happen then.

[peterharperuk]

I'm using FreeRTOS V10.4.0-kernel-only as a submodule.

Why so old? Can you try using the tip of main?

[PaBer89]

Im using a Pi Pico W 1 and calling cyw43_arch_init_with_country, linked with pico_cyw43_arch_lwip_sys_freertos
Should I use core affinity for my wifi tasks (-> this is not defined in the examples, so I've omitted that)?

After updating all used submodules to the latest I've got more issues than previous ;)

• FreeRTOS-FAT-CLI-for-RPi-Pico -> FF_SDDiskInit fails without any reason
• cyw43 assert is mutch rare but still there
• fighting against the pico debug probe: outdated binaries flashed without any error, no main breakpoint hit, no freertos breakpoints are hit...

After 3 days I'm still not there that all new issues are solved and I'm able to deal with the cyw problem!
Really, this is my last project with FreeRTOS combined with Pi Pico - Within 15years using different Microchip/Atmel and STM controllers with and without OS I've never had such problems.

[peterharperuk]

Do the freertos wifi examples work for you? pico_cyw43_arch_lwip_sys_freertos uses affinity to ensure the wifi thread always runs on the same core. Apart from that you should be ok. Please tell me the commit you're using for Freertos and If you can point me towards some code that shows the problem, I'll take a look at it.

[bergp1]

As I said - after updating the used submodules (Freertos and FAT CLI) less works than before :(
I'm currently trying to solve each issue after the other and isolating things.

For example all my tasks are at different times in block states and never leave them, event those with just a delay loop.

My current setup:
19de06218b90b25247dfe0c3370982f130652024 lib/FreeRTOS-FAT-Pico (v2.12.0-5-g19de062)
81c623212a8746c4b5ebc29891b91228591040cc lib/FreeRTOS-Kernel (V202110.00-SMP-15-g81c623212)
Pi Pico sdk V2.2.0

I'll inform you as soon as I've found something.

[peterharperuk]

It would be useful to know if this example works for you https://github.com/raspberrypi/pico-examples/tree/master/pico_w/wifi/freertos/iperf