From 1b0d15f4d9822406db423d941ebb4b8683a52fec Mon Sep 17 00:00:00 2001
From: Peter Harper <peter.harper@raspberrypi.com>
Date: Fri, 12 Jun 2026 13:00:32 +0100
Subject: [PATCH] Add freetos version of ble_pointer

---
 bluetooth/ble_pointer/CMakeLists.txt          | 33 ++++++++++
 bluetooth/ble_pointer/ble_pointer.c           |  4 +-
 .../ble_pointer/ble_pointer_freertos_main.c   | 66 +++++++++++++++++++
 .../ble_pointer/ble_pointer_nosys_main.c      |  9 +++
 4 files changed, 109 insertions(+), 3 deletions(-)
 create mode 100644 bluetooth/ble_pointer/ble_pointer_freertos_main.c
 create mode 100644 bluetooth/ble_pointer/ble_pointer_nosys_main.c

diff --git a/bluetooth/ble_pointer/CMakeLists.txt b/bluetooth/ble_pointer/CMakeLists.txt
index d36d13c0c..874c91b56 100644
--- a/bluetooth/ble_pointer/CMakeLists.txt
+++ b/bluetooth/ble_pointer/CMakeLists.txt
@@ -1,5 +1,6 @@
 add_executable(ble_pointer 
     ble_pointer.c
+    ble_pointer_nosys_main.c
     mpu6050_i2c_lib.c
 )
 target_link_libraries(ble_pointer
@@ -20,3 +21,35 @@ target_compile_definitions(ble_pointer PRIVATE
 pico_btstack_make_gatt_header(ble_pointer PRIVATE "${CMAKE_CURRENT_LIST_DIR}/ble_pointer.gatt")
 pico_add_extra_outputs(ble_pointer)
 
+if (NOT FREERTOS_KERNEL_PATH AND NOT DEFINED ENV{FREERTOS_KERNEL_PATH})
+    return()
+endif()
+include(../../freertos/FreeRTOS_Kernel_import.cmake)
+
+add_executable(ble_pointer_freertos
+    ble_pointer.c
+    ble_pointer_freertos_main.c
+    mpu6050_i2c_lib.c
+)
+target_link_libraries(ble_pointer_freertos
+    pico_stdlib
+    pico_btstack_ble
+    pico_btstack_cyw43
+    pico_cyw43_arch_sys_freertos
+    hardware_i2c
+    FreeRTOS-Kernel-Heap4
+)
+target_include_directories(ble_pointer_freertos PRIVATE
+    ${CMAKE_CURRENT_LIST_DIR}
+    ${CMAKE_CURRENT_LIST_DIR}/..
+    ${CMAKE_CURRENT_LIST_DIR}/../config # for common btstack config
+    ${CMAKE_CURRENT_LIST_DIR}/../../freertos # for FreeRTOSConfig.h
+)
+target_compile_definitions(ble_pointer_freertos PRIVATE
+    #WANT_HCI_DUMP=1
+    CYW43_LWIP=0
+    configNUMBER_OF_CORES=1 # run freertos on one core, the other core is doing something else
+)
+pico_btstack_make_gatt_header(ble_pointer_freertos PRIVATE "${CMAKE_CURRENT_LIST_DIR}/ble_pointer.gatt")
+pico_add_extra_outputs(ble_pointer_freertos)
+
diff --git a/bluetooth/ble_pointer/ble_pointer.c b/bluetooth/ble_pointer/ble_pointer.c
index 775f02f51..12496bd0f 100644
--- a/bluetooth/ble_pointer/ble_pointer.c
+++ b/bluetooth/ble_pointer/ble_pointer.c
@@ -413,8 +413,7 @@ static void packet_handler (uint8_t packet_type, uint16_t channel, uint8_t *pack
     }
 }
 
-int main(void) {
-    stdio_init_all();
+void run_ble_pointer(void) {
 
     // Make the I2C pins available to picotool
     bi_decl(bi_2pins_with_func(PICO_DEFAULT_I2C_SDA_PIN, PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C));
@@ -470,5 +469,4 @@ int main(void) {
         sleep_ms(1000);
     }
 #endif
-    return 0;
 }
diff --git a/bluetooth/ble_pointer/ble_pointer_freertos_main.c b/bluetooth/ble_pointer/ble_pointer_freertos_main.c
new file mode 100644
index 000000000..2c9043449
--- /dev/null
+++ b/bluetooth/ble_pointer/ble_pointer_freertos_main.c
@@ -0,0 +1,66 @@
+#include <stdio.h>
+
+#include "pico/stdio.h"
+#include "pico/multicore.h"
+#include "pico/flash.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#define START_CORE_1 0
+
+extern void run_ble_pointer(void);
+
+#define MAIN_TASK_PRIORITY ( tskIDLE_PRIORITY + 2UL )
+#define MAIN_TASK_STACK_SIZE configMINIMAL_STACK_SIZE
+
+static void main_task_core0(__unused void *params) {
+    run_ble_pointer();
+}
+
+static void vLaunch0( void) {
+#if 1
+    // todo: is this right?
+    flash_safe_execute_core_init();
+#endif
+
+    TaskHandle_t task;
+    static_assert(configSUPPORT_DYNAMIC_ALLOCATION, "");
+    xTaskCreate(main_task_core0, "MainThread_core0", MAIN_TASK_STACK_SIZE, NULL, MAIN_TASK_PRIORITY, &task);
+#if configNUMBER_OF_CORES > 1
+    vTaskCoreAffinitySet(task, 1<<0);
+#endif
+
+    /* Start the tasks and timer running. */
+    vTaskStartScheduler();
+}
+
+#if START_CORE_1
+static void main_task_core1(__unused void *params) {
+    printf("Hello from core1");
+    while(true) {
+        sleep_ms(100);
+    }
+}
+
+void vLaunch1( void) {
+
+    TaskHandle_t task;
+    static_assert(configSUPPORT_DYNAMIC_ALLOCATION, "");
+    xTaskCreate(main_task_core1, "MainThread_core1", MAIN_TASK_STACK_SIZE, NULL, MAIN_TASK_PRIORITY, &task);
+    vTaskCoreAffinitySet(task, 1<<1);
+
+    /* Start the tasks and timer running. */
+    vTaskStartScheduler();
+}
+#endif
+
+int main(void) {
+    stdio_init_all();
+    vLaunch0();
+#if START_CORE_1
+    multicore_launch_core1(vLaunch1);
+#endif
+    return 0;
+}
+
diff --git a/bluetooth/ble_pointer/ble_pointer_nosys_main.c b/bluetooth/ble_pointer/ble_pointer_nosys_main.c
new file mode 100644
index 000000000..d31711687
--- /dev/null
+++ b/bluetooth/ble_pointer/ble_pointer_nosys_main.c
@@ -0,0 +1,9 @@
+#include "pico/stdio.h"
+
+extern void run_ble_pointer(void);
+
+int main(void) {
+    stdio_init_all();
+    run_ble_pointer();
+    return 0;
+}