FreeRTOSmultiple definition of `setup' and `loop'

Projects Programming
1

Hi,

i've an issue with an FreeRTOS Scheduling Task. I tried multiple changes, but i don't get what is my fault.

I got the error, that there are multiple definition of setup' and loop'

All four files (PWM_A6.cpp, PWM_A6.h, Scheduler.cpp and Scheduler.h) are placed in the same path. I've also tried to place the Scheduler files in a separate path, but this also doesn't worked.

#include "PWM_A6.h"
#include <Arduino.h>
#include <Arduino_FreeRTOS.h>
#include "Scheduler.h"
#include <FreeRTOSConfig.h>
int ledPin = 13;
int ledPin1 = 12;
int ledPin2 = 8;
int pwm = 11;
int LED0 = 0;
int LED1 = 0;
int LED2 = 0;
int analogin = A0;
int PWM_REG = 0;

void tBlinkLED(void *pvParameters);
void tLevelControl(void *pvParameters);
void tMotorTask(void *pvParameters);

//The setup function is called once at startup of the sketch
void setup() {
	Serial.begin(115200);     // Serielle Schnittstelle
	pinMode(ledPin, OUTPUT);
	pinMode(ledPin1, OUTPUT);
	pinMode(ledPin2, OUTPUT);
	pinMode(pwm, OUTPUT);

	xTaskCreate(tBlinkLED, " Blink ", configMINIMAL_STACK_SIZE, NULL, 2, NULL);
	xTaskCreate(tLevelControl, " Blink ", configMINIMAL_STACK_SIZE, NULL, 2, NULL);
	xTaskCreate(tMotorTask, " Blink ", configMINIMAL_STACK_SIZE, NULL, 3, NULL);
	PWM_REG = 128; //50% duty cycle
	analogWrite(pwm, PWM_REG);
	vTaskStartScheduler();
}

void Toggle_Task() {
	if (LED0 == 0) {
		digitalWrite(ledPin, HIGH);
		LED0 = 1;
	} else {
		digitalWrite(ledPin, LOW);
		LED0 = 0;
	}
}
// The loop function is called in an endless loop
void loop() {
	//Toggle_Task();
	//delay(500);
}

int main(void) {
	init();
	setup();         // Code , der einmal aufgerufen wird
	while (true) {
		loop();
	}
}

And the scheduler.cpp

#include "Scheduler.h"
#include <Arduino.h>
#include <Arduino_FreeRTOS.h>
#include <FreeRTOSConfig.h>
#include  "PWM_A6.h"

extern int ledPin;
extern int ledPin1;
//extern int ledPin2;
extern int analogin;
extern int pwm;

//The setup function is called once at startup of the sketch
void setup() {
// Add your initialization code here
}

// The loop function is called in an endless loop
void loop() {
//Add your repeated code here
}

void tMotorTask(void *pvParameters) {
	//TickType_t xLastWakeTime;
	int DAC_values[7] = { 0, 38, 77, 128, 179, 230, 255 };
	int DAC_out;
	int n = 0;
	const TickType_t xDelay = 500 / portTICK_PERIOD_MS;
	//xLastWakeTime = xTaskGetTickCount();
	for (;;) {
		DAC_out = DAC_values[n];
		analogWrite(pwm, DAC_out);
		n++;
		if (n >= 7) {
			n = 0;
		}
		vTaskDelay(xDelay);
	}
}

void tBlinkLED(void *pvParameters) {
//Block for 500 ms.
	 const TickType_t xDelay = 500 / portTICK_PERIOD_MS;
	//TickType_t xLastWakeTime;
	static int LED1 = 0;
	//xLastWakeTime = xTaskGetTickCount();
	for (;;) {
		if (LED1 == 0) {
			LED1 = 1;
			digitalWrite(ledPin, HIGH);
		} else {
			LED1 = 0;
			digitalWrite(ledPin, LOW);
		}
//Block for 500 msec
		vTaskDelay(xDelay);
	}
}

void tLevelControl(void *pvParameters) {
// Block for 500 ms.
	int ADCValue;
	int LIM = 100;
	static int LED2 = 0;
	const TickType_t xDelay = 500 / portTICK_PERIOD_MS;
	//TickType_t xLastWakeTime;
	//xLastWakeTime = xTaskGetTickCount();
	for (;;) {
		ADCValue = analogRead(analogin);
		if (ADCValue >= LIM) {
			LED2 = 1;
			digitalWrite(ledPin1, HIGH);
		} else {
			LED2 = 0;
			digitalWrite(ledPin1, LOW);
		}
		/* Block for 500 msec */
		vTaskDelay(xDelay);
	}
}

Error output:

Starting combiner
"/home/unnamed/eclipse/cpp-2020-06/eclipse//arduinoPlugin/packages/arduino/tools/avr-gcc/7.3.0-atmel3.6.1-arduino7/bin/avr-gcc" -Wall -Wextra -Os -g -flto -fuse-linker-plugin -Wl,--gc-sections -mmcu=atmega328p   -o "/home/unnamed/eclipse-workspace/PWM_A6/Release/PWM_A6.elf"    ./PWM_A6.cpp.o ./Scheduler.cpp.o  ./libraries/Scheduler/src/Scheduler.cpp.o  ./libraries/FreeRTOS/src/croutine.c.o ./libraries/FreeRTOS/src/event_groups.c.o ./libraries/FreeRTOS/src/heap_3.c.o ./libraries/FreeRTOS/src/list.c.o ./libraries/FreeRTOS/src/port.c.o ./libraries/FreeRTOS/src/queue.c.o ./libraries/FreeRTOS/src/stream_buffer.c.o ./libraries/FreeRTOS/src/tasks.c.o ./libraries/FreeRTOS/src/timers.c.o ./libraries/FreeRTOS/src/variantHooks.cpp.o     /home/unnamed/eclipse-workspace/PWM_A6/Release/arduino.ar  "-L/home/unnamed/eclipse-workspace/PWM_A6/Release" -lm
./Scheduler.cpp.o (symbol from plugin): In function `setup':
(.text+0x0): multiple definition of `setup'
./PWM_A6.cpp.o (symbol from plugin):(.text+0x0): first defined here
./Scheduler.cpp.o (symbol from plugin): In function `setup':
(.text+0x0): multiple definition of `loop'
./PWM_A6.cpp.o (symbol from plugin):(.text+0x0): first defined here
collect2: error: ld returned 1 exit status
make: *** [makefile:82: PWM_A6.elf] Fehler 1
"make all" terminated with exit code 2. Build might be incomplete.

19:45:45 Build Failed. 5 errors, 0 warnings. (took 1s.125ms)

PWM_A6
PWM_A6251×556 16.6 KB

2

Here's one setup():

Here's another one:

Do you see the problem now?

1 Like
3

Thanks for the help. I see the problem, but honestly, i wasn't aware that it could be that.

Maybe i start from scratch to understand the whole thing.

4

It looks to me that you started your scheduler.cpp from the "bare minimum" sketch the Arduino IDE's File > New provides. That gets you started with an empty setup() and loop() functions because those must be in every Arduino sketch, however you only want one set of those functions in a sketch, so you should not copy those function definitions into the other files of a sketch when you are writing a multi-file sketch.

5

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