Important links

TKJHAT library

Installation in Linux with VSCode extension

This section explains how to install and configure a development environment for Raspberry Pi Pico (and Pico 2) using Lubuntu 24.04.
The setup includes C/C++ compilation tools, VS Code, FreeRTOS, and USB access configuration.

---

Step 1: Virtual Machine Setup (Optional)

Create a virtual machine with the following specifications:

• Name: ComputerSystems_Pico
• Memory: 4 GB
• Hard Disk: 25 GB
• Display: 128 MB

Once the VM is created and Lubuntu 24.04 is installed:

1. Install Guest Additions (from the VirtualBox menu).

---

Step 2: Basic Tools Installation

First, update the package index:

sudo apt update

Then install the essential tools for C programming and general development:

sudo apt -y install build-essential gcc gdb make git cmake

Install dependencies needed for Pico SDK, debugging, and Python tools:

sudo apt install python3 python-is-python3 tar gdb-multiarch

Install additional libraries for OpenOCD (for debugging):

sudo apt install libusb-1.0-0-dev libhidapi-dev

Install Firefox (optional but useful):

sudo apt install firefox

---

Step 3: USB Permissions for Pico and OpenOCD

Allow USB serial and debugging devices access for your current user:

sudo usermod -aG dialout,plugdev $USER

Add udev rules so you can use the Pico without sudo:

1. Download and copy the following files to /etc/udev/rules.d:

   • 60-picotool.rules
   • 60-openocd.rules

2. Reload the udev rules:

   sudo udevadm control --reload-rules
   sudo udevadm trigger

---

Step 4: Installing Visual Studio Code

Install VS Code using Snap:

sudo snap install code --classic

Then, open VS Code and install the following extensions from the Marketplace:

• C/C++ (by Microsoft)
• CMake Tools
• Raspberry Pi Pico (by Raspberry Pi)

---

Step 5: Create a Test Project

Create a simple workspace for your C projects:

mkdir -p ~/c-playground/helloworld
cd ~/c-playground/helloworld

You can later use this folder to test your setup with simple “Hello, World” programs.

---

Step 6: Setting Up FreeRTOS

Install and configure a local copy of the FreeRTOS Kernel so that your CMake configuration can link it to your Pico project.

1. Create a hidden folder for FreeRTOS and clone the kernel

mkdir ~/.freertos
cd ~/.freertos
git clone https://github.com/FreeRTOS/FreeRTOS-Kernel.git .
git checkout V11.2.0
git submodule update --init portable/ThirdParty/Community-Supported-Ports

2. Download the CMake import file:

• FreeRTOS_Kernel_import.cmake

Place it later in the root of your project.

3. Add FreeRTOS Path to environment variable. You can either:

Option 1 – Add to .bashrc:

echo 'export FREERTOS_KERNEL_PATH="$HOME/.freertos"' >> ~/.bashrc
source ~/.bashrc

Option 2 – Add to VS Code settings.json: inside your project vscode folder

"cmake.configureEnvironment": {
  "FREERTOS_KERNEL_PATH": "${env:HOME}/.freertos"
},
"terminal.integrated.env.linux": {
  "FREERTOS_KERNEL_PATH": "${env:HOME}/.freertos"
}

4. Download and save the FreeRTOSConfig.h file from:
   FreeRTOSConfig_examples_common.h

It generally goes in the config folder of your project.

---

Step 7: (Optional) Installing Doxygen

If you plan to generate documentation from your source code (for example, from comments written in Doxygen format), you can install Doxygen as follows:

sudo apt update
sudo apt install doxygen graphviz

---

Step 8: Modify Your CMakeLists.txt

Check this project CMakeLists.txt as good example. You can use this file as a reference for setting up your own project structure.

Include the Pico SDK and FreeRTOS kernel:

# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()

# Include FreeRTOS Kernel libraries
include(FreeRTOS_Kernel_import.cmake)

# Include config only for FreeRTOS target. 
target_include_directories(FreeRTOS-Kernel INTERFACE
${CMAKE_CURRENT_LIST_DIR}/config
)

Then, define your executable and link libraries:

# Add executable
add_executable(blink
  src/main.c
)

# Link libraries
target_link_libraries(blink
  pico_stdlib
  FreeRTOS-Kernel
  FreeRTOS-Kernel-Heap4
)

---

Step 9: Adjust VS Code Settings

Once the project is created, set the following configuration in settings.json:

"raspberry-pi-pico.cmakeAutoConfigure": false,
"raspberry-pi-pico.useCmakeTools": true,
"cmake.configureOnEdit": true,
"cmake.automaticReconfigure": true,
"cmake.configureOnOpen": true

This ensures you’re using the CMake Tools extension rather than the Pico extension for building projects.

NOTE: At some point the Ninja stop working inside the project (CMake could not find Ninja). Hence I had to add it by hand in settings.json //ADD RIGHT PATH TO NINJA. GENERALLY NINJA IS AUTOMATICALLY DETECTED, BUT FOR SOME REASON NOT ANYMORE. json "cmake.configureArgs": [ "-DCMAKE_MAKE_PROGRAM:FILEPATH=${userHome}/.pico-sdk/ninja/v1.12.1/ninja" ]

---

Step 10: Verify Installation

To verify everything is working:

1. Plug in your Raspberry Pi Pico.
2. In VS Code, open the Raspberry Pi Pico extension.
3. Try to build and upload a simple example (like blink).
4. Check the output in the serial terminal.