pico SDK async_context race condition repro

ais-epaper.c

#include <stdio.h>
#include "pico/stdlib.h"
#include "hardware/spi.h"
#include "pico/cyw43_arch.h"
#include <lwip/apps/http_client.h>
#include "pico/sync.h"
#include "FreeRTOS.h"
#include "task.h"
#include "tusb.h"

// e-paper breakout pinout:
// SCK GP14, MISO GP12, MOSI GP15, ECS GP13, D/C GP11, SRCS GP10, SDCS GP9,
// RST GP8, BUSY GP7, ENA GP6
#define SPI_PORT spi1
#define PIN_MISO 12
#define PIN_CS   13
#define PIN_SCK  14
#define PIN_MOSI 15

static TaskHandle_t xTaskToNotify = NULL;
const UBaseType_t xArrayIndex = 0;

static void update_message_task(void * pvParameters) {
	while (true) {
		// Initialise the Wi-Fi chip
		if (cyw43_arch_init()) {
			printf("Wi-Fi init failed\n");
			return;
		// 	// return -1;
		}

		printf("cyw43_arch_init done\n");

		// Enable wifi station
		cyw43_arch_enable_sta_mode();

		printf("Hello, world!\n");
		cyw43_arch_deinit();
		vTaskDelay(pdMS_TO_TICKS(60000));
	}
}

int main()
{
	stdio_init_all();
	while (!tud_cdc_connected()) { sleep_ms(100); }

	printf("usb connected! running\n");

	printf("waking up\n");

	TaskHandle_t um_task;
	xTaskCreate(update_message_task, 
		"update message", 
		32 * configMINIMAL_STACK_SIZE,
		NULL,
		tskIDLE_PRIORITY + 1,
		&um_task
	);
	vTaskCoreAffinitySet(um_task, 0x01);

	printf("task created\n");

	vTaskStartScheduler();

    printf("FATAL: Scheduler returned!\n");
    while (1) sleep_ms(1000);
}

CMakeLists.txt

# Generated Cmake Pico project file

cmake_minimum_required(VERSION 3.13)

set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

# Initialise pico_sdk from installed location
# (note this can come from environment, CMake cache etc)

# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
if(WIN32)
    set(USERHOME $ENV{USERPROFILE})
else()
    set(USERHOME $ENV{HOME})
endif()
set(sdkVersion 2.2.0)
set(toolchainVersion 14_2_Rel1)
set(picotoolVersion 2.2.0)
set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
if (EXISTS ${picoVscode})
    include(${picoVscode})
endif()
# ====================================================================================

set(PICO_BOARD pico2_w CACHE STRING "Board type")
include(pico_sdk_import.cmake)

add_library(freertos_config INTERFACE)
target_include_directories(freertos_config INTERFACE ${CMAKE_SOURCE_DIR}/include)

include(FetchContent)
FetchContent_Populate(freertos_kernel
    GIT_REPOSITORY     "https://github.com/FreeRTOS/FreeRTOS-Kernel.git"
    GIT_TAG            "V11.2.0"
)
set(FREERTOS_KERNEL_PATH "${CMAKE_CURRENT_BINARY_DIR}/freertos_kernel-src" CACHE STRING "FreeRTOS Location" FORCE)

add_subdirectory(${FREERTOS_KERNEL_PATH}/portable/ThirdParty/Community-Supported-Ports/GCC/RP2350_ARM_NTZ)


project(ais-epaper C CXX ASM)

# Initialise the Raspberry Pi Pico SDK
pico_sdk_init()

add_executable(ais-epaper)

pico_enable_stdio_uart(ais-epaper 0)
pico_enable_stdio_usb(ais-epaper 1)

target_sources(ais-epaper PRIVATE ais-epaper.c freertos/hooks.c)
target_include_directories(ais-epaper PRIVATE ${CMAKE_SOURCE_DIR} include)
target_compile_definitions(ais-epaper PUBLIC
    NO_SYS=0
    WANT_HCI_DUMP=1
)
target_link_libraries(ais-epaper PUBLIC
    FreeRTOS-Kernel-Heap4
    freertos_config
    hardware_spi
    pico_lwip_http
    pico_sync
    pico_stdlib
    pico_cyw43_arch_lwip_sys_freertos
)

pico_add_extra_outputs(ais-epaper)

FreeRTOSConfig.h

#pragma once
#include "pico.h"
#include <stddef.h>


// ===================================================================================
// PICO-SPECIFIC CONFIG
// ===================================================================================

/* SMP/monocore selection */
#if PICO_NO_HARDWARE
  #define configNUMBER_OF_CORES           1
#else
  #if defined(PICO_RP2350) || defined(PICO_RP2040)
    #define configNUMBER_OF_CORES         2
    #define configUSE_CORE_AFFINITY       1
    #define configRUN_MULTIPLE_PRIORITIES 1
    #define configUSE_PASSIVE_IDLE_HOOK   0
  #else
    #define configNUMBER_OF_CORES         1
  #endif
#endif
#define configTICK_CORE 0

/* CPU / FPU / TrustZone */
#if defined(PICO_RP2350)
  #define configCPU_CLOCK_HZ              150000000
  #define configENABLE_TRUSTZONE          0
  #define configENABLE_MPU                0
  #define configENABLE_FPU                1
  #define configRUN_FREERTOS_SECURE_ONLY 1
  #define configMAX_SYSCALL_INTERRUPT_PRIORITY 16
#elif defined(PICO_RP2040)
  #define configCPU_CLOCK_HZ              133000000
#endif

/* ISR vector remap */
#define vPortSVCHandler     isr_svcall
#define xPortPendSVHandler  isr_pendsv
#define xPortSysTickHandler isr_systick

#define configSUPPORT_PICO_SYNC_INTEROP         1
#define configSUPPORT_PICO_TIME_INTEROP         1


/* Compatibility for lwIP */
#ifndef portTICK_RATE_MS
  #define portTICK_RATE_MS portTICK_PERIOD_MS
#endif
#define INCLUDE_xSemaphoreGetMutexHolder 1


// ===================================================================================
// COMMON FREERTOS CONFIG
// ===================================================================================

/* Scheduler Related */
#define configUSE_PREEMPTION                    1
#define configUSE_TIME_SLICING                  1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
#define configUSE_TICKLESS_IDLE                 0
#define configMAX_PRIORITIES                    32
#define configIDLE_SHOULD_YIELD                 1
#define configUSE_TASK_NOTIFICATIONS            1
#define configTASK_NOTIFICATION_ARRAY_ENTRIES   3

/* System */
#define configSTACK_DEPTH_TYPE                  uint32_t
#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t

/* Memory allocation related definitions. */
#define configSUPPORT_STATIC_ALLOCATION         1  // Set to 1
#define configSUPPORT_DYNAMIC_ALLOCATION        1
#define configTOTAL_HEAP_SIZE                   (128*1024)
#define configAPPLICATION_ALLOCATED_HEAP        0

/* Hook function related definitions. */
#define configUSE_IDLE_HOOK                     0
#define configUSE_TICK_HOOK                     0
#define configCHECK_FOR_STACK_OVERFLOW          2 // Set to 2
#define configUSE_MALLOC_FAILED_HOOK            1 // Set to 1
#define configUSE_DAEMON_TASK_STARTUP_HOOK      0

/* Run time and task stats gathering related definitions. */
#define configGENERATE_RUN_TIME_STATS           0
#define configUSE_TRACE_FACILITY                1
#define configUSE_STATS_FORMATTING_FUNCTIONS    0

/* Possible values are portCLEAN_UP_TCB, portPRE_DELETION_HOOK_TCB. */
#define configTASK_DELETION_SUPPORT             0

/* Co-routine related definitions. */
#define configUSE_CO_ROUTINES                   0
#define configMAX_CO_ROUTINE_PRIORITIES         1

/* Software timer related definitions. */
#define configUSE_TIMERS                        1
#define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 1 )
#define configTIMER_QUEUE_LENGTH                10
#define configTIMER_TASK_STACK_DEPTH            1024

/* Interrupt nesting behaviour configuration. */
/*
#define configKERNEL_INTERRUPT_PRIORITY         [dependent of processor]
#define configMAX_SYSCALL_INTERRUPT_PRIORITY    [dependent on processor and application]
#define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
*/

#include <assert.h>
/* Define to trap errors during development. */
#define configASSERT(x)                         assert(x)

/* Define the sizes and usage. */
#define configTICK_RATE_HZ                      1000
#define configMAX_TASK_NAME_LEN                 16
#define configMINIMAL_STACK_SIZE                128
#define configUSE_16_BIT_TICKS                  0

/* Mutexes */
#define configUSE_MUTEXES                       1
#define configUSE_RECURSIVE_MUTEXES             1
#define configUSE_APPLICATION_TASK_TAG          0
#define configUSE_COUNTING_SEMAPHORES           1
#define configQUEUE_REGISTRY_SIZE               8
#define configUSE_QUEUE_SETS                    1
#define configUSE_NEWLIB_REENTRANT              0
#define configENABLE_BACKWARD_COMPATIBILITY     0
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5

/* Optional functions - most linkers will remove unused functions anyway. */
#define INCLUDE_vTaskPrioritySet                1
#define INCLUDE_uxTaskPriorityGet               1
#define INCLUDE_vTaskDelete                     1
#define INCLUDE_vTaskSuspend                    1
#define INCLUDE_xResumeFromISR                  1
#define INCLUDE_vTaskDelayUntil                 1
#define INCLUDE_vTaskDelay                      1
#define INCLUDE_xTaskGetSchedulerState          1
#define INCLUDE_xTaskGetCurrentTaskHandle       1
#define INCLUDE_uxTaskGetStackHighWaterMark     1
#define INCLUDE_xTaskGetIdleTaskHandle          1
#define INCLUDE_eTaskGetState                   1
#define INCLUDE_xEventGroupSetBitFromISR        1
#define INCLUDE_xTimerPendFunctionCall          1
#define INCLUDE_xTaskAbortDelay                 1
#define INCLUDE_xTaskGetHandle                  1
#define INCLUDE_xTaskResumeFromISR              1