MM32F3273G8P火龙果开发板MindSDK开发教程20 - freertos + letter shell 的移植
1、freertos下载
官网传送门
2、freertos移植
1、在工程目录device下新建freertos目录，将下载的源码source目录下的七个.c文件copy到新建的freertos目录。
2、将source/protable/GCC/ARM_CM3下两个文件拷贝到freertos目录。
3、将MemMang下的head4.c 拷贝到freertos目录
整体目录架构如下：
4、将source/include目录copy到freertos目录，并copy一份FreeRTOSConfig.h文件。
下面是我用的文件：
/*
* FreeRTOS V202112.00
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy of
* this software and associated documentation files (the "Software"), to deal in
* the Software without restriction, including without limitation the rights to
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
* the Software, and to permit persons to whom the Software is furnished to do so,
* subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*
* http://www.FreeRTOS.org
* http://aws.amazon.com/freertos
*
* 1 tab == 4 spaces!
*/
/******************************************************************************
See http://www.freertos.org/a00110.html for an explanation of the
definitions contained in this file.
******************************************************************************/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
* http://www.freertos.org/a00110.html
*----------------------------------------------------------*/
/* Constants related to the behaviour or the scheduler. */
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
#define configUSE_PREEMPTION 1
#define configUSE_TIME_SLICING 1
#define configMAX_PRIORITIES ( 5 )
#define configIDLE_SHOULD_YIELD 1
#define configUSE_16_BIT_TICKS 0 /* Only for 8 and 16-bit hardware. */
/* Constants that describe the hardware and memory usage. */
#define configCPU_CLOCK_HZ 120000000
#define configMINIMAL_STACK_SIZE ( ( uint16_t ) 128 )
#define configMAX_TASK_NAME_LEN ( 12 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 50 * 1024 ) )
/* Constants that build features in or out. */
#define configUSE_MUTEXES 1
#define configUSE_TICKLESS_IDLE 1
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_NEWLIB_REENTRANT 0
#define configUSE_CO_ROUTINES 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_QUEUE_SETS 0
#define configUSE_TASK_NOTIFICATIONS 1
#define configUSE_TRACE_FACILITY 1
/* Constants that define which hook (callback) functions should be used. */
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 0
/* Constants provided for debugging and optimisation assistance. */
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
#define configQUEUE_REGISTRY_SIZE 0
/* Software timer definitions. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( 3 )
#define configTIMER_QUEUE_LENGTH 5
#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE )
/* Set the following definitions to 1 to include the API function, or zero
* to exclude the API function. NOTE: Setting an INCLUDE_ parameter to 0 is
* only necessary if the linker does not automatically remove functions that are
* not referenced anyway. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_uxTaskGetStackHighWaterMark 0
#define INCLUDE_xTaskGetIdleTaskHandle 0
#define INCLUDE_eTaskGetState 1
#define INCLUDE_xTaskResumeFromISR 0
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_xTaskGetSchedulerState 0
#define INCLUDE_xSemaphoreGetMutexHolder 0
#define INCLUDE_xTimerPendFunctionCall 1
/* This demo makes use of one or more example stats formatting functions. These
* format the raw data provided by the uxTaskGetSystemState() function in to
* human readable ASCII form. See the notes in the implementation of vTaskList()
* within FreeRTOS/Source/tasks.c for limitations. */
#define configUSE_STATS_FORMATTING_FUNCTIONS 1
/* Dimensions a buffer that can be used by the FreeRTOS+CLI command interpreter.
* See the FreeRTOS+CLI documentation for more information:
* http://www.FreeRTOS.org/FreeRTOS-Plus/FreeRTOS_Plus_CLI/ */
#define configCOMMAND_INT_MAX_OUTPUT_SIZE 2048
/* Interrupt priority configuration follows...................... */
/* Use the system definition, if there is one. */
#ifdef __NVIC_PRIO_BITS
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 3 /* 8 priority levels. */
#endif
/* The lowest interrupt priority that can be used in a call to a "set priority"
* function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x07
/* The highest interrupt priority that can be used by any interrupt service
* routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT
* CALL INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A
* HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values). */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
/* Interrupt priorities used by the kernel port layer itself. These are generic
* to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
* See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
/* The #ifdef guards against the file being included from IAR assembly files. */
#ifndef __IASMARM__
/* Constants related to the generation of run time stats. */
#define configGENERATE_RUN_TIME_STATS 0
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
#define portGET_RUN_TIME_COUNTER_VALUE() 0
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#endif /* __IASMARM__ */
/* Enable static allocation. */
#define configSUPPORT_STATIC_ALLOCATION 0
/* System Handler. */
#define xPortPendSVHandler PendSV_Handler
//#define xPortSysTickHandler SysTick_Handler
#define vPortSVCHandler SVCall_Handler
#endif /* FREERTOS_CONFIG_H */
5、systick的配置
将systick设置为中断模式，load值为sysclk/1000，一秒一次溢出中断，为freertos提供时钟。
uint32_t BOARD_Systick_Init(uint32_t ticks)
{
if (ticks > SysTick_LOAD_RELOAD_Msk) return (1); /* Reload value impossible */
SysTick->LOAD = (ticks & SysTick_LOAD_RELOAD_Msk) - 1; /* set reload register */
NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1); /* set Priority for Cortex-M0 System Interrupts */
SysTick->VAL = 0; /* Load the SysTick Counter Value */
SysTick->CTRL = SysTick_CTRL_CLKSOURCE_Msk |
SysTick_CTRL_ENABLE_Msk; /* Enable SysTick IRQ and SysTick Timer */
SysTick->CTRL |= SysTick_CTRL_TICKINT_Msk;
return (0); /* Function successful */
}
/**
* 滴答定时器的中断
*/
void SysTick_Handler(void)
{
#if SYSTICK_MODE == USE_INTERRUPT_MODE
if(xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED)//系统已经运行
{
xPortSysTickHandler();
}
else
{
BOARD_Delay_Decrement();
}
#endif
}
3、启动任务
#include <stdint.h>
#include <stdio.h>
#include "clock_init.h"
#include "hal_rcc.h"
#include "hal_gpio.h"
#include "hal_uart.h"
#include "led.h"
#include "uart.h"
#include "systick.h"
#include "key.h"
#include "timer.h"
#include "multi_button.h"
#include "FreeRTOS.h"
#include "task.h"
#include "shell_port.h"
struct Button btn1;
void BTN1_PRESS_DOWN_Handler(void* btn)
{
//do something...
printf("BTN1_PRESS_DOWN_Handler \r\n");
}
void BTN1_PRESS_UP_Handler(void* btn)
{
//do something...
printf("BTN1_PRESS_UP_Handler \r\n");
}
/* Task 1: */
void vTask_TASK1(void * pvParameters);
/* Task 2: */
void vTask_TASK2(void * pvParameters);
/* Task 1: blink LED0. */
void vTask_TASK1(void * pvParameters)
{
(void)pvParameters;
while(1)
{
vTaskDelay(500);
}
}
/* Task 2: blink LED1. */
void vTask_TASK2(void * pvParameters)
{
(void)pvParameters;
while(1)
{
vTaskDelay(1000);
}
}
int main(void)
{
BOARD_InitBootClocks();
BOARD_InitDebugConsole();
BOARD_UserKeyInit();
LED_Init();
#if SYSTICK_MODE == USE_INTERRUPT_MODE
BOARD_Systick_Init(CLOCK_GetBootHSEValue()/configTICK_RATE_HZ);
#endif
BOARD_TIM6_Init();
// for mutilbutton init
button_init(&btn1, read_button_GPIO, 0, btn1_id);
button_attach(&btn1, PRESS_DOWN, BTN1_PRESS_DOWN_Handler);
button_attach(&btn1, PRESS_UP, BTN1_PRESS_UP_Handler);
button_start(&btn1);
BOARD_TIM7_Init();
printf("Board Init Success\r\n");
User_Shell_Init();
/* Create task. */
xTaskCreate(vTask_TASK2, "TASK2", 128, NULL, 3, NULL);
xTaskCreate(vTask_TASK1, "TASK1", 128, NULL, 4, NULL);
/* Start scheduler. */
vTaskStartScheduler();
while(1)
{
}
}
4、现象
5、lettle-shell的移植
与前一章节一样，在启动task之前调用User_Shell_Init即可。读数据还是用串口的中断。
代码
代码下载
