ThreadX移植——STM32H7+MDK-AC6平臺

時間 2020-12-12

標籤 git github shell api app 函數學習測試 this 欄目 Git 简体版

原文原文鏈接

1、前言

在uCOS全家桶宣佈開源以後被微軟收購的ThreadX也開源了，真是喜大普奔，對於咱們這些嵌入式行業從業者來講，可以學習這些高含金量的代碼對於眼界的開拓和能力的提高都是頗有幫助的。ThreadX還包含了NETX、GUIX、FILEX、USBX等豐富的組件，幾乎包含了嵌入式開發中的全部場景，這些組件和ThreadX-RTOS可以完美的配合完成一條龍的開發。ThreadX的github地址：[Azure RTOS (github.com)]:git

2、準備

ThreadX在更新了幾個版本以後已經提供了多個平臺的移植端口，包括AC五、AC六、GCC、IAR，如今能夠更方便地移植到各編譯器平臺了。本次移植是在STM32H743 + MDK-AC6 + ThreadX6.1.2下完成。首先使用STM32CubeMX新建一個工程，配置了LED、KEY、UART，而後將下載的ThreadX放在同一工程下（移植用到common和ports/cortex_m7/ac6下的文件）。github

3、配置

一、添加文件及參數

工程新增ThreadX/Port、ThreadX/Src分組，ThreadX/Portf組中添加ports/cortex_m7/ac6/src目錄下全部文件以及ports\cortex_m7\ac6\example_build\sample_threadx目錄下的tx_initialize_low_level.S文件； ThreadX/Src組中添加threadx\common\src下全部文件。添加完成以下圖所示：shell
配置工程宏定義參數和文件包含路徑以下所示。api

其中USE_HAL_DRIVER和STM32H743xx是使用HAL庫建立工程須要包含的定義，TX_ENABLE_FPU_SUPPORT是使能ThreadX的浮點運算支持須要定義的，在readme_threadx.txt文檔中有以下描述：app

If saving the context of the FPU registers
is needed, the ThreadX library should be re-built with TX_ENABLE_FPU_SUPPORT defined.

固然要正確的使用硬件浮點運算功能還應該開啓MDK中的以下配置：函數

二、修改適配文件

主要是對tx_initialize_low_level.S文件進行修改，該文件做用是初始化棧地址和向量表、配置系統心跳節拍、配置部分中斷優先級、定義部分中斷處理函數。可是其中有些工做在STM32H743的啓動文件startup_stm32h743xx.s中已經作了，而STM32啓動文件所實現的一些功能這個文件又沒有實現。由於該文件是針對cortex_m7內核芯片作的，沒有針對具體某一款芯片，因此沒有STM32的啓動文件實現的功能完善，所以不能替代啓動文件。這裏的修改方法是不動STM32啓動文件，修改tx_initialize_low_level.S文件，在此提供兩種修改方案：一、根據衝突修改tx_initialize_low_level.S文件內容；二、將tx_initialize_low_level.S文件改成C語言實現（STM32啓動文件已經實現的無論，只需將ThreadX須要配置的功能用C實現）。學習

方案1修改後內容以下（修改處已標註）：測試

@/**************************************************************************/
@/*                                                                        */
@/*       Copyright (c) Microsoft Corporation. All rights reserved.        */
@/*                                                                        */
@/*       This software is licensed under the Microsoft Software License   */
@/*       Terms for Microsoft Azure RTOS. Full text of the license can be  */
@/*       found in the LICENSE file at https://aka.ms/AzureRTOS_EULA       */
@/*       and in the root directory of this software.                      */
@/*                                                                        */
@/**************************************************************************/
@
@
@/**************************************************************************/
@/**************************************************************************/
@/**                                                                       */
@/** ThreadX Component                                                     */
@/**                                                                       */
@/**   Initialize                                                          */
@/**                                                                       */
@/**************************************************************************/
@/**************************************************************************/
@
@
    .global     _tx_thread_system_stack_ptr
    .global     _tx_initialize_unused_memory
    .global     _tx_timer_interrupt
    .global     __main
    .global     __tx_SVCallHandler
    .global     __tx_PendSVHandler
    .global     __tx_NMIHandler                     @ NMI
    .global     __tx_BadHandler                     @ HardFault
    .global     __tx_SVCallHandler                  @ SVCall
    .global     __tx_DBGHandler                     @ Monitor
    .global     __tx_PendSVHandler                  @ PendSV
    .global     __tx_SysTickHandler                 @ SysTick
    .global     __tx_IntHandler                     @ Int 0
@
@
SYSTEM_CLOCK      =   480000000						@---modify by user(系統頻率)
SYSTICK_CYCLES    =   ((SYSTEM_CLOCK / 1000) -1)	@---modify by user(時鐘節拍)

    .text 32
    .align 4
    .syntax unified
@/**************************************************************************/
@/*                                                                        */
@/*  FUNCTION                                               RELEASE        */
@/*                                                                        */
@/*    _tx_initialize_low_level                          Cortex-M7/AC6     */
@/*                                                           6.1          */
@/*  AUTHOR                                                                */
@/*                                                                        */
@/*    William E. Lamie, Microsoft Corporation                             */
@/*                                                                        */
@/*  DESCRIPTION                                                           */
@/*                                                                        */
@/*    This function is responsible for any low-level processor            */
@/*    initialization, including setting up interrupt vectors, setting     */
@/*    up a periodic timer interrupt source, saving the system stack       */
@/*    pointer for use in ISR processing later, and finding the first      */
@/*    available RAM memory address for tx_application_define.             */
@/*                                                                        */
@/*  INPUT                                                                 */
@/*                                                                        */
@/*    None                                                                */
@/*                                                                        */
@/*  OUTPUT                                                                */
@/*                                                                        */
@/*    None                                                                */
@/*                                                                        */
@/*  CALLS                                                                 */
@/*                                                                        */
@/*    None                                                                */
@/*                                                                        */
@/*  CALLED BY                                                             */
@/*                                                                        */
@/*    _tx_initialize_kernel_enter           ThreadX entry function        */
@/*                                                                        */
@/*  RELEASE HISTORY                                                       */
@/*                                                                        */
@/*    DATE              NAME                      DESCRIPTION             */
@/*                                                                        */
@/*  09-30-2020     William E. Lamie         Initial Version 6.1           */
@/*                                                                        */
@/**************************************************************************/
@VOID   _tx_initialize_low_level(VOID)
@{
    .global  _tx_initialize_low_level
    .thumb_func
_tx_initialize_low_level:
@
@    /* Disable interrupts during ThreadX initialization.  */
@
    CPSID   i
@
@    /* Set base of available memory to end of non-initialised RAM area.  */
@
    LDR     r0, =_tx_initialize_unused_memory       @ Build address of unused memory pointer
    LDR     r1, =__initial_sp						@ Image$$ARM_LIB_STACKHEAP$$ZI$$Limit @ Build first free address		---modify by user
    ADD     r1, r1, #4                              @
    STR     r1, [r0]                                @ Setup first unused memory pointer
@
@    /* Setup Vector Table Offset Register.  */
@
    MOV     r0, #0xE000E000                         @ Build address of NVIC registers
    LDR     r1, =__Vectors							@ vector_table                       @ Pickup address of vector table	---modify by user
    STR     r1, [r0, #0xD08]                        @ Set vector table address
@
@    /* Set system stack pointer from vector value.  */
@
    LDR     r0, =_tx_thread_system_stack_ptr        @ Build address of system stack pointer
    LDR     r1, =__Vectors							@ vector_table                       @ Pickup address of vector table	---modify by user
    LDR     r1, [r1]                                @ Pickup reset stack pointer
    STR     r1, [r0]                                @ Save system stack pointer
@
@    /* Enable the cycle count register.  */
@
    LDR     r0, =0xE0001000                         @ Build address of DWT register
    LDR     r1, [r0]                                @ Pickup the current value
    ORR     r1, r1, #1                              @ Set the CYCCNTENA bit
    STR     r1, [r0]                                @ Enable the cycle count register
@
@    /* Configure SysTick for 100Hz clock, or 16384 cycles if no reference.  */
@
    MOV     r0, #0xE000E000                         @ Build address of NVIC registers
    LDR     r1, =SYSTICK_CYCLES
    STR     r1, [r0, #0x14]                         @ Setup SysTick Reload Value
    MOV     r1, #0x7                                @ Build SysTick Control Enable Value
    STR     r1, [r0, #0x10]                         @ Setup SysTick Control
@
@    /* Configure handler priorities.  */
@
    LDR     r1, =0x00000000                         @ Rsrv, UsgF, BusF, MemM
    STR     r1, [r0, #0xD18]                        @ Setup System Handlers 4-7 Priority Registers

    LDR     r1, =0xFF000000                         @ SVCl, Rsrv, Rsrv, Rsrv
    STR     r1, [r0, #0xD1C]                        @ Setup System Handlers 8-11 Priority Registers
                                                    @ Note: SVC must be lowest priority, which is 0xFF

    LDR     r1, =0x40FF0000                         @ SysT, PnSV, Rsrv, DbgM
    STR     r1, [r0, #0xD20]                        @ Setup System Handlers 12-15 Priority Registers
                                                    @ Note: PnSV must be lowest priority, which is 0xFF
@
@    /* Return to caller.  */
@
    BX      lr
@}
@

@/* Define shells for each of the unused vectors.  */
@
    .global  __tx_BadHandler
    .thumb_func
__tx_BadHandler:
    B       __tx_BadHandler

@ /* added to catch the hardfault */

    .global  __tx_HardfaultHandler
    .thumb_func
__tx_HardfaultHandler:
    B       __tx_HardfaultHandler


@ /* added to catch the SVC */

    .global  __tx_SVCallHandler
    .thumb_func
__tx_SVCallHandler:
    B       __tx_SVCallHandler


@ /* Generic interrupt handler template */
    .global  __tx_IntHandler
    .thumb_func
__tx_IntHandler:
@ VOID InterruptHandler (VOID)
@ {
    PUSH    {r0, lr}
#ifdef TX_ENABLE_EXECUTION_CHANGE_NOTIFY
    BL      _tx_execution_isr_enter             @ Call the ISR enter function
#endif

@    /* Do interrupt handler work here */
@    /* BL <your C Function>.... */

#ifdef TX_ENABLE_EXECUTION_CHANGE_NOTIFY
    BL      _tx_execution_isr_exit              @ Call the ISR exit function
#endif
    POP     {r0, lr}
    BX      LR
@ }

@ /* System Tick timer interrupt handler */
    .global  __tx_SysTickHandler
    .global  SysTick_Handler
    .thumb_func
__tx_SysTickHandler:
    .thumb_func
SysTick_Handler:
@ VOID TimerInterruptHandler (VOID)
@ {
@
    PUSH    {r0, lr}
#ifdef TX_ENABLE_EXECUTION_CHANGE_NOTIFY
    BL      _tx_execution_isr_enter             @ Call the ISR enter function
#endif
    BL      _tx_timer_interrupt
#ifdef TX_ENABLE_EXECUTION_CHANGE_NOTIFY
    BL      _tx_execution_isr_exit              @ Call the ISR exit function
#endif
    POP     {r0, lr}
    BX      LR
@ }


@ /* NMI, DBG handlers */
    .global  __tx_NMIHandler
    .thumb_func
__tx_NMIHandler:
    B       __tx_NMIHandler

    .global  __tx_DBGHandler
    .thumb_func
__tx_DBGHandler:
    B       __tx_DBGHandler

方案2修改內容以下（工程中用該文件tx_initialize_low_level.C替換tx_initialize_low_level.S文件）ui

#include "stm32h7xx_hal.h"
#include "tx_api.h"


static const uint32_t SYSTEM_CLOCK      =   480000000;
static const uint32_t SYSTICK_CYCLES    =   ((SYSTEM_CLOCK / 1000) -1);


extern void  _tx_timer_interrupt(void);	/*in "tx_timer_interrupt.S" file*/


void   _tx_initialize_low_level(void)
{
	/* Disable interrupts during ThreadX initialization.  */
	__set_PRIMASK(1);
	
	/* Configure SysTick for 1000Hz clock, or 16384 cycles if no reference.  */
    SysTick_Config(SYSTICK_CYCLES);
    
    /* Configure handler priorities.  */
    HAL_NVIC_SetPriority(SVCall_IRQn, 15, 0);	/*Note: SVC must be lowest priority*/
	HAL_NVIC_EnableIRQ(SVCall_IRQn);

    HAL_NVIC_SetPriority(PendSV_IRQn, 15, 0);
	HAL_NVIC_EnableIRQ(PendSV_IRQn);			/*Note: PnSV must be lowest priority*/

    HAL_NVIC_SetPriority(SysTick_IRQn, 4, 0);
	HAL_NVIC_EnableIRQ(SysTick_IRQn);	
}


/* System Tick timer interrupt handler */
void SysTick_Handler (void)
{
	/*BL      _tx_timer_interrupt*/
    _tx_timer_interrupt();
}

經過上述修改文件可見ThreadX修改底層移植文件的內容並很少，移植仍是比較方便。this

最後將stm32h7xx_it.c文件中的PendSV_Handler和SysTick_Handler中斷處理函數屏蔽（前者用於實現RTOS的任務調度，後者用於實現RTOS的心跳節拍）。

#ifndef ENABLE_RTOS
void PendSV_Handler(void)
{
}

void SysTick_Handler(void)
{
}
#endif

4、測試

通過上述步驟，工程編譯已經沒有錯誤，接下來就是建立任務測試ThreadX可否正常運行起來。

在threadx\ports\cortex_m7\ac6\example_build\sample_threadx下的sample_threadx.c文件中演示了任務的建立，依葫蘆畫瓢建立本身的任務便可。main.c文件內容以下：

#include "main.h"
#include "usart.h"
#include "gpio.h"
#include "tx_api.h"

#define DEMO_STACK_SIZE         (2 * 1024)
#define DEMO_BYTE_POOL_SIZE     (32 * 1024)

TX_BYTE_POOL            byte_pool_0;
UCHAR                   memory_area[DEMO_BYTE_POOL_SIZE];

TX_THREAD               thread_0;
TX_THREAD               thread_1;
TX_THREAD               thread_2;

void    thread_0_entry(ULONG thread_input);
void    thread_1_entry(ULONG thread_input);
void    thread_2_entry(ULONG thread_input);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  while (1)
  {
    tx_kernel_enter();
  }
}

void tx_application_define(void *first_unused_memory)
{
	CHAR    *pointer = TX_NULL;
	
	/* Create a byte memory pool from which to allocate the thread stacks.  */
    tx_byte_pool_create(&byte_pool_0, "byte pool 0", memory_area, DEMO_BYTE_POOL_SIZE);

   /* Allocate the stack for thread 0.  */
    tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
    /* Create the main thread.  */
    tx_thread_create(&thread_0, "thread 0", thread_0_entry, 0,  
            pointer, DEMO_STACK_SIZE, 
            1, 1, TX_NO_TIME_SLICE, TX_AUTO_START);
    
	/* Allocate the stack for thread 1.  */
    tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
    /* Create threads 1  */
    tx_thread_create(&thread_1, "thread 1", thread_1_entry, 0,  
            pointer, DEMO_STACK_SIZE, 
            2, 2, TX_NO_TIME_SLICE, TX_AUTO_START);
    
	/* Allocate the stack for thread 2.  */
    tx_byte_allocate(&byte_pool_0, (VOID **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
    /* Create threads 1  */
    tx_thread_create(&thread_2, "thread 2", thread_2_entry, 0,  
            pointer, DEMO_STACK_SIZE, 
            3, 3, TX_NO_TIME_SLICE, TX_AUTO_START);
}

void    thread_0_entry(ULONG thread_input)
{
    while(1)
    {
		HAL_GPIO_TogglePin(LED1_GPIO_Port,LED1_Pin);
		tx_thread_sleep(200);
    }
}

void    thread_1_entry(ULONG thread_input)
{
    while(1)
    {
		HAL_GPIO_TogglePin(LED2_GPIO_Port,LED2_Pin);
		tx_thread_sleep(200);
    }
}

void    thread_2_entry(ULONG thread_input)
{
   	double a = 0.1, b = 1.0;

	while(1)
	{
		a += 0.00000000001;
		b -= 0.00000000001;
		printf("floating test:\ta = %.11f, b = %.11f\r\n", a, b);
        tx_thread_sleep(2000);
	} 	
}

到這裏，任務就正常運行起來了。

補充

任務建立函數說明

參數：

thread_ptr：指向線程控制塊的指針

name_ptr ：指向線程名稱的指針

entry_function：指定用於線程執行的初始C函數。當線程今後入口函數返回時，它將處於完成狀態並沒有限期掛起。

entry_input：首次執行時傳遞給線程的入口函數的32位值。此輸入的使用徹底由應用程序肯定

stack_start：堆棧內存區域的起始地址

stack_size：堆棧內存區中的字節數

priority：線程的優先級。有效值的範圍是0 ~（TX_MAX_PRIORITES-1），其中0表示最高優先級

preempt_threshold：禁用的搶佔的最高優先級。只有高於此級別的優先級才能夠搶佔該線程，該值必須小於或等於指定的優先級，等於線程優先級的值將禁用搶佔閾值

time_slice：在其餘具備相同優先級的就緒線程有機會運行以前，容許此線程運行的時鐘節拍數。請注意，使用搶佔閾值將禁用時間片。合法的時間片值範圍從1到0xffffff (包括)。TX_NO_TIME_SLICE (值爲0)禁用此線程的時間片。（使用時間片會致使少許的系統開銷。因爲時間片僅在多個線程共享相同優先級的狀況下有用，所以不該爲具備惟一優先級的線程分配時間片）

auto_start：指定線程是當即啓動仍是處於暫停狀態。指定選項是TX_AUTO_START (0x01)和 TX_DONT_START (0x00)。若是指定了TX_DONT_START，則應用程序必須調用 tx_thread_resume 才能使線程運行。

返回值

TX_SUCCESS (0x00)：線程建立成功

TX_THREAD_ERROR (0x0E)：無效的線程控制指針。指針爲 NULL 或線程已建立

TX_PTR_ERROR (0x03)：入口點的起始地址無效或堆棧區域無效，一般爲 NULL。

TX_SIZE_ERROR (0x05)：堆棧區域的大小無效。線程必須至少具備TX_MINIMUM_STACK字節才能執行。

TX_PRIORITY_ERROR (0x0F)：無效的線程優先級，該值超出（0 ~（TX_MAX_PRIORITIES-1））的範圍。

TX_THRESH_ERROR (0x18)：指定的搶佔閾值無效。該值的有效優先級必須小於或等於線程的初始優先級。

TX_START_ERROR (0x10)：自動啓動選擇無效

TX_CALLER_ERROR (0x13)：該服務的調用者無效

UINT tx_thread_create(
    TX_THREAD *thread_ptr,
    CHAR *name_ptr, 
    VOID (*entry_function)(ULONG),
    ULONG entry_input, 
    VOID *stack_start,
    ULONG stack_size, 
    UINT priority,
    UINT preempt_threshold, 
    ULONG time_slice,
    UINT auto_start);

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