【简介】
Freertos 的移植在该帖子已经介绍过（基础环境搭建之FreeRTOS适配），移植过程可以参考该帖，过程就不再赘述。TI 的SDK路径中已经包含了FreeRtos 的源码，对应的代码路径为（mspm0_sdk_2_03_00_07\kernel\freertos），我们使用该路径下的代码即可。将FreeRtos 相关文件加入IAR 工程，对应文件如下：
上述文件编译通过后，在之前的uart 实验的代码基础上添加shell任务，shell 的添加参考此帖（基础环境搭建之裸机环境添加shell），我们再此基础上添加FreeRTOSConfig.h，因TI的这款芯片只有4KB的RAM,我们在配置是设置系统的堆空间大小为2KB，并关闭timer 任务来节约资源的使用对应的配置文件如下：
/*
* 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.
******************************************************************************/
/* clang-format off */
#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 configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configUSE_PREEMPTION 1
/*
* Scheduler will run highest priority task in Ready state but won't switch
* between tasks of equal priority just because a tick interrupt occured
*/
#define configUSE_TIME_SLICING 0
/*
* The number of priorities available to application tasks. Any number of
* tasks can share the same priority. Low priority numbers denote low priority
* tasks. This value should not be set higher than actually required by the
* application since each available priority consumes RAM
*/
#define configMAX_PRIORITIES ( 10UL )
/*
* When tasks share the idle priority, the idle task will yield if any other
* task at the idle priority is ready to run.
* This behavior can have undesirable effects depending on application needs
* (see FreeRTOS config documentation)
*/
#define configIDLE_SHOULD_YIELD 0
#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 ( ( unsigned long ) 32000000 )
/* Smallest stack size allowed in words */
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 128 )
#define configMAX_TASK_NAME_LEN ( 12 )
#define configTOTAL_HEAP_SIZE ((size_t)(4 * 512))
/*
* If static allocation is used (as well as timers, configUSE_TIMERS = 1),
* two callback functions must be provided:
* - vApplicationGetIdleTaskMemory() to provide memory for use by the idle task
* - vApplicationGetTimerTaskMemory() to provide memory for use by the timer
* service task
* Implementations of the functions are provided in StaticAllocs_freertos.c.
* They are example implementations taken from the FreeRTOS config docs
*/
#define configSUPPORT_STATIC_ALLOCATION 0
/* Idle task stack size in words */
#define configIDLE_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE)
/* Default stack size for TI-POSIX threads (in words) */
#define configPOSIX_STACK_SIZE ( ( unsigned short ) 256 )
/* Constants that build features in or out. */
#define configUSE_MUTEXES 1
#define configUSE_TICKLESS_IDLE 1
#define configUSE_APPLICATION_TASK_TAG 1 /* Need by POSIX/pthread */
/*
* Co-routines are intended for use on very small processes with severe RAM
* constraints and would not normally be used on 32-bit microcontrollers
*/
#define configUSE_CO_ROUTINES 0
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_RECURSIVE_MUTEXES 1
/*
* If queue set functionality is enabled, tasks can treat multiple queues as a
* set and block/pend on the set
*/
#define configUSE_QUEUE_SETS 0
#define configUSE_TASK_NOTIFICATIONS 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. */
/*
* When a task is first created, its stack is filled with known values. When
* swapping the task out of the Running state, the RTOS checks the last
* 16 bytes within the valid stack range to ensure that these values haven't
* been overwritten. If so, a stack overflow hook function will be called.
* This isn't guaranteed to catch all stack overflows.
* The application must provide this stack overflow hook. An implementation
* is provided in AppHooks_freertos,c
*/
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configASSERT(x) \
if ((x) == 0) { \
taskDISABLE_INTERRUPTS(); \
for (;;) \
; \
}
/*
* The queue registry allows a textual name to be associated with a queue for
* easy queue identification within a RTOS kernel aware debugger
*/
#define configQUEUE_REGISTRY_SIZE 0
/* Minimum FreeRTOS tick periods of idle before invoking Power policy */
/* TODO: find way to reduce this; FreeRTOS requires it to be 2 or more */
#define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2
/* Software timer definitions. */
#define configUSE_TIMERS 0
#define configTIMER_TASK_PRIORITY (5)
#define configTIMER_QUEUE_LENGTH (20)
/* Timer task stack size in words */
#define configTIMER_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE)
#define configENABLE_BACKWARD_COMPATIBILITY 0
#if defined(__TI_COMPILER_VERSION__) || defined(__ti_version__)
#include <ti/posix/freertos/PTLS.h>
#define traceTASK_DELETE( pxTCB ) PTLS_taskDeleteHook( pxTCB )
#elif defined(__IAR_SYSTEMS_ICC__)
#ifndef __IAR_SYSTEMS_ASM__
#include <ti/posix/freertos/Mtx.h>
#define traceTASK_DELETE( pxTCB ) Mtx_taskDeleteHook( pxTCB )
#endif
#endif
/*
* Enable thread local storage
*
* Assign TLS array index ownership here to avoid collisions.
* TLS storage is needed to implement thread-safe errno with
* TI and IAR compilers. With GNU compiler, we enable newlib.
*/
#if defined(__TI_COMPILER_VERSION__) || defined(__ti_version__) || defined(__IAR_SYSTEMS_ICC__) || defined(__ARMCC_VERSION)
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 2
#if defined(__TI_COMPILER_VERSION__) || defined(__ti_version__)
#define PTLS_TLS_INDEX 0 /* ti.posix.freertos.PTLS */
#elif defined(__IAR_SYSTEMS_ICC__)
#define MTX_TLS_INDEX 0 /* ti.posix.freertos.Mtx */
#endif
#define NDK_TLS_INDEX 1 /* Reserve an index for NDK TLS */
#elif defined(__GNUC__)
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 1
#define NDK_TLS_INDEX 0 /* Reserve an index for NDK TLS */
/* note: system locks required by newlib are not implemented */
#define configUSE_NEWLIB_REENTRANT 1
#endif
/*
* 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 1
#define INCLUDE_xSemaphoreGetMutexHolder 0
#define INCLUDE_xTimerPendFunctionCall 0
/* Cortex-M0 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 2 /* 4 priority levels */
#endif
/*
* The lowest interrupt priority that can be used in a call to a "set priority"
* function.
*/
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 0x03
/*
* 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 1
/*
* 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.
*
* Priority 1 (shifted 6 since only the top 2 bits are implemented).
* Priority 1 is the second highest priority.
* Priority 0 is the highest priority.
*/
#define configMAX_SYSCALL_INTERRUPT_PRIORITY (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
/*
* The trace facility is turned on to make some functions available for use in
* CLI commands.
*/
#define configUSE_TRACE_FACILITY 1
/*
* Runtime Object View is a Texas Instrument host tool that helps visualize
* the application. When enabled, the ISR stack will be initialized in the
* startup_<device>_<compiler>.c file to 0xa5a5a5a5. The stack peak can then
* be displayed in Runtime Object View.
*/
#define configENABLE_ISR_STACK_INIT 0
/*
* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
* standard names - can't be used with CCS due to limitations in the assemblers
* pre-processing.
*/
/* Simplelink places the definitions in the startup files */
#ifndef __TI_COMPILER_VERSION__
#define xPortPendSVHandler PendSV_Handler
#define vPortSVCHandler SVC_Handler
#define xPortSysTickHandler SysTick_Handler
#endif
#endif /* FREERTOS_CONFIG_H */【测试验证】
代码适配完成后，我们创建一个shell 任务和周期打印的任务来验证任务切换是否正常，添加如下代码：
#include "ti_msp_dl_config.h"
#include <stdio.h>
#include "littleshell.h"
#include "ringbuffer.h"
/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
RingBuffer ringbuff;
int16_t tmp6131decr_temp_lookup(uint16_t resistor);
float Thermistor(int raw_ADC);
#define START_TASK_PRIO 2
#define START_STK_SIZE 128
TaskHandle_t StartTask_Handler;
void start_task(void *pvParameters);
#define SHELL_TASK_PRIO 2
#define SHELL_STK_SIZE 128
TaskHandle_t ShellTask_Handler;
void start_task(void *pvParameters)
{
while(1)
{
printf("task1 .\r\n");
vTaskDelay(500);
}
}
int main(void)
{
SYSCFG_DL_init();
/* Init Ringbuffer */
static uint8_t uart_rx_buff[28] = {0};
RingBuffer_Init(&ringbuff,uart_rx_buff,28);
NVIC_ClearPendingIRQ(UART_0_INST_INT_IRQN);
NVIC_EnableIRQ(UART_0_INST_INT_IRQN);
NVIC_ClearPendingIRQ(ADC12_0_INST_INT_IRQN);
NVIC_EnableIRQ(ADC12_0_INST_INT_IRQN);
xTaskCreate((TaskFunction_t )start_task,
(const char* )"task1",
(uint16_t )START_STK_SIZE,
(void* )NULL,
(UBaseType_t )START_TASK_PRIO,
(TaskHandle_t* )&StartTask_Handler);
xTaskCreate((TaskFunction_t )littleshell_main_entry,
(const char* )"shell",
(uint16_t )SHELL_STK_SIZE,
(void* )NULL,
(UBaseType_t )SHELL_TASK_PRIO,
(TaskHandle_t* )&ShellTask_Handler);
vTaskStartScheduler();
}下载到板子中任务1会周期打印，shell 也可以正常响应至此说明FreeRtos已经正常跑起来了。
不过该芯片的RAM资源相对比较紧缺只有4K的大小，启动上述两个任务已经使用了3884 B的RAM,所以该芯片相对还是比较适合裸机的开发方式。
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