习惯在rtos下写代码回不去祼机下大循环前后台标志位的写法，几K内存也跑个RTOS，参照论坛一篇rt-thread nano移植的帖子，也做了一次rt-thread nano的适配到M031LE3AE芯片。finsh串口为UART1的PB6、PB7，芯片时钟为内部RC 48MHz。
一、在keil MDK安装相应的组件包，并配置加入工程中
二、加入新M0的硬件驱动库并加入头文件 路径
三、配置rtconfig.h文件
四、修改board.c及finsh_port.c文件完成BSP硬件对接
修改RT_HEAP_SIZE为合适的堆大小，不然没法编译
把retarget.c文件的HardFault_Handler函数注释掉，由rt-thread nano的HardFault_Handler接管
修改system_M031Serials.c的系统时钟为__HIRC
uint32_t SystemCoreClock = __HIRC; /*!< System Clock Frequency (Core Clock) */
uint32_t CyclesPerUs = (__HIRC / 1000000); /*!< Cycles per micro second */
uint32_t PllClock = __HIRC; /*!< PLL Output Clock Frequency */
依次按照#error设定的4个部分配置时钟和硬件初始化，串口初始化，串口输出，串口输入。
时钟初始化，复制SYS_Init(); 并在其中完善滴答定时器的启动与配置。
打开board.c添加系统初始化代码
void SYS_Init(void)
{
/*---------------------------------------------------------------------------------------------------------*/
/* Init System Clock */
/*---------------------------------------------------------------------------------------------------------*/
/* Unlock protected registers */
SYS_UnlockReg();
/* Set XT1_OUT(PF.2) and XT1_IN(PF.3) to input mode */
PF->MODE &= ~(GPIO_MODE_MODE2_Msk | GPIO_MODE_MODE3_Msk);
/* Enable HIRC clock (Internal RC 48 MHz) */
CLK_EnableXtalRC(CLK_PWRCTL_HIRCEN_Msk);
/* Wait for HIRC clock ready */
CLK_WaitClockReady(CLK_STATUS_HIRCSTB_Msk);
/* Set core clock as 51MHz from PLL */
CLK_SetCoreClock(FREQ_48MHZ);
/* System Tick Configuration */
CLK_EnableSysTick(CLK_CLKSEL0_STCLKSEL_HCLK,SystemCoreClock / RT_TICK_PER_SECOND);
/* Enable UART clock */
CLK_EnableModuleClock(UART1_MODULE);
/* Select UART clock source from HIRC */
CLK_SetModuleClock(UART1_MODULE, CLK_CLKSEL1_UART1SEL_HIRC, CLK_CLKDIV0_UART1(1));
/* Update System Core Clock */
/* User can use SystemCoreClockUpdate() to calculate SystemCoreClock. */
SystemCoreClockUpdate();
/* Set GPB multi-function pins for UART0 RXD and TXD */
SYS->GPB_MFPL = (SYS->GPB_MFPL & ~(SYS_GPB_MFPL_PB6MFP_Msk | SYS_GPB_MFPL_PB7MFP_Msk)) | \
(SYS_GPB_MFPL_PB7MFP_UART1_TXD | SYS_GPB_MFPL_PB6MFP_UART1_RXD);
/* Lock protected registers */
SYS_LockReg();
}
滴答定时器中断的内容：
/* systick 中断服务例程 */
void SysTick_Handler(void)
{
rt_os_tick_callback();
}
其中内部的回调函数，rtt的board.c已经帮我们完成，只需要添加以上代码段即可，也可修改回调函数的名字为中断入口。
将系统初始化代码填入#error "TODO 1: OS Tick Configuration."后面，并注释掉该行，确保编译时候不再报错提示该位置。
串口初始化，按如下代码进行初始化
static int uart_init(void)
{
//#error "TODO 2: Enable the hardware uart and config baudrate."
/* Reset UART1 */
SYS_ResetModule(UART1_RST);
/* Configure UART1 and set UART1 baud rate */
UART_Open(UART1, 115200);
return 0;
}
串口输出功能
串口打印函数是调用rt-thread nano的rt_kprintf函数，
voidrt_hw_console_output(const char *str)
{
//#error "TODO 3: Output the string 'str' through the uart."
UART_Write(UART1,(uint8_t *)str,rt_strlen(str));
}
串口输入功能
串口输入功能的配置在finsh_port.c
RT_WEAK char rt_hw_console_getchar(void)
{
/* Note: the initial value of ch must < 0 */
int ch = -1;
//#error "TODO 4: Read a char from the uart and assign it to 'ch'."
if((UART1->FIFOSTS & UART_FIFOSTS_RXEMPTY_Msk) == 0)
{
return (UART1->DAT);
}
return ch;
}
完整board.c文件
/*
* Copyright (c) 2006-2019, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2021-05-24 the first version
*/
#include <rthw.h>
#include <rtthread.h>
#include <NuMicro.h>
#if defined(RT_USING_USER_MAIN) && defined(RT_USING_HEAP)
/*
* Please modify RT_HEAP_SIZE if you enable RT_USING_HEAP
* the RT_HEAP_SIZE max value = (sram size - ZI size), 1024 means 1024 bytes
*/
#define RT_HEAP_SIZE (12*1024)
static rt_uint8_t rt_heap[RT_HEAP_SIZE];
RT_WEAK void *rt_heap_begin_get(void)
{
return rt_heap;
}
RT_WEAK void *rt_heap_end_get(void)
{
return rt_heap + RT_HEAP_SIZE;
}
#endif
void rt_os_tick_callback(void)
{
rt_interrupt_enter();
rt_tick_increase();
rt_interrupt_leave();
}
void SysTick_Handler(void)
{
rt_os_tick_callback();
}
void SYS_Init(void)
{
/*---------------------------------------------------------------------------------------------------------*/
/* Init System Clock */
/*---------------------------------------------------------------------------------------------------------*/
/* Unlock protected registers */
SYS_UnlockReg();
/* Set XT1_OUT(PF.2) and XT1_IN(PF.3) to input mode */
PF->MODE &= ~(GPIO_MODE_MODE2_Msk | GPIO_MODE_MODE3_Msk);
/* Enable HIRC clock (Internal RC 48 MHz) */
CLK_EnableXtalRC(CLK_PWRCTL_HIRCEN_Msk);
/* Wait for HIRC clock ready */
CLK_WaitClockReady(CLK_STATUS_HIRCSTB_Msk);
/* Set core clock as 51MHz from PLL */
CLK_SetCoreClock(FREQ_51MHZ);
/* System Tick Configuration */
CLK_EnableSysTick(CLK_CLKSEL0_STCLKSEL_HCLK,SystemCoreClock / RT_TICK_PER_SECOND);
/* Enable UART clock */
CLK_EnableModuleClock(UART0_MODULE);
/* Select UART clock source from HIRC */
CLK_SetModuleClock(UART0_MODULE, CLK_CLKSEL1_UART0SEL_HIRC, CLK_CLKDIV0_UART0(1));
/* Update System Core Clock */
/* User can use SystemCoreClockUpdate() to calculate SystemCoreClock. */
SystemCoreClockUpdate();
/* Set GPB multi-function pins for UART0 RXD and TXD */
SYS->GPB_MFPH = (SYS->GPB_MFPH & ~(SYS_GPB_MFPH_PB12MFP_Msk | SYS_GPB_MFPH_PB13MFP_Msk)) | \
(SYS_GPB_MFPH_PB12MFP_UART0_RXD | SYS_GPB_MFPH_PB13MFP_UART0_TXD);
/* Lock protected registers */
SYS_LockReg();
}
/**
* This function will initial your board.
*/
void rt_hw_board_init(void)
{
//#error "TODO 1: OS Tick Configuration."
/*
* TODO 1: OS Tick Configuration
* Enable the hardware timer and call the rt_os_tick_callback function
* periodically with the frequency RT_TICK_PER_SECOND.
*/
/* Call components board initial (use INIT_BOARD_EXPORT()) */
#ifdef RT_USING_COMPONENTS_INIT
rt_components_board_init();
#endif
#if defined(RT_USING_USER_MAIN) && defined(RT_USING_HEAP)
rt_system_heap_init(rt_heap_begin_get(), rt_heap_end_get());
#endif
}
#ifdef RT_USING_CONSOLE
static int uart_init(void)
{
//#error "TODO 2: Enable the hardware uart and config baudrate."
SYS_ResetModule(UART0_RST);
/* Configure UART0 and set UART0 baud rate */
UART_Open(UART0, 115200);
return 0;
}
INIT_BOARD_EXPORT(uart_init);
void rt_hw_console_output(const char *str)
{
//#error "TODO 3: Output the string 'str' through the uart."
UART_Write(UART0,(uint8_t *)str,rt_strlen(str));
}
#endif
五、测试代码
#include "stdio.h"
#include <NuMicro.h>
#include <rtthread.h>
//配置优先级，栈大小，时间片，设置不对没法运行的。
#define THREAD_PRIORITY 5
#define THREAD_STACK_SIZE 256
#define THREAD_TIMESLICE 10
void led(void *parameter)
{
rt_kprintf("\n\nCPU @ %d Hz\n", SystemCoreClock);
rt_kprintf("+-------------------------------------------------+\n");
rt_kprintf("| PB14(Output) Sample Code |\n");
rt_kprintf("+-------------------------------------------------+\n\n");
rt_kprintf("Hello RTT_NANO\n");
while(1)
{
PB14=0;
rt_thread_mdelay(2000);
rt_kprintf("\nLED1 is ON\n");
PB14=1;
rt_thread_mdelay(2000);
rt_kprintf("\nLED1 is OFF\n");
}
}
/* 导出到 msh 命令列表中 */
MSH_CMD_EXPORT(led, RT-Thread first led sample);
void led2(void *parameter)
{
rt_kprintf("Hello RTT_NANO\n");
while(1)
{
PB14=0;
rt_thread_mdelay(3000);
rt_kprintf("\nLED2 is ON\n");
PB14=1;
rt_thread_mdelay(3000);
rt_kprintf("\nLED2 is OFF\n");
}
}
MSH_CMD_EXPORT(led2, RT-Thread second led sample);
int led_sample(void)
{
static rt_thread_t tid = RT_NULL;
static rt_thread_t tid2 = RT_NULL;
/* 创建线程1 */
tid = rt_thread_create("thread1",
led, RT_NULL,
THREAD_STACK_SIZE,
THREAD_PRIORITY, THREAD_TIMESLICE);
if (tid != RT_NULL)
rt_thread_startup(tid);
/* 创建线程2 */
tid2 = rt_thread_create("thread2",
led2, RT_NULL,
THREAD_STACK_SIZE,
THREAD_PRIORITY, THREAD_TIMESLICE);
if (tid2 != RT_NULL)
rt_thread_startup(tid2);
//该例子共用PB14端口，所以一并在创建线程时候初始化为输出模式
GPIO_SetMode(PB, BIT14, GPIO_MODE_OUTPUT);
return 0;
}
MSH_CMD_EXPORT(led_sample, RT-Thread sample);
/*---------------------------------------------------------------------------------------------------------*/
/* Main Function */
/*---------------------------------------------------------------------------------------------------------*/
int32_t main(void)
{
led_sample();
return 0;
}
六、rt-thread nano对新塘M0的适配还是很简单的，新建工程->添加组件->添加驱动库->屏蔽hard_fault_handler函数->按照错误提示修改系统时钟驱动接口->测试
在secureCRT打印不会换行还没找原因
只能在SSCOM下先用着
完整工程下载连接：https://download.csdn.net/download/dmjkun/85059255
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