FreeRTOS启动流程源码浅析

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最新推荐文章于 2024-04-30 15:35:31 发布

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文章标签： c语言 mcu

本文链接：https://blog.csdn.net/qq_43229050/article/details/135238003

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一、FreeRTOS启动流程源码浅析

背景：FreeRTOS使用CMSIS_RTOS_V2封装，工程使用HAL库并STM32CubeMX生成

首先从main函数开始分析，main函数中初始化的顺序为 HAL库初始化——系统时钟初始化——外设初始化——RTOS内核初始化——RTOS线程、互斥量、信号量等初始化——内核启动

HAL库进行了初始化HAL_Init();这里面包含了系统滴答的初始化（如下图）

int main(void)
{
  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  /* Init scheduler */
  osKernelInitialize();  /* Call init function for freertos objects (in freertos.c) */
  MX_FREERTOS_Init();
  /* Start scheduler */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */
  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
  }
  /* USER CODE END 3 */
}

系统滴答使用的是HSI高速内部时钟，由内部RC振荡器生成（STM32H7为64MHz）。系统滴答的初始化主要包括了：

1.中断优先级、中断使能、中断频率（默认为1ms）、

2.在中断模式下启动TIM time Base时间基准生成（这里还不能进入SysTick_Handler中断）

  /* Use systick as time base source and configure 1ms tick (default clock after Reset is HSI) */
  if(HAL_InitTick(TICK_INT_PRIORITY) != HAL_OK)
  {
    return HAL_ERROR;
  }

系统内核初始化osKernelInitialize();这里面并没有做什么事情，只是对全局变量KernelState进行了状态赋值KernelState = osKernelReady;

osStatus_t osKernelInitialize (void) {
  osStatus_t stat;

  if (IS_IRQ()) {
    stat = osErrorISR;
  }
  else {
    if (KernelState == osKernelInactive) {
      #if defined(USE_TRACE_EVENT_RECORDER)
        EvrFreeRTOSSetup(0U);
      #endif
      #if defined(USE_FreeRTOS_HEAP_5) && (HEAP_5_REGION_SETUP == 1)
        vPortDefineHeapRegions (configHEAP_5_REGIONS);
      #endif
      KernelState = osKernelReady;
      stat = osOK;
    } else {
      stat = osError;
    }
  }

  return (stat);
}

RTOS初始化MX_FREERTOS_Init();里面一般是对一些用户线程、信号量、互斥量等的创建，由用户定义

重点来了：osKernelStart(); 内核启动，这里主要调用的是 vTaskStartScheduler();

osStatus_t osKernelStart (void) {
  osStatus_t stat;

  if (IS_IRQ()) {
    stat = osErrorISR;
  }
  else {
    if (KernelState == osKernelReady) {
      /* Ensure SVC priority is at the reset value */
      SVC_Setup();
      /* Change state to enable IRQ masking check */
      KernelState = osKernelRunning;
      /* Start the kernel scheduler */
      vTaskStartScheduler();
      stat = osOK;
    } else {
      stat = osError;
    }
  }

  return (stat);
}

在vTaskStartScheduler()中主要做的事情是：

1.创建空闲线程

2.创建软件定时器（如果使能）

3.一些全局变量的初始化

4.启动调度器xPortStartScheduler()

void vTaskStartScheduler( void )
{
BaseType_t xReturn;

	/* Add the idle task at the lowest priority. */
	#if( configSUPPORT_STATIC_ALLOCATION == 1 )
	{
		StaticTask_t *pxIdleTaskTCBBuffer = NULL;
		StackType_t *pxIdleTaskStackBuffer = NULL;
		uint32_t ulIdleTaskStackSize;

		/* The Idle task is created using user provided RAM - obtain the
		address of the RAM then create the idle task. */
		vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
		xIdleTaskHandle = xTaskCreateStatic(	prvIdleTask,
												configIDLE_TASK_NAME,
												ulIdleTaskStackSize,
												( void * ) NULL, /*lint !e961.  The cast is not redundant for all compilers. */
												portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
												pxIdleTaskStackBuffer,
												pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */

		if( xIdleTaskHandle != NULL )
		{
			xReturn = pdPASS;
		}
		else
		{
			xReturn = pdFAIL;
		}
	}
	#else
	{
		/* The Idle task is being created using dynamically allocated RAM. */
		xReturn = xTaskCreate(	prvIdleTask,
								configIDLE_TASK_NAME,
								configMINIMAL_STACK_SIZE,
								( void * ) NULL,
								portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
								&xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
	}
	#endif /* configSUPPORT_STATIC_ALLOCATION */

	#if ( configUSE_TIMERS == 1 )
	{
		if( xReturn == pdPASS )
		{
			xReturn = xTimerCreateTimerTask();
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}
	}
	#endif /* configUSE_TIMERS */

	if( xReturn == pdPASS )
	{
		/* freertos_tasks_c_additions_init() should only be called if the user
		definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
		the only macro called by the function. */
		#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
		{
			freertos_tasks_c_additions_init();
		}
		#endif

		/* Interrupts are turned off here, to ensure a tick does not occur
		before or during the call to xPortStartScheduler().  The stacks of
		the created tasks contain a status word with interrupts switched on
		so interrupts will automatically get re-enabled when the first task
		starts to run. */
		portDISABLE_INTERRUPTS();

		#if ( configUSE_NEWLIB_REENTRANT == 1 )
		{
			/* Switch Newlib's _impure_ptr variable to point to the _reent
			structure specific to the task that will run first.
			See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
			for additional information. */
			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
		}
		#endif /* configUSE_NEWLIB_REENTRANT */

		xNextTaskUnblockTime = portMAX_DELAY;
		xSchedulerRunning = pdTRUE;
		xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;

		/* If configGENERATE_RUN_TIME_STATS is defined then the following
		macro must be defined to configure the timer/counter used to generate
		the run time counter time base.   NOTE:  If configGENERATE_RUN_TIME_STATS
		is set to 0 and the following line fails to build then ensure you do not
		have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
		FreeRTOSConfig.h file. */
		portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();

		traceTASK_SWITCHED_IN();

		/* Setting up the timer tick is hardware specific and thus in the
		portable interface. */
		if( xPortStartScheduler() != pdFALSE )
		{
			/* Should not reach here as if the scheduler is running the
			function will not return. */
		}
		else
		{
			/* Should only reach here if a task calls xTaskEndScheduler(). */
		}
	}
	else
	{
		/* This line will only be reached if the kernel could not be started,
		because there was not enough FreeRTOS heap to create the idle task
		or the timer task. */
		configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
	}

	/* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
	meaning xIdleTaskHandle is not used anywhere else. */
	( void ) xIdleTaskHandle;
}

启动调度器xPortStartScheduler()，这里面主要做的是：

1.一些全局变量的初始化

2.启动Tick计数器vPortSetupTimerInterrupt()，即允许产生Tick ISR（PS:这里的系统滴答配置与前面HAL库初始化时的系统滴答配置没搞明白。。。）

3.启动第一个任务prvStartFirstTask()

BaseType_t xPortStartScheduler( void )
{
	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );

	/* This port can be used on all revisions of the Cortex-M7 core other than
	the r0p1 parts.  r0p1 parts should use the port from the
	/source/portable/GCC/ARM_CM7/r0p1 directory. */
	configASSERT( portCPUID != portCORTEX_M7_r0p1_ID );
	configASSERT( portCPUID != portCORTEX_M7_r0p0_ID );

	#if( configASSERT_DEFINED == 1 )
	{
		volatile uint32_t ulOriginalPriority;
		volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
		volatile uint8_t ucMaxPriorityValue;

		/* Determine the maximum priority from which ISR safe FreeRTOS API
		functions can be called.  ISR safe functions are those that end in
		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
		ensure interrupt entry is as fast and simple as possible.

		Save the interrupt priority value that is about to be clobbered. */
		ulOriginalPriority = *pucFirstUserPriorityRegister;

		/* Determine the number of priority bits available.  First write to all
		possible bits. */
		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;

		/* Read the value back to see how many bits stuck. */
		ucMaxPriorityValue = *pucFirstUserPriorityRegister;

		/* The kernel interrupt priority should be set to the lowest
		priority. */
		configASSERT( ucMaxPriorityValue == ( configKERNEL_INTERRUPT_PRIORITY & ucMaxPriorityValue ) );

		/* Use the same mask on the maximum system call priority. */
		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;

		/* Calculate the maximum acceptable priority group value for the number
		of bits read back. */
		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
		{
			ulMaxPRIGROUPValue--;
			ucMaxPriorityValue <<= ( uint8_t ) 0x01;
		}

		#ifdef __NVIC_PRIO_BITS
		{
			/* Check the CMSIS configuration that defines the number of
			priority bits matches the number of priority bits actually queried
			from the hardware. */
			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == __NVIC_PRIO_BITS );
		}
		#endif

		#ifdef configPRIO_BITS
		{
			/* Check the FreeRTOS configuration that defines the number of
			priority bits matches the number of priority bits actually queried
			from the hardware. */
			configASSERT( ( portMAX_PRIGROUP_BITS - ulMaxPRIGROUPValue ) == configPRIO_BITS );
		}
		#endif

		/* Shift the priority group value back to its position within the AIRCR
		register. */
		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;

		/* Restore the clobbered interrupt priority register to its original
		value. */
		*pucFirstUserPriorityRegister = ulOriginalPriority;
	}
	#endif /* conifgASSERT_DEFINED */

	/* Make PendSV and SysTick the lowest priority interrupts. */
	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;

	/* Start the timer that generates the tick ISR.  Interrupts are disabled
	here already. */
	vPortSetupTimerInterrupt();

	/* Initialise the critical nesting count ready for the first task. */
	uxCriticalNesting = 0;

	/* Ensure the VFP is enabled - it should be anyway. */
	prvEnableVFP();

	/* Lazy save always. */
	*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;

	/* Start the first task. */
	prvStartFirstTask();

	/* Should not get here! */
	return 0;
}

启动第一个任务prvStartFirstTask()用汇编代码编写，主要做的是：

1.复位主堆栈指针MSP的值，表示从此以后MSP指针被FreeRTOS接管

2.使能全局中断

3.使用汇编指令svc 0触发SVC中断，完成启动第一个任务的工作

__asm void prvStartFirstTask( void )
{
    PRESERVE8
 
    /* Cortext-M3硬件中,0xE000ED08地址处为VTOR(向量表偏移量)寄存器,存储向量表起始地址*/
    ldr r0, =0xE000ED08    
    ldr r0, [r0]
    /* 取出向量表中的第一项,向量表第一项存储主堆栈指针MSP的初始值*/
    ldr r0, [r0]   
 
    /* 将堆栈地址存入主堆栈指针 */
    msr msp, r0
    /* 使能全局中断*/
    cpsie i
    cpsie f
    dsb
    isb
    /* 调用SVC启动第一个任务 */
    svc 0
    nop
    nop
}

SVC中断：

1.使用全局指针pxCurrentTCB获得第一个要启动的任务TCB，从而获得任务的当前堆栈栈顶指针pxTopOfStack

2.寄存器R4~R11出栈，将最新的堆栈栈顶指针赋值给线程堆栈指针PSP

3.r14最后四位按位或上0x0d，表示返回时从线程堆栈中做出栈操作、返回后进入线程模式、返回Thumb状态。也就是说，返回后会进入第一个就绪的线程，不会再返回到main函数。

__asm void vPortSVCHandler( void )
{
    PRESERVE8
 
    ldr r3, =pxCurrentTCB   /* pxCurrentTCB指向处于最高优先级的就绪任务TCB */
    ldr r1, [r3]            /* 获取任务TCB地址 */
    ldr r0, [r1]            /* 获取任务TCB的第一个成员,即当前堆栈栈顶pxTopOfStack */
    ldmia r0!, {r4-r11}     /* 出栈,将寄存器r4~r11出栈 */
    msr psp, r0             /* 最新的栈顶指针赋给线程堆栈指针PSP */
    isb
    mov r0, #0
    msr basepri, r0
    orrr14, #0xd           /* 这里0x0d表示:返回后进入线程模式,从进程堆栈中做出栈操作,返回Thumb状态*/
    bx r14
}

参考：FreeRTOS高级篇3---FreeRTOS调度器启动过程分析_vtaskstartscheduler-CSDN博客

（PS:仅作为学习笔记，如有错误欢迎指正......）

极其优秀的小吴

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FreeRTOS启动流程源码浅析

背景：FreeRTOS使用CMSIS_RTOS_V2封装，工程使用HAL库并STM32CubeMX生成首先从main函数开始分析，main函数中初始化的顺序为 HAL库初始化——系统时钟初始化——外设初始化——RTOS内核初始化——RTOS线程、互斥量、信号量等初始化——内核启动
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