nuttx-app的编译和执行原理

嵌入式码农

已于 2022-09-04 23:02:54 修改

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分类专栏： nuttx 文章标签： c语言操作系统单片机

于 2022-02-10 17:31:04 首次发布

本文链接：https://blog.csdn.net/weixin_42081051/article/details/122859232

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首先阅读apps/readme.md

## Built-In Applications 
 NuttX also supports applications that can be started using a name string. In
 this case, application entry points with their requirements are gathered
 together in two files:
 
 - `builtin/builtin_proto.h` – Entry points, prototype function
 - `builtin/builtin_list.h` – Application specific information and requirements
 
 The build occurs in several phases as different build targets are executed: (1)
 context, (2) depend, and (3) default (all). Application information is collected
 during the make context build phase.
  
 To execute an application function:
 
 `exec_builtin()` is defined in the `apps/include/builtin/builtin.h`.

## NuttShell (NSH) Built-In Commands
 
 One use of builtin applications is to provide a way of invoking your custom
 application through the NuttShell (NSH) command line. NSH will support a
 seamless method invoking the applications, when the following option is enabled
 in the NuttX configuration file:
 
 ```conf
 CONFIG_NSH_BUILTIN_APPS=y
 ```
 
 Applications registered in the `apps/builtin/builtin_list.h` file will then be
 accessible from the NSH command line. If you type `help` at the NSH prompt, you
 will see a list of the registered commands.

根据readme文件中的描述，查找关键文件builtin_list.h和builtin_proto.h

apps/builtin/Makefile文件中，找到builtin_list.h和builtin_proto.h的生成规则。

builtin_list.h: registry$(DELIM).updated
ifeq ($(BDATLIST),)
    $(call DELFILE, builtin_list.h)
    $(Q) touch builtin_list.h
else
    $(call CATFILE, builtin_list.h, $(BDATLIST))
endif

builtin_proto.h: registry$(DELIM).updated
ifeq ($(PDATLIST),)
    $(call DELFILE, builtin_proto.h)
    $(Q) touch builtin_proto.h
else
    $(call CATFILE, builtin_proto.h, $(PDATLIST))
endif

从Makfile上和实际文件内容能够看出，

builtin_list.h整合了registry目录下的bdat文件内容

builtin_proto.h整合了registry目录下的pdat文件内容

那么，这些bdat和pdat文件又是怎么来的？在apps/Make.defs中定义了REGISTER函数

define REGISTER
    $(Q) echo Register: $1
    $(Q) echo { \"$1\", $2, $3, $4 }, > "$(BUILTIN_REGISTRY)$(DELIM)$1.bdat"
    $(Q) if [ ! -z $4 ]; then \
            echo "int $4(int argc, char *argv[]);" > "$(BUILTIN_REGISTRY)$(DELIM)$1.pdat"; \
         fi; 
    $(Q) touch "$(BUILTIN_REGISTRY)$(DELIM).updated"
endef

apps/Application.mk中进行了调用

$(call REGISTER,$(firstword $(APPLIST)),$(firstword $(PRIORITY)),$(firstword $(STACKSIZE)),$(if $(BUILD_MODULE),,$(firstword $(APPLIST))_main))

APPLIST：继承自PROGNAME，也就是apps/examples/demo/Makefile中的

来自于apps/examples/demo/Kconfig中的配置项，REGISTER函数的其他几项形参，也是如此。

 config EXAMPLES_DEMO_PROGNAME                                                                                                                                                                          
     string "Program name"
     default "demo"
     ---help---
         This is the name of the program that will be used when the NSH ELF
         program is installed.

至此，builtin_list.h和builtin_proto.h的来历已经弄清楚了。apps/builtin/builtin_list.c中定义了一个关键的结构体数组g_builtins，结构体的定义在nuttx/include/nuttx/lib/builtin.h中。

struct builtin_s
{
const char *name; /* Invocation name and as seen under /sbin/ */ sbin下显示的名字
int priority; /* Use: SCHED_PRIORITY_DEFAULT */，task优先级
int stacksize; /* Desired stack size */ task栈大小
main_t main; /* Entry point: main(int argc, char *argv[]) */ 线程入口函数指针
};

#include "builtin_proto.h"

const struct builtin_s g_builtins[] =
{
# include "builtin_list.h"
  { NULL, 0, 0, 0 }
};

const int g_builtin_count = sizeof(g_builtins) / sizeof(g_builtins[0]);

展开后：

int demo_main(int argc, char *argv[]);
int nsh_main(int argc, char *argv[]);
int sh_main(int argc, char *argv[]);
int gpio_main(int argc, char *argv[]);
int hello_main(int argc, char *argv[]);

const struct builtin_s g_builtins[] =
{
  { "demo", 100, 2048, demo_main },
  { "sh", 100, 2048, sh_main },
  { "hello", 100, 2048, hello_main },
  { "nsh", 100, 2048, nsh_main },
  { "gpio", 100, 2048, gpio_main },
  { NULL, 0, 0, 0 }
};

编译完成后，nuttx在nsh中进行人机交互，下面是app启动的流程。

apps/nshlib/nsh_parse.c中的nsh_parse-->

apps/nshlib/nsh_parse.c中的nsh_parse_cmdparm和nsh_parse_command--->

apps/nshlib/nsh_parse.c中的nsh_execute--->

apps/nshlib/nsh_builtin.c中nsh_builtin函数---->apps/builtin/exec_builtin.c中的exec_builtin，

int exec_builtin(FAR const char *appname, FAR char * const *argv,
                 FAR const char *redirfile, int oflags)
{
  FAR const struct builtin_s *builtin;
  posix_spawnattr_t attr;
  posix_spawn_file_actions_t file_actions;
  struct sched_param param;
  pid_t pid;
  int index;
  int ret;

  /* Verify that an application with this name exists */

  index = builtin_isavail(appname);                                                                                                                                                                        
  if (index < 0)
    {
      ret = ENOENT;
      goto errout_with_errno;
    }

  /* Get information about the builtin */

  builtin = builtin_for_index(index);
  if (builtin == NULL)
    {
      ret = ENOENT;
      goto errout_with_errno;
    }

  /* Initialize attributes for task_spawn(). */

  ret = posix_spawnattr_init(&attr);
  if (ret != 0)
    {
      goto errout_with_errno;
    }   

  ret = posix_spawn_file_actions_init(&file_actions);
  if (ret != 0)
    {                                                                                                                                                                                                      
      goto errout_with_attrs;
    }

  /* Set the correct task size and priority */

  param.sched_priority = builtin->priority;
  ret = posix_spawnattr_setschedparam(&attr, &param);
  if (ret != 0)
    {
      goto errout_with_actions;
    }

  ret = task_spawnattr_setstacksize(&attr, builtin->stacksize);
  if (ret != 0)
    {
      goto errout_with_actions;
    }

  /* If robin robin scheduling is enabled, then set the scheduling policy
   * of the new task to SCHED_RR before it has a chance to run.
   */

#if CONFIG_RR_INTERVAL > 0
  ret = posix_spawnattr_setschedpolicy(&attr, SCHED_RR);
  if (ret != 0)
    {
      goto errout_with_actions;
    }

  ret = posix_spawnattr_setflags(&attr,
                                 POSIX_SPAWN_SETSCHEDPARAM |
                                 POSIX_SPAWN_SETSCHEDULER);
  if (ret != 0)
    {
      goto errout_with_actions;
    }

#else
  ret = posix_spawnattr_setflags(&attr, POSIX_SPAWN_SETSCHEDPARAM);
  if (ret != 0)
    {
      goto errout_with_actions;
    }

#endif

  /* Is output being redirected? */
  if (redirfile)
    {
      /* Set up to close open redirfile and set to stdout (1) */

      ret = posix_spawn_file_actions_addopen(&file_actions, 1,
                                             redirfile, oflags, 0644);
      if (ret != 0)
        {
          serr("ERROR: posix_spawn_file_actions_addopen failed: %d\n", ret);
          goto errout_with_actions;
        }
    }

#ifdef CONFIG_LIBC_EXECFUNCS
  /* Load and execute the application. */

  ret = posix_spawn(&pid, builtin->name, &file_actions, &attr, argv, NULL);
  if (ret != 0 && builtin->main != NULL)
#endif
    {
      /* Start the built-in */

      pid = task_spawn(builtin->name, builtin->main, &file_actions,
                       &attr, (argv) ? &argv[1] : (FAR char * const *)NULL,
                       (FAR char * const *)NULL);
      ret = pid < 0 ? -pid : 0;
    }

  if (ret != 0)
    {
      serr("ERROR: task_spawn failed: %d\n", ret);
      goto errout_with_actions;
    }

  /* Free attributes and file actions.  Ignoring return values in the case
   * of an error.
   */

  /* Return the task ID of the new task if the task was successfully
   * started.  Otherwise, ret will be ERROR (and the errno value will
   * be set appropriately).
   */

  posix_spawn_file_actions_destroy(&file_actions);
  posix_spawnattr_destroy(&attr);
  return pid;

errout_with_actions:
  posix_spawn_file_actions_destroy(&file_actions);

errout_with_attrs:
  posix_spawnattr_destroy(&attr);

errout_with_errno:
  errno = ret;
  return ERROR;
}

最终通过下面的接口实现了任务的创建，虽然每个任务有自己的栈，但是由于内存，在没有MMU的情况下，如果同一个app启动了多个实例，app中使用的全局变量、静态变量等存放在bss段、data段的数据，多个实例将共享该变量，都可以进行修改，所以需要特别注意。