ARM Cortex-M0移植FreeRTOS

前言：

FreeRTOS操作系统是完全免费的操作系统，具有源码公开、可移植、可裁减、调度策略灵活的特点，可以方便地移植到各种单片机上运行。
 

FreeRTOS功能包括：任务管理、时间管理、信号量、消息队列、内存管理、记录功能、软件定时器、协程等。

本期首先将FreeRTOS源码移植到ARM Cortex-M0，然后增加任务创建。

移植平台：ARM Cortex-M0

移植对象：FreeRTOS

编译环境：Keil MDK

移植准备: 下载FreeRTOS源码（官方网站下载：http://www.freertos.org）

一、基于ARM Cortex-M0的FreeRTOS移植步骤

步骤1：将FreeRTOS加载到M0软件工程中

• 加载内核源文件，源文件路径：

FreeRTOS\Source

• 加载与处理器相关的硬件接口层源码，源文件路径：

FreeRTOS\Source\portable\GCC\ARM_CM0

• 加载各种类型的堆栈分配方案（只需要选1种）源码，源文件路径：

FreeRTOS\Source\portable\MemMang

• 加载内核源文件的头文件，源文件路径：

FreeRTOS\Source\include

软件工程环境下，加载以上源码的截图如下：

 

 

步骤2：修改FreeRTOSConfig.h

#if 0                                    //Designed by FDG

#ifdef __ICCARM__ 

#include <stdint.h> 

extern uint32_t SystemCoreClock;

#endif

#else  

#include "STM32xxxxx.h"                  // 调用你的芯片底层定义头文件 

#include <stdint.h>  

extern uLONG SystemFrequency_SysClk;     // 声明系统时钟#endif
#define configUSE_PREEMPTION      1

#define configUSE_IDLE_HOOK        0

#define configUSE_TICK_HOOK        0                  //Designed by FDG

#define configCPU_CLOCK_HZ        ( SystemFrequency_SysClk )      //Designed by FDG

#define configTICK_RATE_HZ        ( ( TickType_t ) 1000 )

#define configMAX_PRIORITIES      ( 4 )                //Designed by FDG

#define configMINIMAL_STACK_SIZE    ( ( unsigned short ) 128)      //Designed by FDG

#define configTOTAL_HEAP_SIZE      ( ( size_t ) ( SRAMTOP - 512) )    //Designed by FGD

#define configMAX_TASK_NAME_LEN      ( 16 )                //Designed by FDG

#define configUSE_TRACE_FACILITY    0                  //Designed by FDG

#define configUSE_16_BIT_TICKS      0

#define configIDLE_SHOULD_YIELD      1

#define configUSE_MUTEXES        1

#define configQUEUE_REGISTRY_SIZE    10

#define configCHECK_FOR_STACK_OVERFLOW  0                  //Designed by FDG

#define configUSE_RECURSIVE_MUTEXES    1

#define configUSE_MALLOC_FAILED_HOOK  0                  //Designed by FDG

#define configUSE_APPLICATION_TASK_TAG  0

#define configUSE_COUNTING_SEMAPHORES  1

#define configGENERATE_RUN_TIME_STATS  0
/* Co-routine definitions. */

#define configUSE_CO_ROUTINES       0

#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Software timer definitions. */

#define configUSE_TIMERS        0                  //Designed by FDG

#define configTIMER_TASK_PRIORITY    ( 2 )

#define configTIMER_QUEUE_LENGTH    5

#define configTIMER_TASK_STACK_DEPTH  ( configMINIMAL_STACK_SIZE )    //Designed by FDG
/* Set the following definitions to 1 to include the API function, or zeroto exclude the API function. */

#define INCLUDE_vTaskPrioritySet    1

#define INCLUDE_uxTaskPriorityGet    1

#define INCLUDE_vTaskDelete        1

#define INCLUDE_vTaskCleanUpResources  1

#define INCLUDE_vTaskSuspend      1

#define INCLUDE_vTaskDelayUntil      1

#define INCLUDE_vTaskDelay        1
/* Normal assert() semantics without relying on the provision of an assert.hheader file. */

#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSISstandard names - or at least those used in the unmodified vector table. */                              #if 0                                    //Designed by FDG

#define vPortSVCHandler SVC_Handler

#define xPortPendSVHandler PendSV_Handler

#define xPortSysTickHandler SysTick_Handler

#endif

 

步骤3：修改portmacro.h

#if 1                                //Designed by FDG

extern void xPortPendSVHandler(void);

extern void xPortSysTickHandler(void);

extern void vPortSVCHandler(void);

#endif
 

步骤4：修改 startup.s  或者 startup.c（有的芯片公司是.s有的是.c，用于定义中断向量表。我移植的这颗芯片是.c）

#if 1                                    //Designed by FDG

#include "FreeRTOSConfig.h"

#include "FreeRTOS.h"

#endif

#if 0                                  //Designed by FDG

__weak void SVC_Handler(void){}
__weak void PendSV_Handler(void){}
__weak void SysTick_Handler(void){}

#endif

#if 0                      //Designed by FDG 

(vect_t) SVC_Handler,      // SVCall Handler

#else 

(vect_t) vPortSVCHandler, // vPortSVCHandler

#endif 
#if 0                      //Designed by FDG 

(vect_t) PendSV_Handler,   // PendSV Handler 

(vect_t) SysTick_Handler,  // SysTick Handler#else 

(vect_t) xPortPendSVHandler,   // xPortPendSVHandler Handler 

(vect_t) xPortSysTickHandler,  // xPortSysTickHandler Handler

#endif

移植完毕！编译如下：

二、基于ARM Cortex-M0的FreeRTOS任务创建

1. 宏定义

#define   M_TestSemaphore    1

2. 主函数中创建任务0

#include "semphr.h"

//---------------------------

void    TASK0(void *pdata);      

void    TASK1(void *pdata);            

void    TASK2(void *pdata);                       //

SemaphoreHandle_t xTestSemaphore = NULL;

TaskHandle_t  xHandleTask0 = NULL,xHandleTask1 = NULL,xHandleTask2 = NULL;

//

int main(void)

{  

/*芯片初始化，略*/

  //creates a new binary semaphore  xTestSemaphore = xSemaphoreCreateBinary();    //creat task 0  xTaskCreate(TASK0,

        "Task0",

         configMINIMAL_STACK_SIZE,

         NULL,

        1,

         &xHandleTask0);

   //start to schedule 

vTaskStartScheduler();

return 0;

}

3. 任务0功能定义，并在任务0中创建任务1和任务2

//*****************************************************************************

//!\brief Task 0                                                       

//!\param    pdata:  

//!\retvalNone                                                                   //*****************************************************************************

void TASK0 (void *pdata)

{

pdata = pdata;

  //creat task 1 

xTaskCreate(TASK1,

       "Task1",

      configMINIMAL_STACK_SIZE,

       NULL,

       2,

       &xHandleTask1 );

  //creat task 2 

xTaskCreate(TASK2,

       "Task2",

      configMINIMAL_STACK_SIZE,

       NULL,

       3,

       &xHandleTask2 );

  // 

while(1)  {    

//---- Add task 0 function here -----------
  #if M_TestSemaphore == 1     

if( xTestSemaphore != NULL )     

{       

if(xSemaphoreTake(xTestSemaphore, 0 ) == pdTRUE )    //to obtain a semaphore. portMAX_DELAY, 10 / portTICK_RATE_MS,0       

{

          taskENTER_CRITICAL();

          printf("task 0\r\n");

          taskEXIT_CRITICAL();

        }

      }   

#else     

vTaskDelay( 200 / portTICK_RATE_MS );
      taskENTER_CRITICAL();

      printf("task 0\r\n");

      taskEXIT_CRITICAL();

#endif

  }

}

4.任务1和任务2功能定义

//*****************************************************************************

//!\brief Task 1                                                        

//!\param pdata:  

//!\retvalNone                                                                   //*****************************************************************************

void TASK1 (void *pdata)

{

pdata = pdata;

  while(1)  {

     //---- Add task 1 function here -----------
    vTaskDelay( 100 / portTICK_RATE_MS );

    taskENTER_CRITICAL();

    printf("task 1\r\n");

    taskEXIT_CRITICAL();

  }

}
//*****************************************************************************

//!\brief Task 2                                                        

//!\param    pdata:  

//!\retvalNone                                                                   //*****************************************************************************

void TASK2 (void *pdata)

{

  pdata = pdata;

  while(1)  {

     //---- Add task 2 function here -----------
        vTaskDelay( 50 / portTICK_RATE_MS );
    taskENTER_CRITICAL();

printf("task 2\r\n");

    taskEXIT_CRITICAL();

  }

}
 

3个任务创建完毕！收工！！