👂 🏷️ 🤾🏼 Azure RTOS. Teil 1: Übersicht und Start (STM32 + CubeIDE + HAL) 🥩 🚿 🐓

Beim jüngsten Microsoft Build 2020 wurde Azure RTOS wiederholt als dediziertes Echtzeit-Betriebssystem für Mikrocontroller erwähnt.

In diesem Material werden wir konsequent herausfinden, um welche Art von Betriebssystem es sich handelt, welchen Platz es in Microsoft-Produkten für eingebettete Systeme einnimmt und den Betriebssystem-Scheduler auf einem der STM32-Mikrocontroller installieren.

Für diejenigen, die nicht an der Überprüfung interessiert sind, aber den praktischen Teil benötigen, gehen Sie direkt dazu.

Was ist das überhaupt?

Ein Mikrocontroller ist eine spezialisierte Mikroschaltung, die einen Mikroprozessor, einen Speicher und Peripheriegeräte in einem Gehäuse kombiniert. Im Gegensatz zu einem "großen" Computer verfügt er nur über begrenzte Mengen dieses Speichers: Typische Werte für RAM und ROM sind zehn bis Hunderte von Kilobyte.

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TCP/IP NetX/NetX Duo;
FAT FileX;
USB Host/Device/OTG USBX;
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STM32CubeIDE — IDE STMicroelectronics .

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git clone https://github.com/azure-rtos/threadx.git
git checkout f8e91d4

threadx threadx-master.

STM32F4Discovery Mini-USB , "ST Link" . .

STM32CubeIDE. Workspace — .

, Start New STM32 Project.

1 STM32F4DISCOVERY, 2 ( ) Next (3):

, . threadx_test, , , .

"Copy only necessary files..." Finish.

Yes:

Project Explorer, . threadx_test.ioc ( ):

Clock Configuration , :

, SYSCLK = 168 , SysTick.

Pinout & Configuration, Connectivity, USB_OTG_FS (1) (2), (3) Reset_State (4).

USB OTG, HAL_Delay, , , . ThreadX, HAL ThreadX, . , USB OTG.

System Core SYS TIM7 Timebase Source Serial Wire Debug:

SysTick Timer ThreadX.

PA0, . User Manual , :

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System Core — NVIC EXTI0:

Priority group "4 bits...":

! EXTI line0 interrupt Preemption priority 15 ( ). , , RTOS, , RTOS. .

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, Code Generation, Pendable request for system serivice, System tick timer, ThreadX Cortex-M4, :

threadx-master threadx_test\Middlewares workspace. Project Explorer F5 , :

threadx_test Properties. C/C++ General — Paths and Symbols. Add

Middlewares/threadx-master/ports/cortex_m4/gnu/inc

, :

, , ( cortex_m0, 3, 4, 7)

Middlewares/threadx-master/common/inc

! Source Location , Source folders on build path :

/threadx_test/Core
/threadx_test/Drivers
/threadx_test/Middlewares

- — .

Apply and Close .

Middlewares/threadx-master/ports Project Explorer :

cortex_m0
cortex_m3
cortex_m7
cortex_m4/gnu/src/tx_vector_table_sample.S ( )

/ , Properties Exclude resource from build:

( ):

Middlewares/threadx-master/cmake
Middlewares/threadx-master/docs
Middlewares/threadx-master/samples

, :

Middlewares/threadx-master/common
Middlewares/threadx-master/ports/cortex_m4

STM32F407VGTX_FLASH.ld

  ._user_heap_stack :
  {
    . = ALIGN(8);
    PROVIDE ( end = . );
    PROVIDE ( _end = . );
    . = . + _Min_Heap_Size;
    . = . + _Min_Stack_Size;
    . = ALIGN(8);
  } >RAM

(, )

    . = ALIGN(8);

    __RAM_segment_used_end__ = .;

ThreadX . .

RAM, STM32F407VGTX_RAM.ld.

Project Explorer Middlewares/threadx-master/ports/cortex_m4/gnu/src tx_initialize_low_level_sample.S.

SYSTEM_CLOCK      =   6000000

6000000 168000000 SYSCLK.

SYSTICK_CYCLES    =   ((SYSTEM_CLOCK / 100) -1)

100 1000. 100 1000 : ThreadX, .

Core/Src/main.c

/* USER CODE BEGIN Includes */
#include "tx_api.h"
/* USER CODE END Includes */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */

  tx_kernel_enter();

Core/Startup/startup_stm32f407vgtx.s

.global  Default_Handler

.global _vectors

g_pfnVectors:

_vectors:

ThreadX.

Core/Src/ demo_threadx.c .

#include "tx_api.h"
#include "main.h"

/*    -   */
#define DEMO_STACK_SIZE         1024

/*   ,       -,   */
#define DEMO_BYTE_POOL_SIZE     10240

/*  - */
#define THREAD_COUNT 4

/*  ,        (thread control block) */
TX_THREAD               thread_x[THREAD_COUNT];

/* ,      */
TX_BYTE_POOL            byte_pool_0;

/*    */
TX_EVENT_FLAGS_GROUP    evt_group;

/*     TX_BYTE_POOL */
UCHAR                   memory_area[DEMO_BYTE_POOL_SIZE];

/*   ()   N */
#define EVT_KEYPRESS_THREAD(n) (1 << n)

/*       */
#define LED_PAUSE_AND_DEBOUNCE_TIME_MS 100

/*      */
static struct
{
    GPIO_TypeDef* GPIOx;
    uint16_t GPIO_Pin;
    uint32_t blink_delay_ms;
    char thread_name[10];
} BoardLedsSettings[THREAD_COUNT] =
{
    { LD3_GPIO_Port, LD3_Pin, 250,  "orange" },
    { LD4_GPIO_Port, LD4_Pin, 500,  "green" },
    { LD5_GPIO_Port, LD5_Pin, 750,  "red" },
    { LD6_GPIO_Port, LD6_Pin, 1000, "blue" }
};

/* Callback   () */
void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{
    if(GPIO_Pin == GPIO_PIN_0)
    {
        for (int i = 0; i < THREAD_COUNT; i++) tx_event_flags_set(&evt_group, EVT_KEYPRESS_THREAD(i), TX_OR);
    }
}

/* -worker   4  */
void thread_entry(ULONG thread_input)
{
    /*       */
    uint8_t led_state = GPIO_PIN_RESET;
    uint32_t cur_delay_ms = BoardLedsSettings[thread_input].blink_delay_ms;
    ULONG actual_flags_ptr;
    while(1)
    {
        HAL_GPIO_WritePin(BoardLedsSettings[thread_input].GPIOx, BoardLedsSettings[thread_input].GPIO_Pin, led_state);
        led_state = !led_state;
        if (TX_SUCCESS == tx_event_flags_get(&evt_group, EVT_KEYPRESS_THREAD(thread_input),
            TX_AND_CLEAR, &actual_flags_ptr, cur_delay_ms))
        {
            /*    " ".   */
            HAL_GPIO_WritePin(BoardLedsSettings[thread_input].GPIOx, BoardLedsSettings[thread_input].GPIO_Pin, GPIO_PIN_RESET);
            /* ,   ,    */
            tx_thread_sleep(LED_PAUSE_AND_DEBOUNCE_TIME_MS);
            /*    ,  ,         () */
            tx_event_flags_get(&evt_group, EVT_KEYPRESS_THREAD(thread_input), TX_AND_CLEAR, &actual_flags_ptr, TX_NO_WAIT);
            /*        */
            led_state = GPIO_PIN_SET;
            /*   */
            cur_delay_ms = (cur_delay_ms == BoardLedsSettings[thread_input].blink_delay_ms) ?
                cur_delay_ms * 2 : BoardLedsSettings[thread_input].blink_delay_ms;
        }
    }
}

/*   */
void tx_application_define(void *first_unused_memory)
{
    CHAR    *pointer = TX_NULL;

    /*  byte memory pool,          */
    tx_byte_pool_create(&byte_pool_0, "byte pool", memory_area, DEMO_BYTE_POOL_SIZE);

    /*    */
    tx_event_flags_create(&evt_group, "event group");

    /*    4 ,            BoardLedsSettings */
    for (int i = 0; i < THREAD_COUNT; i++)
    {
        /*     i */
        tx_byte_allocate(&byte_pool_0, (void **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);
        /*   i */
        tx_thread_create(&thread_x[i], BoardLedsSettings[i].thread_name, thread_entry, i, pointer, DEMO_STACK_SIZE,
            1, 1, TX_NO_TIME_SLICE, TX_AUTO_START);
    }
}

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Run — Debug Configurations, STM32 Cortex-M C/C++ New Configuration:

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tx_byte_pool_create(&byte_pool_0, "byte pool", memory_area, DEMO_BYTE_POOL_SIZE);

tx_byte_allocate(&byte_pool_0, (void **) &pointer, DEMO_STACK_SIZE, TX_NO_WAIT);

(pointer) :

tx_thread_create(&thread_x[i], BoardLedsSettings[i].thread_name, thread_entry, i, pointer, DEMO_STACK_SIZE,
    1, 1, TX_NO_TIME_SLICE, TX_AUTO_START);

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Azure RTOS () , FileX, NetX .. — .

, ThreadX , . Microsoft , Azure RTOS Microsoft — .

— , . sergant (at) quarta.ru.

Azure RTOS. Teil 1: Übersicht und Start (STM32 + CubeIDE + HAL)

Was ist das überhaupt?

Microsoft?

Azure RTOS

ThreadX STM32

,

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