🚀 🤲🏿 👅 RTOS do Azure. Parte 1: visão geral e lançamento (STM32 + CubeIDE + HAL) ⏱️ 👉🏻 👺

No recente Microsoft Build 2020 , o Azure RTOS foi mencionado repetidamente como um SO dedicado em tempo real para microcontroladores.

Neste material, descobriremos consistentemente que tipo de sistema operacional ele é, que lugar ele ocupa nos produtos da Microsoft para sistemas embarcados, e também instalaremos o agendador de SO em um dos microcontroladores STM32.

Para quem não se interessa pela revisão, mas precisa da parte prática, vá direto.

Afinal, o que é isso?

Um microcontrolador é um microcircuito especializado que combina um microprocessador, memória e periféricos em um pacote. Ao contrário de um computador "grande", ele tem quantidades limitadas dessa mesma memória: os valores típicos para RAM e ROM são de dezenas a centenas de kilobytes.

Via de regra, o microcontrolador não possui MMU (embora haja exceções, mas essas são exatamente as exceções que seriam mais corretamente atribuídas a uma categoria completamente diferente de sistemas em um chip), ou seja, não há suporte de hardware para o mecanismo de memória virtual, que não permite o uso de "full-fledged" SO mesmo ao expandir a memória interna com microcircuitos externos.

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

threadx threadx-master.

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1 STM32F4DISCOVERY, 2 ( ) Next (3):

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Clock Configuration , :

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

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System Core SYS TIM7 Timebase Source Serial Wire Debug:

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

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

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Middlewares/threadx-master/common/inc

! Source Location , Source folders on build path :

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

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Middlewares/threadx-master/ports Project Explorer :

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

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( ):

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

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

STM32F407VGTX_FLASH.ld

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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)

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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

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g_pfnVectors:

_vectors:

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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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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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— , . sergant (at) quarta.ru.

RTOS do Azure. Parte 1: visão geral e lançamento (STM32 + CubeIDE + HAL)

Afinal, o que é isso?

Microsoft?

Azure RTOS

ThreadX STM32

,

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