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README
Apache-2.0

介绍

本项目包括一个示例工程。此工程是在反客STM32F429开发板上移植XWOS的示例工程。

FK429M1

XWOS

玄武操作系统(XWOS®)开发于2015年,是一款运行在嵌入式微控制器上的通用实时操作系统, 主要面向可靠、实时、安全的应用领域,包括汽车、物联网、工控等。

开发指南

下载源码

git clone --recursive https://gitee.com/xwos/FK429M1XWOS.git

搭建开发环境

参考 http://xwos.tech/docs/UserManual/Board/STM32/Env/

导入工程到STM32CubeIDE

工程需放在STM32CubeIDE的工作目录内(即STM32CubeIDE启动时指定的目录)。

  • 菜单: File --> Import... --> General --> Projects from Folder or Archive

STM32CubeMX配置工程

MCU的驱动是使用 STM32CubeMX 进行配置的,并未直接在 STM32CubeIDE 内配置。 STM32CubeMX 配置文件的路径 STM32Cube/FK429M1.ioc

用户修改配置时,需要注意中断优先级的要求:

切换上下文的中断为系统中最低优先级中断
切换上下文的中断 <= 滴答定时器的中断 <= 调度器服务中断
  • NVIC设置
    • 设置 3 个抢占优先级位和 1 个子优先级位;
    • SVC中断设置成 最高 优先级,即 Preemption Priority0
    • PendSV中断设置成 最低 优先级,即 Preemption Priority7
    • Systick中断设置成 最低 优先级,即 Preemption Priority7
    • 系统Fault的优先级设置为 0
    • 其他中断的优先级只可在 1~6 之间。

编译

有两种方法可以编译,两种方法结果产生一样:

  • 打开终端,并将当前路径切换到工程的 Board 目录,执行 make 命令。
  • 在IDE中点击 编译 按钮。

已知问题

  • 平台:Windows 11
  • 问题现象:STM32CubeIDE中编译时,提示错误 make (e=3): 系统找不到指定的路径。
  • 问题原因:STM32CubeIDE自带的 make 命令版本不兼容。
  • 解决方法:使用 XWTC 中提供的 make 命令,设置方法如下:

img

调试

  • 菜单: Run --> Debug Configurations...
    • FK429M1XWOS-Openocd-DAPLink.launchgdb + Openocd + DAPLink调试器
    • FK429M1XWOS-Openocd-JLink.launchgdb + Openocd + JLink调试器
    • FK429M1XWOS-STLink.launchgdb + STLink
    • FK429M1XWOS-JLink.launchgdb + JLink

调试步骤

  • 准备一张SD卡,格式化为FAT32文件系统;
  • 将文件夹 XWOS/xwam/example/lua/ 内的lua脚本拷贝到SD卡内;
  • 将SD卡插入开发板;
  • 使用USB串口与开发板上的 USART1(TX:PA9,RX:PA10) 链接;
  • 打开终端工具(windows可选putty、SecretCRT,Linux可选gtkterm、picocom、minicom),串口参数:1M波特率/8位数据/1位停止位/无奇偶校验
  • 上电,并在STM32CubeIDE中启动调试,等待MCU运行到初始断点;
  • 开始单步调试或连续运行调试。

调试技巧

ARMv7-M4内核的MCU带有写缓冲,会对定位程序BUG带来困扰。 可以在调试时将下面的宏定义为 1 关闭写缓冲:

/* Board/cfg/board.h */

#define BRDCFG_CM4_DISDEFWBUF 1

运行过程

  • 程序入口: App/main.c
  • 启动流程:
    • xwos_main() 创建一个主线程 main_task()
    • main_task() 依次调用各个 玄武模块xxx_start() 函数完成对各个模块加载;
    • 开始并行执行各个模块中创建的线程。

img

客制化

工程改名

  1. 可通过命令 find . -type f -name "*FK429M1XWOS*" 搜索所有文件名包含 FK429M1XWOS 的文件,将其改为 新工程名
  2. 可通过命令 find . -path "./.git" -prune -o -type f -exec grep -i -H "FK429M1XWOS" {} \; 搜索所有内容包含 FK429M1XWOS 的文件, 然后依次打开,将其全部替换为 新工程名

连接到外部静态库

可在文件 Board/lib.mk 中定义外部静态库:

  • EINCDIRS :外部静态库头文件列表
    • EINCDIRS_gcc :只对gcc编译器生效的外部静态库头文件列表
    • EINCDIRS_llvm :只对clang编译器生效的外部静态库头文件列表
  • ELIBS :外部静态库列表
    • ELIBS_gcc :只对gcc编译器生效的外部静态库列表
    • ELIBS_llvm :只对clang编译器生效的外部静态库列表

源码说明

源码结构

  • App:C/C++应用程序模块
  • Board: 电路板目录 ,也是编译开始的目录,在XWOS的编译系统中,用 $(XWOS_BRD_DIR) 表示此目录。
  • DebugConfiguration:调试配置文件
  • Doc:文档
  • RustApp:Rust应用程序模块
  • STM32Cube:STM32CubeMX的工程
  • Tools:脚本与工具
  • XWOS:XWOS的源码
  • CHANGELOG.md:变更日志
  • LICENSE.txt:开源协议
  • README.md:使用说明(本文件)

BSP

  • STM32Cube模块: STM32Cube
    • STM32CubeMX配置文件: STM32Cube/FK429M1.ioc
  • 中断向量表: STM32Cube/Core/Src/ivt.c
    • 自动生成的脚本: Tools/el/stm32ivt.el
  • CCMRAM
    • 映射地址: 0x10000000
    • 大小: 64KiB
    • 内存管理算法:伙伴算法 XWOS/xwos/mm/bma.c
      • 头文件
        • Board/board/ccmram.h
  • SDRAM
    • 映射地址: 0xD0000000
    • 大小: 16MiB
    • 内存管理算法:内存池 XWOS/xwos/mm/mempool
      • 头文件
        • Board/sdram.h
      • 覆盖libc的动态内存管理的函数,使用C的 malloc()/free() 或C++的 new/delete 关键字时,将从SDRAM申请内存。
        • 相关实现,参考:
          • XWOS/xwmd/libc/newlibac/mem.c
          • Board/XWAC/newlib/mem.c
          • XWOS/xwmd/libc/picolibcac/mem.c
          • Board/XWAC/picolibc/mem.c
  • 终端UART
    • 设备:USART1
    • 参数:1M波特率/8位数据/1位停止位/无奇偶校验
    • 驱动(由上往下分为三层)
      • 设备栈提供统一的接口框架: XWOS/xwmd/ds/uart
      • 适配设备栈接口的驱动: Board/XWAC/xwds/uart.c
      • STM32Cube驱动: STM32Cube/Core/Src/usart.c
        • 注意:官方驱动库中的驱动存在BUG,XWOS所提供的代码已修复。
  • SD卡
    • 文件系统: XWOS/xwem/fs/fatfs
      • 文件系统接口: Board/XWAC/fatfs
      • STM32Cube驱动: STM32Cube/Core/Src/sdio.c

Lua

  • 版本: 5.4
  • LUA虚拟机: XWOS/xwem/vm/lua/src
  • XWLUA适配层: XWOS/xwem/vm/lua/src
  • LUA虚拟机运行时的内存池: Board/XWAC/lua
  • 已注册的驱动库: LuaMod/ds.c
    • SOC: stm32

FatFS

  • 版本: 0.15
  • 文件系统路径: "sd:/"
  • 源码: XWOS/xwem/fs/fatfs
    • 文件系统接口: Board/XWAC/fatfs
    • STM32Cube驱动: STM32Cube/Core/Src/sdmmc.c

libc

XWOS支持 gcc+newlibllvm+picolibc

newlib

  • 驱动层适配代码: Board/XWAC/newlib
    • 标准输入、输出/错误:重定向至 USART1
    • 文件系统:位于SD卡内,从路径 sd:/ 开始
    • 动态内存管理:由 SDRAM 的内存池提供

picolibc

  • 驱动层适配代码: Board/XWAC/picolibc
    • 标准输入、输出/错误:重定向至 USART1
    • 文件系统:位于SD卡内,从路径 sd:/ 开始
    • 动态内存管理:由 SDRAM 的内存池提供

电源管理

  • 驱动: Board/XWAC/xwds/pm.c

Rust

  • 入口: Rustapp : xwrust_main()
    • 被主线程 main_task() 调用。
  • 示例:可在 xwrust_main() 中调用示例,快速上手XWRUST。
    • 动态线程: XWOS/xwam/xwrust-example/xwrust_example_dthd
    • 静态线程: XWOS/xwam/xwrust-example/xwrust_example_sthd
    • 软件定时器: XWOS/xwam/xwrust-example/xwrust_example_swt
      • 互斥锁: XWOS/xwam/xwrust-example/xwrust_example_mutex
      • 自旋锁: XWOS/xwam/xwrust-example/xwrust_example_spinlock
      • 顺序锁: XWOS/xwam/xwrust-example/xwrust_example_seqlock
    • 同步
      • 信号量: XWOS/xwam/xwrust-example/xwrust_example_sem
      • 条件量: XWOS/xwam/xwrust-example/xwrust_example_cond
      • 事件标志: XWOS/xwam/xwrust-example/xwrust_example_flg
      • 线程栅栏: XWOS/xwam/xwrust-example/xwrust_example_br
      • 信号选择器: XWOS/xwam/xwrust-example/xwrust_example_sel
    • 循环队列: XWOS/xwam/xwrust-example/xwrust_example_xwcq
    • 消息队列: XWOS/xwam/xwrust-example/xwrust_example_xwmq

示例

XWOS中有很多示例,用户可以在 main_task() 主线程中调用示例的 xxx_start() 进行实验, 可以快速上手XWOS。

  • 线程
    • 创建线程: XWOS/xwam/example/thd/new
    • 线程睡眠: XWOS/xwam/example/thd/sleep
    • 线程退出: XWOS/xwam/example/thd/exit
  • 定时器: XWOS/xwam/example/swt
  • 同步
    • 信号量: XWOS/xwam/example/sync/sme
    • 条件量: XWOS/xwam/example/sync/cond
    • 事件标志: XWOS/xwam/example/sync/flg
    • 线程栅栏: XWOS/xwam/example/sync/br
    • 信号选择器: XWOS/xwam/example/sync/sel
    • 中断管理: XWOS/xwam/example/lock/cpuirq
    • 自旋锁: XWOS/xwam/example/lock/spinlock
    • 顺序锁: XWOS/xwam/example/lock/seqlock
    • 互斥锁: XWOS/xwam/example/lock/mtx
  • 内存管理
    • 简单内存分配器: XWOS/xwam/example/mm/sma
    • 内存切片分配器: XWOS/xwam/example/mm/memslice
    • 伙伴算法分配器: XWOS/xwam/example/mm/bma
  • 玄武C库
    • CRC: XWOS/xwam/example/xwlib/crc
  • C++: XWOS/xwam/example/cxx

实验时,最好一次只启动一个示例,避免日志冲突。 实验时,也可将Lua虚拟机关闭。方法是将配置文件 Board/cfg/xwem.h 中的配置 XWEMCFG_vm_lua 改为 0

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移植XWOS到反客STM32F429开发板上的示例工程。 展开 收起
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