英飞凌TC397移植FreeRTOS
一、准备工作
1.FreeRTOS源码
2.STM驱动代码
3.中断相关配置文件
4.AURIX Developement Studio初始工程（包含SDK）
二、配置portmacro.h
1.主要接口配置
#define portYIELD() __syscall( 0 )
/* Set ICR.CCPN to configMAX_SYSCALL_INTERRUPT_PRIORITY. */
#define portDISABLE_INTERRUPTS() { \
uint32_t ulICR; \
__disable(); \
ulICR = __mfcr(CPU_ICR); /* Get current ICR value. */ \
ulICR &= ~portCCPN_MASK; /* Clear down mask bits. */ \
ulICR |= configMAX_SYSCALL_INTERRUPT_PRIORITY; /* Set mask bits to required priority mask. */ \
__dsync(); \
__mtcr(CPU_ICR, ulICR ); /* Write back updated ICR. */ \
__isync(); \
__enable(); \
}
/* Clear ICR.CCPN to allow all interrupt priorities. */
#define portENABLE_INTERRUPTS() { \
uint32_t ulICR; \
__disable(); \
ulICR = __mfcr(CPU_ICR); /* Get current ICR value. */ \
ulICR &= ~portCCPN_MASK; /* Clear down mask bits. */ \
__dsync(); \
__mtcr(CPU_ICR, ulICR ); /* Write back updated ICR. */ \
__isync(); \
__enable(); \
}
/* Set ICR.CCPN to uxSavedMaskValue. */
#define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedMaskValue ) \
{ \
uint32_t ulICR; \
__disable(); \
ulICR = __mfcr(CPU_ICR); /* Get current ICR value. */ \
ulICR &= ~portCCPN_MASK; /* Clear down mask bits. */ \
ulICR |= uxSavedMaskValue; /* Set mask bits to previously saved mask value. */ \
__dsync(); \
__mtcr(CPU_ICR, ulICR ); /* Write back updated ICR. */ \
__isync(); \
__enable(); \
}
#define portYIELD_FROM_ISR( xHigherPriorityTaskWoken ) \
if( xHigherPriorityTaskWoken != pdFALSE ) { \
uint32 cpu_index = __mfcr(CPU_CORE_ID); \
cpu_index = ((cpu_index < 5) ? cpu_index : 5); \
GPSR_list[cpu_index].B.SETR = 1; \
__isync(); }
2.配置选项
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
/* CPU is actually 300MHz but FPIDIV is 2 meaning divide by 3 for the
peripheral clock. */
#define configCPU_CLOCK_HZ ( IFX_CFG_SCU_PLL_FREQUENCY )
#define configPERIPHERAL_CLOCK_HZ ( ( unsigned long ) configCPU_CLOCK_HZ / 3UL )
#define configTICK_RATE_HZ ( ( TickType_t ) 1000UL )
#define configMAX_PRIORITIES ( 8 )/* Task priority. */
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 128 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 64U * 1024U ) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
#define configUSE_MALLOC_FAILED_HOOK 1
#define configCHECK_FOR_STACK_OVERFLOW 0
#define configUSE_TICK_HOOK 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_RECURSIVE_MUTEXES 0
#define configUSE_MUTEXES 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
/* Software timer configuration. */
#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY ( 4 )
#define configTIMER_QUEUE_LENGTH ( 5 )
#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
/* Set the following definitions to 1 to include the API function, or zero
to 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
#define configMAX_SYSCALL_INTERRUPT_PRIORITY RTOS_SYSCALL_INT_PRIORITY_MAX /* Interrupt above priority 64 are not effected by critical sections, but cannot call interrupt safe FreeRTOS functions. */
#define configKERNEL_INTERRUPT_PRIORITY RTOS_SYSTICK_INT_PRIORITY /* This is defined here for clarity, but the value must not be changed from 2. */
#define configKERNEL_YIELD_PRIORITY ROTS_TSW_INT_PRIORITY /* This is defined here for clarity, but must not be changed from its default value of 1. */
/* Default definition of configASSERT(). */
#define configASSERT( x ) if( ( x ) == 0 ) { portDISABLE_INTERRUPTS(); for( ;; ); }
3.遇到的问题
- 注意__attribute__用法，前后两个下划线。
- IfxCpu_Irq_installInterruptHandler编译不通过问题，可暂时注释掉，因为此函数涉及到回调函数的注册，若后续发现中断问题，请首先调查此处。
- 程序中涉及到的寄存器操作指令，写法统一加上两个下划线且小写，例如：__mfcr;__isync;
三、结语
本次移植过程由于参考了第三方TASKING工程示例代码（目的是将TASKING项目转移到AURIX Development Studio项目），篇幅有限，故port接口中的详细内容没办法展示，移植FreeRTOS的主要思想就是port接口的几个关键API的实现，中断的配置等等，并不局限于哪款单片机，此次移植过程作为工作中的查错记录使用，关于TC3978问题可以和本人沟通，后续有相关内容会继续补充，加油，汽电人。