我来教你如何将uTenux移植到GD32F207ZE小红板

lukaisi · 发表于 2016-3-11 09:56:00

GD32系列MCU作为较罕见的国产MCU产品表现出了很高的品质，特别是GD32F207ZET6芯片为基于Cortex-M3内核的通用MCU属于一款较高端的产品。
目前国产的RTOS更是百花齐放，既有trochiliOS，还有RT-Thread、SylixOS、djyos、raw-os、uTenux等等。在这里选择了uTenux移植到小红板。
uTenux实时操作系统是由大连悠龙软件公司以基于TRON标准的T-Kernel精简版本uT/Kernel为核心开发的，主要针对ARM系列微控制器从ARM7/9至Cortex M系列。在大连悠龙的官网上有关于uTenux的具体介绍，这里不再过多说明。
接下来，对uTenux的移植进行介绍。
根据GD32F207ZE小红板自带的软件（GD32-Colibri-F207ZE-DEMO）我们看到其已经对小红板的led、uart、key等给出了BSP（目录board中），因此这对方便我们移植起到了帮助。本次移植要实现led点亮和uart打印输出的功能以帮助测试uTenux。
从悠龙公司官网下载uTenux的源码包，目前最新版的uTenux为V2.0.00r400版，本移植工作就是针对这一版本进行。解压下载的源码包，可以在其中看到有uTenux的内核文件（source）、说明文件（manual）、代码示例（sample）等多个文件夹。其中uTenux与具体芯片无关的内核文件位于目录/source/uTenux/uTOS中，可将其整体复制到准备新建的工程中使用。
采用Keil MDK 5.16a工具进行移植开发工作。建立的文件目录如图所示，其中

uTOS中存放为上述的uTenux与具体芯片无关的内核文件；
Obj中为建立的keil工程文件；
GD32F207ZET6中为小红板的所有硬件相关文件；
App中为用户主程序和任务应用程序；
实现uTenux在小红板上的移植主要是对tk_config_depend.h、tm_monitor.c和startup_gd32f20x.s三个文件进行修改。
tk_config_depend.h中定义了所移植芯片的一些参数，以及对uTenux的配置参数，具体设置可以参考文件《uTOS内核移植指南_uTenux_uTOS_Porting_Guide_C》；

#ifndef __TK_CONFIG_DEPEND_H__
#define __TK_CONFIG_DEPEND_H__
#ifdef __cplusplus
extern "C" {
#endif
/*
* Vector ROM region definition, must be same as with startup code.
*/
#define TK_ROM_VECTORAREA_TOP 0x08000000UL /* ROM VCETOR table start */
#define TK_ROM_VECTORAREA_END 0x080001A8UL /* ROM VCETOR table end 418B */
#define TK_ROM_VECTOR_NUMBER 106U /* ROM VCETOR table size */
/*
* Kernel RAM region definition, ram region defined in link script must be same.
*/
#define TK_RAM_TOTALAREA_TOP 0x20000000UL /* Total Internal RAM start */
#define TK_RAM_VECTORAREA_TOP 0x20000000UL /* RAM VCETOR table start */
#define TK_RAM_VECTORAREA_END 0x200001A8UL /* RAM VCETOR table end 0.4K */
#define TK_RAM_BSSDATAAREA_TOP 0x200001A8UL /* Bss and Data area start */
#define TK_RAM_BSSDATAAREA_END 0x20002000UL /* Bss and Data area end 7.6k */
#define TK_RAM_SYSTEMAREA_TOP 0x20002000UL /* Kernel malloc area start */
#define TK_RAM_SYSTEMAREA_END 0x20012000UL /* Kernel malloc area end 64k */
#define TK_RAM_USERAREA_TOP 0x20012000UL /* User manual area start */
#define TK_RAM_USERAREA_END 0x20020000UL /* User manual area end 56k */
#define TK_RAM_STACKAREA_TOP 0x20020000UL /* Stack startup area start */
#define TK_RAM_STACKAREA_END 0x20020000UL /* Stack startup area end 0k */
#define TK_RAM_TOTALAREA_END 0x20020000UL /* Total Internal RAM end 128k */
#define TK_RAM_VECTOR_NUMBER 106U /* RAM VCETOR table size */
/*
* Use Chip Deep Sleep ( Stop and Standby ) function
*/
#define TK_USE_POW_DEEP 0U /* 0isable 1:Enable */
/*
* Kernel tick source timer clock function and definition
*/
#define TK_USE_SYSTICK_LESS 0U /* 0: use systick, 1: use other timer */
#define KNL_CFG_TIMER_CLOCK 72U /* Timer clock input(MHz)¡ê?select MCK */
#define KNL_CFG_TIMER_INTLEVEL 0U /* Timer interrupt level */
#define KNL_CFG_TIMER_PERIOD 10U /* Timer period(ms), between 1 and 50 */
/*
* System object number config
*/
#define KNL_CFG_MAX_TSKID 8
#define KNL_CFG_MAX_SEMID 4
#define KNL_CFG_MAX_FLGID 4
#define KNL_CFG_MAX_MBXID 2
#define KNL_CFG_MAX_MTXID 2
#define KNL_CFG_MAX_MBFID 2
#define KNL_CFG_MAX_PORID 2
#define KNL_CFG_MAX_MPLID 2
#define KNL_CFG_MAX_MPFID 2
#define KNL_CFG_MAX_CYCID 2
#define KNL_CFG_MAX_ALMID 2
/*
* Task priority config
*/
#define KNL_CFG_MAX_PRI 16U /* Large means low priority */
/*
* Use dynamic memory allocation when kernel init
*/
#define TK_USE_MALLOC 1U
/*
* Use dynamic exception and high level programming language handler support define
*/
#define TK_USE_INT_DEFHDR 1U /* Dynamic exception handler support */
#define TK_USE_INT_HLLHDR 1U /* High level program language support*/
/*
* Use FPU for active FPU function
*/
#define TK_USE_FPU 0U /* 0isable 1:Enable */
/*
* Use clean-up sequence when kernel exit
*/
#define KNL_CFG_USE_CLEANUP 1U
/*
* Debugger support function
* 0: Invalid
* 1: Valid
*/
#define TK_USE_DBGSPT 0U
/*
* Use program trace function (in debugger support)
*/
#define TK_USE_HOOK_TRACE 0U
/*
* Use object name to each control block
* 0: Do not use object name
* 1: Use object name
*/
#define TK_USE_OBJ_NAME 1U
#define TK_OBJ_NAME_LENGTH 8U /* Object name length (Byte) */
/*
* Use tm_monitor to output kernel message
*/
#define TK_USE_TM_MONITOR 1U
/*
* Output (error) messages from Kernel
* 0: Do not output message
* 1: Output message
*/
#define TK_USE_MESSAGE 1U
/*
* Predefined boot message
*/
#define KNL_CFG_BOOT_MESSAGE \
"\n" \
"-------------------------------------------------------\n" \
" micro Tenux \n" \
" Supported MCU is GD32F207ZET6 \n" \
" (build 0400) \n" \
" Copyright(c) 2008-2014 by Tenux Open Source Society \n" \
"-------------------------------------------------------\n" \
"\n\0"
#ifdef __cplusplus
}
#endif
#endif /* __TK_CONFIG_DEPEND_H__ */

复制代码
tm_monitor.c中主要是用于uTenux输出信息的一些函数，需要对其与小红板BSP进行适配修改，这里只需小的修改就可和小红板自带DEMO中colibri_bsp_uart.c文件中的函数进行替换；

#include "colibri_bsp_uart.h"
#include "gd32f20x.h"
#include <tm_monitor.h>
#if TK_USE_TM_MONITOR
/* Definition of normal control char */
#define TM_CHAR_NUL 0x00U /* null character */
#define TM_CHAR_ETX 0x03U /* end of text character */
#define TM_CHAR_CR 0x0DU /* carriage return character */
#define TM_CHAR_LF 0x0AU /* line feed character */
/*
* Function Name : tm_getchar
* Create Date : 2013/2/18-2014/4/1
* Author : wangshb
* Description : disable interrupt,then receive char from console,util success
* supported only on wait != 0 (polling not supported)
* Param : int32_t wait: no used
* Return Code : int32_t c: char to receive
*/
int32_t tm_getchar( int32_t wait )
{
uint8_t c;
uint32_t imask;
char character;
/* Disable interrupt */
imask = __get_PRIMASK();
__set_PRIMASK( 0x1u );
//c = tm_recvuart();
EvbUart1ReadByte(&character);
c = (uint8_t)character;
/* Enable interrupt */
__set_PRIMASK( imask );
return (int32_t)c;
}
/*
* Function Name : tm_getline
* Create Date : 2013/2/18-2014/4/1
* Author : wangshb
* Description : disable interrupt,then receive a line from console,util success
* special key is not supported
* Param : uint8_t *buff: buffer to save one line chars
* Return Code : int32_t len: line length to receive
*/
int32_t tm_getline( uint8_t *buff )
{
int32_t len = 0;
uint32_t imask;
/* Disable interrupt */
imask = __get_PRIMASK();
__set_PRIMASK( 0x1u );
for (;;) {
//*buff = tm_recvuart();
EvbUart1ReadByte(buff);
//tm_senduart(*buff); /* echo back */
EvbUart1WriteByte(*buff);
if ( *buff == TM_CHAR_CR ) {
//tm_senduart(TM_CHAR_LF);
EvbUart1WriteByte(TM_CHAR_LF);
*buff = TM_CHAR_NUL;
} else if ( *buff == TM_CHAR_ETX ) {
*buff = TM_CHAR_NUL;
len = -1;
}
if ( *buff == TM_CHAR_NUL ) {
break;
}
len++;
buff++;
}
/* Enable interrupt */
__set_PRIMASK( imask );
return len;
}
#endif /* TK_USE_TM_MONITOR */
/*
* Function Name : tm_monitor
* Create Date : 2013/2/18-2013/4/26
* Author : wangshb
* Description : Empty loop
* Param : none
* Return Code : none
*/
void tm_monitor( void )
{
for(;;) {
;
}
}
#if TK_USE_TM_MONITOR
/*
* Function Name : tm_putchar
* Create Date : 2013/2/18-2014/4/1
* Author : wangshb
* Description : send a char to console util success
* Ctrl-C is not supported
* Param : int32_t c: char to send
* Return Code : int32_t len: not used
*/
int32_t tm_putchar( int32_t c )
{
uint8_t buf = (uint8_t)c;
uint32_t imask;
/* Disable interrupt */
imask = __get_PRIMASK();
__set_PRIMASK( 0x1u );
if (buf == TM_CHAR_LF) {
//tm_senduart(TM_CHAR_CR);
EvbUart1WriteByte(TM_CHAR_CR);
}
//tm_senduart(buf);
EvbUart1WriteByte(buf);
/* Enable interrupt */
__set_PRIMASK( imask );
return 0;
}
/*
* Function Name : tm_putstring
* Create Date : 2013/2/18-2014/4/1
* Author : wangshb
* Description : send a string to console util success
* Ctrl-C is not supported
* Param : const uint8_t *buff: string to send
* Return Code : int32_t len: not used
*/
int32_t tm_putstring( const uint8_t *buff )
{
uint32_t imask;
/* Disable interrupt */
imask = __get_PRIMASK();
__set_PRIMASK( 0x1u );
while ( *buff != TM_CHAR_NUL ) {
if (*buff == TM_CHAR_LF) {
//tm_senduart(TM_CHAR_CR);
EvbUart1WriteByte(TM_CHAR_CR);
}
//tm_senduart(*buff);
EvbUart1WriteByte(*buff);
buff++;
}
/* Enable interrupt */
__set_PRIMASK( imask );
return 0;
}
#endif /* TK_USE_TM_MONITOR */

复制代码
startup_gd32f20x.s中为小红板的启动文件，是汇编语言写的。这里需要将sysTick和PendSV所对应的中断处理函数替换为uTenux所提供的函数；

Stack_Size EQU 0x400
AREA STACK, NOINIT, READWRITE, ALIGN = 3
Stack_Mem SPACE Stack_Size
__initial_sp
;// <h> Heap Configuration
;// <o> Heap Size (in Bytes) <0-4096:8>
;// </h>
Heap_Size EQU 0x200
AREA HEAP, NOINIT, READWRITE, ALIGN = 3
__heap_base
Heap_Mem SPACE Heap_Size
__heap_limit
IMPORT knl_dsp_entry [WEAK]
IMPORT knl_int_tckhdr [WEAK]
PRESERVE8
THUMB
; Vector table entries with the exceptions ISR address
AREA RESET, DATA, READONLY
EXPORT __Vectors
EXPORT __Vectors_End
EXPORT __Vectors_Size
__Vectors DCD __initial_sp ; Top of Stack
DCD Reset_Handler ; Vector Number 1,Reset Handler
DCD NMI_Handler ; Vector Number 2,NMI Handler
DCD HardFault_Handler ; Vector Number 3,Hard Fault Handler
DCD MemManage_Handler ; Vector Number 4,MPU Fault Handler
DCD BusFault_Handler ; Vector Number 5,Bus Fault Handler
DCD UsageFault_Handler ; Vector Number 6,Usage Fault Handler
DCD 0 ; Reserved
DCD 0 ; Reserved
DCD 0 ; Reserved
DCD 0 ; Reserved
DCD SVC_Handler ; Vector Number 11,SVCall Handler
DCD DebugMon_Handler ; Vector Number 12,Debug Monitor Handler
DCD 0 ; Reserved
;DCD PendSV_Handler ; Vector Number 14,PendSV Handler
;DCD SysTick_Handler ; Vector Number 15,SysTick Handler
DCD knl_dsp_entry ; Vector Number 14,knl_dsp_entry
DCD knl_int_tckhdr ; Vector Number 15,knl_int_tckhdr

复制代码
uTenux启动任务的过程为：
main()->initctsk()->usermain()->App_TaskCreate()->App_TaskStart()
这里建立三个用户任务：tsk_id_LED_R；tsk_id_LED_G；tsk_id_LED_Y分别点亮三个LED并通过uart输出相应的信息。
以上就是对在小红板上移植uTenux的阶段总结。目前移植工作还未完成，存在任务启动后没有输出信息的问题，正在进一步解决中，所以就先不上传代码了。还是先把作业交了占个位置吧。
TRON标准是国际上嵌入式领域OS开发的一个标准，因此这里对uTenux进行了研究和移植。当然对于RTOS还是要根据开发工作的需要进行选择。对于学习而言更推荐参考资料全面的trochiliOS，它有和小红板配套的教材《嵌入式实时操作系统原理与最佳实践》。毕竟RTOS的原理基本是类似的，一通百通吗。

我来教你如何将uTenux移植到GD32F207ZE小红板

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