版本 a7590e8e2af19f7ccb024bd9f614c2cc740f2c25
Changes from a7590e8e2af19f7ccb024bd9f614c2cc740f2c25 to 6677878d549847dc5a5dcb4a6cb511a901258fb6
---
title: nuttx
categories: embedded, arm, stm32, stm32f429
toc: no
...
組員
----
* 翁振育
* 黃亮穎
* 蘇偉嘉
* 李英碩
Nuttx 參考應用
---------------
* `PX4 autopilot<http://pixhawk.org/dev/nuttx/start>`_
NuttX 架構
------------
* 可混用task跟thread。
* 支援FPU。
* 可混用FIFO跟RR。
與平台相關
------------
Run FreeRTOS on STM32F4-Discovery
------------
Task state
------------
.. code-block:: c
enum tstate_e
{
TSTATE_TASK_INVALID = 0, /* INVALID - The TCB is uninitialized */
TSTATE_TASK_PENDING, /* READY_TO_RUN - Pending preemption unlock */
TSTATE_TASK_READYTORUN, /* READY-TO-RUN - But not running */
TSTATE_TASK_RUNNING, /* READY_TO_RUN - And running */
TSTATE_TASK_INACTIVE, /* BLOCKED - Initialized but not yet activated */
TSTATE_WAIT_SEM, /* BLOCKED - Waiting for a semaphore */
#ifndef CONFIG_DISABLE_SIGNALS
TSTATE_WAIT_SIG, /* BLOCKED - Waiting for a signal */
#endif
#ifndef CONFIG_DISABLE_MQUEUE
TSTATE_WAIT_MQNOTEMPTY, /* BLOCKED - Waiting for a MQ to become not empty. */
TSTATE_WAIT_MQNOTFULL, /* BLOCKED - Waiting for a MQ to become not full. */
#endif
#ifdef CONFIG_PAGING
TSTATE_WAIT_PAGEFILL, /* BLOCKED - Waiting for page fill */
#endif
NUM_TASK_STATES /* Must be last */
};
Task list
------------
.. code-block:: c
typedef struct tasklist_s tasklist_t;
extern volatile dq_queue_t g_readytorun;
extern volatile dq_queue_t g_pendingtasks;
extern volatile dq_queue_t g_waitingforsemaphore;
#ifndef CONFIG_DISABLE_SIGNALS
extern volatile dq_queue_t g_waitingforsignal;
#endif
#ifndef CONFIG_DISABLE_MQUEUE
extern volatile dq_queue_t g_waitingformqnotempty;
#endif
#ifndef CONFIG_DISABLE_MQUEUE
extern volatile dq_queue_t g_waitingformqnotfull;
#endif
#ifdef CONFIG_PAGING
extern volatile dq_queue_t g_waitingforfill;
#endif
extern volatile dq_queue_t g_inactivetasks;
extern volatile sq_queue_t g_delayed_kufree;
#if defined(CONFIG_NUTTX_KERNEL) && defined(CONFIG_MM_KERNEL_HEAP)
extern volatile sq_queue_t g_delayed_kfree;
#endif
extern volatile pid_t g_lastpid;
extern pidhash_t g_pidhash[CONFIG_MAX_TASKS];
extern const tasklist_t g_tasklisttable[NUM_TASK_STATES];
TCB
------------
Communication
------------
Scheduling
------------
Interrupt handler
------------
測試環境架設
------------
硬體驅動原理
------------
* `UART<embedded/USART>`_
* FPU (Floating Point Unit)
效能表現
--------
參考資料
--------
* https://github.com/deadbeefcafe/nuttx-stm32f4disc-bb
* http://bibliodigital.itcr.ac.cr/xmlui/bitstream/handle/2238/3051/FinalReport.pdf