--- 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`_ NuttX 架構 ------------ ＊ 可混用task跟thread。 ＊ 支援FPU。 ＊ 可混用FIFO跟RR。 與平台相關 ------------ Run Nuttx on STM32F429-Disco ---------------------------------------------- | (1) 從 https://github.com/deadbeefcafe/nuttx-stm32f4disc-bb 複製Nuttx到workspace | (2) cd workspace/nuttx-stm32f4disc-bb/nuttx/tools | (3) ./configure.sh stm32f429i-disco/nsh | (4) cd .. | (5) make CROSSDEV=arm-none-eabi- | (6) st-flash write nuttx.bin 0x8000000 | (7) sudo screen /dev/ttyUSB0 115200 8n1 Task state ------------ include/nuttx/sched.h .. 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 ------------ sched/os_internal.h .. code-block:: c typedef struct tasklist_s tasklist_t; 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 ------------ include/nuttx/sched.h .. code-block:: c struct tcb_s { /* Fields used to support list management *************************************/ FAR struct tcb_s *flink; /* Doubly linked list */ FAR struct tcb_s *blink; /* Task Management Fields *****************************************************/ pid_t pid; /* This is the ID of the thread */ start_t start; /* Thread start function */ entry_t entry; /* Entry Point into the thread */ uint8_t sched_priority; /* Current priority of the thread */ uint8_t task_state; /* Current state of the thread */ uint16_t flags; /* Misc. general status flags */ int16_t lockcount; /* 0=preemptable (not-locked) */ #if CONFIG_RR_INTERVAL > 0 int timeslice; /* RR timeslice interval remaining */ #endif /* Stack-Related Fields *******************************************************/ #ifndef CONFIG_CUSTOM_STACK size_t adj_stack_size; /* Stack size after adjustment */ /* for hardware, processor, etc. */ /* (for debug purposes only) */ FAR void *stack_alloc_ptr; /* Pointer to allocated stack */ /* Need to deallocate stack */ FAR void *adj_stack_ptr; /* Adjusted stack_alloc_ptr for HW */ /* The initial stack pointer value */ #endif /* POSIX Semaphore Control Fields *********************************************/ sem_t *waitsem; /* Semaphore ID waiting on */ /* POSIX Signal Control Fields ************************************************/ #ifndef CONFIG_DISABLE_SIGNALS sigset_t sigprocmask; /* Signals that are blocked */ sigset_t sigwaitmask; /* Waiting for pending signals */ sq_queue_t sigactionq; /* List of actions for signals */ sq_queue_t sigpendactionq; /* List of pending signal actions */ sq_queue_t sigpostedq; /* List of posted signals */ siginfo_t sigunbinfo; /* Signal info when task unblocked */ #endif /* POSIX Named Message Queue Fields *******************************************/ #ifndef CONFIG_DISABLE_MQUEUE FAR msgq_t *msgwaitq; /* Waiting for this message queue */ #endif /* The form and content of these fields are processor-specific. */ struct xcptcontext xcp; /* Interrupt register save area */ #if CONFIG_TASK_NAME_SIZE > 0 char name[CONFIG_TASK_NAME_SIZE]; /* Task name */ #endif : : : : : : }; Communication --------------------- Scheduling ---------------- include/sys/types.h .. code-block:: c /* HPUX-like MIN/MAX value */ #define PRIOR_RR_MIN 0 #define PRIOR_RR_MAX 255 #define PRIOR_FIFO_MIN 0 #define PRIOR_FIFO_MAX 255 #define PRIOR_OTHER_MIN 0 /* Not use */ #define PRIOR_OTHER_MAX 255 /* Not use */ /* Scheduling Priorities. NOTE: Only the idle task can take * the true minimum priority. */ #define SCHED_PRIORITY_MAX 255 #define SCHED_PRIORITY_DEFAULT 100 #define SCHED_PRIORITY_MIN 1 #define SCHED_PRIORITY_IDLE 0 Interrupt handler ------------------------ 測試環境架設 ------------ 硬體驅動原理 ------------ * `UART`_ * 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