Freertos学习：在Posix环境仿真FreeRTOS

---
title: rtos-freertos-在Posix环境仿真FreeRTOS
date: 2020-06-11 16:22:34
categories:
tags:
- freertos
- posix
- linux
- config
---

章节概述：

介绍如何在POSIX(Linux)环境完成FreeRTOS仿真。

下载源码

成果地址：https://gitee.com/schips/FreeRTOS-on-Linux.git

参考文档：《Posix/Linux Simulator for FreeRTOS》、《在Linux下实现FreeRTOS的简单模拟器》

1、进入官网上的例程，点击FreeRTOS contributed port下载，解压。

2、进入源码下载地址，下载自己喜欢的版本。

解压以后，现在我们有下面的2个目录：

FreeRTOSv10.3.1
Posix_GCC_Simulator

3、新建2个目录：kernel、user；分别用来放置FreeRTOS的内核、与用户这块的程序。

4、将FreeRTOSv10.3.1\FreeRTOS\Source下的文件拷贝到kernel：

• .h：拷贝所有
• .c：拷贝croutine.c、list.c、 queue.c以及tasks.c。

5、将Posix_GCC_Simulator\FreeRTOS_Posix\FreeRTOS_Kernel\下的portable拷贝到kernel

6、将Posix_GCC_Simulator\FreeRTOS_Posix下的FreeRTOSConfig.h拷贝到user

7、在user目录下创建main.c，并在其中预留一个空的main函数。

#include <stdio.h>

int main(int ac, char *av[])
{
    return 0;
}

编译脚本

参考官方示例的makefile，在根目录下创建Makefile文件，同样在子目录下也包含两个subdir.mk用来编译需要的对应的.o

Makefile

位于顶级目录

RM := rm -rf

PROJ_ROOT  :=.
USERDIR    :=user
KERINELDIR :=kernel

BUILD_TMP  :=$(PROJ_ROOT)/tmp
TARGET_INC := -I$(PROJ_ROOT)/$(USERDIR) \
              -I$(PROJ_ROOT)/$(KERINELDIR)/include \
              -I$(PROJ_ROOT)/$(KERINELDIR)/portable/GCC/Posix 

-include $(PROJ_ROOT)/$(USERDIR)/user.mk
-include $(PROJ_ROOT)/$(KERINELDIR)/kernel.mk

ifneq ($(MAKECMDGOALS),clean)
ifneq ($(strip $(C_DEPS)),)
-include $(C_DEPS)
endif
endif

all:simulator_linux.bin

simulator_linux.bin: $(OBJS)
    @echo 'Building target: $@'
    gcc -pthread -lrt -o"simulator_linux.bin" $(OBJS) $(LIBS)
    @echo 'Finished building target: $@'
    @echo ' '

clean:
    -$(RM) $(OBJS)$(C_DEPS)$(EXECUTABLES) simulator_linux.bin
    -@echo ' '

.PHONY: all clean dependents
.SECONDARY:

kernel.mk

C_SRCS += \
$(PROJ_ROOT)/$(KERINELDIR)/croutine.c \
$(PROJ_ROOT)/$(KERINELDIR)/list.c \
$(PROJ_ROOT)/$(KERINELDIR)/queue.c \
$(PROJ_ROOT)/$(KERINELDIR)/tasks.c \
$(PROJ_ROOT)/$(KERINELDIR)/portable/GCC/Posix/port.c \
$(PROJ_ROOT)/$(KERINELDIR)/portable/MemMang/heap_3.c 

OBJS += \
$(BUILD_TMP)/croutine.o \
$(BUILD_TMP)/list.o \
$(BUILD_TMP)/queue.o \
$(BUILD_TMP)/tasks.o \
$(BUILD_TMP)/port.o \
$(BUILD_TMP)/heap_3.o 

C_DEPS += \
$(BUILD_TMP)/croutine.d \
$(BUILD_TMP)/list.d \
$(BUILD_TMP)/queue.d \
$(BUILD_TMP)/tasks.d \
$(BUILD_TMP)/port.d \
$(BUILD_TMP)/heap_3.d 

$(BUILD_TMP)/%.o: $(PROJ_ROOT)/$(KERINELDIR)/%.c
	@echo 'Building file: $<'
	gcc -DUSE_STDIO=1 -D__GCC_POSIX__=1 $(TARGET_INC) -O2 -Wall -c -fmessage-length=0 -pthread -lrt -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o"$@" "$<"
	@echo 'Finished building: $<'
	@echo ' '

$(BUILD_TMP)/%.o: $(PROJ_ROOT)/$(KERINELDIR)/portable/GCC/Posix/%.c
	@echo 'Building file: $<'
	gcc -DUSE_STDIO=1 -D__GCC_POSIX__=1 $(TARGET_INC) -O2 -Wall -c -fmessage-length=0 -pthread -lrt -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o"$@" "$<"
	@echo 'Finished building: $<'
	@echo ' '

$(BUILD_TMP)/%.o: $(PROJ_ROOT)/$(KERINELDIR)/portable/MemMang/%.c
	@echo 'Building file: $<'
	gcc -DUSE_STDIO=1 -D__GCC_POSIX__=1 $(TARGET_INC) -O2 -Wall -c -fmessage-length=0 -pthread -lrt -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o"$@" "$<"
	@echo 'Finished building: $<'
	@echo ' '

user.mk

C_SRCS += \
$(PROJ_ROOT)/$(USERDIR)/main.c 

OBJS += \
$(BUILD_TMP)/main.o 

C_DEPS += \
$(BUILD_TMP)/main.d 

# Each subdirectory must supply rules for building sources it contributes
$(BUILD_TMP)/%.o: $(PROJ_ROOT)/$(USERDIR)/%.c
    @echo 'Building file: $<'
    gcc -DUSE_STDIO=1 -D__GCC_POSIX__=1 $(TARGET_INC) -O2 -Wall -c -fmessage-length=0 -pthread -lrt -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@:%.o=%.d)" -o"$@" "$<"
    @echo 'Finished building: $<'
@echo ' '

编译与改动

portmacro.h

由于v6.0与现在的版本差异较大，所以需要在 kernel/portable/GCC/Posix/portmacro.h进行适配。

添加：

#define portPOINTER_SIZE_TYPE unsigned long

添加：

/*--------------------------v10.3---------------------------------*/
typedef portSTACK_TYPE StackType_t;
typedef portBASE_TYPE BaseType_t;
typedef unsigned long UBaseType_t;

#define portTICK_PERIOD_MS                                ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
#if( configUSE_16_BIT_TICKS == 1 )
        typedef unsigned portSHORT TickType_t;
        #define portMAX_DELAY ( TickType_t ) 0xffff
#else
        typedef unsigned portLONG TickType_t;
        #define portMAX_DELAY ( TickType_t ) 0xffffffff
#endif
/*----------------------------------------------------------------*/

屏蔽掉：

/*
#if( configUSE_16_BIT_TICKS == 1 )
	typedef unsigned portSHORT portTickType;
	#define portMAX_DELAY ( portTickType ) 0xffff
#else
	typedef unsigned portLONG portTickType;
	#define portMAX_DELAY ( portTickType ) 0xffffffff
#endif
*/

屏蔽掉：

//#define portTICK_RATE_MS				( ( portTickType ) 1000 / configTICK_RATE_HZ )

main.c

新的

#include <stdio.h>
#include <stdlib.h>

#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

static void vTask1( void *pvParameters );
static void vTask2( void *pvParameters );

int main()
{
    static xQueueHandle xTestQueue;
    xTestQueue = xQueueCreate( 10, ( unsigned portBASE_TYPE ) sizeof( unsigned short ) );
    xTaskCreate( vTask1, "vTask1", configMINIMAL_STACK_SIZE, ( void * ) &xTestQueue, tskIDLE_PRIORITY, NULL );
    xTaskCreate( vTask2, "vTask2", configMINIMAL_STACK_SIZE, ( void * ) &xTestQueue, tskIDLE_PRIORITY, NULL );

    vTaskStartScheduler();
    return 1;
}

static void vTask1( void *pvParameters )
{
unsigned short usValue = 0, usLoop;
xQueueHandle *pxQueue;
const unsigned short usNumToProduce = 3;
short sError = pdFALSE;

    pxQueue = ( xQueueHandle * ) pvParameters;

    for( ;; )
    {
        for( usLoop = 0; usLoop < usNumToProduce; ++usLoop )
        {
            /* Send an incrementing number on the queue without blocking. */
            printf("Task1 will send: %d\r\n", usValue);
            if( xQueueSendToBack( *pxQueue, ( void * ) &usValue, ( portTickType ) 0 ) != pdPASS )
            {
                sError = pdTRUE;
            }
            else
            {
                ++usValue;
            }
        }
        vTaskDelay( 2000 );
    }
}
static void vTask2( void *pvParameters )
{
unsigned short usData = 0;
xQueueHandle *pxQueue;

    pxQueue = ( xQueueHandle * ) pvParameters;

    for( ;; )
    {
        while( uxQueueMessagesWaiting( *pxQueue ) )
        {
            if( xQueueReceive( *pxQueue, &usData, ( portTickType ) 0 ) == pdPASS )
            {
                printf("Task2 received:%d\r\n", usData);
            }
        }
        vTaskDelay( 5000 );
    }
}

/********************************************************/
/* This is a stub function for FreeRTOS_Kernel */
void vMainQueueSendPassed( void )
{
    return;
}

/* This is a stub function for FreeRTOS_Kernel */
void vApplicationIdleHook( void )
{
    return;
}