章節概述：
介紹如何在POSIX(Linux)環境完成FreeRTOS仿真。
下載源碼
參考文檔：《Posix/Linux Simulator for FreeRTOS》、《在Linux下實現FreeRTOS的簡單模擬器》
1、進入官網上的例程，點擊FreeRTOS contributed port下載，解壓。
解壓以后，現在我們有下面的2個目錄：
FreeRTOSv10.3.1
Posix_GCC_Simulator
3、新建2個目錄：kernel、user；分別用來放置FreeRTOS的內核、與用戶這塊的程序。
4、將FreeRTOSv10.3.1\FreeRTOS\Source下的文件拷貝到kernel：
.h：拷貝所有.c：拷貝croutine.c、list.c、queue.c以及tasks.c。
5、將Posix_GCC_Simulator\FreeRTOS_Posix\FreeRTOS_Kernel\下的portable拷貝到kernel
6、將Posix_GCC_Simulator\FreeRTOS_Posix下的FreeRTOSConfig.h拷貝到user
7、在user目錄下創建main.c，並在其中預留一個空的main函數。
#include <stdio.h>
int main(int ac, char *av[])
{
return 0;
}
編譯腳本
參考官方示例的makefile，在根目錄下創建Makefile文件，同樣在子目錄下也包含兩個subdir.mk用來編譯需要的對應的.o
Makefile
位於頂級目錄
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 ' '
編譯與改動
portmacro.h
由於v6.0與現在的版本差異較大，所以需要在 kernel/portable/GCC/Posix/portmacro.h進行適配。
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;
}