【瑞萨RA4系列开发板体验】KEIL环境搭建+STLINK调试+FreeRTOS...

RA助手 · 发表于 2023-2-8 14:38:02

【瑞萨RA4系列开发板体验】KEIL环境搭建+STLINK调试+FreeRTOS使用
作者：hehung

下面是之前发的帖子，请参考：
【瑞萨RA4系列开发板体验】新建工程+按键控制LED

前言

上一篇帖子讲解了如何基于e2从头创建一个新的工程，但是因为没有JLINK，下载软件很麻烦，而且也不能在线DEBUG，所以想着在MDK上搭建环境，因为MDK上支持多种调试器，可以利用手头的ST-LINK来作为调试器下载与debug。

本文实现主要内容：

MDK环境搭建以及ST-LINK调试配置；
使用freeRTOS实现按键以及LED功能。

MDK环境搭建

MDK的环境搭建还是比较简单，官网给了教程，点击下载：
[color=rgb(12, 147, 228) !important]https://sq.ramcu.cn/forum.php?mod=attachment&aid=Njg3fGZlNmU0OGQwfDE2Njk1MzIwNDF8NDcyfDE4Mw%3D%3D

MDK也需要RASC配置工具的支持，所以也需要下载配置工具，可以到瑞萨的官网下载，提供了百度云，也可以到github下载，但是比较慢。
瑞萨工具下载(官网)：[color=rgb(12, 147, 228) !important]https://ramcu.cn/lists/21.html[url]https://ramcu.cn/lists/21.html[/url]
百度云：[color=rgb(12, 147, 228) !important]https://pan.baidu.com/s/1h-qcTIGobEBK88NgHODUhg?pwd=odqe#list/path=%2F

环境搭建过程不在赘述，参考文档即可，我这里主要说一下基于RA4M2搭建以及使用ST-LINK调试时需要注意的事项。

根据手头的调试器选择自己的调试工具，我手头的是ST-LINK

2.加载下载算法文件以及算法存放在RAM中的地址

算法下载地址是根据RA4M2的地址分布来确定的，算法需要下载到RAM中, 需要的大小可以自己确定，这里选择0x1000，如果不够的话下载不成功。

FreeRTOS使用

我在创建工程的时候选择了使用FreeRTOS，RASC会默认配置一个最小配置项的freeRTOS环境，只支持基本的功能，很多扩展功能都不支持，只支持静态创建任务，我还没找到在哪里可以配置，因为直接修改配置文件不行，RASC再次生成的时候会覆盖。

虽然freeRTOS只支持静态配置以及一些基础功能，但是也够我们使用了，下面开始实现我的逻辑。

实现Idle任务的Stack分配函数

因为是静态分配栈，所以该部分功能需要我们自己实现，FreeRTOS提供了接口。

/* Implement the Idle task memory static alocation */
void vApplicationGetIdleTaskMemory(StaticTask_t ** ppxIdleTaskTCBBuffer,
StackType_t ** ppxIdleTaskStackBuffer,
uint32_t * pulIdleTaskStackSize)
{
*ppxIdleTaskTCBBuffer = &xIdleTaskTcb;
*ppxIdleTaskStackBuffer = xIdleTaskStack;
*pulIdleTaskStackSize = 1024;
}

复制代码

实现Timer任务的Stack分配函数

因为是静态分配栈，所以该部分功能需要我们自己实现，FreeRTOS提供了接口。

/* Implement the Timer task memory static alocation */
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer,
uint32_t *pulTimerTaskStackSize)
{
*ppxTimerTaskTCBBuffer = &xTimerTaskTcb;
*ppxTimerTaskStackBuffer = xTiemrTaskStack;
*pulTimerTaskStackSize = 2048;
}

复制代码

新建LED任务
LED任务实现流水灯功能，每200ms切换一次。
任务创建:

/* Create static task */
Task_Led_Handle = xTaskCreateStatic(Task_LedRunning,
"Led", /* Task name */
1024, /* Stack */
NULL, /* Task parameter */
4, /* Priority */
xTaskLedStack,
&xTaskLedTcb); /* Task handler */

复制代码

LED任务实现:

static void Task_LedRunning(void *pvParameters)
{
(void)pvParameters;
for (;;)
{
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_04, BSP_IO_LEVEL_HIGH);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_05, BSP_IO_LEVEL_LOW);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_15, BSP_IO_LEVEL_LOW);
/* Delay for 200ms */
vTaskDelay(pdMS_TO_TICKS(200));
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_04, BSP_IO_LEVEL_LOW);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_05, BSP_IO_LEVEL_HIGH);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_15, BSP_IO_LEVEL_LOW);
/* Delay for 200ms */
vTaskDelay(pdMS_TO_TICKS(200));
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_04, BSP_IO_LEVEL_LOW);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_05, BSP_IO_LEVEL_LOW);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_15, BSP_IO_LEVEL_HIGH);
/* Delay for 200ms */
vTaskDelay(pdMS_TO_TICKS(200));
}
}

复制代码

新建Key任务
按键实现了对按键SW1与SW2的采集，滤波等功能，任务周期为10ms，滤波时间为40ms。
当SW1按下，暂停LED任务；
当SW2按下，恢复LED任务。
任务创建：

Task_Key_Handle = xTaskCreateStatic(Task_KeyRunning,
"Key", /* Task name */
1024, /* Stack */
NULL, /* Task parameter */
3, /* Priority */
xTaskKeyStack,
&xTaskKeyTcb); /* Task handler */

复制代码

任务实现：

static void Task_KeyRunning(void *pvParameters)
{
(void)pvParameters;
bsp_io_level_t key_Status[2] = {BSP_IO_LEVEL_HIGH, BSP_IO_LEVEL_HIGH};
uint16_t key_press_cnt[2] = {0U, 0U};
for (;;)
{
if (FSP_SUCCESS == R_IOPORT_PinRead(&g_ioport_ctrl, BSP_IO_PORT_00_PIN_05, &key_Status[0]))
{
if (key_Status[0] == BSP_IO_LEVEL_LOW)
{
/* Filter */
if (key_press_cnt[0] >= 0U)
{
/* Key SW0 press confirm */
/* Suspend led task */
vTaskSuspend(Task_Led_Handle);
}
else
{
key_press_cnt[0] ++;
}
}
else
{
key_press_cnt[0] = 0U;
}
}
if (FSP_SUCCESS == R_IOPORT_PinRead(&g_ioport_ctrl, BSP_IO_PORT_00_PIN_06, &key_Status[1]))
{
if (key_Status[1] == BSP_IO_LEVEL_LOW)
{
/* Filter */
if (key_press_cnt[1] >= 4U)
{
/* Key SW1 press confirm */
/* Resume led task */
vTaskResume(Task_Led_Handle);
}
else
{
key_press_cnt[1] ++;
}
}
else
{
key_press_cnt[1] = 0U;
}
}
vTaskDelay(pdMS_TO_TICKS(10));
}
}

复制代码

完整代码

#include "hal_data.h"
#include "FreeRTOS.h"
#include "task.h"
FSP_CPP_HEADER
void R_BSP_WarmStart(bsp_warm_start_event_t event);
FSP_CPP_FOOTER
/* Stack for Idle task */
static StackType_t xIdleTaskStack[512];
static StaticTask_t xIdleTaskTcb;
/* Stack for Timer task */
static StackType_t xTiemrTaskStack[512];
static StaticTask_t xTimerTaskTcb;
/* Staack for LED task */
static StackType_t xTaskLedStack[1024];
static StaticTask_t xTaskLedTcb;
static TaskHandle_t Task_Led_Handle = NULL;
/* Staack for LED task */
static StackType_t xTaskKeyStack[1024];
static StaticTask_t xTaskKeyTcb;
static TaskHandle_t Task_Key_Handle = NULL;
extern void vApplicationGetIdleTaskMemory(StaticTask_t ** ppxIdleTaskTCBBuffer,
StackType_t ** ppxIdleTaskStackBuffer,
uint32_t * pulIdleTaskStackSize);
extern void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer,
uint32_t *pulTimerTaskStackSize);
static void Task_LedRunning(void *pvParameters);
static void Task_KeyRunning(void *pvParameters);
static void Task_LedRunning(void *pvParameters)
{
(void)pvParameters;
for (;;)
{
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_04, BSP_IO_LEVEL_HIGH);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_05, BSP_IO_LEVEL_LOW);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_15, BSP_IO_LEVEL_LOW);
/* Delay for 200ms */
vTaskDelay(pdMS_TO_TICKS(200));
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_04, BSP_IO_LEVEL_LOW);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_05, BSP_IO_LEVEL_HIGH);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_15, BSP_IO_LEVEL_LOW);
/* Delay for 200ms */
vTaskDelay(pdMS_TO_TICKS(200));
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_04, BSP_IO_LEVEL_LOW);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_05, BSP_IO_LEVEL_LOW);
R_IOPORT_PinWrite(&g_ioport_ctrl, BSP_IO_PORT_04_PIN_15, BSP_IO_LEVEL_HIGH);
/* Delay for 200ms */
vTaskDelay(pdMS_TO_TICKS(200));
}
}
static void Task_KeyRunning(void *pvParameters)
{
(void)pvParameters;
bsp_io_level_t key_Status[2] = {BSP_IO_LEVEL_HIGH, BSP_IO_LEVEL_HIGH};
uint16_t key_press_cnt[2] = {0U, 0U};
for (;;)
{
if (FSP_SUCCESS == R_IOPORT_PinRead(&g_ioport_ctrl, BSP_IO_PORT_00_PIN_05, &key_Status[0]))
{
if (key_Status[0] == BSP_IO_LEVEL_LOW)
{
/* Filter */
if (key_press_cnt[0] >= 0U)
{
/* Key SW0 press confirm */
/* Suspend led task */
vTaskSuspend(Task_Led_Handle);
}
else
{
key_press_cnt[0] ++;
}
}
else
{
key_press_cnt[0] = 0U;
}
}
if (FSP_SUCCESS == R_IOPORT_PinRead(&g_ioport_ctrl, BSP_IO_PORT_00_PIN_06, &key_Status[1]))
{
if (key_Status[1] == BSP_IO_LEVEL_LOW)
{
/* Filter */
if (key_press_cnt[1] >= 4U)
{
/* Key SW1 press confirm */
/* Resume led task */
vTaskResume(Task_Led_Handle);
}
else
{
key_press_cnt[1] ++;
}
}
else
{
key_press_cnt[1] = 0U;
}
}
vTaskDelay(pdMS_TO_TICKS(10));
}
}
/* Implement the Idle task memory static alocation */
void vApplicationGetIdleTaskMemory(StaticTask_t ** ppxIdleTaskTCBBuffer,
StackType_t ** ppxIdleTaskStackBuffer,
uint32_t * pulIdleTaskStackSize)
{
*ppxIdleTaskTCBBuffer = &xIdleTaskTcb;
*ppxIdleTaskStackBuffer = xIdleTaskStack;
*pulIdleTaskStackSize = 1024;
}
/* Implement the Timer task memory static alocation */
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
StackType_t **ppxTimerTaskStackBuffer,
uint32_t *pulTimerTaskStackSize)
{
*ppxTimerTaskTCBBuffer = &xTimerTaskTcb;
*ppxTimerTaskStackBuffer = xTiemrTaskStack;
*pulTimerTaskStackSize = 2048;
}
/*******************************************************************************************************************//**
* main() is generated by the RA Configuration editor and is used to generate threads if an RTOS is used. This function
* is called by main() when no RTOS is used.
**********************************************************************************************************************/
void hal_entry(void)
{
/* Create static task */
Task_Led_Handle = xTaskCreateStatic(Task_LedRunning,
"Led", /* Task name */
1024, /* Stack */
NULL, /* Task parameter */
4, /* Priority */
xTaskLedStack,
&xTaskLedTcb); /* Task handler */
Task_Key_Handle = xTaskCreateStatic(Task_KeyRunning,
"Key", /* Task name */
1024, /* Stack */
NULL, /* Task parameter */
3, /* Priority */
xTaskKeyStack,
&xTaskKeyTcb); /* Task handler */
if (NULL != Task_Led_Handle)
{
vTaskStartScheduler();
}
while (1) {}
#if BSP_TZ_SECURE_BUILD
/* Enter non-secure code */
R_BSP_NonSecureEnter();
#endif
}
/*******************************************************************************************************************//**
* This function is called at various points during the startup process. This implementation uses the event that is
* called right before main() to set up the pins.
*
* @param[in] event Where at in the start up process the code is currently at
**********************************************************************************************************************/
void R_BSP_WarmStart(bsp_warm_start_event_t event)
{
if (BSP_WARM_START_RESET == event)
{
#if BSP_FEATURE_FLASH_LP_VERSION != 0
/* Enable reading from data flash. */
R_FACI_LP->DFLCTL = 1U;
/* Would normally have to wait tDSTOP(6us) for data flash recovery. Placing the enable here, before clock and
* C runtime initialization, should negate the need for a delay since the initialization will typically take more than 6us. */
#endif
}
if (BSP_WARM_START_POST_C == event)
{
/* C runtime environment and system clocks are setup. */
/* Configure pins. */
R_IOPORT_Open (&g_ioport_ctrl, g_ioport.p_cfg);
}
}
#if BSP_TZ_SECURE_BUILD
BSP_CMSE_NONSECURE_ENTRY void template_nonsecure_callable ();
/* Trustzone Secure Projects require at least one nonsecure callable function in order to build (Remove this if it is not required to build). */
BSP_CMSE_NONSECURE_ENTRY void template_nonsecure_callable ()
{
}
#endif