STM32g070 使用cubemx移植rt-thread nano实现rt-kprintf和FinSH组件支持
一、cubemx硬件初始化
1.1打开cubemx，选择mcu。
1.2 新建工程并进行基础硬件初始化，下边直接上图
这里timeBase不变，选择默认systick。
时钟配置如下：
RCC外部高低速时钟disable。
GPIO参照官方nucleo板子，指定一个led脚和一个key脚。配置分别为output和input。
RTT无论是打印日志还是输入cmd，都需要uart支持。uart设置如下（波特率等参数默认就可以，115200N81，无流控）：
1.3 添加rt-thread nano源代码并加入工程
1.3.1 添加rt-thread nano源代码
要获取 RT-Thread Nano 软件包，需要在 CubeMX 中添加 https://www.rt-thread.org/download/cube/RealThread.RT-Thread.pdsc 。
具体步骤：进入打开 CubeMX，从菜单栏 help 进入 Manage embedded software packages 界面，点击 From Url 按钮，进入 User Defined Packs Manager 界面，其次点击 new，填入上述网址，然后点击 check，如下图所示：
check 通过后，点击 OK 回到 User Defined Packs Manager 界面，再次点击 OK，CubeMX 自动连接服务器，获取包描述文件。回到 Manage embedded software packages 界面，就会发现 RT-Thread Nano 3.1.3 软件包，选择该软件包，点击 Install Now，如下图所示：
安装过程中会有同意授权选项，选accept即可。正确安装后结果如下图：
1.3.2 RT-Thread Nano 配置
点击 Additional Softwares，进入 Additional Software Components selection 界面，在 Pack Vendor 中选择 RealThread， 然后根据需求选择 RT-Thread 组件（此处只移植 Nano选择 kernel 和shell），然后点击 OK 按钮，如下图所示：
返回软件界面 Pinout & Configuration 中，进入所选组件参数配置区，按照下图进行配置
作为学习使用的话，建议打开大部分功能，这样避免后期再做修改。
1.3.3 工程管理及输出工程代码
选择，GENERATE CODE ，生成代码。在keil mdk中打开工程。
二、UART使用查询方式实现rx和tx
2.1 修改board.c
增加头文件
#include "usart.h"
修改rt_hw_board_init（）初始化函数为：
/**
* This function will initial your board.
*/
extern void SystemClock_Config(void);
extern HAL_StatusTypeDef HAL_Init(void);
void rt_hw_board_init()
{
/* System Clock Update */
//为了和main起初生成的代码一致，这里需要使用main.c中调用的两个函数
HAL_Init();
SystemClock_Config();
//SystemCoreClockUpdate();
MX_USART2_UART_Init();
/* System Tick Configuration */
_SysTick_Config(SystemCoreClock / RT_TICK_PER_SECOND);
/* Call components board initial (use INIT_BOARD_EXPORT()) */
#ifdef RT_USING_COMPONENTS_INIT
rt_components_board_init();
#endif
#if defined(RT_USING_USER_MAIN) && defined(RT_USING_HEAP)
rt_system_heap_init(rt_heap_begin_get(), rt_heap_end_get());
#endif
}
2.2 修改uart.h
增加头文件的引用
#include "rtthread.h"
#include 增加两个函数的声明
char rt_hw_console_getchar(void);
void rt_hw_console_output(const char *str);
2.3 修改uart.c
增加uart.h中新增两个函数的实现
/* USER CODE BEGIN 1 */
char rt_hw_console_getchar(void)
{
int ch = -1;
if (__HAL_UART_GET_FLAG(&huart2, UART_FLAG_RXNE) != RESET)
{
ch = huart2.Instance->RDR & 0xff;
}
else
{
if(__HAL_UART_GET_FLAG(&huart2, UART_FLAG_ORE) != RESET)
{
__HAL_UART_CLEAR_OREFLAG(&huart2);
}
rt_thread_mdelay(10);
}
return ch;
}
void rt_hw_console_output(const char *str)
{
rt_size_t i = 0, size = 0;
char a = '\r';
__HAL_UNLOCK(&huart2);
size = rt_strlen(str);
for (i = 0; i < size; i++)
{
if (*(str + i) == '\n')
{
HAL_UART_Transmit(&huart2, (uint8_t *)&a, 1, 1);
}
HAL_UART_Transmit(&huart2, (uint8_t *)(str + i), 1, 1);
}
}
/* USER CODE END 1 */
2.4 修改main.c
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usart.h"
#include "gpio.h"
#include "rtthread.h" //添加头文件的引用
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
//HAL_Init(); //去掉
/* Configure the system clock */
// SystemClock_Config();//去掉
/* Initialize all configured peripherals */
MX_GPIO_Init();
/* USER CODE BEGIN 2 */
rt_kprintf("hello rt-thread.\r\n");
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
{
/* USER CODE END WHILE */
rt_thread_mdelay(1000);
HAL_GPIO_TogglePin(LED_GPIO_Port,LED_Pin);
//rt_kprintf("hello rt-thread.\n");
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
至此，真个移植过程结束。
三、UART使用中断方式实现rx
在步骤二 查询方式上，修改uart.c文件为如下内容：
中断方式下，需要做的工作相对较多，需要实现一个环形缓冲区，uart中断配置、uart中断服务函数实现以及中断回调实现。
/* Includes ------------------------------------------------------------------*/
#include "usart.h"
/* USER CODE BEGIN 0 */
#define rt_ringbuffer_space_len(rb) ((rb)->buffer_size - rt_ringbuffer_data_len(rb))
struct rt_ringbuffer
{
rt_uint8_t *buffer_ptr;
rt_uint16_t read_mirror : 1;
rt_uint16_t read_index : 15;
rt_uint16_t write_mirror : 1;
rt_uint16_t write_index : 15;
rt_int16_t buffer_size;
};
enum rt_ringbuffer_state
{
RT_RINGBUFFER_EMPTY,
RT_RINGBUFFER_FULL,
/* half full is neither full nor empty */
RT_RINGBUFFER_HALFFULL,
};
rt_inline enum rt_ringbuffer_state rt_ringbuffer_status(struct rt_ringbuffer *rb)
{
if (rb->read_index == rb->write_index)
{
if (rb->read_mirror == rb->write_mirror)
return RT_RINGBUFFER_EMPTY;
else
return RT_RINGBUFFER_FULL;
}
return RT_RINGBUFFER_HALFFULL;
}
/**
* get the size of data in rb
*/
rt_size_t rt_ringbuffer_data_len(struct rt_ringbuffer *rb)
{
switch (rt_ringbuffer_status(rb))
{
case RT_RINGBUFFER_EMPTY:
return 0;
case RT_RINGBUFFER_FULL:
return rb->buffer_size;
case RT_RINGBUFFER_HALFFULL:
default:
if (rb->write_index > rb->read_index)
return rb->write_index - rb->read_index;
else
return rb->buffer_size - (rb->read_index - rb->write_index);
};
}
void rt_ringbuffer_init(struct rt_ringbuffer *rb,
rt_uint8_t *pool,
rt_int16_t size)
{
RT_ASSERT(rb != RT_NULL);
RT_ASSERT(size > 0);
/* initialize read and write index */
rb->read_mirror = rb->read_index = 0;
rb->write_mirror = rb->write_index = 0;
/* set buffer pool and size */
rb->buffer_ptr = pool;
rb->buffer_size = RT_ALIGN_DOWN(size, RT_ALIGN_SIZE);
}
/**
* put a character into ring buffer
*/
rt_size_t rt_ringbuffer_putchar(struct rt_ringbuffer *rb, const rt_uint8_t ch)
{
RT_ASSERT(rb != RT_NULL);
/* whether has enough space */
if (!rt_ringbuffer_space_len(rb))
return 0;
rb->buffer_ptr[rb->write_index] = ch;
/* flip mirror */
if (rb->write_index == rb->buffer_size-1)
{
rb->write_mirror = ~rb->write_mirror;
rb->write_index = 0;
}
else
{
rb->write_index++;
}
return 1;
}
/**
* get a character from a ringbuffer
*/
rt_size_t rt_ringbuffer_getchar(struct rt_ringbuffer *rb, rt_uint8_t *ch)
{
RT_ASSERT(rb != RT_NULL);
/* ringbuffer is empty */
if (!rt_ringbuffer_data_len(rb))
return 0;
/* put character */
*ch = rb->buffer_ptr[rb->read_index];
if (rb->read_index == rb->buffer_size-1)
{
rb->read_mirror = ~rb->read_mirror;
rb->read_index = 0;
}
else
{
rb->read_index++;
}
return 1;
}
/* USER CODE END 0 */
/* 第二部分：finsh 移植对接部分 */
#define UART_RX_BUF_LEN 16
rt_uint8_t uart_rx_buf[UART_RX_BUF_LEN] = {0};
struct rt_ringbuffer uart_rxcb; /* 定义一个 ringbuffer cb */
static UART_HandleTypeDef huart2;
static struct rt_semaphore shell_rx_sem; /* 定义一个静态信号量 */
/* USART2 init function */
void MX_USART2_UART_Init(void)
{
/* 初始化串口接收 ringbuffer */
rt_ringbuffer_init(&uart_rxcb, uart_rx_buf, UART_RX_BUF_LEN);
/* 初始化串口接收数据的信号量 */
rt_sem_init(&(shell_rx_sem), "shell_rx", 0, 0);
huart2.Instance = USART2;
huart2.Init.BaudRate = 115200;
huart2.Init.WordLength = UART_WORDLENGTH_8B;
huart2.Init.StopBits = UART_STOPBITS_1;
huart2.Init.Parity = UART_PARITY_NONE;
huart2.Init.Mode = UART_MODE_TX_RX;
huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart2.Init.OverSampling = UART_OVERSAMPLING_16;
huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart2.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart2) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart2, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart2, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart2) != HAL_OK)
{
Error_Handler();
}
/* 中断配置 */
__HAL_UART_ENABLE_IT(&huart2, UART_IT_RXNE);
HAL_NVIC_EnableIRQ(USART2_IRQn);
HAL_NVIC_SetPriority(USART2_IRQn, 3, 3);
}
/*** 使用下边的命令可以直接把函数添加到板级初始化中 ***/
//INIT_BOARD_EXPORT(MX_USART2_UART_Init);
void HAL_UART_MspInit(UART_HandleTypeDef* huart2)
{
GPIO_InitTypeDef GPIO_InitStruct = {0};
if(huart2->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspInit 0 */
/* USER CODE END USART2_MspInit 0 */
/* USART2 clock enable */
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* USER CODE BEGIN USART2_MspInit 1 */
/* USER CODE END USART2_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* huart2)
{
if(huart2->Instance==USART2)
{
/* USER CODE BEGIN USART2_MspDeInit 0 */
/* USER CODE END USART2_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART2_CLK_DISABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
/* USER CODE BEGIN USART2_MspDeInit 1 */
/* USER CODE END USART2_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */
void rt_hw_console_output(const char *str)
{
rt_size_t i = 0, size = 0;
char a = '\r';
__HAL_UNLOCK(&huart2);
size = rt_strlen(str);
for (i = 0; i < size; i++)
{
if (*(str + i) == '\n')
{
HAL_UART_Transmit(&huart2, (uint8_t *)&a, 1, 1);
}
HAL_UART_Transmit(&huart2, (uint8_t *)(str + i), 1, 1);
}
}
char rt_hw_console_getchar(void)
{
char ch = 0;
/* 从 ringbuffer 中拿出数据 */
while (rt_ringbuffer_getchar(&uart_rxcb, (rt_uint8_t *)&ch) != 1)
{
rt_sem_take(&shell_rx_sem, RT_WAITING_FOREVER);
}
return ch;
}
void USART2_IRQHandler(void)
{
int ch = -1;
rt_base_t level;
/* enter interrupt */
rt_interrupt_enter(); //在中断中一定要调用这对函数，进入中断
if ((__HAL_UART_GET_FLAG(&(huart2), UART_FLAG_RXNE) != RESET) &&
(__HAL_UART_GET_IT_SOURCE(&(huart2), UART_IT_RXNE) != RESET))
{
while (1)
{
ch = -1;
if (__HAL_UART_GET_FLAG(&(huart2), UART_FLAG_RXNE) != RESET)
{
ch = huart2.Instance->RDR & 0xff;
}
if (ch == -1)
{
break;
}
/* 读取到数据，将数据存入 ringbuffer */
rt_ringbuffer_putchar(&uart_rxcb, ch);
}
rt_sem_release(&shell_rx_sem);
}
/* leave interrupt */
rt_interrupt_leave(); //在中断中一定要调用这对函数，离开中断
}
/* USER CODE END 1 */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
四 测试
两种方式下，最后运行结果是一样的
参考链接：
基于 CubeMX 移植 RT-Thread Nano
在 RT-Thread Nano 上添加控制台与 FinSH