Create freertos port #13

leanfrancucci · 2020-06-10T19:02:47Z

No description provided.

Added the FreeRTOS port files created by DaBa and modified rkhplat and rkhtype header files to impact the addition.

demo/libbsp/platform/arm-cortex/arm_cm4f/ciaa-nxp/bsp_shared.c

leanfrancucci · 2020-06-16T12:46:21Z

Después de hacer un análisis de shared y del port para freertos, aporto algunas ideas para resolverlo:

Sabemos que main() no puede cambiarse porque es una app cross, tenemos que lidiar desde el port (rkhport.c) y el bsp (bsp_shared.c)
En bsp_shared.c podemos plantear bsp_init() como:

bsp_init(...)
{
    ...
    rkh_fwk_init();
    RKH_FILTER_*;
    RKH_TRC_OPEN();
}

En rkhport.c:

rkh_fwk_init() es responsable de establecer dónde se ejecuta el tick de RKH (RKH_TIM_TICK()) para manejar los timers. En freertos tenemos tres posibilidades:
- Desde la callback de un software timer de freertos. Esta se ejecuta en contexto de tarea. Es mi opción favorita
- Desde una tarea específica que ejecuta un loop con un retardo. Similar a lo que hacía rkh_fwk_enter()
- Desde el hook de la función tick de freertos. Esta se ejecuta en contexto de ISR

rkh_fwk_init(...)
{
    /* There are 3 alternatives to execute RKH_TIM_TICK() */
    /* 1. From a FreeRTOS software timer (Task context) */ /* <- favorite */
    /* 2. From a specific task (Task context) */
    /* 3. From FreeRTOS tick hook function (ISR context) */
}

rkh_fwk_enter() es responsable principalmente de llamar al scheduler del OS

rkh_fwk_enter(...)
{
    RKH_HOOK_START();   /* start-up callback */
    RKH_TR_FWK_EN();
    vTaskStartScheduler();
    RKH_HOOK_EXIT();    /* cleanup callback */
}

cmancon · 2020-06-16T14:19:53Z

@leanfrancucci algunos comentarios sin sopesar completamente cada opción:

Sabemos que main() no puede cambiarse porque es una app cross, tenemos que lidiar desde el port (rkhport.c) y el bsp (bsp_shared.c)

Estoy de acuerdo con lo anterior, siempre y cuando no afecte negativamente al port. Es decir, terminar haciendo un port a medida para una app y un main en particular. No creo que suceda pero me refiero a no tener completamente cerrada la opción de hacer una modificación en un main, mientras que la misma sea una abstracción compatible con todas las plataformas. Lo planteo en el sentido de no sesgar la solución, no por alguna razón técnica.

En bsp_shared.c podemos plantear bsp_init() como:

bsp_init(...)
{
    ...
    rkh_fwk_init();
    RKH_FILTER_*;
    RKH_TRC_OPEN();
}

Si no me equivoco, el planteo es mantener el bsp_init() como se encuentra en la actualidad.

En rkhport.c:

rkh_fwk_init() es responsable de establecer dónde se ejecuta el tick de RKH (RKH_TIM_TICK()) para manejar los timers. En freertos tenemos tres posibilidades:

Desde la callback de un software timer de freertos. Esta se ejecuta en contexto de tarea. Es mi opción favorita

Desde una tarea específica que ejecuta un loop con un retardo. Similar a lo que hacía rkh_fwk_enter()

Desde el hook de la función tick de freertos. Esta se ejecuta en contexto de ISR
rkh_fwk_init(...)
{
    /* There are 3 alternatives to execute RKH_TIM_TICK() */
    /* 1. From a FreeRTOS software timer (Task context) */ /* <- favorite */
    /* 2. From a specific task (Task context) */
    /* 3. From FreeRTOS tick hook function (ISR context) */
}

Concuerdo con la idea y preferencia del Software Timer.

rkh_fwk_enter() es responsable principalmente de llamar al scheduler del OS

rkh_fwk_enter(...)
{
    RKH_HOOK_START();   /* start-up callback */
    RKH_TR_FWK_EN();
    vTaskStartScheduler();
    RKH_HOOK_EXIT();    /* cleanup callback */
}

Me genera interrogantes de la compatibilidad del port cuando la aplicación sea parte no reactiva y parte reactiva.

Por otra parte, tu análisis sugiere que no es necesaria la función rkh_startupTask(). ¿Entendí bien?

cmancon · 2020-06-16T14:21:18Z

Perdón, botón equivocado... :S

leanfrancucci · 2020-06-16T18:05:20Z

@cmancon respecto del main() y su relación con el port.
Si la aplicación está basada en el framework entonces el main() generalmente tiene la forma del de shared. Y además se relaciona de manera similar con el bsp y el port.

Ahora, a esta arquitectura se le pueden sumar, sin ningún problema, tareas que no usan el framework.

Por otro lado, si se requiere usar el framework con una aplicación existente que usa freertos entonces puede que el port deba modificarse o incluso se requiera crear otro diferente. Eso lo veremos cuando nos enfrentemos con el problema. Por ahora me inclino por resolver el port para aplicaciones basadas en el fwk.

Respecto de usar el fwk en aplicaciones ya funcionando, es exactamente el caso de lo que podríamos enfrentar al incluir RKH en ESP8266_RTOS_SDK. Dicho sea de paso, estuve analizando cómo crear tareas propias dentro de la arquitectura ESP8266_RTOS_SDK y en principio parece viable agregar el fwk para resolver la "lógica de más alto nivel" del dispositivo, haciendo uso de todas las bibliotecas y funcionalidades que provee ESP8266_RTOS_SDK

Por otra parte, tu análisis sugiere que no es necesaria la función rkh_startupTask(). ¿Entendí bien?

Si, en principio no es necesaria.

> rkh_fwk_enter() now starts the FreeRTOS' Scheluder. > The RKH Timer Tick is generated through a FreeRTOS' Software Timer. > Removed rkh_startupTask().

dariosb · 2020-06-14T15:53:10Z

demo/cross/shared/main.c

@@ -67,9 +67,12 @@ main(int argc, char *argv[])
        RKH_SMA_ACTIVATE(CLI(cn), cli_qsto[cn], QSTO_SIZE, cli_stk[cn],
                         CLI_STK_SIZE);
    }
-
+#ifdef __FREERTOS_V10_03_00__


Ahora se podrían eliminar las lineas 70-72 y 75. Quedando igual al original

Resuelto en 45c1128

leanfrancucci · 2020-06-19T11:46:09Z

source/portable/freertos/v10.3.0/rkhport.c

+			&( xTimerBuffers[0] )
+	);
+
+    RKH_ASSERT(tick_TimerHandle);


Para que sea más entendible el código podes usar RKH_ENSURE() que verifica las post-condiciones

Perfecto! Lo incluyo en el próximo commit.

leanfrancucci · 2020-06-19T11:48:25Z

source/portable/freertos/v10.3.0/rkhport.c

-    TaskHandle_t TaskHandle = NULL;
+	RKH_TRC_OPEN();
+
+#if defined(RKH_USE_TRC_SENDER)


¿Es correcto dejarlo con #if defined(RKH_USE_TRC_SENDER) o se podría mejorar?

Fijate que está relacionado con

RKH/source/portable/freertos/v10.3.0/rkhport.c

Line 68 in 45c1128

#if defined(RKH_USE_TRC_SENDER)

Si no está definido RKH_USE_TRC_SENDER no tiene utilidad publicar el simbolo y tampoco su existencia.

Sí, pero es tal vez más robusto envolver con #if RKH_CFG_TRC_EN == RKH_ENABLED. ¿Valdrá la pena?

No hace falta. Para que RKH_USE_TRC_SENDER sea defined, TRC tiene que ser Enabled.

RKH/source/fwk/inc/rkhitl.h

Line 74 in 45c1128

#if (((RKH_CFG_TRC_EN == 1) && (RKH_CFG_SMA_TRC_SNDR_EN == 1)) || \

leanfrancucci · 2020-06-25T20:07:32Z

@cmancon tenés algo de estadística de shared ejecutándose al cabo de un tiempo pronunciado, tipo valores máximos o promedio de Stack Usage y Runtime?

cmancon · 2020-06-25T21:04:19Z

No recuerdo si tengo guardados los resultados pero he dejado funcionando el ejemplo unas 5 horas verificando los valores en las herramientas de Debug de FreeRTOS de MCUXpresso. Me parecían bastante saludables.

Lo que no recuerdo que tuviera era el watermark, pero si el uso de Stack por tarea y su respectivo Runtime

¿Te parece que hagamos un ensayo y registremos acá los resultados?

> Added "console output" via Semihosting to print info about the Demo. > Added control of LEDs to show activity. > Removed unused or unrelated code.

> Modified OpenOCD config to manipulate configuration from MCUXpresso. > Added FreeRTOS helpers to improve integration with the built-in debugger and with OpenOCD. > Separated into two Build configurations: - Debug: no semihosting. - Debug_with_Semihosting: Using Redlib(semihost). > Created four Debug launchers: - Debug: No semihosting, No OpenOCD-FreeRTOS integration. - Debug Semihosting: Uses Debug_with_Semihosting build but No OpenOCD-FreeRTOS integration. - Debug OpenOCD+FreeRTOS: Uses Debug build but No OpenOCD-FreeRTOS integration. - Debug OpenOCD+FreeRTOS+Semihosting: Uses Debug_with_Semihosting build and OpenOCD-FreeRTOS integration. The OpenOCD-FreeRTOS integration enables tasks listed as threads by GDB. This allows to have fast and easy access to backtrace and current status of each task. The built-in debugger benefits with the helpers as it can access more data from the RTOS and show it on dedicated views. For example, depending on the memory scheme being used, it can show heap usage; or make a listing of timers, etc.

leanfrancucci · 2020-06-29T17:45:37Z

@cmancon tenés info de ocupación de RAM y ROM de los archivos de la app shared y del fwk?. Tal vez tengas el IDE resume estos datos o sino pueden estar en el archivo que especifica el mapa de carga

cmancon · 2020-06-29T22:53:30Z

Bueno, habría que ver qué compilación tomar como parámetro.

Como para dar una idea, el siguiente es el uso de memoria del Shared usando semishoting con redlib(semihost) y teniendo el trace activado:

Memory region	Used Size	Region Size	%age Used
MFlashA512:	43504 B	512 KB	8.30%
MFlashB512:	0 B	512 KB	0.00%
RamLoc32:	10200 B	32 KB	31.13%
RamLoc40:	40 KB	40 KB	100.00%
RamAHB32:	0 B	32 KB	0.00%
RamAHB16:	8 KB	16 KB	50.00%
RamAHB_ETB16:	0 B	16 KB	0.00%

Tanto RamLoc40 como RamAHB16 estan manejados por el MCUXpresso con el Managed Linker Script y allocan heap y stack respectivamente.

Como estamos usando el heap3 que envuelve el malloc() y el free() no puedo aproximar cuánto del heap dedicado es utilizado.

> Included a minimal debounce implementation to read imputs from GPIO. > Include Pause function trigered by TEC1 in EDU-CIAA or DIN0 in CIAA.

> Included the "BOARD" Environment Variable. It is also used to conditionally compile the code to use the specific platform. Its values are compatible with sAPI definitions. Further explanation: In case that you use a EDU-CIAA-NXP, the OpenOCD config file depends on a environment variable to know it. If it is not defined, it will fallback to CIAA-NXP. To give a seamless experience, this variable is included in the project and, additionally, it's used to adapt the GPIO pins hardware configuration. > All Build Configurations were checked and the "Release" configuration was corrected to work properly.

> Created debug configurations (and launchers) for each platform. > Simplified options to use OpenOCD FreeRTOS integration and semihosting in any case. > Left a "legacy" configuration as a temporary backup.

> Head pointing to tag V10.3.0-kernel-only.

leanfrancucci · 2020-08-19T03:40:20Z

Are there pending tasks related to this port?. It would be great to turn over a new leaf, and then to think about fresh application examples with freeRTOS and RKH, as we have talked about several weeks ago 💪 💪

cmancon · 2020-08-19T12:52:48Z

We are back to English? hehe
Possible tasks to finish:

Merge fix freertos submodule link #14
Compose some sort of memory usage report.
Compose a README.

What do you think?

> Before implementing the tact switch (or digital inputs depending the specific platform) bsp_timeTick() was only used by the trace output. For that reason, the implementation was inside a conditional compilation block. When the previously said functionality was implemented, the corresponding section of the bsp_timeTick() function was modified to be conditionally compiled but it wasn't noticed the the entire function was inside a conditional block itself. This situation is corrected here and will correctly compile if the trace functionality is disabled.

fix freertos submodule link

codecov-commenter · 2020-09-20T22:17:48Z

Codecov Report

Merging #13 into develop will increase coverage by 0.03%.
The diff coverage is n/a.

@@             Coverage Diff             @@
##           develop      #13      +/-   ##
===========================================
+ Coverage    95.65%   95.68%   +0.03%     
===========================================
  Files           13       13              
  Lines          598      603       +5     
===========================================
+ Hits           572      577       +5     
  Misses          26       26

Impacted Files	Coverage Δ
source/tmr/src/rkhtmr.c	`100.00% <0.00%> (ø)`
source/fwk/src/rkhfwk_evtpool.c	`100.00% <0.00%> (ø)`

Continue to review full report at Codecov.

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Added freertos as submodule

9a1dba1

leanfrancucci added the enhancement label Jun 10, 2020

leanfrancucci requested review from dariosb and cmancon June 10, 2020 19:02

leanfrancucci assigned cmancon Jun 10, 2020

cmancon added 9 commits June 10, 2020 19:04

Added initial port files

14e42a3

Added the FreeRTOS port files created by DaBa and modified rkhplat and rkhtype header files to impact the addition.

Corrected erroneous relative location for platform specific files

864da1e

Created a shell of a project to validate the port.

d000da9

Added bsp related files to demo project

2789770

Included bsp specific files and functions.

f2b90a0

Removed some unneeded hardware initialisation

c6a37ed

Included optional info to improve FreeRTOS debug experience

ba5482f

Redefinition of startupTask to remove double trace openning

4b51627

Manipulations to get an stable and working demo on CIAA-NXP

9b413bf

dariosb reviewed Jun 14, 2020

View reviewed changes

demo/libbsp/platform/arm-cortex/arm_cm4f/ciaa-nxp/bsp_shared.c Outdated Show resolved Hide resolved

cmancon closed this Jun 16, 2020

cmancon reopened this Jun 16, 2020

Modified fwk initialisation and FreeRTOS' Scheduler starting point

45c1128

> rkh_fwk_enter() now starts the FreeRTOS' Scheluder. > The RKH Timer Tick is generated through a FreeRTOS' Software Timer. > Removed rkh_startupTask().

cmancon requested a review from dariosb June 18, 2020 20:11

dariosb previously approved these changes Jun 19, 2020

View reviewed changes

leanfrancucci commented Jun 19, 2020

View reviewed changes

cmancon added 3 commits June 28, 2020 11:26

Minor changes as discussed in PR#13

6386d61

Improved BSP layer

e6acc27

> Added "console output" via Semihosting to print info about the Demo. > Added control of LEDs to show activity. > Removed unused or unrelated code.

Fixed some absolute paths in MCUXpresso project

ac822d4

cmancon added 2 commits June 29, 2020 10:43

Added OpenOCD config file

5267b74

cmancon and others added 10 commits July 7, 2020 10:06

Untracked 'settings' folder from mcuxpresso project folder

5fadac2

Tidied FreeRTOSConfig file and included helper function to check heap

6cdfff2

Added Pause function using TECs or DINs depending on the board used

048c176

> Included a minimal debounce implementation to read imputs from GPIO. > Include Pause function trigered by TEC1 in EDU-CIAA or DIN0 in CIAA.

Updated Debug Configurations to make explicit use of both platforms

def2bc0

> Created debug configurations (and launchers) for each platform. > Simplified options to use OpenOCD FreeRTOS integration and semihosting in any case. > Left a "legacy" configuration as a temporary backup.

fix freertos submodule link

acfbe03

Adds BOARD definition to project file

c523e12

Solve environment variable definition

040c1ef

Deleted FreeRTOS (general repository) submodule

9eb5151

Included FreeRTOS kernel-only repository as a submodule

cb6305a

> Head pointing to tag V10.3.0-kernel-only.

cmancon added 5 commits August 31, 2020 19:56

Merge pull request #14 from vortexmakes/issue-freertos-submodule

ed6a9c7

fix freertos submodule link

Update .travis.yml

8eb1265

Update .travis.yml

35d7ffe

Update .travis.yml

4af13ed

First iteration on the Shared demo Readme

c8ae4f2

leanfrancucci dismissed dariosb’s stale review via c8ae4f2 June 8, 2023 04:20

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Create freertos port #13

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Create freertos port #13

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