Using TOPPERS/ASP (RTOS) on NUCLEO-F401RE (Cortex-M4) With Atollic TrueSTUDIO

Transcription

1 Using TOPPERS/ASP (RTOS) on NUCLEO-F401RE (Cortex-M4) With Atollic TrueSTUDIO INTRODUCTION An introduction on how to setup and get started with TOPPERS/ASP kernel on STM32 NUCLEO-F401RE with the Eclipse-based Atollic TrueSTUDIO on Windows. TOPPERS/ASP kernel is an RTOS developed in Japan (hereinafter referred to as ASP kernel). The procedure of setting up a development environment necessary for building and debugging an application based on the ASP kenel has been complicated. The procedure requires the user to install Cygwin environment, Cross-compiler and Debugger separately in order to build the ASP kernel on Windows. Using Atollic TrueSTUDIO, the user gets all the necessary tools out-of-the-box, that are required to build and debug an ASP kernel based application. Using Atollic TrueSTUDIO with ASP kernel saves time and efforts previously necessary for environment construction. Moreover, using the commercial version of Atollic TrueSTUDIO (Professional Edition), provides the user with ASP kernel awareness functions. These capabilities greatly simplifies all RTOS debugging related efforts.

2 Preparing the hardware STM32 NUCLEO-F401RE o NUCLUEO-F401RE is a cheap ST Microelectronics STM32 evaluation board. The board can be purchased from ST webshop (Please refer to the following URL): o ST Microelectronics have many different evaluation boards. ASP kernel is currently only supported NUCLEO-F401RE. The ASP kernel is however easy to port to another Nucleo, Discovery or Evaluation boards in the STM32 series. USB (mini-b) cable o Purchase a USB mini-b cable since it is not delivered with the board. Windows PC o Atollic TrueSTUDIO runs on Windows Vista, 7, 8 and 10. Software Atollic TrueSTUDIO o This instruction was developed and tested using Atollic TrueSTUDIO v5.4.1 Lite. Problems may occur using the older versions than v TOPPERS/ASP kernel o Please download asp_nucleo_f401re_gcc zip from the following URL and extract it. o

3 Building and running example application 1. Start Atollic TrueSTUDIO Open the example project in Atollic TrueSTUDIO by double-clicking the project file included in TOPPERS/ASP kernel from file explorer. The project file is located here: asp_1.9.2_utf8\target\nucleo_f401re_gcc\truestudio\asp\.cproject When Atollic TrueSTUDIO is started the user will be prompted to specify a location for the workspace necessary for the tool to launch. The workspace is a container for projects. Please specify the path where the workspace should be located. A recommendation is to select the workspace path to be one level above the extracted project: asp_1.9.2_utf8\target\nucleo_f401re_gcc\truestudio Choosing this path as location for the workspace will make the project simpler to manage. Caution! Do not use the path where the.cproject file is located!

4 When Atollic TrueSTUDIO has started the Project Explorer view in the left pane of the workbench will show sample programs and ASP kernel files. Expand the asp node to browse the file structure. Comments described in the source file of TOPPERS/ASP v1.9.2 are written in Japanese Kanji (UTF-8 encoding). We are currently preparing the English comments.

5 2. Build A Build is started by pressing the Build button. When the build is successful, the kernel library (libkernel.a) and executable application (asp.elf) are generated. 3. Connecting the board Connect the NUCLEO-F401RE to the Windows PC with a USB mini-b cable. Driver installation will start automatically and a COM port will be added to the system. Once the driver has been installed successfully the ST-Link debugger will enumerate as a USB device.

6 4. Debugging Toppers on NUCLE-F401RE Launch debug session When the board has been successfully connected, it is easy to download the application to the NUCLEO board by clicking the Debug button. Caution! If this is the first time a debug session is started with a new board, the firmware of the on-board ST-Link debugger may need an update. Atollic TrueSTUDIO will automatically detect and guide the user through the update process. The user will need to disconnect and reconnect the board to the PC before the update utility can connect to the ST-Link debugger and carry out the firmware update. When firmware update is successfully finished start a new debug session by again clicking the Debug button. After loading the application, the IDE will automatically switch to the debugger perspective and suspend the execution at the start-up of the kernel.

7 Setup Serial Terminal The sample application uses a USB virtual serial port to handle I/O (input/output) communication to the debugger. Atollic TrueSTUDIO includes a serial terminal that can be used to control the example application. Open the Terminal view: Window Show view Terminal When you open the Terminal view, it will be added to the lower left pane. Click the Connect button, to setup the serial communication preferences. Use the following settings: connection type: "Serial" Baud Rate: bps Data Bits: 8bit Parity: None Stop Bits: 1 Flow Control: None Finally click OK button. Running the demo Once the code has been downloaded to the target device the program counter will be suspend on the application entry point in the startup code. This will allow debugging of the kernel initialization. When the user clicks the Resume button, the execution will resume and the debugger will suspend at next breakpoint which is at first line in main_task(). The main_task() is the entry point for one of the tasks in the example application. At this stage all kernel initialization has been completed. See screenshot below:

8 By clicking resume again the application will be in free running mode (no more pre-set breakpoints). Run-time information from the application is output to the serial terminal log. See screenshot above. At this stage the application will also accept input of commands via the serial terminal.

9 5. TOPPERS/ASP sample task program description: This example programs uses: 1 main task. Task ID : MAIN_TASK, task priority :MAIN_PRIORITY used as user interface 3 target tasks. Task IDs: TASK1~ TASK3, initial task priority : MID_PRIORITY 1 cyclic handler with a period of 2 seconds The 3 target tasks share the same task body, 'task_loop'. In this task, loops are made and a message is output to show the specific task that is running. In the cyclic handler,the ready queues of the 3 task priorities, HIGH_PRIORITY, MID_PRIORITY, and LOW_PRIORITY, are being rotated. The cyclic handler is stopped at the start of program. The main task receives and processes char commands from the serial port. The target tasks are running when the main task is waiting for char commands. Below is a table of commands (chars) that can be sent to target over serial communication. Command (char) Target application operation 1 Target task is set to TASK1 (default) 2 Target task is set to TASK2 3 Target task is set to TASK3 a Activate the target task A Cancel the activation request for the target task e Let the target task exit by itself t Terminate the target task > Set the priority of target task to HIGH_PRIORITY = Set the priority of target task to MID_PRIORITY < Set the priority of target task to LOW_PRIORITY G Get the priority of target task s Put the target task in sleep mode S Put the target task in sleep mode for 10s w Wake up the target task

10 W l u m d x X y Y r c C b B z Z V v q Cancel the wakeup request for the target task Release the target task from waiting state Suspend the target task Resume the target task Delay the target task for 10s (dly_tsk(10s)) Increase the target task s exception with a value of 0x0001 Increase the target task s exception with a value of 0x0002 Let the target task call dis_tex() to disable task exception Let the target task call ena_tex() to enable task exception Rotate the ready queues of the 3 task priorities (HIGH_PRIORITY, MID_PRIORITY and LOW_PRIORITY) Start the cyclic handler Stop the cyclic handler Start the alarm handler in 5 seconds Stop the alarm handler Trigger the CPU exception in the target task (terminate the target task) Trigger the CPU exception in CPU lock state in the target task (terminate the program) Gets the system time twice for performance evaluation by get_utm() Set the verbose message mode (default) Set quiet message mode (opposite of verbose, not default) When Control-C or 'Q' are received, the sample program exits.

11 6. RTOS debugging Using Atollic TrueSTUDIO Pro (commercial license), the user is provided with RTOS views for TOPPERS/ASP. The debugger provides the user with TOPPERS/ASP kernel object information for tasks, semaphores, etc - that the user has defined. Providing this information in Toppers views improves the efficiency of RTOS debugging. Below is a screenshot that displays static information about the parameters used when creating different tasks. The next screenshots shows a view displaying the current status of all tasks.

12 About TOPPERS project TOPPERS(Toyohashi Open Platform for Embedded Real-time Systems)Project develops a variety of software which is the basis of embedded system construction starting from the Technology development achievements of the ITRON specification and releases them as high quality open source software. In this document, TOPPERS / ASP is configured and use for a single-core microcontroller. TOPPERS project release various open source RTOS and middlewares packages for different types of CPU cores and configurations requirements: multi cores (FMP) Protection enhancements RTOS (HRP2) RTOS for automotives (ATK2) DualOS monitor(safeg) Etc More info on TOPPERS If you are interested in TOPPERS Project, please refer to the following website TOPPERS Project website (English) Related website information: uitron4.0 specification (English) is available from the following URL. This document is a TOPPERS/ASP Commentary blog (English), which is a part of the Education Program (NEP) operated by Nagoya University Center for Embedded Computing Systems (NCES).

13 Final words You can easily build and execute TOPPERS/ASP by using Atollic TrueSTUDIO. Please try if you are interested in TOPPERS RTOS. Author:Shinya Honda Ph.D. Graduate School of Information Science, Nagoya University Asoociate Professor. Dr. Honda belongs to NCES(Nagoya Univ., Center for Embedded Computing Systems), which is managed by the same university, and he is involved in Embedded system development Human resource training. In TOPPERS Project he is also involved in design and implementation widely. This time, we introduced the article for RTOS technical engineers he posted to the blog on the Japanese website. Translator:A.I. Corporation (AIC) AIC is the Distributor in Japan of Atollic. AIC has also been the member of TOPPERS Project and involved in the promotional activities since it was established. When Atollic implemented TOPPERS RTOS view function on Atollic TrueSTUDIO, AIC was involved as an advisor. This time, AIC was in charge of the English translation of the introductory article about use cases of TOPPERS in Atollic TrueSTUDIO which was written by Dr. Honda.