From 25ecd887967077edda62cdbf46c9b63eff5cf17a Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Fri, 12 Jun 2026 14:23:09 +0800 Subject: [PATCH] =?UTF-8?q?=E5=AE=9E=E7=8E=B0freeRTOS=E7=9A=84=E4=BA=92?= =?UTF-8?q?=E6=96=A5=E5=92=8C=E4=BF=A1=E5=8F=B7=E9=87=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- bspMCU/My_freeRTOS.c | 134 +++++++++++++++++------------ library/common/include/rd_thread.h | 37 ++++++-- library/common/rd_mempool.c | 26 ++++-- 3 files changed, 127 insertions(+), 70 deletions(-) diff --git a/bspMCU/My_freeRTOS.c b/bspMCU/My_freeRTOS.c index a7ac3db..29d03f0 100644 --- a/bspMCU/My_freeRTOS.c +++ b/bspMCU/My_freeRTOS.c @@ -17,13 +17,14 @@ ******************************************************************************/ #include "common.h" +#include "rd_thread.h" #ifdef USE_FREERTOS #include "cmsis_os.h" +#include "cmsis_os2.h" #include "FreeRTOS.h" #include "task.h" #include "string.h" #include "stdio.h" -#include "common.h" #include "lua_base.h" /*----------------------------------------------* @@ -79,81 +80,102 @@ void ShowHeapSize(void) lua_print("mempool free:\t%d\t%d\n", myMempool, myTotal); } -/*void *pvPortCalloc(size_t xNum, size_t xSize) -{ - size_t xTotalSize = xNum * xSize; - - // 防止乘法溢出（健壮性检查） - if (xNum != 0 && xTotalSize / xNum != xSize) - { - return NULL; - } - - void *pvReturn = pvPortMalloc(xTotalSize); - if (pvReturn != NULL) { - // 将分配的内存块全部置零 - memset(pvReturn, 0, xTotalSize); - } - return pvReturn; -} -typedef struct A_BLOCK_LINK +int Rd_SemInit(void *_sem, int _iPshared, int _iValue) { - struct A_BLOCK_LINK *pxNextFreeBlock; - size_t xBlockSize; -} BlockLink_t; + rd_sem_t *pSem = (rd_sem_t *)_sem; + osSemaphoreAttr_t attr = { + .name = NULL, + .attr_bits = 0, + .cb_mem = pSem->cb_buf, + .cb_size = sizeof(pSem->cb_buf) + }; + pSem->sem_id = osSemaphoreNew((uint32_t)_iValue + 1, (uint32_t)_iValue, &attr); + if (pSem->sem_id == NULL) { + return RD_FAILURE; + } + pSem->count = _iValue; + return RD_SUCCESS; +} -// 假设你使用的是 heap_4，通常 xHeapStructSize 等于 sizeof(BlockLink_t) 并做了对齐 -// 你可以直接通过指针前移来获取旧大小 -void *pvPortRealloc(void *pv, size_t xWantedSize) +void Rd_SemWait(void *_sem, const char *_pcFunc, int *_piCnt) { - if (xWantedSize == 0) { vPortFree(pv); return NULL; } - if (pv == NULL) { return pvPortMalloc(xWantedSize); } - - // 强行读取头部信息获取旧大小 - uint8_t *puc = (uint8_t *)pv; - puc -= sizeof(BlockLink_t); // 减去头部大小（需注意字节对齐，通常 heap_4 默认是 8 字节对齐） - BlockLink_t *pxLink = (BlockLink_t *)puc; - size_t xOldSize = pxLink->xBlockSize & ~((size_t)0x01); // 去掉最低位的已分配标志位 - - void *pvNew = pvPortMalloc(xWantedSize); - if (pvNew != NULL) - { - memcpy(pvNew, pv, xOldSize); - vPortFree(pv); - } - return pvNew; + rd_sem_t *pSem = (rd_sem_t *)_sem; + (void)_pcFunc; + osSemaphoreAcquire(pSem->sem_id, osWaitForever); + if (_piCnt != NULL) { + (*_piCnt)++; + } } -SemaphoreHandle_t xCountingSemaphore; -StaticSemaphore_t xSemaphoreBuffer; - -int Rd_SemInit(void *_sem, int _iPshared, int _iValue) +void Rd_SemPost(void *_sem, const char *_pcFunc, int *_piCnt) { - xCountingSemaphore = xSemaphoreCreateCountingStatic(5, 5, &xSemaphoreBuffer); - return RD_FAILURE; + rd_sem_t *pSem = (rd_sem_t *)_sem; + (void)_pcFunc; + osSemaphoreRelease(pSem->sem_id); + if (_piCnt != NULL) { + (*_piCnt)++; + } } -void Rd_SemWait(void *_sem, const char *_pcFunc, int *_piCnt) +int Rd_SemDestroy(void *_sem) { - xSemaphoreTake(sem_full, portMAX_DELAY) - return; + rd_sem_t *pSem = (rd_sem_t *)_sem; + if (pSem->sem_id != NULL) { + osSemaphoreDelete(pSem->sem_id); + pSem->sem_id = NULL; + } + return RD_SUCCESS; } -void Rd_SemPost(void *_sem, const char *_pcFunc, int *_piCnt) +int Rd_MutexInit(void *_pMutex) { - xSemaphoreGive(sem_empty); - return; -}*/ + rd_mutex_t *pMutex = (rd_mutex_t *)_pMutex; + osMutexAttr_t attr = { + .name = NULL, + .attr_bits = osMutexRecursive | osMutexPrioInherit, + .cb_mem = NULL, + .cb_size = 0 + }; + *pMutex = osMutexNew(&attr); + if (*pMutex == NULL) { + return RD_FAILURE; + } + return RD_SUCCESS; +} void Rd_MutexLock(void *_pMutex, const char *_pcFunc, int *_piCnt) { - vTaskSuspendAll(); + rd_mutex_t *pMutex = (rd_mutex_t *)_pMutex; + (void)_pcFunc; + if (*pMutex != NULL) { + osMutexAcquire(*pMutex, osWaitForever); + } + if (_piCnt != NULL) { + (*_piCnt)++; + } } void Rd_MutexUnlock(void *_pMutex, const char *_pcFunc, int *_piCnt) { - (void)xTaskResumeAll(); + rd_mutex_t *pMutex = (rd_mutex_t *)_pMutex; + (void)_pcFunc; + if (*pMutex != NULL) { + osMutexRelease(*pMutex); + } + if (_piCnt != NULL) { + (*_piCnt)++; + } +} + +int Rd_MutexDestroy(void *_pMutex) +{ + rd_mutex_t *pMutex = (rd_mutex_t *)_pMutex; + if (*pMutex != NULL) { + osMutexDelete(*pMutex); + *pMutex = NULL; + } + return RD_SUCCESS; } void Rd_Delay(uint32_t Delay) diff --git a/library/common/include/rd_thread.h b/library/common/include/rd_thread.h index 5c0ce28..9643ae3 100644 --- a/library/common/include/rd_thread.h +++ b/library/common/include/rd_thread.h @@ -60,21 +60,27 @@ extern "C"{ * include header files * *----------------------------------------------*/ #include "common.h" +#ifndef USE_FREERTOS #include +#endif /*==============================================* * constants or macros define * *----------------------------------------------*/ -#ifdef BUILD_PLATFORM_LINUX +#if defined(USE_FREERTOS) +/* FreeRTOS: opaque handle, 不依赖 FreeRTOS 头文件 */ +typedef void* rd_mutex_t; +#define RD_MUTEX_INITIALIZER NULL +#elif defined(BUILD_PLATFORM_LINUX) typedef pthread_mutex_t rd_mutex_t; #define RD_MUTEX_INITIALIZER PTHREAD_MUTEX_INITIALIZER #else -typedef struct +typedef struct { uint8_t dummy;// 占位，无特殊意义 } rd_mutex_t; - + #define RD_MUTEX_INITIALIZER {0} #endif @@ -84,19 +90,32 @@ typedef enum { AUTO_MODE_SYSV = 2 // shmget (老式 Linux) } rd_shm_mode_t; -#ifdef __ANDROID__ - #define RD_SHM_DEFAULT_MODE AUTO_MODE_ANDROID +#if defined(USE_FREERTOS) +/* FreeRTOS: opaque handle + 预留 buffer，不依赖 FreeRTOS 头文件 + * RD_SEM_CB_SIZE 足够容纳 StaticSemaphore_t (通常 ~80-100 bytes) */ +#define RD_SEM_CB_SIZE 96 +typedef struct { + void *sem_id; /* osSemaphoreId_t (opaque) */ + uint8_t cb_buf[RD_SEM_CB_SIZE]; /* 预留空间用于静态分配 */ + int count; +} rd_sem_t; #else - #define RD_SHM_DEFAULT_MODE AUTO_MODE_POSIX -#endif - typedef struct { pthread_mutex_t mutex; pthread_cond_t cond; int count; } rd_sem_t; +#endif + +#ifdef __ANDROID__ + #define RD_SHM_DEFAULT_MODE AUTO_MODE_ANDROID +#else + #define RD_SHM_DEFAULT_MODE AUTO_MODE_POSIX +#endif -#if RD_SHM_DEFAULT_MODE == AUTO_MODE_POSIX || RD_SHM_DEFAULT_MODE == AUTO_MODE_ANDROID +#if defined(USE_FREERTOS) + typedef rd_sem_t Rd_sem_t; +#elif RD_SHM_DEFAULT_MODE == AUTO_MODE_POSIX || RD_SHM_DEFAULT_MODE == AUTO_MODE_ANDROID typedef rd_sem_t Rd_sem_t; #elif RD_SHM_DEFAULT_MODE == AUTO_MODE_SYSV #include diff --git a/library/common/rd_mempool.c b/library/common/rd_mempool.c index a712b55..10cde2a 100644 --- a/library/common/rd_mempool.c +++ b/library/common/rd_mempool.c @@ -54,6 +54,10 @@ static int g_initialized = 0; static uint8_t* g_heap_buf = NULL; #endif +#ifdef USE_FREERTOS +static rd_mutex_t g_pool_mutex; +#endif + /*----------------------------------------------* * 模块级变量 * *----------------------------------------------*/ @@ -208,7 +212,11 @@ WEAK void Rd_MemDoInit(void) g_free_list_head = initial_block; g_initialized = 1; - + +#ifdef USE_FREERTOS + (void)Rd_MutexInit(&g_pool_mutex); +#endif + log_d("MemPool Init Success: Total %d Bytes", MEM_POOL_TOTAL_SIZE); } @@ -230,7 +238,9 @@ WEAK void* Rd_MemPoolMalloc(size_t size) if (!g_initialized || size == 0) return NULL; void *pvReturn = NULL; - Rd_MutexLock(NULL, __func__, NULL); +#ifdef USE_FREERTOS + Rd_MutexLock(&g_pool_mutex, __func__, NULL); +#endif { // 对齐大小计算：用户数据 + 头部 @@ -289,7 +299,9 @@ WEAK void* Rd_MemPoolMalloc(size_t size) log_d("MemPool Malloc Failed: Request %zu, No Block Found", size); } } - Rd_MutexUnlock(NULL, __func__, NULL); +#ifdef USE_FREERTOS + Rd_MutexUnlock(&g_pool_mutex, __func__, NULL); +#endif return pvReturn; } @@ -301,7 +313,9 @@ WEAK void Rd_MemPoolFree(void* ptr) return; } - Rd_MutexLock(NULL, __func__, NULL); +#ifdef USE_FREERTOS + Rd_MutexLock(&g_pool_mutex, __func__, NULL); +#endif { MemBlockHeader_t* block = get_header_ptr(ptr); @@ -318,7 +332,9 @@ WEAK void Rd_MemPoolFree(void* ptr) // 【关键】尝试与相邻空闲块合并，减少碎片 merge_free_blocks(block); } - Rd_MutexUnlock(NULL, __func__, NULL); +#ifdef USE_FREERTOS + Rd_MutexUnlock(&g_pool_mutex, __func__, NULL); +#endif } WEAK void* Rd_MemPoolCalloc(size_t n, size_t size)