【瑞萨RA4系列开发板体验】2. KEIL环境搭建+STLINK调试+FreeRTOS使用

下面是之前发的帖子，请参考：
【瑞萨RA4系列开发板体验】1. 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：
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)：https://ramcu.cn/lists/21.htmlhttps://ramcu.cn/lists/21.html
百度云：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
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;
}

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;
}

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 */

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));
    }
}

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 */

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));		
	}
}

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