TI单片机实时系统分析讲义

TI单片机实时系统分析讲义第一页，共43页。WorkshopSetupThesoftware/hardwareusedinthisworkshopare:CCSv0090TI-RTOS(MCUSDK)1.00.00.74LM4F232H5QDEvaluationBoardOtherStellariskits(LM3S8962,LM3S9B92,LM3S9D96)orConcerto(F28M35H52C1)Controlcardmaybeused,butthisworkshopisbasedonLM4F232kit2第二页，共43页。SoftwareSetupInstallCCSv0090orhigher

InstallTI-RTOS(MCUSDK)1.00.00.74Note:WhenCCSisstartedupafterinstallationofTI-RTOS,itwillauto-detecttheTI-RTOS.MakesuretoleaveitenableditandrestartCCS3第三页，共43页。HardwareSetupLM4F232H5QDEvaluationBoardwithmicroandminiUSBcablesconnectedtoPCAfterconnectingUSBcables,driversshouldbeautomaticallyinstalledandDeviceManagershouldlooksimilartothis4第四页，共43页。Lab1–ExploreROVandRTOSAnalyzerusingUARTexampleKeyObjectivesGetfamiliarwithusingROV(RTOSObjectView)toinspectstateofthescheduler,threadsandobjectsinthesystemLearnhowtoaddSYSBIOSobjects(tasks,semaphoresetc)totheBIOSconfigurationGetfamiliarwithusingRTOSAnalyzertoviewRTAdata(executiongraph,task/CPUloadetc)StepsInvolvedUseResourceExplorertoimport,buildanddebugexample“UARTConsole”fromTI-RTOSRunprogramUseROVandRTOSAnalyzertoinspectstateofthesystemLabConventionsInformationalmessagesembeddedwithinlabstepsarehighlightedinBluetodifferentiatebetweenStepstoperformandinformationtoreview5第五页，共43页。UseResourceExplorertoimport,buildanddebugStartCCSandselectanewworkspaceInTIResourceExplorer,openMCUSDKPackage,open

Devices->EKS_LM4F232->ExampleProjectsandselect‘UARTConsole’6第六页，共43页。UseResourceExplorertoimport,buildanddebugGothroughsteps1,2and4inResourceExplorertoimport,buildanddebug‘UARTConsole’project(step3isalreadydoneforyouatstep1)7第七页，共43页。UseResourceExplorertoimport,buildanddebugAfterStep4,theprogramshouldbesuccessfullyloadedtotargetandhaltedatmain()8第八页，共43页。VerifyCorrectOperation(optional)ToverifytheConsoleisfunctioningcorrectly,connectaterminalprogramtoUART.CCS5.3includesaTerminalpluginToopenTerminalview,gotomenu‘View->Other’,select‘Terminal’ClickOK9第九页，共43页。VerifyCorrectOperation(optional)InTerminalview,clickon‘Settings’icon,settheparametersshownhereandclickOK(checkCOM#inDeviceManager–usethenumberlistedforStellarisVirtualSerialPort)Clickthe‘Run’buttoninDebugviewTheconsoleshouldprintout:

Startingtheexample========WelcometotheConsole========

Enteracommandfollowedbyreturn.

Typehelpforalistofcommands.

1%10第十页，共43页。UsingROV(RTOSObjectView)ROVshowsstateofscheduler,threadsandobjectsinthesystem–stopbased(musthaltprogramtoseeresults)HalttheprogramNoticethatCCSwillshowawarning:“Can’tfindasourcefile…”.ThisisbecausecodeishaltedwithinasourcetheBIOSpackage,butCCSisunabletolocatethefile.YoucanclickonthebuttonLocateFile…andpointtoyourlocalcopyoftheSYSBIOSpackageifyouwishtoviewsource.11第十一页，共43页。UsingROV(RTOSObjectView)OpenROV(menuTools->RTOSObjectView)andexploreClickon“Task”toseedetailsoftasksinthesystemHowmanytasksarethere?Whataretheirprioritiesandcurrentstate?WhatisthesizeofStackandstackPeakforeachtask?(Hint:checkinDetailedtab)Clickon“HeapMem”toseedetailsaboutthesystemheap

(Hint:needtogotoDetailedtabforsomeinfo)Whatisthetotalsizeofheap?Howmuchisfree?Whatisthestartingaddressoftheheap?ClickonTerminatebuttonintheDebugViewtoexitthedebugsessionMoreinformationonROVisat

12第十二页，共43页。UsingROV-AnswersClickon“Task”toseedetailsoftasksinthesystemHowmanytasksarethere?

2Whataretheirprioritiesandcurrentstate??

Idle–running,consoleFxn-blockedWhatisthesizeofStackandstackPeakforeachtask?

Idle–2048and416

consoleFxn–2048and1252Clickon“HeapMem”toseedetailsaboutthesystemheapWhatisthetotalsizeofheap?Howmuchisfree?0x10000x590Whatisthestartingaddressoftheheap?0x200044d013第十三页，共43页。UsingXGCONFCCSprovidesagraphicalconfigurationeditorcalledXGCONFforviewingandconfiguringSYS/BIOSmodulesandinstancesDouble-clickingon.cfgProjectExploreropensitinXGCONFgraphicaleditorbydefaultXGCONFismadeupofseveralviewsthatareusedtogether: Oneormoreviewscan

beusedforconfiguring

BIOSobjects

-Propertyview

-Outlineview

-AvailableProductsview

14第十四页，共43页。Updatethe.cfgXGCONFDouble-clickonuartconsole.cfginProjectExplorer

toopenitinXGCONFgraphicaleditorStepstoaddnewinstance:

-right-clickonmodule,forexample,‘Task’inOutlineView,

select‘NewTask’

-task0willappearandmayhaveaRedXonit(thisisduetonull

functionname)

-double-clickontask0toadjustitssettingsandSave

15第十五页，共43页。Updatethe.cfgnewobjectsAddaTaskinstance(usestepsoutlinedinslide15)Nameit‘task0’Changefunctionto‘task0Fxn’Prioritydoesn’tmatter16第十六页，共43页。Updatethe.cfgnewobjectsAddaClockinstance(usestepsoutlinedinslide15)Nameit‘clock0’Changefunctiontocall‘clock0Fxn’Changeinitialtimeoutandperiodto‘5’Checkthe“Startatboottime…”checkbox17第十七页，共43页。Updatethe.cfgnewobjectsAddaSemaphoreinstance(usestepsoutlinedinslide15)Nameit‘sem0’Savethe.cfgfile18第十八页，共43页。Addsourcefile(app.c)toprojectRight-clickonprojectEKS_LM4F232_uartconsoleandselect‘AddFiles’.Browsetothedirectorycontaining‘app.c’andclickOpenThecontentsofsourceprovidedhereforreference,soyoucouldalsocreateanewsourcefile,copyitscontentsintoitandSaveit#include<xdc/std.h>#include<ti/sysbios/BIOS.h>

#include<ti/sysbios/knl/Semaphore.h>

externSemaphore_Handlesem0;

Voidtask0Fxn(UArga0,UArga1)

{

for(;;){Semaphore_pend(sem0,BIOS_WAIT_FOREVER);

}}Voidclock0Fxn(Void)

{

Semaphore_post(sem0);

}

19第十九页，共43页。UsingROV(again)Clickthegreenbugbutton(Debug)tobuild

andloadthecodeYoushouldbehaltedat‘main’intheDebugperspectiveClickRunLetitrunforafewseconds,thenclickonSuspendUsemenuTools->ROVtoanalyzesystem20第二十页，共43页。UsingROV(again)Clickon“Task”toseedetailsoftasksinthesystemHowmanytasksarethere?Whataretheirprioritiesandcurrentstate?Clickon“HeapMem”toseehowmuchmemoryhasbeenusedClickon“Clock”toseeclockdetailsHowmanyClocktickshaveelapsed?(Hint:lookinModuletab)Runtheprogramfor10seconds.CheckClockticksagainVerifythat“10seconds=10,000ticks”since1mstickrateClickonTerminatebuttonintheDebugViewtoexitthedebugsession21第二十一页，共43页。UsingROV-AnswersClickon“Task”toseedetailsoftasksinthesystemHowmanytasksarethere?3(Idle,task0Fxn,consoleFxn)Whataretheirprioritiesandcurrentstate?Idlerunning,other2blockedClickon“HeapMem”toseehowmuchmemoryhasbeenused

(Used=0xA90,Free=0x570)Clickon“Clock”toseeclockdetailsHowmanyClocktickshaveelapsed?Runtheprogramfor10seconds.CheckClockticksagain(shouldhaveincreasedby~10000)Verifythat“10seconds=10,000ticks”since1mstickrate22第二十二页，共43页。Updatethe.cfgandapp.cAddanothertaskobject(refertoslide16ifneeded)Nameit‘task1’Changefunctionto‘task1Fxn’Settask1priorityto7Opensettingsofpreviouslycreatedtask‘task0’Settask0priorityto3Double-clickonapp.cinProjectExplorerandaddthefollowingcodeSaveuartconsole.cfgandapp.c#include<ti/sysbios/knl/Task.h>

Voidtask1Fxn(UArga0,UArga1)

{

for(;;){Task_sleep(10);}}

23第二十三页，共43页。UsingROV(again)Clickthegreenbugbutton(Debug)tobuildandloadthecodeClickRunLetitrunforafewseconds,thenclickonSuspendUseROVviewtoseetaskdetailsHowmanytasksarethereinthesystemnow?Whataretheirprioritiesandcurrentstates?Makesurethattask0andtask1havepriority3and7respectively24第二十四页，共43页。UsingROV-AnswersUseROVtoseetaskdetailsHowmanytasksarethereinthesystemnow?4(task1Fxninadditiontoprevious3)Whataretheirprioritiesandcurrentstates?Idlerunning,restblockedMakesurethattask0andtask1havepriority3and7respectively25第二十五页，共43页。RTOSAnalyzerRTOSAnalyzerispartofSystemAnalyzersuiteoftoolsUsedforvisualizingandanalyzingthebehaviorofyourRTOSapplication(mostcommonlyOSExecutionGraph,CPULoad,TaskLoad)DataiscollectedviasoftwareinstrumentationusingtheUIA(UnifiedInstrumentationArchitecture)targetpackagesandcanbetransportedviadifferenttransportssuchasEthernet,run-modeJTAG,stop-modeJTAG,USB/UARTtothehostPCforanalysisReference:SystemAnalyzerUser’sGuide:26第二十六页，共43页。UsingRTOSAnalyzerMakesureyouareinCCSDebugperspectiveClickRunGotomenu‘Tools->RTOSAnalyzer->ExecutionGraph’27第二十七页，共43页。UsingRTOSAnalyzerUSBTransportisautomaticallydetectedForUSBPortnameselecttheUSBserialportCOM#listedinDeviceManager

Note:thisCOM#willbedifferentthanthevirtualCOMportusedearlierfortheTerminaloutputClickOKCOM#willvarybyPC(UseUSB

serialportCOM#listedinDevice

Manager,inthiscaseCOM14)28第二十八页，共43页。UsingRTOSAnalyzerThe‘LiveSession:Logs’viewand‘ExecutionGraph’viewwillopenanddisplaydataClickon+signtoexpand29第二十九页，共43页。UsingRTOSAnalyzerCanopenotherviewsusingthe‘Analyze’dropdownmenuwithin‘LiveSession:Logs’view30第三十页，共43页。ExecutionGraphSuspendexecutionofprogramMeasureperiodoftask0Fxnandtask1FxnUsethezoomin/zoomouticonstoviewexecutionmoreclearlySetmeasurementmarkersatstartoftwoconsecutiveinstancesoftask0Fxnandtask1FxnTosetmeasurementmarker,right-clickinsideview,select‘InsertMeasurementMark,movetobeginningoftaskandclickInthisexample,periodoftask1FxnisX2-X1=10,000usandperiodoftask0Fxnis~4927usMeasuretimespentintask1Fxn(~31us)ClickonTerminatebuttonintheDebugViewtoexitdebugsession31第三十一页，共43页。Modifyapp.ctoadddelaytotask1Fxn()Voiddelay()

{

volatileInti;for(i=0;i<10000;i++){}}Voidtask1Fxn(UArga0,UArga1)

{

for(;;){Task_sleep(10);delay();}}

Editapp.ctoaddacalltodelay()anddelayloopasshownhereClickthebugbutton(Debug)tobuildandloadthecodeClickRunGotomenu‘Tools->RTOSAnalyzer->ExecutionGraph’AfterExecutionGraphviewopens,Suspendexecutionofprogram32第三十二页，共43页。ExecutionGraphUsemeasurementmarkerstomeasuretimespentintask1Fxn()(~2879us)

Note:AccuracyofthisvaluemayvarydependingonthezoomComparethistimewiththetimespentintask1Fxninslide28tocomputetimespentindelay()Whyistask1nicelyperiodicbuttask0isnot?Task1ishigherpriorityOptionalExerciseFliptheprioritiesoftask0/task1inyour.cfgnotechangesinexecutiongraphandexplainwhy33第三十三页，共43页。TaskLoadOpentheTaskLoadvieweitherfromCCSmenu‘Tools->RTOSAnalyzer->TaskLoad’OR‘Analyze’drop-downmenuinside‘LiveSession:Logs’view34第三十四页，共43页。TaskLoadUse‘TaskLoad’viewtofindWhatisthetaskloadfortask0andtask1?WhatistheCPUloadforthesystem?Openthe‘Summary’or‘Detail’TaskLoadviewstoseerawdataWhenanalysisiscomplete,clickonTerminatebuttonintheDebugviewtoexitdebugsession35第三十五页，共43页。Lab2–AddRTALoggingsupporttoexistingSYSBIOSapplicationKeyObjectivesLearnhowtoaddsupporttoanexistingSYSBIOSapplicationforloggingRTAdataUseRTOSAnalyzertoviewRTAdata(executiongraph,task/CPUload)StepsInvolvedCreateanewCCSprojectusingSYSBIOSexampletemplate“Stairstep”AddLoggingsupportandsettransportmethodtosenddatatohostBuild,loadandruntheprogramUseRTOSAnalyzertoinspectstateofthesystemLabConventionsInformationalmessagesembeddedwithinlabstepsarehighlightedinBluetodifferentiatebetweenStepstoperformandinformationtoreview36第三十六页，共43页。AddRTALoggingsupporttoSYSBIOSapplicationGotomenu‘File->New->CCSProject’MaketheselectionsshowninthescreenshottocreateanewprojectusingtheSYSBIOS“Stairstep”exampleProjectname:lm4f232_stairstepFamily:ARM,Variant:StellarisLM4F232H5QDConnection:StellarisIn-CircuitDebugInterfaceUnder‘Projecttemplatesandexamples’expand‘SYS/BIOS’,thenexpand‘GenericExamples’andselectStairstepExampleClick‘Next’VerifythatthePlatformisti.platforms.stellaris:LM4F232H5QDClick‘Finish’37第三十七页，共43页。AddRTALoggingsupporttoSYSBIOSapplicationRight-clickontheprojectinProjectExplorer,goto‘Properties’Select‘General’intherightpaneandclickonthe‘RTSC’tabintherightpaneEnableSystemAnalyzer(UIATarget).ClickOK38第三十八页，共43页。AddRTALoggingsupporttoSYSBIOSapplicationDouble-clickonstairstep.cfginProjectExplorerviewVerifythat‘UIA->LoggingSetup’appearsinthe“AvailableProducts”viewIfitdoesnot,mayneedtocloseandreopenstairstep.cfgInOutlineView,right-clickon‘Agent’andselect