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AR系统中存在虚拟影像空间和现实世界空间两个空间。在实际使用中，我们要求虚拟影像空间与现实世界空间能够对齐，使得虚拟物体与实际物体能够正确地叠加在一起。这需要我们对AR眼镜进行标定，获得传感器与光学屏幕，人眼之间的几何关系[1]。

ar_glasses_calibration1

  1. Cutolo, F., Fontana, U., Cattari, N. and Ferrari, V., 2020. Off-line camera-based calibration for optical see-through head-mounted displays. Applied Sciences, 10(1), p.193. ↩

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手机已经通过使用Magisk为App提供超级用户的权限，但是需要App主动向系统索求权限。下面我们通过使用一个Java Jar包，使得Unity生成的Android App能够获得root权限。

系统：Ubuntu Unity: 2020.3.13f1 Android Studio 3.6.1

首先，Android Studio中，菜单栏选择File->New->NewProject创建一个Empty Activity项目，Package name和Minimum SDK与Unity中的一致：

android_unity_root1

android_unity_root2

在菜单栏选择File->Project Structure->Modules->New Module，新建一个Android Library[1]，我们命名为GetRoot。注意Package name和Minimum SDK与Unity中的一致：

android_unity_root3

将/home/luohanjie/Unity/Hub/Editor/2019.4.15f1/Editor/Data/PlaybackEngines/AndroidPlayer/Variations/il2cpp/Development/Classes下的classes.jar复制到Android项目Module文件下的libs文件夹下，如/home/luohanjie/Documents/Android Projects/Unity2Android/getroot/libs。

将/home/luohanjie/Unity/Hub/Editor/2019.4.15f1/Editor/Data/PlaybackEngines/AndroidPlayer/Source/com/unity3d下的UnityPlayerActivity.java复制到Android Studio中，Project栏目下Module name/src/main/java/Package name下：

android_unity_root4

Android Studio中，Project栏目下Module name/src/main/java/Package name新建一个Empty Activity：

android_unity_root5

android_unity_root6

修改MainActivity.java[2]：

package com.cvte.imagetracker;

import android.os.Bundle;

import java.io.DataOutputStream;

public class MainActivity extends UnityPlayerActivity {

    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
    }

    public void GetRoot() {
        try {
            //通过执行su产生一个具有root权限的进程
            Process p = Runtime.getRuntime().exec("su");
            //然后，在向这个进程的写入要执行的命令，即可达到以root权限执行命令：
            DataOutputStream dos = new DataOutputStream(p.getOutputStream());
            dos.writeBytes( "\n");//cmd命令可为空
            dos.flush();
        } catch (Exception e) {
            e.printStackTrace();
        }
    }
}

通过Android Studio中Project栏目下Module name/src/main/下打开AndroidManifest.xml文件并且修改，注意package和android:name的参数：

<?xml version="1.0" encoding="utf-8"?>
<manifest xmlns:android="http://schemas.android.com/apk/res/android"
    package="com.cvte.imagetracker">

    <application>
        <!-- 这个android:name的值必须为包名+类名-->
        <activity android:name="com.cvte.imagetracker.MainActivity">
            <intent-filter>
                <action android:name="android.intent.action.MAIN" />
                <category android:name="android.intent.category.LAUNCHER" />
            </intent-filter>

            <!-- 这一行不能少，否则会闪退-->
            <meta-data android:name="unityplayer.UnityActivity" android:value="true" />
        </activity>
    </application>

</manifest>

通过Android Studio中Project栏目下Module name下打开build.gradle文件，修改minSdkVersion和targetSdkVersion，并在后面添加exportJar代码[1]：

apply plugin: 'com.android.library'

android {
    compileSdkVersion 30
    buildToolsVersion "30.0.2"

    defaultConfig {
        minSdkVersion 27
        targetSdkVersion 27
        versionCode 1
        versionName "1.0"

        testInstrumentationRunner "androidx.test.runner.AndroidJUnitRunner"
        consumerProguardFiles 'consumer-rules.pro'
    }

    buildTypes {
        release {
            minifyEnabled false
            proguardFiles getDefaultProguardFile('proguard-android-optimize.txt'), 'proguard-rules.pro'
        }
    }

}

dependencies {
    implementation fileTree(include: ['*.jar'], dir: 'libs')
    implementation 'androidx.appcompat:appcompat:1.3.1'
    testImplementation 'junit:junit:4.12'
    androidTestImplementation 'androidx.test.ext:junit:1.1.3'
    androidTestImplementation 'androidx.test.espresso:espresso-core:3.4.0'
    implementation files('libs/classes.jar')
}


task deleteOldJar(type: Delete) {
    delete 'release/AndroidPlugin.jar'
}

//task to export contents as jar
task exportJar(type: Copy) {
    from('build/intermediates/aar_main_jar/release/')
    into('release/')
    include('classes.jar')
    ///Rename the jar
    rename('classes.jar', 'AndroidPlugin.jar')
}

exportJar.dependsOn(deleteOldJar, build)

Android Studio中执行Sync Project with Gradle Files，然后在右上角Gradle中Module name/Task/other/下执行exportJar：

android_unity_root7

Project栏目下Module name/release中放有build生成的AndroidPlugin.jar。将AndroidPlugin.jar和AndroidManifest.xml复制到Unity项目的Assets/Plugins/Android/目录下。使用解压缩软件打开AndroidPlugin.jar，并且删除BuildConfig.class：

android_unity_root8

Unity中编写测试脚本：

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class test : MonoBehaviour
{
    // Start is called before the first frame update
    void Awake()
    {
        Debug.Log("==================");
        AndroidJavaObject activity = new AndroidJavaObject ("com.cvte.imagetracker.MainActivity");
        Debug.Log("GetRoot");
        activity.Call("GetRoot");
        Debug.Log("==================");
    }

    // Update is called once per frame
    void Update()
    {
        
    }

}

Scripting Backend使用IL2CPP，并且注意Package Name和API Level与Java项目中一致。

android_unity_root2

打包，放到装有Magisk的手机上执行，启动的时候就会提示APP授予超级用户权限。

android_unity_root9

  1. https://blog.csdn.net/weixin_43271060/article/details/109512768 ↩ ↩

  2. https://blog.csdn.net/mChenys/article/details/86701272 ↩

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git clone https://github.com/saki4510t/UVCCamera.git

打开Android Studio，File->Open打开UVCCamera文件夹。

修改Project/build.gradle文件，修改以下部分：

ext {
	supportLibVersion = '27.1.1'  // variable that can be referenced to keep support libs consistent
	commonLibVersion= '2.12.4'
	versionBuildTool = '27.0.3'
	versionCompiler = 27
	versionTarget = 27
	versionNameString = '1.0.0'
	javaSourceCompatibility = JavaVersion.VERSION_1_8
	javaTargetCompatibility = JavaVersion.VERSION_1_8
}

File->Project Structure，修改Android SDK location和Android NDK location，例如Android SDK location: /home/luohanjie/Android/Sdk，Android NDK location: /home/luohanjie/Android/Sdk/ndk/android-ndk-r21。

修改Project/libuvccamera/src/main/jni/Application.mk，

APP_PLATFORM := android-21
APP_ABI := armeabi-v7a arm64-v8a x86_64
#APP_OPTIM := debug
APP_OPTIM := release

然后Build->Make Project。

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通过OpneCV等工具提供的标定方法[1]，获得真实摄像头的针孔模型内参矩阵$K$：

$$K＝ {\begin{bmatrix} {f_x}&0&{c_x} \newline 0&{f_y}&{c_y} \newline 0&0&1 \end{bmatrix}}$$

Unity的Physcial Camera[2]仿真了真实世界的摄像头，可以将标定后的内参矩阵信息输入到Unity的Physcial Camera中，方便两者配合使用。

Unity中的转换方法：

using System;
using System.Collections;
using System.Collections.Generic;
using System.IO;
using System.Runtime.InteropServices;
using UnityEngine;
using UnityEngine.UI;

public class MyCamera : MonoBehaviour
{
    public string camera_name = "Integrated Camera"; // USB Video Device //Integrated Camera //Virtual Camera
    public int width = 1280;
    public int height = 720;
    public int fps = 120;
    public float focal = 28F;
    public float fx = 1087.4199F;   
    public float fy = 1087.4199F;   
    public float cx = 640F; 
    public float cy = 360F;
    public float skew = 0F;
    public AspectRatioFitter fit;
    private RawImage cambackground = null;
    private Camera cam_obj = null;  
    private WebCamTexture cam = null;  
    private volatile Color32[] cam_data = null;
    private Texture2D tex = null;

    IEnumerator Start()
    {
        cambackground = GameObject.FindWithTag("CamBackground").GetComponent<RawImage>();
        cam_obj = GameObject.FindWithTag("MainCamera").GetComponent<Camera>();
        
        yield return Application.RequestUserAuthorization(UserAuthorization.WebCam);

        if (Application.HasUserAuthorization(UserAuthorization.WebCam))
        {
            WebCamDevice[] devices = WebCamTexture.devices;

            if (devices.Length == 0)
            {
                Debug.Log("No camera detected!");
                yield break;
            }

            bool find_camera = false;

            for (int i = 0; i < devices.Length; i++)
            {
                Debug.Log("Found camera:" + devices[i].name);
                if (camera_name.Equals(devices[i].name)) {
                    find_camera = true;
                }
            }

            if (!find_camera)
            {
                Debug.Log("Unable to find camera: " + camera_name + "\n");
                Debug.Log("Open the first camera" + devices[0].name + "\n");
                camera_name = devices[0].name;
            }

            cam = new WebCamTexture(camera_name, width, height, fps);

            WebCamTexture.allowThreadedTextureCreation = true;
            WebCamTexture.streamingTextureDiscardUnusedMips = true;

            cam.Play();
            
            width = cam.width;
            height = cam.height;
            
            // ******************************************************
            // Transfer Real Camera Inrinsic Parameters to Unity Physical Camera Parameters
            cam_obj.usePhysicalProperties = true;
            cam_obj.focalLength = focal;
            cam_obj.sensorSize = new Vector2(focal * width / fx,
                                          focal * height / fy);
            cam_obj.lensShift = new Vector2(-(cx - width * 0.5f) / width,
                                         (cy - height * 0.5f) / height);
            // ******************************************************
            
            Debug.Log(camera_name +" Running...\n");
        }
    }   

    void Update()
    {
        if (cam == null || !cam.isPlaying) return;

        if (cam_data == null)
        {
            cam_data = new Color32[width * height];
            tex = new Texture2D(width, height);
        }

        cam_data = cam.GetPixels32();
        tex.SetPixels32(cam_data);
        tex.Apply();
        cambackground.texture = tex;

        fit.aspectRatio = (float)cam.width / (float)cam.height;

    }
}

其中float focal为任意设定的参数（因为无法通过标定获得），一般选择一个靠近真实值的值。

  1. https://docs.opencv.org/master/dc/dbb/tutorial_py_calibration.html ↩

  2. https://docs.unity3d.com/Manual/PhysicalCameras.html ↩

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准备文件

我的STM32项目是经由STM32CubeMX v6.2.0生成的Makefile项目；使用VS-Code-STM32-IDE来生成VS Code项目；使用v10.3.1的FreeRTOS系统；芯片为STM32F407VE；使用USART1作为输出端口，开启DMA传输。

下载SystemView v3.30版本。在安装目录内的SystemView_V330\Src文件夹中，将SEGGER和Sample内的相关文件复制到STM32项目的文件夹STM32_Project\Middlewares\Third_Party\SystemView中[1][2]。注意根据项目的需求，选择复制Sample中对应的系统和SEGGER\Syscalls中对应的编译器:

SystemView
├── Config
│   ├── Global.h
│   ├── SEGGER_RTT_Conf.h
│   ├── SEGGER_SYSVIEW_Conf.h
│   └── SEGGER_SYSVIEW_Config_FreeRTOS.c
└── SEGGER
    ├── SEGGER.h
    ├── SEGGER_RTT.c
    ├── SEGGER_RTT.h
    ├── SEGGER_RTT_ASM_ARMv7M.s
    ├── SEGGER_RTT_printf.c
    ├── SEGGER_SYSVIEW.c
    ├── SEGGER_SYSVIEW.h
    ├── SEGGER_SYSVIEW_ConfDefaults.h
    ├── SEGGER_SYSVIEW_FreeRTOS.c
    ├── SEGGER_SYSVIEW_FreeRTOS.h
    ├── SEGGER_SYSVIEW_Int.h
    └── Syscalls
        └── SEGGER_RTT_Syscalls_GCC.c

注意：SEGGER_RTT_ASM_ARMv7M.S需要改名为SEGGER_RTT_ASM_ARMv7M.s，不然后面编译时会出现No rule to make target错误。

FreeRTOS补丁

SystemView提供了针对FreeRTOS v10.0.0版本的补丁FreeRTOSV10_Core.patch，但不适合新的版本。这里我们提供了针对FreeRTOS v10.3.1版本的补丁。复制下面内容，并且保存名为patch的文件，并且放到STM32_Project\Middlewares\Third_Party，内含FreeRTOS的文件夹下：

diff -rupwN FreeRTOS/Source/include/FreeRTOS.h FreeRTOS_systemview/Source/include/FreeRTOS.h
--- FreeRTOS/Source/include/FreeRTOS.h	2021-03-22 00:24:29.699956400 +0800
+++ FreeRTOS_systemview/Source/include/FreeRTOS.h	2021-03-14 03:13:48.049285300 +0800
@@ -160,10 +160,6 @@ extern "C" {
 	#define INCLUDE_uxTaskGetStackHighWaterMark2 0
 #endif
 
-#ifndef INCLUDE_pxTaskGetStackStart
-	#define INCLUDE_pxTaskGetStackStart 0
-#endif
-
 #ifndef INCLUDE_eTaskGetState
 	#define INCLUDE_eTaskGetState 0
 #endif
@@ -420,22 +416,6 @@ hold explicit before calling the code. *
 	#define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
 #endif
 
-#ifndef traceREADDED_TASK_TO_READY_STATE
-	#define traceREADDED_TASK_TO_READY_STATE( pxTCB )	traceMOVED_TASK_TO_READY_STATE( pxTCB )
-#endif
-
-#ifndef traceMOVED_TASK_TO_DELAYED_LIST
-	#define traceMOVED_TASK_TO_DELAYED_LIST()
-#endif
-
-#ifndef traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST
-	#define traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST()
-#endif
-
-#ifndef traceMOVED_TASK_TO_SUSPENDED_LIST
-	#define traceMOVED_TASK_TO_SUSPENDED_LIST( pxTCB )
-#endif
-
 #ifndef traceQUEUE_CREATE
 	#define traceQUEUE_CREATE( pxNewQueue )
 #endif
@@ -680,18 +660,6 @@ hold explicit before calling the code. *
 	#define traceTASK_NOTIFY_GIVE_FROM_ISR()
 #endif
 
-#ifndef traceISR_EXIT_TO_SCHEDULER
-	#define traceISR_EXIT_TO_SCHEDULER()
-#endif
-
-#ifndef traceISR_EXIT
-	#define traceISR_EXIT()
-#endif
-
-#ifndef traceISR_ENTER
-	#define traceISR_ENTER()
-#endif
-
 #ifndef traceSTREAM_BUFFER_CREATE_FAILED
 	#define traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer )
 #endif
diff -rupwN FreeRTOS/Source/include/task.h FreeRTOS_systemview/Source/include/task.h
--- FreeRTOS/Source/include/task.h	2021-03-22 00:27:05.253377700 +0800
+++ FreeRTOS_systemview/Source/include/task.h	2021-03-14 03:13:48.062250900 +0800
@@ -1468,25 +1468,6 @@ UBaseType_t uxTaskGetStackHighWaterMark(
  */
 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
-/**
- * task.h
- * <PRE>uint8_t* pxTaskGetStackStart( TaskHandle_t xTask);</PRE>
- *
- * INCLUDE_pxTaskGetStackStart must be set to 1 in FreeRTOSConfig.h for
- * this function to be available.
- *
- * Returns the start of the stack associated with xTask.  That is,
- * the highest stack memory address on architectures where the stack grows down
- * from high memory, and the lowest memory address on architectures where the
- * stack grows up from low memory.
- *
- * @param xTask Handle of the task associated with the stack returned.
- * Set xTask to NULL to return the stack of the calling task.
- *
- * @return A pointer to the start of the stack.
- */
-uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) PRIVILEGED_FUNCTION;
-
 /* When using trace macros it is sometimes necessary to include task.h before
 FreeRTOS.h.  When this is done TaskHookFunction_t will not yet have been defined,
 so the following two prototypes will cause a compilation error.  This can be
diff -rupwN FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c FreeRTOS_systemview/Source/portable/GCC/ARM_CM4F/port.c
--- FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c	2021-03-22 00:29:26.581083000 +0800
+++ FreeRTOS_systemview/Source/portable/GCC/ARM_CM4F/port.c	2021-03-14 03:13:48.114111800 +0800
@@ -492,20 +492,14 @@ void xPortSysTickHandler( void )
 	save and then restore the interrupt mask value as its value is already
 	known. */
 	portDISABLE_INTERRUPTS();
-	traceISR_ENTER();
 	{
 		/* Increment the RTOS tick. */
 		if( xTaskIncrementTick() != pdFALSE )
 		{
-			traceISR_EXIT_TO_SCHEDULER();
 			/* A context switch is required.  Context switching is performed in
 			the PendSV interrupt.  Pend the PendSV interrupt. */
 			portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
 		}
-		else
-		{
-			traceISR_EXIT();
-		}
 	}
 	portENABLE_INTERRUPTS();
 }
diff -rupwN FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h FreeRTOS_systemview/Source/portable/GCC/ARM_CM4F/portmacro.h
--- FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h	2021-03-22 00:30:13.377937500 +0800
+++ FreeRTOS_systemview/Source/portable/GCC/ARM_CM4F/portmacro.h	2021-03-14 03:13:48.115109400 +0800
@@ -89,7 +89,7 @@ typedef unsigned long UBaseType_t;
 
 #define portNVIC_INT_CTRL_REG		( * ( ( volatile uint32_t * ) 0xe000ed04 ) )
 #define portNVIC_PENDSVSET_BIT		( 1UL << 28UL )
-#define portEND_SWITCHING_ISR( xSwitchRequired ) { if( xSwitchRequired != pdFALSE ) { traceISR_EXIT_TO_SCHEDULER(); portYIELD(); } else { traceISR_EXIT(); } }
+#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
 #define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
diff -rupwN FreeRTOS/Source/tasks.c FreeRTOS_systemview/Source/tasks.c
--- FreeRTOS/Source/tasks.c	2021-03-22 00:48:55.028709000 +0800
+++ FreeRTOS_systemview/Source/tasks.c	2021-03-14 03:13:48.213845800 +0800
@@ -220,16 +220,6 @@ count overflows. */
 	taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );												\
 	vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
 	tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
-/*
- * Place the task represented by pxTCB which has been in a ready list before
- * into the appropriate ready list for the task.
- * It is inserted at the end of the list.
- */
-#define prvReaddTaskToReadyList( pxTCB )															\
-	traceREADDED_TASK_TO_READY_STATE( pxTCB );														\
-	taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority );												\
-	vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
-	tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
 /*-----------------------------------------------------------*/
 
 /*
@@ -1682,7 +1672,7 @@ static void prvAddNewTaskToReadyList( TC
 					{
 						mtCOVERAGE_TEST_MARKER();
 					}
-					prvReaddTaskToReadyList( pxTCB );
+					prvAddTaskToReadyList( pxTCB );
 				}
 				else
 				{
@@ -1744,7 +1734,6 @@ static void prvAddNewTaskToReadyList( TC
 				mtCOVERAGE_TEST_MARKER();
 			}
 
-			traceMOVED_TASK_TO_SUSPENDED_LIST(pxTCB);
 			vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
 
 			#if( configUSE_TASK_NOTIFICATIONS == 1 )
@@ -3893,20 +3882,6 @@ static void prvCheckTasksWaitingTerminat
 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
 /*-----------------------------------------------------------*/
 
-#if (INCLUDE_pxTaskGetStackStart == 1)
-	uint8_t* pxTaskGetStackStart( TaskHandle_t xTask)
-	{
-	    TCB_t *pxTCB;
-	    UBaseType_t uxReturn;
-        (void)uxReturn;
-
-		pxTCB = prvGetTCBFromHandle( xTask );
-		return ( uint8_t * ) pxTCB->pxStack;
-	}
-
-#endif /* INCLUDE_pxTaskGetStackStart */
-/*-----------------------------------------------------------*/
-
 #if ( INCLUDE_vTaskDelete == 1 )
 
 	static void prvDeleteTCB( TCB_t *pxTCB )
@@ -4081,7 +4056,7 @@ TCB_t *pxTCB;
 
 					/* Inherit the priority before being moved into the new list. */
 					pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
-					prvReaddTaskToReadyList( pxMutexHolderTCB );
+					prvAddTaskToReadyList( pxMutexHolderTCB );
 				}
 				else
 				{
@@ -4171,7 +4146,7 @@ TCB_t *pxTCB;
 					any other purpose if this task is running, and it must be
 					running to give back the mutex. */
 					listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-					prvReaddTaskToReadyList( pxTCB );
+					prvAddTaskToReadyList( pxTCB );
 
 					/* Return true to indicate that a context switch is required.
 					This is only actually required in the corner case whereby
@@ -5233,7 +5208,6 @@ const TickType_t xConstTickCount = xTick
 			/* Add the task to the suspended task list instead of a delayed task
 			list to ensure it is not woken by a timing event.  It will block
 			indefinitely. */
-			traceMOVED_TASK_TO_SUSPENDED_LIST(pxCurrentTCB);
 			vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
 		}
 		else
@@ -5250,14 +5224,12 @@ const TickType_t xConstTickCount = xTick
 			{
 				/* Wake time has overflowed.  Place this item in the overflow
 				list. */
-				traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST();
 				vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
 			}
 			else
 			{
 				/* The wake time has not overflowed, so the current block list
 				is used. */
-				traceMOVED_TASK_TO_DELAYED_LIST();
 				vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
 
 				/* If the task entering the blocked state was placed at the
@@ -5287,13 +5259,11 @@ const TickType_t xConstTickCount = xTick
 		if( xTimeToWake < xConstTickCount )
 		{
 			/* Wake time has overflowed.  Place this item in the overflow list. */
-			traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST();
 			vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
 		}
 		else
 		{
 			/* The wake time has not overflowed, so the current block list is used. */
-			traceMOVED_TASK_TO_DELAYED_LIST();
 			vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
 
 			/* If the task entering the blocked state was placed at the head of the

在命令行窗口中输入打补丁指令：

patch -p0 < patch

监听程序

在STM32_Project\Inc\FreeRTOSConfig.h下添加以下语句：

/* USER CODE BEGIN Defines */
/* Section where parameter definitions can be added (for instance, to override default ones in FreeRTOS.h) */

#define INCLUDE_xTaskGetIdleTaskHandle 1
#define INCLUDE_pxTaskGetStackStart 1

#include "SEGGER_SYSVIEW_FreeRTOS.h"
/* USER CODE END Defines */

新建文件STM32_Project\Modules\include\systemview_task.h和STM32_Project\Modules\src\systemview_task.c[3]：

#ifndef __SYSTEMVIEW_TASK_H
#define __SYSTEMVIEW_TASK_H

#include "FreeRTOS.h"

#include "config.h"
#include "utils.h"
#include "usart_com.h"

void SystemViewLaunch(void);

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart);
void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart);

#endif /* __SYSTEMVIEW_TASK_H */
#include "systemview_task.h"

#define SYSVIEW_SINGLE_TX 256

TaskHandle_t system_view_notify;

STATIC_MEM_TASK_ALLOC(systemview_task, SYSTEMVIEW_TASK_STACKSIZE);
static void SystemViewTask(void *param);

uint8_t hello_message[32] = {
    'S', 'E', 'G', 'G', 'E', 'R', ' ',
    'S', 'y', 's', 't', 'e', 'm', 'V', 'i', 'e', 'w',
    ' ', 'V', '0' + SEGGER_SYSVIEW_MAJOR,
    '.', '0' + (SEGGER_SYSVIEW_MINOR / 10),
    '0' + (SEGGER_SYSVIEW_MINOR % 10),
    '.', '0' + (SEGGER_SYSVIEW_REV / 10),
    '0' + (SEGGER_SYSVIEW_REV % 10),
    '\0', 0, 0, 0, 0, 0};

void SystemViewLaunch(void) {

    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
    DWT->CYCCNT = 0;
    DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;

    SEGGER_SYSVIEW_Conf();

    STATIC_MEM_TASK_CREATE(systemview_task, SystemViewTask, "SystemViewTask", NULL, SYSTEMVIEW_TASK_PRI);
}

void SystemViewTask(void *param) {
    system_view_notify = xTaskGetCurrentTaskHandle();

    // 获取Channel ID
    int channel_id = SEGGER_SYSVIEW_GetChannelID();

    //发送HELLO包
    HAL_UART_Transmit_DMA(&huart1, hello_message, 32);

    uint8_t rx_buf;
    uint8_t tx_buf[SYSVIEW_SINGLE_TX];
    uint32_t notify_flag;
    bool dma_in_progress = true;
    TickType_t prev_send;

    //启动记录
    SEGGER_SYSVIEW_Start();

    while (1) {
        if (xTaskNotifyWait(0x00, 0x03, &notify_flag, pdMS_TO_TICKS(400)) == pdTRUE) {
            if (notify_flag & 0x01) {
                SEGGER_RTT_WriteDownBufferNoLock(channel_id, &rx_buf, 0x01);
                HAL_UART_Receive_IT(&huart1, &rx_buf, 0x01);
            } else if (notify_flag & 0x02) {
                if (dma_in_progress) {
                    dma_in_progress = false;
                    prev_send       = xTaskGetTickCount();
                }
            }
        }

        if (dma_in_progress == false && xTaskGetTickCount() - prev_send >= pdMS_TO_TICKS(400)) {
            unsigned int tx_length = SEGGER_RTT_GetBytesInBuffer(channel_id);
            if (tx_length >= SYSVIEW_SINGLE_TX) {
                uint32_t num = SEGGER_RTT_ReadUpBufferNoLock(channel_id, tx_buf, SYSVIEW_SINGLE_TX);
                HAL_UART_Transmit_DMA(&huart1, tx_buf, num);
            } else if (tx_length != 0) {
                uint32_t num = SEGGER_RTT_ReadUpBufferNoLock(channel_id, tx_buf, tx_length);
                HAL_UART_Transmit_DMA(&huart1, tx_buf, num);
            }
            dma_in_progress = true;
        }

    }
}

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
    if (huart->Instance == USART1) {
        BaseType_t higher_woken = pdFALSE;
        xTaskNotifyFromISR(system_view_notify, 0x01, eSetBits, &higher_woken);
        portYIELD_FROM_ISR(higher_woken);
    }
}

void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
    if (huart->Instance == USART1) {
        BaseType_t higher_woken = pdFALSE;
        xTaskNotifyFromISR(system_view_notify, 0x02, eSetBits, &higher_woken);
        portYIELD_FROM_ISR(higher_woken);
    }
}

修改STM32_Project\Src\main.c函数：

...
#include "systemview_task.h"
...

...
/* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_USART1_UART_Init();
  MX_TIM4_Init();
  MX_USART2_UART_Init();
  MX_I2C1_Init();
  /* USER CODE BEGIN 2 */

  SystemViewLaunch();

  /* USER CODE END 2 */

  /* Call init function for freertos objects (in freertos.c) */
  MX_FREERTOS_Init();
  /* Start scheduler */
  osKernelStart();
...

修改STM32_Project\.vscode\c_cpp_properties.json，添加：

...
"____________________USER_FIELDS_CAN_BE_MODIFIED____________________": "",
        "user_cSources": [
            "Modules/src/usart_com.c",
            "Modules/src/motor.c",
            "Modules/src/mavlink_task.c",
            "Modules/src/utils.c",
            "Modules/src/mpu6050.c",
            "Modules/src/ms5611.c",
            "Modules/src/hmc5883l.c",
            "Modules/src/sensors.c",
            "Modules/src/i2c1.c",
            "Modules/src/dmp.c",
            "Modules/src/system_task.c",
            "Modules/src/systemview_task.c",
            "Middlewares/Third_Party/SystemView/Config/SEGGER_SYSVIEW_Config_FreeRTOS.c",
            "Middlewares/Third_Party/SystemView/SEGGER/SEGGER_RTT_printf.c",
            "Middlewares/Third_Party/SystemView/SEGGER/SEGGER_RTT.c",
            "Middlewares/Third_Party/SystemView/SEGGER/SEGGER_SYSVIEW_FreeRTOS.c",
            "Middlewares/Third_Party/SystemView/SEGGER/SEGGER_SYSVIEW.c",
            "Middlewares/Third_Party/SystemView/SEGGER/Syscalls/SEGGER_RTT_Syscalls_GCC.c"
        ],
        "user_asmSources": [
            "Middlewares/Third_Party/SystemView/SEGGER/SEGGER_RTT_ASM_ARMv7M.s"
        ],
        "user_ldSources": [],
        "user_cIncludes": [
            "Modules/include",
            "Middlewares/Third_Party/SystemView/Config",
            "Middlewares/Third_Party/SystemView/SEGGER"
        ],
        "user_asmIncludes": [],
        "user_ldIncludes": [],
        "user_cDefines": [],
        "user_asmDefines": [],
        "user_cFlags": [],
        "user_asmFlags": [],
        "user_ldFlags": [
            "-u _printf_float"
        ],
...

编译并且烧录到单片机中。

SystemView

打开SystemView软件，打开Target->Recorder Configuration，选择UART并且填好相应的串口和波特率。

点击Start Recording，重启单片机，成功监控FreeRTOS：

system_vie

Github: https://github.com/HanjieLuo/drone

  1. https://github.com/nghiaphamsg/STM32F4_FreeRTOS/blob/master/002_SEGGER_Tools/README.md ↩

  2. https://www.segger.com/downloads/systemview/UM08027 ↩

  3. https://blog.imi.moe/systemview-freertos/ ↩