Hanjie's Blog

一只有理想的羊驼

Posted on In , Disqus: 
1
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：

1
2
3
4
5
6
7
8
9
10
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，

1
2
3
4
APP_PLATFORM := android-21
APP_ABI := armeabi-v7a arm64-v8a x86_64
#APP_OPTIM := debug
APP_OPTIM := release

然后Build->Make Project。

Posted on In , Disqus:

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 Camera2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：

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
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↩︎

Posted on In , Disqus:

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12。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:

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
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：

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
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：

1
patch -p0 < patch

监听程序

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

1
2
3
4
5
6
7
8
/* 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.c3：

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
#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 */
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
#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：

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
...
#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：

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
...
"____________________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/↩︎

0%