From 18896b3be44e839186d0ede0a56fa7f9602a7838 Mon Sep 17 00:00:00 2001 From: yythlss <2911687347@qq.com> Date: Wed, 19 Aug 2026 23:06:52 +0800 Subject: [PATCH 1/5] =?UTF-8?q?[=E4=BD=9C=E4=B8=9A=E6=8F=90=E4=BA=A4]=20?= =?UTF-8?q?=E7=BA=BF=E7=A8=8B=E9=97=B4=E5=90=8C=E6=AD=A5=E4=B8=8E=E9=80=9A?= =?UTF-8?q?=E4=BF=A1=20-=20=E6=98=93=E8=8E=B9=E8=8E=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../README.md" | 218 +++++ .../thread_study.c" | 445 +++++++++ ...11\345\244\251\347\254\224\350\256\260.md" | 911 ++++++++++++++++++ 3 files changed, 1574 insertions(+) create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/README.md" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/thread_study.c" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\344\270\211\345\244\251\347\254\224\350\256\260.md" diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/README.md" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/README.md" new file mode 100644 index 0000000..3b98f44 --- /dev/null +++ "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/README.md" @@ -0,0 +1,218 @@ +# excerise1 +## 思考题 +**为什么使用计数信号量，而不是互斥量？** +>答： + 1. 停车场有 3 个相同的车位，计数信号量的初始值设置为 3，表示当前有 3 个可用车位。每辆车进入时申请一个信号量，信号量减 1；车辆离开时释放信号量，信号量加 1，因此可以准确限制同时进入的车辆数量。 + 2. 互斥量通常用于保护共享数据或临界区，同一时刻只能被一个线程持有，不能表示同时存在的多个车位。因此，本题适合使用计数信号量。 +# excerise2 +## 对比实验 +### 不使用互斥量 +```c + \ | / +- RT - Thread Operating System + / | \ 4.1.1 build Aug 19 2026 21:01:53 + 2006 - 2022 Copyright by RT-Thread team +msh >ticket_demo +msh >window B sold ticket 20 +window A sold ticket 20 +window B sold ticket 19 +window A sold ticket 19 +window B sold ticket 18 +window A sold ticket 18 +window B sold ticket 17 +window A sold ticket 17 +window B sold ticket 16 +window A sold ticket 16 +window B sold ticket 15 +window A sold ticket 15 +window B sold ticket 14 +window A sold ticket 14 +window B sold ticket 13 +window A sold ticket 13 +window B sold ticket 12 +window A sold ticket 12 +window B sold ticket 11 +window A sold ticket 11 +window B sold ticket 10 +window A sold ticket 10 +window B sold ticket 9 +window A sold ticket 9 +window B sold ticket 8 +window A sold ticket 8 +window B sold ticket 7 +window A sold ticket 7 +window B sold ticket 6 +window A sold ticket 6 +window B sold ticket 5 +window A sold ticket 5 +window B sold ticket 4 +window A sold ticket 4 +window B sold ticket 3 +window A sold ticket 3 +window B sold ticket 2 +window A sold ticket 2 +window B sold ticket 1 +all tickets sold +remaining tickets: 0 +window A sold ticket 1 +all tickets sold +remaining tickets: 0 +``` +### 使用互斥量 +```c + \ | / +- RT - Thread Operating System + / | \ 4.1.1 build Aug 19 2026 21:01:53 + 2006 - 2022 Copyright by RT-Thread team +msh >list_thread +thread pri status sp stack size max used left tick error +-------- --- ------- ---------- ---------- ------ ---------- --- +tshell 20 running 0x000000d0 0x00001000 15% 0x00000002 OK +tidle0 31 ready 0x0000005c 0x00000100 64% 0x00000013 OK +timer 4 suspend 0x0000007c 0x00000200 24% 0x00000009 OK +msh >ticket_demo +msh >window B sold ticket 20 +window A sold ticket 19 +window B sold ticket 18 +window A sold ticket 17 +list_thread +thread pri status sp stack size max used left tick error +-------- --- ------- ---------- ---------- ------ ---------- --- +B 20 suspend 0x000000ac 0x00000200 45% 0x00000001 OK +A 20 suspend 0x000000ac 0x00000200 45% 0x00000001 OK +tshell 20 running 0x000000d0 0x00001000 15% 0x0000000a OK +tidle0 31 ready 0x0000005c 0x00000100 64% 0x00000007 OK +timer 4 suspend 0x0000007c 0x00000200 24% 0x00000009 OK +msh >window B sold ticket 16 +window A sold ticket 15 +window B sold ticket 14 +window A sold ticket 13 +window B sold ticket 12 +window A sold ticket 11 +window B sold ticket 10 +window A sold ticket 9 +window B sold ticket 8 +window A sold ticket 7 +window B sold ticket 6 +window A sold ticket 5 +window B sold ticket 4 +window A sold ticket 3 +window B sold ticket 2 +window A sold ticket 1 +all tickets sold +remaining tickets: 0 +list_thread +thread pri status sp stack size max used left tick error +-------- --- ------- ---------- ---------- ------ ---------- --- +tshell 20 running 0x000000d0 0x00001000 15% 0x00000005 OK +tidle0 31 ready 0x0000005c 0x00000100 64% 0x0000001b OK +timer 4 suspend 0x0000007c 0x00000200 24% 0x00000009 OK +``` +### 思考题 +**为什么只给 `ticket_count--` 加锁仍可能不安全？** +>答： + 1. 售票过程不只有 `ticket_count--`，还包括检查是否有余票、读取票号、修改余票和打印结果。如果只给减 1 操作加锁，两个线程仍可能同时读取到相同的余票值，导致得到相同的票号，或者一个线程读取到余票后，另一个线程先完成售票，造成数据判断错误。 + 2. 因此，检查余票、读取票号、减少余票和记录售票结果必须放在同一个互斥量保护的临界区内，保证整个售票操作具有原子性。 +# excerise3 +### 思考题 + +**使用三个独立信号量和使用事件集有什么区别？** +>答： + 1. 三个信号量可以分别表示网络、传感器和存储模块是否完成初始化，但主业务线程需要依次等待三个信号量，代码较复杂，而且信号量获取后计数会被消耗。 + 2. 事件集可以使用不同的事件位表示不同模块的状态，并通过一次 `AND` 条件等待三个事件全部到达。事件位可以同时保存多个模块的就绪状态，适合表示“多个条件是否已经满足”，代码更直观。 + 3. 因此，信号量更适合表示资源数量或同步次数，事件集更适合表示多个独立条件的组合状态。 + +# 运行结果 +```c + + \ | / +- RT - Thread Operating System + / | \ 4.1.1 build Aug 19 2026 21:01:53 + 2006 - 2022 Copyright by RT-Thread team +msh >parking_demo +msh >car5 entered, used spaces: 1 +car4 entered, used spaces: 2 +car3 entered, used spaces: 3 +car2 waiting for a space +car1 waiting for a space +car2 waiting for a space +car1 waiting for a space +car3 left +car2 entered, used spaces: 3 +car4 left +car1 entered, used spaces: 3 +car5 left +car1 left +car2 left +car3 entered, used spaces: 1 +car4 entered, used spaces: 2 +car5 entered, used spaces: 3 + + \ | / +- RT - Thread Operating System + / | \ 4.1.1 build Aug 19 2026 21:01:53 + 2006 - 2022 Copyright by RT-Thread team +msh >ticket_demo +msh >window B sold ticket 20 +window A sold ticket 19 +window B sold ticket 18 +window A sold ticket 17 +window B sold ticket 16 +window A sold ticket 15 +window B sold ticket 14 +window A sold ticket 13 +window B sold ticket 12 +window A sold ticket 11 +window B sold ticket 10 +window A sold ticket 9 +window B sold ticket 8 +window A sold ticket 7 +window B sold ticket 6 +window A sold ticket 5 +window B sold ticket 4 +window A sold ticket 3 +window B sold ticket 2 +window A sold ticket 1 +all tickets sold +remaining tickets: 0 +startup_demo +msh >network ready +sensor ready +wait modules timeout, storage is not ready +storage ready +all modules are ready +business task started +package_demo +msh >package 2001 -> north, weight: 900 g +package 1001 -> south, weight: 800 g +package 2002 -> east, weight: 950 g +package 1002 -> north, weight: 850 g +package 2003 -> south, weight: 1000 g +package 1003 -> east, weight: 900 g +package 2004 -> north, weight: 1050 g +package 1004 -> south, weight: 950 g +package 2005 -> east, weight: 1100 g +package 1005 -> north, weight: 1000 g +total packages: 10 +east: 3, south: 3, north: 4 +total weight: 9500 g +send failed: 0 +parking_demo +msh >car5 entered, used spaces: 1 +car4 entered, used spaces: 2 +car3 entered, used spaces: 3 +car2 waiting for a space +car1 waiting for a space +car2 waiting for a space +car1 waiting for a space +car3 left +car2 entered, used spaces: 3 +car4 left +car1 entered, used spaces: 3 +car5 left +car1 left +car2 left +car3 entered, used spaces: 1 +car4 entered, used spaces: 2 +car5 entered, used spaces: 3 +``` \ No newline at end of file diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/thread_study.c" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/thread_study.c" new file mode 100644 index 0000000..00b1127 --- /dev/null +++ "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/thread_study.c" @@ -0,0 +1,445 @@ +/* + * Copyright (c) 2006-2026, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2026-08-19 RT-Thread first version + */ + +#include + +#define DBG_TAG "main" +#define DBG_LVL DBG_LOG +#include + + +#define DEMO_STACK_SIZE 512 +#define DEMO_PRIORITY 20 +#define DEMO_TIMESLICE 5 + +#define EVENT_NET_READY (1U << 0) +#define EVENT_SENSOR_READY (1U << 1) +#define EVENT_STORAGE_READY (1U << 2) +#define ALL_MODULES_READY (EVENT_NET_READY | EVENT_SENSOR_READY | EVENT_STORAGE_READY) + +/* Exercise 1: parking spaces */ +#define CAR_COUNT 5 +#define PARKING_SPACE_COUNT 3 +static struct rt_semaphore parking_sem; +static struct rt_thread car_threads[CAR_COUNT]; +ALIGN(RT_ALIGN_SIZE) +static rt_uint8_t car_stacks[CAR_COUNT][DEMO_STACK_SIZE]; +static volatile rt_uint8_t parking_used; +static volatile rt_bool_t parking_running; + +static void car_entry(void *parameter) +{ + rt_uint32_t car_id = (rt_uint32_t)(rt_ubase_t)parameter; + + while (1) + { + if (rt_sem_take(&parking_sem, rt_tick_from_millisecond(2000)) != RT_EOK) + { + rt_kprintf("car%u waiting for a space\n", (unsigned int)car_id); + rt_thread_mdelay(1000); + continue; + } + + parking_used++; + rt_kprintf("car%u entered, used spaces: %u\n", + (unsigned int)car_id, (unsigned int)parking_used); + rt_thread_mdelay(3000 + car_id * 1000); + parking_used--; + rt_kprintf("car%u left\n", (unsigned int)car_id); + rt_sem_release(&parking_sem); + rt_thread_mdelay(10000); + } +} + +static int parking_demo(int argc, char *argv[]) +{ + rt_err_t result; + rt_uint32_t i; + + RT_UNUSED(argc); + RT_UNUSED(argv); + if (parking_running) + return -RT_EBUSY; + + parking_used = 0; + result = rt_sem_init(&parking_sem, "parking", PARKING_SPACE_COUNT, + RT_IPC_FLAG_FIFO); + if (result != RT_EOK) + return result; + parking_running = RT_TRUE; + + for (i = 0; i < CAR_COUNT; i++) + { + result = rt_thread_init(&car_threads[i], "car", car_entry, + (void *)(rt_ubase_t)(i + 1), car_stacks[i], + sizeof(car_stacks[i]), DEMO_PRIORITY, + DEMO_TIMESLICE); + if (result != RT_EOK) + { + parking_running = RT_FALSE; + rt_sem_detach(&parking_sem); + return result; + } + result = rt_thread_startup(&car_threads[i]); + if (result != RT_EOK) + { + parking_running = RT_FALSE; + rt_sem_detach(&parking_sem); + return result; + } + } + return RT_EOK; +} +MSH_CMD_EXPORT(parking_demo, start parking demo); + +/* Exercise 2: ticket windows */ +#define WINDOW_COUNT 2 +#define TOTAL_TICKETS 20 +static struct rt_mutex ticket_mutex; +static struct rt_thread window_threads[WINDOW_COUNT]; +ALIGN(RT_ALIGN_SIZE) +static rt_uint8_t window_stacks[WINDOW_COUNT][DEMO_STACK_SIZE]; +static rt_int32_t ticket_count; +static rt_int32_t sold_tickets[TOTAL_TICKETS]; +static volatile rt_uint8_t ticket_done_count; +static volatile rt_bool_t ticket_running; + +static void window_entry(void *parameter) +{ + const char *window_name = (const char *)parameter; + rt_int32_t ticket_number; + + while (1) + { + if (rt_mutex_take(&ticket_mutex, RT_WAITING_FOREVER) != RT_EOK) + break; + if (ticket_count <= 0) + { + rt_mutex_release(&ticket_mutex); + break; + } + ticket_number = ticket_count--; + sold_tickets[TOTAL_TICKETS - ticket_number] = ticket_number; + rt_kprintf("window %s sold ticket %d\n", window_name, ticket_number); + rt_mutex_release(&ticket_mutex); + rt_thread_mdelay(100); + } + + rt_enter_critical(); + ticket_done_count++; + if (ticket_done_count == WINDOW_COUNT) + { + ticket_running = RT_FALSE; + rt_exit_critical(); + rt_mutex_detach(&ticket_mutex); + rt_kprintf("all tickets sold\n"); + rt_kprintf("remaining tickets: %d\n", ticket_count); + } + else + { + rt_exit_critical(); + } +} + +static int ticket_demo(int argc, char *argv[]) +{ + static const char *names[WINDOW_COUNT] = {"A", "B"}; + rt_err_t result; + rt_uint32_t i; + + RT_UNUSED(argc); + RT_UNUSED(argv); + if (ticket_running) + return -RT_EBUSY; + ticket_count = TOTAL_TICKETS; + ticket_done_count = 0; + result = rt_mutex_init(&ticket_mutex, "ticket", RT_IPC_FLAG_FIFO); + if (result != RT_EOK) + return result; + ticket_running = RT_TRUE; + + for (i = 0; i < WINDOW_COUNT; i++) + { + result = rt_thread_init(&window_threads[i], names[i], window_entry, + (void *)names[i], window_stacks[i], + sizeof(window_stacks[i]), DEMO_PRIORITY, + DEMO_TIMESLICE); + if (result != RT_EOK) + return result; + result = rt_thread_startup(&window_threads[i]); + if (result != RT_EOK) + return result; + } + return RT_EOK; +} +MSH_CMD_EXPORT(ticket_demo, start ticket demo); + +/* Exercise 3: startup conditions */ +#define MODULE_COUNT 3 +static struct rt_event module_event; +static struct rt_thread module_threads[MODULE_COUNT + 1]; +ALIGN(RT_ALIGN_SIZE) +static rt_uint8_t module_stacks[MODULE_COUNT + 1][DEMO_STACK_SIZE]; +static volatile rt_uint32_t ready_events; +static volatile rt_bool_t startup_running; + +static void module_entry(void *parameter) +{ + rt_uint32_t event = (rt_uint32_t)(rt_ubase_t)parameter; + const char *name; + rt_int32_t delay; + + if (event == EVENT_NET_READY) + { + name = "network"; + delay = 1000; + } + else if (event == EVENT_SENSOR_READY) + { + name = "sensor"; + delay = 2000; + } + else + { + name = "storage"; + delay = 5000; + } + rt_thread_mdelay(delay); + rt_enter_critical(); + ready_events |= event; + rt_exit_critical(); + if (rt_event_send(&module_event, event) != RT_EOK) + rt_kprintf("%s event send failed\n", name); + else + rt_kprintf("%s ready\n", name); +} + +static void business_entry(void *parameter) +{ + rt_uint32_t received; + rt_err_t result; + RT_UNUSED(parameter); + + result = rt_event_recv(&module_event, ALL_MODULES_READY, RT_EVENT_FLAG_AND, + rt_tick_from_millisecond(3000), &received); + if (result == -RT_ETIMEOUT) + { + rt_kprintf("wait modules timeout,"); + if (!(ready_events & EVENT_NET_READY)) rt_kprintf(" network"); + if (!(ready_events & EVENT_SENSOR_READY)) rt_kprintf(" sensor"); + if (!(ready_events & EVENT_STORAGE_READY)) rt_kprintf(" storage"); + rt_kprintf(" is not ready\n"); + } + result = rt_event_recv(&module_event, ALL_MODULES_READY, + RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, + RT_WAITING_FOREVER, &received); + if (result == RT_EOK) + { + rt_kprintf("all modules are ready\n"); + rt_kprintf("business task started\n"); + } + rt_event_detach(&module_event); + startup_running = RT_FALSE; +} + +static int startup_demo(int argc, char *argv[]) +{ + static const char *names[MODULE_COUNT] = {"network", "sensor", "storage"}; + static const rt_uint32_t events[MODULE_COUNT] = { + EVENT_NET_READY, EVENT_SENSOR_READY, EVENT_STORAGE_READY + }; + rt_err_t result; + rt_uint32_t i; + + RT_UNUSED(argc); + RT_UNUSED(argv); + if (startup_running) + return -RT_EBUSY; + ready_events = 0; + result = rt_event_init(&module_event, "modules", RT_IPC_FLAG_FIFO); + if (result != RT_EOK) + return result; + startup_running = RT_TRUE; + for (i = 0; i < MODULE_COUNT; i++) + { + result = rt_thread_init(&module_threads[i], names[i], module_entry, + (void *)(rt_ubase_t)events[i], module_stacks[i], + sizeof(module_stacks[i]), DEMO_PRIORITY, + DEMO_TIMESLICE); + if (result != RT_EOK) return result; + result = rt_thread_startup(&module_threads[i]); + if (result != RT_EOK) return result; + } + result = rt_thread_init(&module_threads[MODULE_COUNT], "business", + business_entry, RT_NULL, module_stacks[MODULE_COUNT], + sizeof(module_stacks[MODULE_COUNT]), DEMO_PRIORITY, + DEMO_TIMESLICE); + if (result != RT_EOK) return result; + return rt_thread_startup(&module_threads[MODULE_COUNT]); +} +MSH_CMD_EXPORT(startup_demo, start startup demo); + +/* Exercise 4: package sorting */ +struct package_msg +{ + rt_uint32_t id; + rt_uint8_t region; + rt_uint16_t weight; +}; + +#define PRODUCER_COUNT 2 +#define PACKAGES_PER_PRODUCER 5 +#define PACKAGE_QUEUE_CAPACITY 5 +static struct rt_messagequeue package_queue; +ALIGN(RT_ALIGN_SIZE) +static rt_uint8_t package_pool[PACKAGE_QUEUE_CAPACITY * sizeof(struct package_msg)]; +static struct rt_thread package_threads[PRODUCER_COUNT + 1]; +ALIGN(RT_ALIGN_SIZE) +static rt_uint8_t package_stacks[PRODUCER_COUNT + 1][DEMO_STACK_SIZE]; +static volatile rt_uint8_t package_done_count; +static volatile rt_uint32_t package_send_failed; +static volatile rt_bool_t package_running; + +static const char *package_region_name(rt_uint8_t region) +{ + if (region == 1) return "east"; + if (region == 2) return "south"; + return "north"; +} + +static void package_sender_entry(void *parameter) +{ + rt_uint32_t sender = (rt_uint32_t)(rt_ubase_t)parameter; + struct package_msg message; + rt_uint32_t i; + rt_bool_t last_sender = RT_FALSE; + + for (i = 0; i < PACKAGES_PER_PRODUCER; i++) + { + message.id = sender * 1000 + i + 1; + message.region = (rt_uint8_t)((sender + i) % 3 + 1); + message.weight = (rt_uint16_t)(700 + sender * 100 + i * 50); + while (rt_mq_send(&package_queue, &message, sizeof(message)) != RT_EOK) + { + package_send_failed++; + rt_thread_mdelay(20); + } + rt_thread_mdelay(50); + } + + rt_enter_critical(); + package_done_count++; + if (package_done_count == PRODUCER_COUNT) + last_sender = RT_TRUE; + rt_exit_critical(); + + if (last_sender) + { + message.id = 0; + message.region = 0; + message.weight = 0; + while (rt_mq_send(&package_queue, &message, sizeof(message)) != RT_EOK) + { + package_send_failed++; + rt_thread_mdelay(20); + } + } +} + +static void package_sorter_entry(void *parameter) +{ + struct package_msg message; + rt_uint32_t total = 0; + rt_uint32_t region_count[3] = {0, 0, 0}; + rt_uint32_t total_weight = 0; + rt_err_t result; + RT_UNUSED(parameter); + + while (1) + { + result = rt_mq_recv(&package_queue, &message, sizeof(message), + RT_WAITING_FOREVER); + if (result != RT_EOK) + continue; + if (message.id == 0) + break; + total++; + if (message.region >= 1 && message.region <= 3) + region_count[message.region - 1]++; + total_weight += message.weight; + rt_kprintf("package %u -> %s, weight: %u g\n", (unsigned int)message.id, + package_region_name(message.region), + (unsigned int)message.weight); + } + rt_kprintf("total packages: %u\n", (unsigned int)total); + rt_kprintf("east: %u, south: %u, north: %u\n", + (unsigned int)region_count[0], (unsigned int)region_count[1], + (unsigned int)region_count[2]); + rt_kprintf("total weight: %u g\n", (unsigned int)total_weight); + rt_kprintf("send failed: %u\n", (unsigned int)package_send_failed); + rt_mq_detach(&package_queue); + package_running = RT_FALSE; +} + +static int package_demo(int argc, char *argv[]) +{ + rt_err_t result; + rt_uint32_t i; + RT_UNUSED(argc); + RT_UNUSED(argv); + if (package_running) + return -RT_EBUSY; + package_done_count = 0; + package_send_failed = 0; + result = rt_mq_init(&package_queue, "packages", package_pool, + sizeof(struct package_msg), sizeof(package_pool), + RT_IPC_FLAG_FIFO); + if (result != RT_EOK) + return result; + package_running = RT_TRUE; + for (i = 0; i < PRODUCER_COUNT; i++) + { + result = rt_thread_init(&package_threads[i], i == 0 ? "sender1" : "sender2", + package_sender_entry, (void *)(rt_ubase_t)(i + 1), + package_stacks[i], sizeof(package_stacks[i]), + DEMO_PRIORITY, DEMO_TIMESLICE); + if (result != RT_EOK) return result; + result = rt_thread_startup(&package_threads[i]); + if (result != RT_EOK) return result; + } + result = rt_thread_init(&package_threads[PRODUCER_COUNT], "sorter", + package_sorter_entry, RT_NULL, + package_stacks[PRODUCER_COUNT], + sizeof(package_stacks[PRODUCER_COUNT]), + DEMO_PRIORITY, DEMO_TIMESLICE); + if (result != RT_EOK) return result; + return rt_thread_startup(&package_threads[PRODUCER_COUNT]); +} +MSH_CMD_EXPORT(package_demo, start package sorting demo); + +int main(void) +{ + return 0; +} + +/* +int main(void) +{ + int count = 1; + + while (count++) + { + LOG_D("Hello RT-Thread!"); + rt_thread_mdelay(1000); + } + + return RT_EOK; +} +*/ diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\344\270\211\345\244\251\347\254\224\350\256\260.md" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\344\270\211\345\244\251\347\254\224\350\256\260.md" new file mode 100644 index 0000000..c81e9c5 --- /dev/null +++ "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\344\270\211\345\244\251\347\254\224\350\256\260.md" @@ -0,0 +1,911 @@ +# 内核入门 +**临界区** + 临界区的资源在同一时间只能被一个线程（住户）使用，所以一旦临界资源被占用，其他的线程（住户）能做的就只有等待。 + +### IPC 机制 +1. **线程同步** + - 信号量（Semaphore） + - 互斥量 (mutex) + - 事件集 (event) +2. **线程间通信** + - 邮箱 (mailbox) + - 消息队列 (msgqueue) +# [线程间同步](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/ipc1/ipc1) +## **信号量(Semaphore)** +- 是一种轻型的用于解决线程间同步问题的**内核对象**，一个或多个运行线程可以获取或释放它，从而达到同步或互斥的目的。 +- 用于实现任务与任务之间、任务与中断处理程序之间的同步与互斥。 +- 信号量一般分为三种： + - 互斥信号量 用于解决互斥问题。它比较特殊，可能会引起优先级反转问题 + - 二值信号量 用于解决同步问题 + - 计数信号量 用于解决资源计数问题 将信号量进行种类细分，可以根据其用途，在具体实现时做专门处理，提高执行效率和可靠性。 +#### 工作机制 +##### 二值信号量 +- 主要用于线程与线程之间、线程与中断服务程序(ISR)之间的**同步**。 +- 用于同步的二值信号量**初始值为0**，表示同步事件尚未产生； 线程获取信号量以等待该同步事件的发生； +- 另一个任务或 ISR 到达同步点时，释放信号量（将其值设置为1）表示同步事件已发生，唤醒等待的任务。 +##### 计数信号量 +- 计数信号量用于控制系统中**共享资源的多个实例的使用**，允许多个线程同时访问同一种资源的多个实例。 +- 计数信号量被初始化为n（非负整数），**n为该种共享资源的数目**。 +### 信号量控制块 +在 RT-Thread 中，信号量控制块是操作系统用于管理信号量的一个数据结构，由结构体 struct `rt_semaphore `表示。另外一种 C 表达方式 rt_sem_t，表示的是信号量的句柄，在 C 语言中的实现是指向信号量控制块的指针。 +- 信号量控制块结构的详细定义如下： + +```c +struct rt_semaphore +{ + struct rt_ipc_object parent; /* 继承自 ipc_object 类 */ + rt_uint16_t value; /* 信号量的值 */ + rt_uint16_t max_value; /* 信号量的最大值 */ + struct rt_spinlock spinlock; /* 自旋锁 */ +}; +/* rt_sem_t 是指向 semaphore 结构体的指针类型 */ +typedef struct rt_semaphore* rt_sem_t; +``` + +rt_semaphore 对象从 rt_ipc_object 中派生，由 IPC 容器所管理，信号量的最大值是 65535。 + +### 信号量API +##### 创建信号量 +内核**首先创建一个信号量控制块**，然后**对该控制块进行基本的初始化工作**。 +- 创建信号量使用下面的函数接口： + +```c + rt_sem_t rt_sem_create(const char *name, + rt_uint32_t value, + rt_uint8_t flag); +``` + +- 当调用这个函数时，系统将先从对象管理器中分配一个 semaphore 对象，并初始化这个对象 +- 然后初始化父类 IPC 对象以及与 semaphore 相关的部分。 +- 在创建信号量指定的参数中，信号量标志参数决定了当信号量不可用时，多个线程等待的排队方式。 + - 当选择 `RT_IPC_FLAG_FIFO`（先进先出）方式时，那么等待线程队列将按照先进先出的方式排队，先进入的线程将先获得等待的信号量； + - 当选择 `RT_IPC_FLAG_PRIO`（优先级等待）方式时，等待线程队列将按照优先级进行排队，优先级高的等待线程将先获得等待的信号量。 + +|**参数**|**描述**| +|---|---| +|name|信号量名称| +|value|信号量初始值| +|flag|信号量标志，它可以取如下数值： RT_IPC_FLAG_FIFO 或 RT_IPC_FLAG_PRIO| +|**返回**|——| +|RT_NULL|创建失败| +|信号量的控制块指针|创建成功| +##### 删除信号量 +```c +rt_err_t rt_sem_delete(rt_sem_t sem); +``` +- 调用这个函数时，系统将删除这个信号量。 +- 如果删除该信号量时，有线程正在等待该信号量，那么删除操作会先唤醒等待在该信号量上的线程（等待线程的返回值是 - RT_ERROR），然后再释放信号量的内存资源 + +|**参数**|**描述**| +|---|---| +|sem|rt_sem_create() 创建的信号量对象| +|**返回**|——| +|RT_EOK|删除成功| +##### 初始化信号量 +对于静态信号量对象，它的内存空间在编译时期就被编译器分配出来，放在读写数据段或未初始化数据段上，此时使用信号量就不再需要使用 rt_sem_create 接口来创建它，而只需**在使用前对它进行初始化**即可。 +```c +rt_err_t rt_sem_init(rt_sem_t sem, + const char *name, + rt_uint32_t value, + rt_uint8_t flag) +``` +- 当调用这个函数时，系统将对这个 semaphore 对象进行初始化，然后初始化 IPC 对象以及与 semaphore 相关的部分。 +- 信号量标志可用上面创建信号量函数里提到的标志。 + +|**参数**|**描述**| +|---|---| +|sem|信号量对象的句柄| +|name|信号量名称| +|value|信号量初始值| +|flag|信号量标志，它可以取如下数值： RT_IPC_FLAG_FIFO 或 RT_IPC_FLAG_PRIO| +|**返回**|——| +|RT_EOK|初始化成功| + +##### 脱离信号量 +- 是让信号量对象从内核对象管理器中脱离，适用于静态初始化的信号量。脱离信号量使用下面的函数接口： + +```c +rt_err_t rt_sem_detach(rt_sem_t sem); +``` + +- 使用该函数后，内核先唤醒所有挂在该信号量等待队列上的线程，然后将该信号量从内核对象管理器中脱离。 +- 原来挂起在信号量上的等待线程将获得 - RT_ERROR 的返回值。 + +|**参数**|**描述**| +|---|---| +|sem|信号量对象的句柄| +|**返回**|——| +|RT_EOK|脱离成功| +##### 获取信号量 +- 线程通过获取信号量来获得信号量资源实例 +- 当信号量值大于零时，线程将获得信号量，并且相应的信号量值会减 + +```c +rt_err_t rt_sem_take (rt_sem_t sem, rt_int32_t timeout); +``` + +- 在调用这个函数时，如果信号量的值等于零，那么说明当前信号量资源实例不可用，申请该信号量的线程将根据 time 参数的情况选择直接返回、或挂起等待一段时间、或永久等待，直到其他线程或中断释放该信号量。 +- 如果在参数 time 指定的时间内依然得不到信号量，线程将超时返回。 + +|**参数**|**描述**| +|---|---| +|sem|信号量对象的句柄| +|time|指定的等待时间，单位是操作系统时钟节拍（OS Tick）| +|**返回**|——| +|RT_EOK|成功获得信号量| +|-RT_ETIMEOUT|超时依然未获得信号量| +|-RT_ERROR|其他错误| +##### 无等待获取信号量 +- 当用户不想在申请的信号量上挂起线程进行等待时，可以使用无等待方式获取信号量。 + +```c +rt_err_t rt_sem_trytake(rt_sem_t sem); +``` + +- 这个函数与 `rt_sem_take(sem, RT_WAITING_NO)` 的作用相同，即当线程申请的信号量资源实例不可用的时候，它不会等待在该信号量上，而是直接返回 - RT_ETIMEOUT。 + +|**参数**|**描述**| +|---|---| +|sem|信号量对象的句柄| +|**返回**|——| +|RT_EOK|成功获得信号量| +|-RT_ETIMEOUT|获取失败| +##### 释放信号量 +- 释放信号量可以唤醒挂起在该信号量上的线程。 +```c +rt_err_t rt_sem_release(rt_sem_t sem); +``` +- 例如当信号量的值等于零时，并且有线程等待这个信号量时，释放信号量将唤醒等待在该信号量线程队列中的第一个线程，由它获取信号量；否则将把信号量的值加 1。 + +|**参数**|**描述**| +|---|---| +|sem|信号量对象的句柄| +|**返回**|——| +|RT_EOK|成功释放信号量| +## 互斥量 +- 又叫相互排斥的信号量，是一种**特殊的二值信号量**。 +### 工作机制 +#### 互斥量vs信号量 +- 拥有互斥量的线程拥有**互斥量的所有权**，互斥量支持**递归访问**且能**防止线程优先级翻转**； +- 互斥量**只能由持有线程释放**，而信号量则可以由任何线程释放。 +### 互斥量的状态 +开锁或闭锁（两种状态值）。 +- 当有线程持有它时，互斥量处于闭锁状态，由这个线程获得它的所有权。 +- 当这个线程释放它时，将对互斥量进行开锁，失去它的所有权。 +- 当一个线程持有互斥量时，其他线程将不能够对它进行开锁或持有它，持有该互斥量的线程也能够再次获得这个锁而不被挂起。 + 这个特性与一般的二值信号量有很大的不同： + 在信号量中，因为已经不存在实例，线程递归持有会发生主动挂起（最终形成死锁）。 +![互斥量工作示意图](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/ipc1/figures/06mutex_work.png) +#### 优先级翻转 +当一个高优先级线程试图通过信号量机制访问共享资源时，如果该信号量已被一低优先级线程持有，而这个低优先级线程在运行过程中可能又被其它一些中等优先级的线程抢占，因此造成**高优先级线程被许多具有较低优先级的线程阻塞**，实时性难以得到保证。 +![优先级反转 (M 为信号量)](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/ipc1/figures/06priority_inversion.png) +- 优先级为 A、B 和 C 的三个线程，优先级 A> B > C。 +- 线程 A，B 处于挂起状态，等待某一事件触发，线程 C 正在运行，此时线程 C 开始使用某一共享资源 M。 +- 在使用过程中，线程 A 等待的事件到来，线程 A 转为就绪态，因为它比线程 C 优先级高，所以立即执行。但是当线程 A 要使用共享资源 M 时，由于其正在被线程 C 使用，因此线程 A 被挂起切换到线程 C 运行。如果此时线程 B 等待的事件到来，则线程 B 转为就绪态。由于线程 B 的优先级比线程 C 高，且线程B没有用到共享资源 M ，因此线程 B 开始运行，直到其运行完毕，线程 C 才开始运行。 +- 只有当线程 C 释放共享资源 M 后，线程 A 才得以执行。在这种情况下，**优先级发生了翻转**：线程 B 先于线程 A 运行。这样便**不能保证高优先级线程的响应时间。** +#### 优先级继承 +- **互斥量可以解决优先级翻转问题**，实现的是**优先级继承协议** (Sha, 1990)。 +- 优先级继承是通过在线程 A 尝试获取共享资源而被挂起的期间内，将线程 C 的优先级提升到线程 A 的优先级别，从而解决优先级翻转引起的问题。这样能够防止 C（间接地防止 A）被 B 抢占 +- 优先级继承是指，**提高某个占有某种资源的低优先级线程的优先级**，使之与所有等待该资源的线程中优先级最高的那个线程的优先级相等，然后执行，而当这个低优先级线程释放该资源时，优先级重新回到初始设定。 +- 因此，继承优先级的线程**避免了系统资源被任何中间优先级的线程抢占。** +>注： +> 在获得互斥量后，请尽快释放互斥量，并且在持有互斥量的过程中，不得再行更改持有互斥量线程的优先级，否则可能人为引入无界优先级反转的问题。 + +### 互斥量控制块 +互斥量控制块是操作系统用于管理互斥量的一个**数据结构**，由结构体 `struct rt_mutex` 表示。另外一种 C 表达方式 `rt_mutex_t`，表示的是互斥量的句柄，在 C 语言中的实现是指互斥量控制块的指针。 + +```c +struct rt_mutex +{ + struct rt_ipc_object parent; /* 继承自 ipc_object 类 */ + + rt_uint8_t ceiling_priority; /* 优先级天花板 */ + rt_uint8_t priority; /* 等待线程中的最高优先级 */ + rt_uint8_t hold; /* 持有线程的持有次数 */ + rt_uint8_t reserved; /* 保留字段 */ + + struct rt_thread *owner; /* 当前拥有互斥量的线程 */ + rt_list_t taken_list; /* 线程持有的对象链表 */ + struct rt_spinlock spinlock; /* 自旋锁 */ +}; +/* rt_mutex_t 为指向互斥量结构体的指针类型 */ +typedef struct rt_mutex* rt_mutex_t; +``` + +rt_mutex 对象从 rt_ipc_object 中派生，由 IPC 容器所管理。 +### 互斥量API +![互斥量相关接口](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/ipc1/figures/06mutex_ops.png) +#### 创建互斥量 + +```c +rt_mutex_t rt_mutex_create (const char* name, rt_uint8_t flag); +``` +- 当调用这个函数时，系统将先从对象管理器中分配一个 mutex 对象，并初始化这个对象，然后初始化父类 IPC 对象以及与 mutex 相关的部分。 +- 互斥量的 flag 标志已经作废，无论用户选择 `RT_IPC_FLAG_PRIO` 还是 `RT_IPC_FLAG_FIFO`，内核均按照 `RT_IPC_FLAG_PRIO` 处理。 + +|**参数**|**描述**| +|---|---| +|name|互斥量的名称| +|flag|该标志已经作废，无论用户选择 RT_IPC_FLAG_PRIO 还是 RT_IPC_FLAG_FIFO，内核均按照 RT_IPC_FLAG_PRIO 处理| +|**返回**|——| +|互斥量句柄|创建成功| +|RT_NULL|创建失败| +#### 删除互斥量 +当不再使用互斥量时，通过删除互斥量以释放系统资源，适用于**动态创建的互斥量**。 +```c +rt_err_t rt_mutex_delete (rt_mutex_t mutex); +``` +当删除一个互斥量时，所有等待此互斥量的线程都将被唤醒，然后系统将该互斥量**从内核对象管理器链表中删除并释放互斥量占用的内存空间。** + +|**参数**|**描述**| +|---|---| +|mutex|互斥量对象的句柄| +|**返回**|——| +|RT_EOK|删除成功| +#### 初始化互斥量 +静态互斥量对象的内存是在系统编译时由编译器分配的，一般放于读写数据段或未初始化数据段中。在使用这类**静态互斥量对象**前，需要先进行初始化。 + +```c +rt_err_t rt_mutex_init (rt_mutex_t mutex, const char* name, rt_uint8_t flag); +``` + +使用该函数接口时，需指定互斥量对象的句柄（即指向互斥量控制块的指针），互斥量名称以及互斥量标志。互斥量标志可用上面创建互斥量函数里提到的标志。 + +|**参数**|**描述**| +|---|---| +|mutex|互斥量对象的句柄，它由用户提供，并指向互斥量对象的内存块| +|name|互斥量的名称| +|flag|该标志已经作废，无论用户选择 RT_IPC_FLAG_PRIO 还是 RT_IPC_FLAG_FIFO，内核均按照 RT_IPC_FLAG_PRIO 处理| +|**返回**|——| +|RT_EOK|初始化成功| +#### 脱离互斥量 +脱离互斥量将把互斥量对象从内核对象管理器中脱离，适用于**静态初始化的互斥量**。 + +```c +rt_err_t rt_mutex_detach (rt_mutex_t mutex); +``` + +使用该函数接口后，内核先唤醒所有挂在该互斥量上的线程（线程的返回值是 -RT_ERROR），然后系统将该互斥量**从内核对象管理器中脱离。** + +|**参数**|**描述**| +|---|---| +|mutex|互斥量对象的句柄| +|**返回**|——| +|RT_EOK|成功| +#### 获取互斥量 +线程获取了互斥量，那么线程就有了对该互斥量的所有权，即**某一个时刻一个互斥量只能被一个线程持有。** + +```c +rt_err_t rt_mutex_take (rt_mutex_t mutex, rt_int32_t timeout); +``` + +- 如果互斥量没有被其他线程控制，那么申请该互斥量的线程将成功获得该互斥量。 +- 如果互斥量已经被当前线程线程控制，则该互斥量的持有计数加 1，当前线程也不会挂起等待。 +- 如果互斥量已经被其他线程占有，则当前线程在该互斥量上挂起等待，直到其他线程释放它或者等待时间超过指定的超时时间。 + +|**参数**|**描述**| +|---|---| +|mutex|互斥量对象的句柄| +|time|指定等待的时间| +|**返回**|——| +|RT_EOK|成功获得互斥量| +|-RT_ETIMEOUT|超时| +|-RT_ERROR|获取失败| +#### 无等待获取互斥量 +当用户**不想在申请的互斥量上挂起线程进行等待时**，可以使用无等待方式获取互斥量。 + +```c +rt_err_t rt_mutex_trytake(rt_mutex_t mutex); +``` + +这个函数与 `rt_mutex_take(mutex, RT_WAITING_NO)` 的作用相同，即当线程申请的互斥量资源实例不可用的时候，它不会等待在该互斥量上，而是直接返回 `- RT_ETIMEOUT`。 + +|**参数**|**描述**| +|---|---| +|mutex|互斥量对象的句柄| +|**返回**|——| +|RT_EOK|成功获得互斥量| +|-RT_ETIMEOUT|获取失败| +#### 释放互斥量 +当线程完成互斥资源的访问后，应尽快释放它占据的互斥量，使得其他线程能及时获取该互斥量。释放互斥量使用下面的函数接口： + +```c +rt_err_t rt_mutex_release(rt_mutex_t mutex); +``` + +- 使用该函数接口时，只有已经拥有互斥量控制权的线程才能释放它，每释放一次该互斥量，它的持有计数就减 1。 +- 当该互斥量的持有计数为零时（即持有线程已经释放所有的持有操作），它变为可用，等待在该互斥量上的线程将被唤醒。 +- 如果线程的运行优先级被互斥量提升，那么当互斥量被释放后，线程恢复为持有互斥量前的优先级。 + +|**参数**|**描述**| +|---|---| +|mutex|互斥量对象的句柄| +|**返回**|——| +|RT_EOK|成功| +## 事件集 +事件集也是线程间同步的机制之一，一个事件集可以包含多个事件，**利用事件集可以完成一对多，多对多的线程间同步。** +>在公交站等公交时可能有以下几种情况： + ①P1 坐公交去某地，只有一种公交可以到达目的地，等到此公交即可出发。 + ②P1 坐公交去某地，有 3 种公交都可以到达目的地，等到其中任意一辆即可出发。 + ③P1 约另一人 P2 一起去某地，则 P1 必须要等到 “同伴 P2 到达公交站” 与“公交到达公交站”两个条件都满足后，才能出发。 +这里，可以将 P1 去某地视为线程，将 “公交到达公交站”、“同伴 P2 到达公交站” 视为事件的发生，情况①是特定事件唤醒线程；情况②是任意单个事件唤醒线程；情况③是多个事件同时发生才唤醒线程。 +### 工作机制 +事件集主要用于线程间的同步，与信号量不同，它的特点是可以实现一对多，多对多的同步。 +- 一个线程与多个事件的关系可设置为：其中任意一个事件唤醒线程，或几个事件都到达后才唤醒线程进行后续的处理； +- 同样，事件也可以是多个线程同步多个事件。 +- 这种多个事件的集合可以用一个 32 位无符号整型变量来表示，变量的每一位代表一个事件，线程通过 **“逻辑与” 或“逻辑或”** 将一个或多个事件关联起来，形成事件组合。 + - 事件的 “逻辑或” 也称为是**独立型同步**，指的是线程与任何事件之一发生同步； + - 事件 “逻辑与” 也称为是**关联型同步**，指的是线程与若干事件都发生同步。 +RT-Thread 定义的事件集有以下**特点：** +1. 事件只与线程相关，事件间相互独立：每个线程可拥有 **32 个事件标志**，采用一个 32 bit 无符号整型数进行记录，**每一个 bit 代表一个事件**； +2. 事件**仅用于同步**，不提供数据传输功能； +3. 事件无排队性，即多次向线程发送同一事件 (如果线程还未来得及读走)，其效果等同于只发送一次。 +在 RT-Thread 中，**每个线程都拥有一个事件信息标记，它有三个属性**： +- `RT_EVENT_FLAG_AND` 逻辑与 +- `RT_EVENT_FLAG_OR` 逻辑或 +- `RT_EVENT_FLAG_CLEAR` 清除标记 +当线程等待事件同步时，可以通过 32 个事件标志和这个事件信息标记来判断当前接收的事件是否满足同步条件。 +![事件集工作示意图](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/ipc1/figures/06event_work.png) +>如上图所示，线程 #1 的事件标志中第 1 位和第 30 位被置位， +> 1. 如果事件信息标记位设为逻辑与，则表示线程 #1 只有在事件 1 和事件 30 都发生以后才会被触发唤醒 +> 2. 如果事件信息标记位设为逻辑或，则事件 1 或事件 30 中的任意一个发生都会触发唤醒线程#1。 +> 3. 如果信息标记同时设置了清除标记位，则当线程 #1 唤醒后将主动把事件 1 和事件 30 清为零，否则事件标志将依然存在（即置 1）。 + +### 事件集控制块 +- 在 RT-Thread 中，事件集控制块是操作系统用于管理事件的一个**数据结构**，由结构体 `struct rt_event` 表示。 +- 另外一种 C 表达方式 `rt_event_t`，表示的是事件集的**句柄**，在 C 语言中的实现是事件集控制块的指针。 +```c +struct rt_event +{ + struct rt_ipc_object parent; /* 继承自 ipc_object 类 */ + + /* 事件集合，每一 bit 表示 1 个事件，bit 位的值可以标记某事件是否发生 */ + rt_uint32_t set; + struct rt_spinlock spinlock; +}; +/* rt_event_t 是指向事件结构体的指针类型 */ +typedef struct rt_event* rt_event_t; +``` + +rt_event 对象从 rt_ipc_object 中派生，由 IPC 容器所管理。 +### 事件集的API +![事件相关接口](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/ipc1/figures/06event_ops.png) +#### 创建事件集 +当创建一个事件集时，内核首先创建一个事件集控制块，然后对该事件集控制块进行基本的初始化。 +```c +rt_event_t rt_event_create(const char* name, rt_uint8_t flag); +``` +调用该函数接口时，系统会从对象管理器中分配事件集对象，并初始化这个对象，然后初始化父类 IPC 对象。 + +|**参数**|**描述**| +|---|---| +|name|事件集的名称| +|flag|事件集的标志，它可以取如下数值： RT_IPC_FLAG_FIFO 或 RT_IPC_FLAG_PRIO| +|**返回**|——| +|RT_NULL|创建失败| +|事件对象的句柄|创建成功| + +>注 + RT_IPC_FLAG_FIFO 属于非实时调度方式，除非应用程序非常在意先来后到，并且你清楚地明白所有涉及到该事件集的线程都将会变为非实时线程，方可使用 RT_IPC_FLAG_FIFO，否则建议采用 RT_IPC_FLAG_PRIO，即确保线程的实时性。 +#### 删除事件集 +系统不再使用 rt_event_create() 创建的事件集对象时，通过删除事件集对象控制块来释放系统资源。 +```c +rt_err_t rt_event_delete(rt_event_t event); +``` +在调用 rt_event_delete 函数删除一个事件集对象时，应该确保该事件集不再被使用。在删除前会唤醒所有挂起在该事件集上的线程（线程的返回值是 - RT_ERROR），然后释放事件集对象占用的内存块。 + +|**参数**|**描述**| +|---|---| +|event|事件集对象的句柄| +|**返回**|——| +|RT_EOK|成功| +#### 初始化事件集 +静态事件集对象的内存是在系统编译时由编译器分配的，一般放于读写数据段或未初始化数据段中。在使用静态事件集对象前，需要先行对它进行初始化操作。 + +```c +rt_err_t rt_event_init(rt_event_t event, const char* name, rt_uint8_t flag); +``` +调用该接口时，需指定静态事件集对象的句柄（即指向事件集控制块的指针），然后系统会初始化事件集对象，并加入到系统对象容器中进行管理。 + +|**参数**|**描述**| +|---|---| +|event|事件集对象的句柄| +|name|事件集的名称| +|flag|事件集的标志，它可以取如下数值： RT_IPC_FLAG_FIFO 或 RT_IPC_FLAG_PRIO| +|**返回**|——| +|RT_EOK|成功| +#### 脱离事件集 +系统不再使用 rt_event_init() 初始化的事件集对象时，通过脱离事件集对象控制块来释放系统资源。脱离事件集是将事件集对象从内核对象管理器中脱离。 +```c +rt_err_t rt_event_detach(rt_event_t event); +``` + +用户调用这个函数时，系统首先唤醒所有挂在该事件集等待队列上的线程（线程的返回值是 - RT_ERROR），然后将该事件集从内核对象管理器中脱离。下表描述了该函数的输入参数与返回值： + +|**参数**|**描述**| +|---|---| +|event|事件集对象的句柄| +|**返回**|——| +|RT_EOK|成功| +#### 发送事件 +发送事件函数可以发送事件集中的一个或多个事件。 +```c +rt_err_t rt_event_send(rt_event_t event, rt_uint32_t set); +``` + +- 使用该函数接口时，通过参数 set 指定的事件标志来设定 event 事件集对象的事件标志值，然后遍历等待在 event 事件集对象上的等待线程链表，判断是否有线程的事件激活要求与当前 event 对象事件标志值匹配，如果有，则唤醒该线程。 + +|**参数**|**描述**| +|---|---| +|event|事件集对象的句柄| +|set|发送的一个或多个事件的标志值| +|**返回**|——| +|RT_EOK|成功| +#### 接收事件 +内核使用 32 位的无符号整数来标识事件集，它的每一位代表一个事件，因此**一个事件集对象可同时等待接收 32 个事件**，内核可以通过指定选择参数 “逻辑与” 或“逻辑或”来选择如何激活线程 +- 使用 “逻辑与” 参数表示只有当所有等待的事件都发生时才激活线程 +- 使用 “逻辑或” 参数则表示只要有一个等待的事件发生就激活线程。 + +```c +rt_err_t rt_event_recv(rt_event_t event, + rt_uint32_t set, + rt_uint8_t opt, + rt_int32_t timeout, + rt_uint32_t* recved); +``` + +当用户调用这个接口时，系统首先根据 set 参数和接收选项 opt 来判断它要接收的事件是否发生 +- 如果已经发生，则根据参数 opt 上是否设置有 `RT_EVENT_FLAG_CLEAR` 来决定是否重置事件的相应标志位，然后返回（其中 recved 参数返回接收到的事件） +- 如果没有发生，则把等待的 set 和 opt 参数填入线程本身的结构中，然后把线程挂起在此事件上，直到其等待的事件满足条件或等待时间超过指定的超时时间。 +- 如果超时时间设置为零，则表示当线程要接受的事件没有满足其要求时就不等待，而直接返回 - RT_ETIMEOUT。 + +|**参数**|**描述**| +|---|---| +|event|事件集对象的句柄| +|set|接收线程感兴趣的事件| +|opt|接收选项| +|timeout|指定超时时间| +|recved|指向接收到的事件| +|**返回**|——| +|RT_EOK|成功| +|-RT_ETIMEOUT|超时| +|-RT_ERROR|错误| + +opt 的值可取： + +```c +/* 选择 逻辑与 或 逻辑或 的方式接收事件 */ +RT_EVENT_FLAG_OR +RT_EVENT_FLAG_AND + +/* 选择清除重置事件标志位 */ +RT_EVENT_FLAG_CLEAR +``` +# [线程间通信](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/ipc2/ipc2) +## 消息邮箱 +邮箱服务是实时操作系统中一种典型的线程间通信方法。 +>举一个简单的例子，有两个线程，线程 1 检测按键状态并发送，线程 2 读取按键状态并根据按键的状态相应地改变 LED 的亮灭。 +>这里就可以使用邮箱的方式进行通信，线程 1 将按键的状态作为邮件发送到邮箱，线程 2 在邮箱中读取邮件获得按键状态并对 LED 执行亮灭操作。 + +>这里的线程 1 也可以扩展为多个线程。例如，共有三个线程，线程 1 检测并发送按键状态，线程 2 检测并发送 ADC 采样信息，线程 3 则根据接收的信息类型不同，执行不同的操作。 + +### 工作机制 +- RT-Thread 操作系统的邮箱用于线程间通信，特点是**开销比较低，效率较高**。 +- 邮箱中的每一封邮件只能容纳固定的 **4 字节内容**（针对 32 位处理系统，指针的大小即为 4 个字节，所以一封邮件恰好能够容纳一个指针）。 +- 典型的邮箱也称作**交换消息**，如下图所示，线程或中断服务例程把一封 4 字节长度的邮件发送到邮箱中，而一个或多个线程可以从邮箱中接收这些邮件并进行处理。 + +![邮箱工作示意图](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/ipc2/figures/07mb_work.png) + +非阻塞方式的邮件发送过程能够安全的应用于中断服务中，是线程、中断服务、定时器向线程发送消息的有效手段。通常来说，邮件收取过程可能是阻塞的，这取决于邮箱中是否有邮件，以及收取邮件时设置的超时时间。当邮箱中不存在邮件且超时时间不为 0 时，邮件收取过程将变成阻塞方式。在这类情况下，只能由线程进行邮件的收取。 + +当一个线程向邮箱发送邮件时，如果邮箱没满，将把邮件复制到邮箱中。如果邮箱已经满了，发送线程可以设置超时时间，选择等待挂起或直接返回 - RT_EFULL。如果发送线程选择挂起等待，那么当邮箱中的邮件被收取而空出空间来时，等待挂起的发送线程将被唤醒继续发送。 + +当一个线程从邮箱中接收邮件时，如果邮箱是空的，接收线程可以选择是否等待挂起直到收到新的邮件而唤醒，或可以设置超时时间。当达到设置的超时时间，邮箱依然未收到邮件时，这个选择超时等待的线程将被唤醒并返回 - RT_ETIMEOUT。如果邮箱中存在邮件，那么接收线程将复制邮箱中的 4 个字节邮件到接收缓存中。 +### 邮箱控制块 +- 在 RT-Thread 中，邮箱控制块是操作系统用于管理邮箱的一个数据结构，由结构体 `struct rt_mailbox` 表示。 +- 另外一种 C 表达方式 `rt_mailbox_t`，表示的是邮箱的**句柄**，在 C 语言中的实现是**邮箱控制块的指针**。 + +```c +struct rt_mailbox +{ + struct rt_ipc_object parent; + + rt_uint32_t* msg_pool; /* 邮箱缓冲区的开始地址 */ + rt_uint16_t size; /* 邮箱缓冲区的大小 */ + + rt_uint16_t entry; /* 邮箱中邮件的数目 */ + rt_uint16_t in_offset, out_offset; /* 邮箱缓冲的进出指针 */ + rt_list_t suspend_sender_thread; /* 发送线程的挂起等待队列 */ + struct rt_spinlock spinlock; /* 自旋锁 */ +}; +typedef struct rt_mailbox* rt_mailbox_t; +``` + +`rt_mailbox` 对象从 `rt_ipc_object` 中派生，由 IPC 容器所管理。 +### 邮箱的API +邮箱控制块是一个**结构体**，其中含有事件相关的重要参数，在邮箱的功能实现中起重要的作用。 +![邮箱相关接口](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/ipc2/figures/07mb_ops.png) +#### 创建邮箱 +**动态创建**一个邮箱对象可以调用如下的函数接口： +```c +rt_mailbox_t rt_mb_create (const char* name, rt_size_t size, rt_uint8_t flag); +``` + +创建邮箱对象时会先从对象管理器中**分配一个邮箱对象**，然后给邮箱动态**分配一块内存空间**用来存放邮件，这块**内存的大小等于邮件大小（4 字节）与邮箱容量的乘积**，接着**初始化接收邮件数目和发送邮件在邮箱中的偏移量**。 + +|**参数**|**描述**| +|---|---| +|name|邮箱名称| +|size|邮箱容量| +|flag|邮箱标志，它可以取如下数值： RT_IPC_FLAG_FIFO 或 RT_IPC_FLAG_PRIO| +|**返回**|——| +|RT_NULL|创建失败| +|邮箱对象的句柄|创建成功| + +>注： +> RT_IPC_FLAG_FIFO 属于非实时调度方式，除非应用程序非常在意先来后到，并且你清楚地明白所有涉及到该邮箱的线程都将会变为非实时线程，方可使用 RT_IPC_FLAG_FIFO，否则建议采用 RT_IPC_FLAG_PRIO，即确保线程的实时性。 + +#### 删除邮箱 +当用 rt_mb_create() 创建的邮箱不再被使用时，应该删除它来释放相应的系统资源，一旦操作完成，邮箱将被永久性的删除。 + +```c +rt_err_t rt_mb_delete (rt_mailbox_t mb); +``` + +删除邮箱时，如果有线程被挂起在该邮箱对象上，内核先**唤醒挂起在该邮箱上的所有线程**（线程返回值是 -RT_ERROR），然后再**释放邮箱使用的内存**，最后**删除邮箱对象**。 + +|**参数**|**描述**| +|---|---| +|mb|邮箱对象的句柄| +|**返回**|——| +|RT_EOK|成功| +#### 初始化邮箱 +初始化邮箱跟创建邮箱类似，只是初始化邮箱用于**静态邮箱对象的初始化**。 +- 与创建邮箱不同的是，静态邮箱对象的**内存是在系统编译时由编译器分配的**，一般放于读写数据段或未初始化数据段中，其余的初始化工作与创建邮箱时相同。 + +```c + rt_err_t rt_mb_init(rt_mailbox_t mb, + const char* name, + void* msgpool, + rt_size_t size, + rt_uint8_t flag) +``` + +初始化邮箱时，该函数接口需要获得用户已经申请获得的**邮箱对象控制块**，**缓冲区的指针**，以及**邮箱名称**和**邮箱容量**（能够存储的邮件数）。 + +|**参数**|**描述**| +|---|---| +|mb|邮箱对象的句柄| +|name|邮箱名称| +|msgpool|缓冲区指针| +|size|邮箱容量| +|flag|邮箱标志，它可以取如下数值： RT_IPC_FLAG_FIFO 或 RT_IPC_FLAG_PRIO| +|**返回**|——| +|RT_EOK|成功| + +- 这里的 size 参数指定的是邮箱的容量，即如果 msgpool 指向的缓冲区的字节数是 N，那么邮箱容量应该是 **N/4**。 +#### 脱离邮箱 +脱离邮箱将把**静态初始化的邮箱对象**从内核对象管理器中脱离。 + +```c +rt_err_t rt_mb_detach(rt_mailbox_t mb); +``` + +使用该函数接口后，内核先唤醒所有挂在该邮箱上的线程（线程获得返回值是 - RT_ERROR），然后将该邮箱对象从内核对象管理器中脱离。 + +|**参数**|**描述**| +|---|---| +|mb|邮箱对象的句柄| +|**返回**|——| +|RT_EOK|成功| +#### 发送邮件 +**线程或者中断服务程序**可以通过邮箱给其他线程发送邮件 + +```c +rt_err_t rt_mb_send (rt_mailbox_t mb, rt_ubase_t value); +``` + +- 发送的邮件可以是 **32 位任意格式的数据**，**一个整型值**或者**一个指向缓冲区的指针**。 +- 当邮箱中的邮件已经满时，发送邮件的线程或者中断程序会收到 `-RT_EFULL` 的返回值。 + +|**参数**|**描述**| +|---|---| +|mb|邮箱对象的句柄| +|value|邮件内容| +|**返回**|——| +|RT_EOK|发送成功| +|-RT_EFULL|邮箱已经满了| +#### 等待方式发送邮件 （阻塞） +用户也可以通过如下的函数接口向指定邮箱发送邮件： + +```c +rt_err_t rt_mb_send_wait (rt_mailbox_t mb, + rt_ubase_t value, + rt_int32_t timeout); +``` + +`rt_mb_send_wait()` 与 `rt_mb_send()` 的区别在于**有等待时间** +- 如果邮箱已经满了，那么发送线程将根据设定的 timeout 参数等待邮箱中因为收取邮件而空出空间。 +- 如果设置的超时时间到达依然没有空出空间，这时发送线程将被唤醒并返回错误码。 + +|**参数**|**描述**| +|---|---| +|mb|邮箱对象的句柄| +|value|邮件内容| +|timeout|超时时间| +|**返回**|——| +|RT_EOK|发送成功| +|-RT_ETIMEOUT|超时| +|-RT_ERROR|失败，返回错误| +#### 发送紧急邮件 +发送紧急邮件的过程与发送邮件几乎一样，唯一的不同是，当发送紧急邮件时，**邮件被直接插队放入了邮件队首**，这样，**接收者就能够优先接收到紧急邮件，从而及时进行处理。** + +```c +rt_err_t rt_mb_urgent (rt_mailbox_t mb, rt_ubase_t value); +``` + +|**参数**|**描述**| +|---|---| +|mb|邮箱对象的句柄| +|value|邮件内容| +|**返回**|——| +|RT_EOK|发送成功| +|-RT_EFULL|邮箱已满| +#### 接收邮件 +只有当**接收者接收的邮箱中有邮件时**，接收者才能立即取到邮件并返回 `RT_EOK` 的返回值，否则接收线程会根据超时时间设置，或**挂起在邮箱的等待线程队列上**，或**直接返回**。 + +```c +rt_err_t rt_mb_recv (rt_mailbox_t mb, rt_ubase_t *value, rt_int32_t timeout); +``` + +- 接收邮件时，接收者需**指定接收邮件的邮箱句柄**，并**指定接收到的邮件存放位置以及最多能够等待的超时时间**。 +- 如果接收时设定了超时，当指定的时间内依然未收到邮件时，将返回 `- RT_ETIMEOUT`。 + +|**参数**|**描述**| +|---|---| +|mb|邮箱对象的句柄| +|value|邮件内容| +|timeout|超时时间| +|**返回**|——| +|RT_EOK|接收成功| +|-RT_ETIMEOUT|超时| +|-RT_ERROR|失败，返回错误| +## 消息队列 +- 消息队列是另一种常用的线程间通讯方式，是**邮箱的扩展**。 +- 可以应用在多种场合：线程间的消息交换、使用串口接收不定长数据等。 +### 工作机制 +- 消息队列能够接收来自线程或中断服务例程中**不固定长度的消息**，并把消息**缓存在自己的内存空间中**。 +- **其他线程也能够从消息队列中读取相应的消息**，而当**消息队列是空的时候，可以挂起读取线程**。 +- 当有新的消息到达时，挂起的线程将被唤醒以接收并处理消息。 +- 消息队列是一种**异步的通信方式**。 + +如下图所示，线程或中断服务例程可以将**一条或多条消息放入消息队列**中。同样，**一个或多个线程也可以从消息队列中获得消息**。 +- 当有多个消息发送到消息队列时，通常将先进入消息队列的消息先传给线程，也就是说，线程先得到的是最先进入消息队列的消息，即**先进先出原则 (FIFO)**。 + +![消息队列工作示意图](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/ipc2/figures/07msg_work.png) + +- RT-Thread 操作系统的消息队列对象由多个元素组成，**当消息队列被创建时，它就被分配了消息队列控制块**：消息队列名称、内存缓冲区、消息大小以及队列长度等。 +- 同时**每个消息队列对象中包含着多个消息框**，每个消息框可以存放一条消息；消息队列中的第一个和最后一个消息框被分别称为消息链表头和消息链表尾，对应于消息队列控制块中的 `msg_queue_head` 和 `msg_queue_tail`； +- 有些消息框可能是空的，它们通过 `msg_queue_free` 形成一个空闲消息框链表。 +- 所有消息队列中的消息框总数即是消息队列的长度，这个长度可在消息队列创建时指定。 +### 消息队列控制块 +- 在 RT-Thread 中，消息队列控制块是操作系统用于管理消息队列的一个**数据结构**，由结构体 `struct rt_messagequeue` 表示。 +- 另外一种 C 表达方式 `rt_mq_t`，表示的是消息队列的**句柄**，在 C 语言中的实现是**消息队列控制块的指针**。 + +```c +struct rt_messagequeue +{ + struct rt_ipc_object parent; + + void* msg_pool; /* 指向存放消息的缓冲区的指针 */ + + rt_uint16_t msg_size; /* 每个消息的长度 */ + rt_uint16_t max_msgs; /* 最大能够容纳的消息数 */ + + rt_uint16_t entry; /* 队列中已有的消息数 */ + + void* msg_queue_head; /* 消息链表头 */ + void* msg_queue_tail; /* 消息链表尾 */ + void* msg_queue_free; /* 空闲消息链表 */ + + rt_list_t suspend_sender_thread; /* 发送线程的挂起等待队列 */ + struct rt_spinlock spinlock; /* 自旋锁 */ +}; +typedef struct rt_messagequeue* rt_mq_t; +``` + +`rt_messagequeue` 对象从 `rt_ipc_object` 中派生，由 IPC 容器所管理。 + +### 消息队列的API +消息队列控制块是一个结构体，其中含有消息队列相关的重要参数，在消息队列的功能实现中起重要的作用。 +![消息队列相关接口](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/ipc2/figures/07msg_ops.png) +#### 创建消息队列 +消息队列在使用前，应该被创建出来，或对已有的静态消息队列对象进行初始化。 + +```c +rt_mq_t rt_mq_create(const char* name, rt_size_t msg_size, + rt_size_t max_msgs, rt_uint8_t flag); +``` + +- 创建消息队列时先**从对象管理器中分配一个消息队列对象**，然后给消息队列对象**分配一块内存空间**，组织成空闲消息链表 +- 这块内存的大小 =（`消息大小 + 消息头（用于链表连接）的大小）X 消息队列最大个数` +- 接着再初始化消息队列，此时消息队列为空。 + +| **参数** | **描述** | +| --------- | --------------------------------------------------------- | +| name | 消息队列的名称 | +| msg_size | 消息队列中一条消息的最大长度，单位字节 | +| max_msgs | 消息队列的最大个数 | +| flag | 消息队列采用的等待方式，它可以取如下数值： RT_IPC_FLAG_FIFO 或 RT_IPC_FLAG_PRIO | +| **返回** | —— | +| 消息队列对象的句柄 | 成功 | +| RT_NULL | 失败 | + +>注： +> RT_IPC_FLAG_FIFO 属于非实时调度方式，除非应用程序非常在意先来后到，并且你清楚地明白所有涉及到该消息队列的线程都将会变为非实时线程，方可使用 RT_IPC_FLAG_FIFO，否则建议采用 RT_IPC_FLAG_PRIO，即确保线程的实时性。 +#### 删除消息队列 +当消息队列不再被使用时，应该删除它以释放系统资源，一旦操作完成，消息队列将被永久性地删除。 + +```c +rt_err_t rt_mq_delete(rt_mq_t mq); +``` + +删除消息队列时，如果有线程被挂起在该消息队列等待队列上，则内核**先唤醒挂起在该消息等待队列上的所有线程**（线程返回值是 `- RT_ERROR`），然后再**释放消息队列使用的内存**，最后**删除消息队列对象**。 + +|**参数**|**描述**| +|---|---| +|mq|消息队列对象的句柄| +|**返回**|——| +|RT_EOK|成功| +初始化静态消息队列对象跟创建消息队列对象类似，只是静态消息队列对象的内存是在系统编译时由编译器分配的，一般放于读数据段或未初始化数据段中。在使用这类静态消息队列对象前，需要进行初始化。初始化消息队列对象的函数接口如下： + +```c +rt_err_t rt_mq_init(rt_mq_t mq, const char* name, + void *msgpool, rt_size_t msg_size, + rt_size_t pool_size, rt_uint8_t flag); +``` + +初始化消息队列时，该接口需要用户已经申请获得的消息队列对象的句柄（即指向消息队列对象控制块的指针）、消息队列名、消息缓冲区指针、消息大小以及消息队列缓冲区大小。消息队列初始化后所有消息都挂在空闲消息链表上，消息队列为空。下表描述了该函数的输入参数与返回值： + +|**参数**|**描述**| +|---|---| +|mq|消息队列对象的句柄| +|name|消息队列的名称| +|msgpool|指向存放消息的缓冲区的指针| +|msg_size|消息队列中一条消息的最大长度，单位字节| +|pool_size|存放消息的缓冲区大小| +|flag|消息队列采用的等待方式，它可以取如下数值： RT_IPC_FLAG_FIFO 或 RT_IPC_FLAG_PRIO| +|**返回**|——| +|RT_EOK|成功| + +脱离消息队列将使消息队列对象被从内核对象管理器中脱离。脱离消息队列使用下面的接口： + +```c +rt_err_t rt_mq_detach(rt_mq_t mq); +``` + +使用该函数接口后，内核先唤醒所有挂在该消息等待队列对象上的线程（线程返回值是 -RT_ERROR），然后将该消息队列对象从内核对象管理器中脱离。下表描述了该函数的输入参数与返回值： + +|**参数**|**描述**| +|---|---| +|mq|消息队列对象的句柄| +|**返回**|——| +|RT_EOK|成功| +#### 初始化消息队列 +初始化**静态消息队列**对象跟创建消息队列对象类似，只是静态消息队列对象的**内存是在系统编译时由编译器分配的**，一般放于读数据段或未初始化数据段中。在使用这类静态消息队列对象前，需要进行初始化。 + +```c +rt_err_t rt_mq_init(rt_mq_t mq, const char* name, + void *msgpool, rt_size_t msg_size, + rt_size_t pool_size, rt_uint8_t flag); +``` + +- 初始化消息队列时，该接口需要用户已经申请获得的消息队列对象的**句柄**（即指向消息队列对象控制块的指针）、**消息队列名**、**消息缓冲区指针**、**消息大小**以及**消息队列缓冲区大小**。 +- 消息队列初始化后所有消息都挂在空闲消息链表上，消息队列为空。 + +|**参数**|**描述**| +|---|---| +|mq|消息队列对象的句柄| +|name|消息队列的名称| +|msgpool|指向存放消息的缓冲区的指针| +|msg_size|消息队列中一条消息的最大长度，单位字节| +|pool_size|存放消息的缓冲区大小| +|flag|消息队列采用的等待方式，它可以取如下数值： RT_IPC_FLAG_FIFO 或 RT_IPC_FLAG_PRIO| +|**返回**|——| +|RT_EOK|成功| +#### 脱离消息队列 +脱离消息队列将使消息队列对象被从内核对象管理器中脱离。 +```c +rt_err_t rt_mq_detach(rt_mq_t mq); +``` + +- 使用该函数接口后，内核先**唤醒所有挂在该消息等待队列对象上的线程**（线程返回值是 `-RT_ERROR`），然后**将该消息队列对象从内核对象管理器中脱离**。 + +|**参数**|**描述**| +|---|---| +|mq|消息队列对象的句柄| +|**返回**|——| +|RT_EOK|成功| +#### 发送消息 +- **线程或者中断服务程序**都可以给消息队列发送消息。 +- 当发送消息时，消息队列对象先**从空闲消息链表上取下一个空闲消息块**，把线程或者中断服务程序发送的消息内容复制到消息块上，然后**把该消息块挂到消息队列的尾部**。 +- 当且仅当空闲消息链表上有可用的空闲消息块时，发送者才能成功发送消息；当空闲消息链表上无可用消息块，说明消息队列已满，此时，发送消息的的线程或者中断程序会收到一个错误码（`-RT_EFULL`）。 +```c +rt_err_t rt_mq_send (rt_mq_t mq, const void *buffer, rt_size_t size); +``` + +- 发送消息时，发送者需指定发送的消息队列的对象**句柄**（即指向消息队列控制块的指针），并且指定**发送的消息内容**以及**消息大小**。 +- 在发送一个普通消息之后，**空闲消息链表上的队首消息被转移到了消息队列尾**。 + +|**参数**|**描述**| +|---|---| +|mq|消息队列对象的句柄| +|buffer|消息内容| +|size|消息大小| +|**返回**|——| +|RT_EOK|成功| +|-RT_EFULL|消息队列已满| +|-RT_ERROR|失败，表示发送的消息长度大于消息队列中消息的最大长度| +#### 等待方式发送消息 +用户也可以通过如下的函数接口向指定的消息队列中发送消息： + +```c +rt_err_t rt_mq_send_wait(rt_mq_t mq, + const void *buffer, + rt_size_t size, + rt_int32_t timeout); +``` + +`rt_mq_send_wait()` 与 `rt_mq_send()` 的区别在于**有等待时间** +- 如果消息队列已经满了，那么发送线程将根据设定的 timeout 参数进行等待。 +- 如果设置的超时时间到达依然没有空出空间，这时发送线程将被唤醒并返回错误码。： + +|**参数**|**描述**| +|---|---| +|mq|消息队列对象的句柄| +|buffer|消息内容| +|size|消息大小| +|timeout|超时时间| +|**返回**|——| +|RT_EOK|成功| +|-RT_EFULL|消息队列已满| +|-RT_ERROR|失败，表示发送的消息长度大于消息队列中消息的最大长度| +#### 发送紧急消息 +- 发送紧急消息的过程与发送消息几乎一样，唯一的不同是，当发送紧急消息时，**从空闲消息链表上取下来的消息块不是挂到消息队列的队尾，而是挂到队首** +- 接收者就能够优先接收到紧急消息，从而及时进行消息处理。 +```c +rt_err_t rt_mq_urgent(rt_mq_t mq, const void *buffer, rt_size_t size); +``` + +|**参数**|**描述**| +|---|---| +|mq|消息队列对象的句柄| +|buffer|消息内容| +|size|消息大小| +|**返回**|——| +|RT_EOK|成功| +|-RT_EFULL|消息队列已满| +|-RT_ERROR|失败| +#### 接收消息 +当消息队列中有消息时，接收者才能接收消息，否则接收者会根据超时时间设置，或**挂起在消息队列的等待线程队列**上，或**直接返回**。 + +```c +rt_ssize_t rt_mq_recv(rt_mq_t mq, + void *buffer, + rt_size_t size, + rt_int32_t timeout); +``` + +- 接收消息时，接收者需指定存储消息的消息队列对象**句柄**，并且指定**一个内存缓冲区**，接收到的消息内容将被复制到该缓冲区里。 +- 此外，还需指定未能及时取到消息时的超时时间。 + +|**参数**|**描述**| +|---|---| +|mq|消息队列对象的句柄| +|buffer|消息内容| +|size|消息大小| +|timeout|指定的超时时间| +|**返回**|——| +|> 0|成功收到的消息长度| +|-RT_ETIMEOUT|超时| +|其他错误码|失败，返回错误| -- Gitee From 1eabeca939d2fbfb3794459ca3f2e04d0cbf1c55 Mon Sep 17 00:00:00 2001 From: yythlss <2911687347@qq.com> Date: Wed, 19 Aug 2026 23:11:17 +0800 Subject: [PATCH 2/5] =?UTF-8?q?[=E4=BD=9C=E4=B8=9A=E6=8F=90=E4=BA=A4]=20?= =?UTF-8?q?=E7=BA=BF=E7=A8=8B=E9=97=B4=E5=90=8C=E6=AD=A5=E4=B8=8E=E9=80=9A?= =?UTF-8?q?=E4=BF=A1=20-=20=E6=98=93=E8=8E=B9=E8=8E=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../README.md" | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/README.md" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/README.md" index 3b98f44..8a2a43c 100644 --- "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/README.md" +++ "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/README.md" @@ -1,10 +1,10 @@ -# excerise1 +# exercise1 ## 思考题 **为什么使用计数信号量，而不是互斥量？** >答： 1. 停车场有 3 个相同的车位，计数信号量的初始值设置为 3，表示当前有 3 个可用车位。每辆车进入时申请一个信号量，信号量减 1；车辆离开时释放信号量，信号量加 1，因此可以准确限制同时进入的车辆数量。 2. 互斥量通常用于保护共享数据或临界区，同一时刻只能被一个线程持有，不能表示同时存在的多个车位。因此，本题适合使用计数信号量。 -# excerise2 +# exercise2 ## 对比实验 ### 不使用互斥量 ```c @@ -113,7 +113,7 @@ timer 4 suspend 0x0000007c 0x00000200 24% 0x00000009 OK >答： 1. 售票过程不只有 `ticket_count--`，还包括检查是否有余票、读取票号、修改余票和打印结果。如果只给减 1 操作加锁，两个线程仍可能同时读取到相同的余票值，导致得到相同的票号，或者一个线程读取到余票后，另一个线程先完成售票，造成数据判断错误。 2. 因此，检查余票、读取票号、减少余票和记录售票结果必须放在同一个互斥量保护的临界区内，保证整个售票操作具有原子性。 -# excerise3 +# exercise3 ### 思考题 **使用三个独立信号量和使用事件集有什么区别？** -- Gitee From 7be4d7e2925c44e226669943add42000cd51a882 Mon Sep 17 00:00:00 2001 From: yythlss <2911687347@qq.com> Date: Thu, 20 Aug 2026 23:27:18 +0800 Subject: [PATCH 3/5] =?UTF-8?q?[=E4=BD=9C=E4=B8=9A=E6=8F=90=E4=BA=A4]=20da?= =?UTF-8?q?y4=20RT=E2=80=91Thread=20=E8=AE=BE=E5=A4=87=E9=A9=B1=E5=8A=A8?= =?UTF-8?q?=E2=80=91=20=E6=98=93=E8=8E=B9=E8=8E=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../README.md" | 381 ++++++ .../test_dev.c" | 284 ++++ ...33\345\244\251\347\254\224\350\256\260.md" | 1162 +++++++++++++++++ 3 files changed, 1827 insertions(+) create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/README.md" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/test_dev.c" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260.md" diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/README.md" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/README.md" new file mode 100644 index 0000000..4f53893 --- /dev/null +++ "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/README.md" @@ -0,0 +1,381 @@ +# 1. 分析PIN设备如何对接的 +RT-Thread 将 GPIO 抽象成一个名为 `pin` 的设备。应用程序不直接操作 STM32 的 GPIO 寄存器，而是调用统一的 PIN API；PIN 设备再调用底层 STM32 GPIO 驱动，最终由 HAL 库完成实际的引脚操作。 +```c +应用程序 + ↓ +rt_pin_mode() +rt_pin_read() +rt_pin_write() +rt_pin_attach_irq() + ↓ +RT-Thread PIN 设备管理层 + ↓ +rt_pin_ops 操作函数 + ↓ +STM32 GPIO 驱动 + ↓ +HAL_GPIO_Init() +HAL_GPIO_ReadPin() +HAL_GPIO_WritePin() + ↓ +STM32 GPIO 硬件 +``` +- 例如，KEY0 设置为输入上拉并读取电平： +```c +rt_pin_mode(KEY0_PIN, PIN_MODE_INPUT_PULLUP); + +if (rt_pin_read(KEY0_PIN) == PIN_LOW) +{ + rt_kprintf("KEY0 pressed\n"); +} +``` +- LED 设置为输出并点亮： +``` +rt_pin_mode(LED_R_PIN, PIN_MODE_OUTPUT); +rt_pin_write(LED_R_PIN, PIN_LOW); +``` +- 在 STM32 PIN 驱动中，底层会定义一组操作函数： +```c +static const struct rt_pin_ops stm32_pin_ops = +{ + stm32_pin_mode, + stm32_pin_write, + stm32_pin_read, + stm32_pin_attach_irq, + stm32_pin_detach_irq, + stm32_pin_irq_enable, + stm32_pin_get, +}; +``` +- 然后注册为 RT-Thread 的 `pin` 设备： +```c +rt_device_pin_register("pin", + &stm32_pin_ops, + RT_NULL); +``` +注册成功后，应用层使用的 `rt_pin_mode()`、`rt_pin_read()` 和 `rt_pin_write()` 就会自动调用对应的底层操作函数。 + +底层驱动会完成以下工作： +1. 保存按键引脚、中断模式和回调函数； +2. 配置 STM32 EXTI 外部中断； +3. 设置 NVIC 中断优先级； +4. 按键触发后进入 GPIO 中断服务函数； +5. 中断服务函数调用之前保存的回调函数。 + +因此，PIN 设备完成了应用层和芯片 GPIO 硬件之间的适配，使上层代码只依赖 RT-Thread 的统一接口，而不依赖具体 STM32 寄存器。更换芯片时，只需要修改底层 PIN 驱动，上层的 LED、按键和 GPIO 应用代码通常不需要改变。 +# 2. 自己设计一个虚拟的设备驱动框架层（test_dev） +## 代码 +```c +/* + * Copyright (c) 2006-2026, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2026-08-20 RT-Thread first version + */ + + +/* +int main(void) +{ + int count = 1; + + while (count++) + { + LOG_D("Hello RT-Thread!"); + rt_thread_mdelay(1000); + } + + return RT_EOK; +} +*/ + +#include +#include +#ifdef RT_USING_MSH +#include +#endif + +#define DBG_TAG "test_dev" +#define DBG_LVL DBG_LOG +#include + +/* 宏定义 */ +#define TEST_DEV_NAME "test_dev" +#define TEST_BUFFER_SIZE 64 + +struct test_dev_data +{ + rt_uint8_t buffer[TEST_BUFFER_SIZE]; + rt_size_t length; +}; + +static rt_device_t test_dev; +static struct test_dev_data test_data; + +/* 设备初始化 */ +static rt_err_t test_dev_init(rt_device_t dev) +{ + struct test_dev_data *data; + + data = (struct test_dev_data *)dev->user_data; + data->length = 0; + rt_memset(data->buffer, 0, sizeof(data->buffer)); + + rt_kprintf("test_dev init\n"); + return RT_EOK; +} + +/* 打开设备 */ +static rt_err_t test_dev_open(rt_device_t dev, rt_uint16_t oflag) +{ + RT_UNUSED(dev); + + rt_kprintf("test_dev open, flag=%u\n", + (unsigned int)oflag); + return RT_EOK; +} + +/* 关闭设备 */ +static rt_err_t test_dev_close(rt_device_t dev) +{ + RT_UNUSED(dev); + + rt_kprintf("test_dev close\n"); + return RT_EOK; +} + +/* 读取设备 */ +static rt_size_t test_dev_read(rt_device_t dev, + rt_off_t pos, + void *buffer, + rt_size_t size) +{ + struct test_dev_data *data; + rt_size_t read_size; + + if (dev == RT_NULL || buffer == RT_NULL || pos < 0) + { + return 0; + } + + data = (struct test_dev_data *)dev->user_data; + + if ((rt_size_t)pos >= data->length) + { + return 0; + } + + read_size = data->length - (rt_size_t)pos; + if (read_size > size) + { + read_size = size; + } + + rt_memcpy(buffer, &data->buffer[pos], read_size); + + rt_kprintf("test_dev read, pos=%d size=%u\n", + (int)pos, + (unsigned int)read_size); + + return read_size; +} + +/* 写入设备 */ +static rt_size_t test_dev_write(rt_device_t dev, + rt_off_t pos, + const void *buffer, + rt_size_t size) +{ + struct test_dev_data *data; + rt_size_t write_size; + + if (dev == RT_NULL || buffer == RT_NULL || pos < 0) + { + return 0; + } + + if ((rt_size_t)pos >= TEST_BUFFER_SIZE) + { + return 0; + } + + data = (struct test_dev_data *)dev->user_data; + + write_size = TEST_BUFFER_SIZE - (rt_size_t)pos; + if (write_size > size) + { + write_size = size; + } + + rt_memcpy(&data->buffer[pos], buffer, write_size); + + if ((rt_size_t)pos + write_size > data->length) + { + data->length = (rt_size_t)pos + write_size; + } + + rt_kprintf("test_dev write, pos=%d size=%u\n", + (int)pos, + (unsigned int)write_size); + + return write_size; +} + +/* 控制设备 */ +static rt_err_t test_dev_control(rt_device_t dev, + int cmd, + void *args) +{ + RT_UNUSED(dev); + RT_UNUSED(args); + + rt_kprintf("test_dev control, cmd=%d\n", cmd); + return RT_EOK; +} + +/* 创建并注册虚拟设备 */ +static int test_dev_register(void) +{ + rt_err_t result; + + if (test_dev != RT_NULL) + { + return RT_EOK; + } + + if (rt_device_find(TEST_DEV_NAME) != RT_NULL) + { + rt_kprintf("%s already exists\n", TEST_DEV_NAME); + return -RT_EBUSY; + } + + test_dev = rt_device_create(RT_Device_Class_Char, 0); + if (test_dev == RT_NULL) + { + rt_kprintf("test_dev create failed\n"); + return -RT_ENOMEM; + } + + test_dev->user_data = &test_data; + test_dev->init = test_dev_init; + test_dev->open = test_dev_open; + test_dev->close = test_dev_close; + test_dev->read = test_dev_read; + test_dev->write = test_dev_write; + test_dev->control = test_dev_control; + + result = rt_device_register(test_dev, + TEST_DEV_NAME, + RT_DEVICE_FLAG_RDWR); + if (result != RT_EOK) + { + rt_kprintf("test_dev register failed: %d\n", + result); + rt_device_destroy(test_dev); + test_dev = RT_NULL; + return result; + } + + rt_kprintf("test_dev registered\n"); + return RT_EOK; +} + +/* MSH 测试命令 */ +static int test_dev_demo(int argc, char *argv[]) +{ + rt_device_t dev; + char write_data[] = "hello rt-thread"; + char read_data[TEST_BUFFER_SIZE]; + rt_size_t read_size; + rt_err_t result; + + RT_UNUSED(argc); + RT_UNUSED(argv); + + result = test_dev_register(); + if (result != RT_EOK && result != -RT_EBUSY) + { + return result; + } + + dev = rt_device_find(TEST_DEV_NAME); + if (dev == RT_NULL) + { + rt_kprintf("test_dev not found\n"); + return -RT_ERROR; + } + + result = rt_device_open(dev, RT_DEVICE_OFLAG_RDWR); + if (result != RT_EOK) + { + rt_kprintf("test_dev open failed: %d\n", + result); + return result; + } + + rt_memset(read_data, 0, sizeof(read_data)); + + rt_device_write(dev, 0, write_data, sizeof(write_data) - 1); + + read_size = rt_device_read(dev, + 0, + read_data, + sizeof(read_data) - 1); + + read_data[read_size] = '\0'; + + rt_device_control(dev, + RT_DEVICE_CTRL_CONFIG, + RT_NULL); + + rt_kprintf("read data: %s\n", read_data); + + result = rt_device_close(dev); + if (result != RT_EOK) + { + rt_kprintf("test_dev close failed: %d\n", + result); + return result; + } + + return RT_EOK; +} + +MSH_CMD_EXPORT(test_dev_demo, test virtual device); + +int main(void) +{ + return RT_EOK; +} + +``` +## 终端输出 +```c + + \ | / +- RT - Thread Operating System + / | \ 4.1.1 build Aug 20 2026 23:05:12 + 2006 - 2022 Copyright by RT-Thread team +msh >test_dev_demo +test_dev registered +test_dev init +test_dev open, flag=3 +test_dev write, pos=0 size=15 +test_dev read, pos=0 size=15 +test_dev control, cmd=3 +read data: hello rt-thread +test_dev close +msh >list_device +device type ref count +-------- -------------------- ---------- +test_dev Character Device 0 +uart1 Character Device 2 +pin Pin Device 0 +msh > +``` +## 结果分析 +- 执行 `test_dev_demo` 后，虚拟字符设备成功完成注册、初始化、打开、写入、读取、控制和关闭操作。读取出的数据与写入数据一致，说明设备的基本操作接口工作正常。 +- 执行 `list_device` 可以看到 `test_dev` 显示为 Character Device，同时系统中的 `pin` 设备正常存在，说明虚拟设备已经接入 RT-Thread I/O 设备框架。 \ No newline at end of file diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/test_dev.c" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/test_dev.c" new file mode 100644 index 0000000..33143cd --- /dev/null +++ "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/test_dev.c" @@ -0,0 +1,284 @@ +/* + * Copyright (c) 2006-2026, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2026-08-20 RT-Thread first version + */ + + +/* +int main(void) +{ + int count = 1; + + while (count++) + { + LOG_D("Hello RT-Thread!"); + rt_thread_mdelay(1000); + } + + return RT_EOK; +} +*/ + +#include +#include +#ifdef RT_USING_MSH +#include +#endif + +#define DBG_TAG "test_dev" +#define DBG_LVL DBG_LOG +#include + +/* 宏定义 */ +#define TEST_DEV_NAME "test_dev" +#define TEST_BUFFER_SIZE 64 + +struct test_dev_data +{ + rt_uint8_t buffer[TEST_BUFFER_SIZE]; + rt_size_t length; +}; + +static rt_device_t test_dev; +static struct test_dev_data test_data; + +/* 设备初始化 */ +static rt_err_t test_dev_init(rt_device_t dev) +{ + struct test_dev_data *data; + + data = (struct test_dev_data *)dev->user_data; + data->length = 0; + rt_memset(data->buffer, 0, sizeof(data->buffer)); + + rt_kprintf("test_dev init\n"); + return RT_EOK; +} + +/* 打开设备 */ +static rt_err_t test_dev_open(rt_device_t dev, rt_uint16_t oflag) +{ + RT_UNUSED(dev); + + rt_kprintf("test_dev open, flag=%u\n", + (unsigned int)oflag); + return RT_EOK; +} + +/* 关闭设备 */ +static rt_err_t test_dev_close(rt_device_t dev) +{ + RT_UNUSED(dev); + + rt_kprintf("test_dev close\n"); + return RT_EOK; +} + +/* 读取设备 */ +static rt_size_t test_dev_read(rt_device_t dev, + rt_off_t pos, + void *buffer, + rt_size_t size) +{ + struct test_dev_data *data; + rt_size_t read_size; + + if (dev == RT_NULL || buffer == RT_NULL || pos < 0) + { + return 0; + } + + data = (struct test_dev_data *)dev->user_data; + + if ((rt_size_t)pos >= data->length) + { + return 0; + } + + read_size = data->length - (rt_size_t)pos; + if (read_size > size) + { + read_size = size; + } + + rt_memcpy(buffer, &data->buffer[pos], read_size); + + rt_kprintf("test_dev read, pos=%d size=%u\n", + (int)pos, + (unsigned int)read_size); + + return read_size; +} + +/* 写入设备 */ +static rt_size_t test_dev_write(rt_device_t dev, + rt_off_t pos, + const void *buffer, + rt_size_t size) +{ + struct test_dev_data *data; + rt_size_t write_size; + + if (dev == RT_NULL || buffer == RT_NULL || pos < 0) + { + return 0; + } + + if ((rt_size_t)pos >= TEST_BUFFER_SIZE) + { + return 0; + } + + data = (struct test_dev_data *)dev->user_data; + + write_size = TEST_BUFFER_SIZE - (rt_size_t)pos; + if (write_size > size) + { + write_size = size; + } + + rt_memcpy(&data->buffer[pos], buffer, write_size); + + if ((rt_size_t)pos + write_size > data->length) + { + data->length = (rt_size_t)pos + write_size; + } + + rt_kprintf("test_dev write, pos=%d size=%u\n", + (int)pos, + (unsigned int)write_size); + + return write_size; +} + +/* 控制设备 */ +static rt_err_t test_dev_control(rt_device_t dev, + int cmd, + void *args) +{ + RT_UNUSED(dev); + RT_UNUSED(args); + + rt_kprintf("test_dev control, cmd=%d\n", cmd); + return RT_EOK; +} + +/* 创建并注册虚拟设备 */ +static int test_dev_register(void) +{ + rt_err_t result; + + if (test_dev != RT_NULL) + { + return RT_EOK; + } + + if (rt_device_find(TEST_DEV_NAME) != RT_NULL) + { + rt_kprintf("%s already exists\n", TEST_DEV_NAME); + return -RT_EBUSY; + } + + test_dev = rt_device_create(RT_Device_Class_Char, 0); + if (test_dev == RT_NULL) + { + rt_kprintf("test_dev create failed\n"); + return -RT_ENOMEM; + } + + test_dev->user_data = &test_data; + test_dev->init = test_dev_init; + test_dev->open = test_dev_open; + test_dev->close = test_dev_close; + test_dev->read = test_dev_read; + test_dev->write = test_dev_write; + test_dev->control = test_dev_control; + + result = rt_device_register(test_dev, + TEST_DEV_NAME, + RT_DEVICE_FLAG_RDWR); + if (result != RT_EOK) + { + rt_kprintf("test_dev register failed: %d\n", + result); + rt_device_destroy(test_dev); + test_dev = RT_NULL; + return result; + } + + rt_kprintf("test_dev registered\n"); + return RT_EOK; +} + +/* MSH 测试命令 */ +static int test_dev_demo(int argc, char *argv[]) +{ + rt_device_t dev; + char write_data[] = "hello rt-thread"; + char read_data[TEST_BUFFER_SIZE]; + rt_size_t read_size; + rt_err_t result; + + RT_UNUSED(argc); + RT_UNUSED(argv); + + result = test_dev_register(); + if (result != RT_EOK && result != -RT_EBUSY) + { + return result; + } + + dev = rt_device_find(TEST_DEV_NAME); + if (dev == RT_NULL) + { + rt_kprintf("test_dev not found\n"); + return -RT_ERROR; + } + + result = rt_device_open(dev, RT_DEVICE_OFLAG_RDWR); + if (result != RT_EOK) + { + rt_kprintf("test_dev open failed: %d\n", + result); + return result; + } + + rt_memset(read_data, 0, sizeof(read_data)); + + rt_device_write(dev, 0, write_data, sizeof(write_data) - 1); + + read_size = rt_device_read(dev, + 0, + read_data, + sizeof(read_data) - 1); + + read_data[read_size] = '\0'; + + rt_device_control(dev, + RT_DEVICE_CTRL_CONFIG, + RT_NULL); + + rt_kprintf("read data: %s\n", read_data); + + result = rt_device_close(dev); + if (result != RT_EOK) + { + rt_kprintf("test_dev close failed: %d\n", + result); + return result; + } + + return RT_EOK; +} + +MSH_CMD_EXPORT(test_dev_demo, test virtual device); + +int main(void) +{ + return RT_EOK; +} diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260.md" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260.md" new file mode 100644 index 0000000..36f6feb --- /dev/null +++ "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260.md" @@ -0,0 +1,1162 @@ +# RT-Thread设备驱动 +## RT‑Thread I/O设备框架概念 +### **驱动开发碎片化问题** +- 学习成本高：同一个工程师需要时间去学习不同厂家的API设计 +- 代码复用率低：都是SPI的代码驱动设备，没有办法做到代码复用 +### 驱动分离，提供统一的API优劣势 +- 更换 MCU 只需要改变对应的**对接驱动** +- 重新驱动设备，只需要重新编写**设备驱动相关的代码** +- 同一 API 接口，**学习成本低** +- 分离后设备驱动可以入库，供公司其他项目使用，**减少碎片化开发**，防止反复造轮子 +- **代码框架会变复杂**，但是从上面的优点来看是值得的 + +### **框架演进** +![[Pasted image 20260820091727.png]] +### 设备驱动框架 +![I/O 设备模型框架补充图](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/device/figures/io-dev-ex.png) +### RT-Thread IO框架 +- 绝大部分的嵌入式系统都包括一些 I/O（**Input/Output**，输入 / 输出）设备，例如仪器上的数据显示屏、工业设备上的串口通信、数据采集设备上用于保存数据的 Flash 或 SD 卡，以及网络设备的以太网接口等，都是嵌入式系统中容易找到的 I/O 设备例子。 +- I/O 提供一套接口 open write read control close +- SPI I2C GPIO RTC WDG 特定 API + +![简单 I/O 设备使用序列图](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/device/figures/io-call.png +### IO派生设备 +![设备继承关系图](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/device/figures/io-parent.png) +```c +struct rt_device +{ + struct rt_object parent; /* 内核对象基类 */ + enum rt_device_class_type type; /* 设备类型 */ + rt_uint16_t flag; /* 设备参数 */ + rt_uint16_t open_flag; /* 设备打开标志 */ + rt_uint8_t ref_count; /* 设备被引用次数 */ + rt_uint8_t device_id; /* 设备 ID,0 - 255 */ + + /* 数据收发回调函数 */ + rt_err_t (*rx_indicate)(rt_device_t dev, rt_size_t size); + rt_err_t (*tx_complete)(rt_device_t dev, void *buffer); + + const struct rt_device_ops *ops; /* 设备操作方法 */ + + /* 设备的私有数据 */ + void *user_data; +}; + +typedef struct rt_device *rt_device_t; +``` +### RT‑Thread 支持的 I/O 设备类型 +```c +RT_Device_Class_Char /* 字符设备 */ +RT_Device_Class_Block /* 块设备 */ +RT_Device_Class_NetIf /* 网络接口设备 */ +RT_Device_Class_MTD /* 内存设备 */ +RT_Device_Class_RTC /* RTC 设备 */ +RT_Device_Class_Sound /* 声音设备 */ +RT_Device_Class_Graphic /* 图形设备 */ +RT_Device_Class_I2CBUS /* I2C 总线设备 */ +RT_Device_Class_USBDevice /* USB device 设备*/ +RT_Device_Class_USBHost /* USB host 设备 */ +RT_Device_Class_SPIBUS /* SPI 总线设备 */ +RT_Device_Class_SPIDevice /* SPI 设备 */ +RT_Device_Class_SDIO /* SDIO 设备 */ +RT_Device_Class_Miscellaneous /* 杂类设备 */ +``` + +### 字符/块设备 +- 字符设备：提供连续的数据流，应用程序可以**顺序读取**，通常不支持随机存取。相反，此类设备**支持按字节/字符来读写数据**。举例来说，键盘、串口、调制解调器都是典型的字符设备 +- 块设备：应用程序可以**随机访问设备数据**，程序可自行确定读取数据的位置。硬盘、软盘、CD‑ROM驱动器和闪存都是典型的块设备，应用程序可以寻址磁盘上的任何位置，并由此读取数据。此外，数据的**读写只能以块(通常是512B)的倍数进行**。与字符设备不同，块设备并**不支持基于字符的寻址**。 +- 这两种类型的设备的根本区别在于它们**是否可以被随机访问**。字符设备只能**顺序读取**，块设备可以**随机读取**。 +### 为什么要对设备分类 +- **MSH 可以重定向到任意的字符设备上**，例如将lcd模拟成字符设备，就可以将打印输出到LCD上，或者是实现一套空字符设备，将msh重定向到这里。 +- **Fatfs 文件系统依赖块设备驱动**，我们将SD卡读写实现成块设备，但是也可以用ram来模拟块设备驱动， +- **不同的组件和应用会依赖不同的设备**，对设备进行分类，可以做到对一类设备同样的控制 +## RT‑Thread I/O API +### 创建/销毁设备 + + + +#### 创建设备 +- `rt_device_t rt_device_create(int type, int attach_size);` + +| 参数 | 描述 | +| ----------- | ------------------- | +| type | 设备类型，可取前面小节列出的设备类型值 | +| attach_size | 用户数据大小 | +| **返回** | **——** | +| 设备句柄 | 创建成功 | +| RT_NULL | 创建失败，动态内存分配失败 | +#### 销毁设备 +- `void rt_device_destroy(rt_device_t device);` + +| 参数 | 描述 | +| ------ | ---- | +| device | 设备句柄 | +| **返回** | **无** | +### 注册/注销设备 +#### 注册设备 +- `rt_err_t rt_device_register(rt_device_t dev, const char* name, rt_uint8_t flags);` + +| 参数 | 描述 | +| --------- | ---------------------------------------------------------- | +| dev | 设备句柄 | +| name | 设备名称，设备名称的最大长度由 rtconfig.h 中定义的宏 RT_NAME_MAX 指定，多余部分会被自动截掉 | +| flags | 设备模式标志 | +| 返回 | —— | +| RT_EOK | 注册成功 | +| -RT_ERROR | 注册失败，dev 为空或者 name 已经存在 | +#### 注销设备 +- `rt_err_t rt_device_unregister(rt_device_t dev);` + +| 参数 | 描述 | +| ---- | ---- | +| dev | 设备句柄 | +| 返回 | —— | +| RT_EOK | 成功 | +### 注册设备 flags +```c +#define RT_DEVICE_FLAG_RDONLY 0x001 /* 只读 */ +#define RT_DEVICE_FLAG_WRONLY 0x002 /* 只写 */ +#define RT_DEVICE_FLAG_RDWR 0x003 /* 读写 */ +#define RT_DEVICE_FLAG_REMOVABLE 0x004 /* 可移除 */ +#define RT_DEVICE_FLAG_STANDALONE 0x008 /* 独立 */ +#define RT_DEVICE_FLAG_SUSPENDED 0x020 /* 挂起 */ +#define RT_DEVICE_FLAG_STREAM 0x040 /* 流模式 */ +#define RT_DEVICE_FLAG_INT_RX 0x100 /* 中断接收 */ +#define RT_DEVICE_FLAG_DMA_RX 0x200 /* DMA 接收 */ +#define RT_DEVICE_FLAG_INT_TX 0x400 /* 中断发送 */ +#define RT_DEVICE_FLAG_DMA_TX 0x800 /* DMA 发送 */ +``` +### 实验1-注册字符设备test +在自己的开发板上注册一个设备: +- 字符设备 +- 驱动名称为 test +#### 参考： +- `rt_device_t rt_device_create(int type, int attach_size);` +- `void rt_device_destroy(rt_device_t device);` +- `rt_err_t rt_device_register(rt_device_t dev, const char* name,rt_uint8_t flags);` +- `rt_err_t rt_device_unregister(rt_device_t dev);` + +```c +RT_Device_Class_Char /* 字符设备 */ +RT_Device_Class_Block /* 块设备 */ +RT_Device_Class_NetIf /* 网络接口设备 */ +RT_Device_Class_MTD /* 内存设备 */ +RT_Device_Class_RTC /* RTC 设备 */ +RT_Device_Class_Sound /* 声音设备 */ +RT_Device_Class_Graphic /* 图形设备 */ +RT_Device_Class_I2CBUS /* I2C 总线设备 */ +RT_Device_Class_USBDevice /* USB device 设备*/ +RT_Device_Class_USBHost /* USB host 设备 */ +RT_Device_Class_SPIBUS /* SPI 总线设备 */ +RT_Device_Class_SPIDevice /* SPI 设备 */ +RT_Device_Class_SDIO /* SDIO 设备 */ +RT_Device_Class_Miscellaneous /* 杂类设备 */ + +#define RT_DEVICE_FLAG_RDONLY 0x001 /* 只读 */ +#define RT_DEVICE_FLAG_WRONLY 0x002 /* 只写 */ +#define RT_DEVICE_FLAG_RDWR 0x003 /* 读写 */ +#define RT_DEVICE_FLAG_REMOVABLE 0x004 /* 可移除 */ +#define RT_DEVICE_FLAG_STANDALONE 0x008 /* 独立 */ +#define RT_DEVICE_FLAG_SUSPENDED 0x020 /* 挂起 */ +#define RT_DEVICE_FLAG_STREAM 0x040 /* 流模式 */ +#define RT_DEVICE_FLAG_INT_RX 0x100 /* 中断接收 */ +#define RT_DEVICE_FLAG_DMA_RX 0x200 /* DMA 接收 */ +#define RT_DEVICE_FLAG_INT_TX 0x400 /* 中断发送 */ +#define RT_DEVICE_FLAG_DMA_TX 0x800 /* DMA 发送 */ +``` +#### 代码 +```c +#include +#include + +static int rt_dev_test_init(void) +{ + rt_device_t test_dev = rt_device_create(RT_Device_Class_Char, 0); + if(!test_dev) + { + rt_kprintf("test_dev create failed"); + return -RT_ERROR; + } + + if(rt_device_register(test_dev, "test_dev", RT_DEVICE_FLAG_RDWR) != RT_EOK) + { + rt_kprintf("test_dev register failed!\n"); + return -RT_ERROR; + } + + return RT_EOK; +} + +INIT_DEVICE_EXPORT(rt_dev_test_init); +``` +#### 输出 +```c +RT‑Thread Operating System +5.2.0 build Jul 23 2024 11:02:52 +2006‑2024 Copyright by RT‑Thread team +msh >list_device +device type ref count +--------------------------------------- +test_dev Character Device 0 +uart1 Character Device 2 +pin Pin Device 0 +msh > +``` +### 访问 IO 设备 +- 应用程序通过 **I/O 设备管理接口**来访问硬件设备，当设备驱动实现后，应用程序就可以访问该硬件。 +- I/O 设备管理接口与 I/O 设备的操作方法的映射关系：![I/O 设备管理接口与 I/O 设备的操作方法的映射关系](https://www.rt-thread.org/document/site/rt-thread-version/rt-thread-standard/programming-manual/device/figures/io-fun-call.png) + +```c +struct rt_device_ops +{ + /* common device interface */ + rt_err_t (*init) (rt_device_t dev); + rt_err_t (*open) (rt_device_t dev, rt_uint16_t oflag); + rt_err_t (*close) (rt_device_t dev); + rt_size_t (*read) (rt_device_t dev, rt_off_t pos, void *buffer, rt_size_t size); + rt_size_t (*write) (rt_device_t dev, rt_off_t pos, const void *buffer, rt_size_t size); + rt_err_t (*control)(rt_device_t dev, int cmd, void *args); +}; +``` +### 查找/初始化设备 +#### 查找设备 +- `rt_device_t rt_device_find(const char* name);` + +| 参数 | 描述 | +| ------- | ----------------- | +| name | 设备名称 | +| **返回** | **描述** | +| 设备句柄 | 查找到对应设备将返回相应的设备句柄 | +| RT_NULL | 没有找到相应的设备对象 | +#### 初始化设备 +- `rt_err_t rt_device_init(rt_device_t dev);` + +| 参数 | 描述 | +| ------ | ------- | +| dev | 设备句柄 | +| **返回** | **描述** | +| RT_EOK | 设备初始化成功 | +| 错误码 | 设备初始化失败 | + +### 打开/关闭设备 +#### 打开设备 +- `rt_err_t rt_device_open(rt_device_t dev, rt_uint16_t oflags);` + +| 参数 | 描述 | +| --------- | -------------------------------------------------------- | +| dev | 设备句柄 | +| oflags | 设备打开模式标志 | +| **返回** | **描述** | +| RT_EOK | 设备打开成功 | +| -RT_EBUSY | 如果设备注册时指定的参数中包括 RT_DEVICE_FLAG_STANDALONE 参数，此设备将不允许重复打开 | +| 其他错误码 | 设备打开失败 | +#### 关闭设备 +- `rt_err_t rt_device_close(rt_device_t dev);` + +| 参数 | 描述 | +| --------- | ----------------- | +| dev | 设备句柄 | +| **返回** | **描述** | +| RT_EOK | 关闭设备成功 | +| -RT_ERROR | 设备已经完全关闭，不能重复关闭设备 | +| 其他错误码 | 关闭设备失败 | +### 打开标志位 +```c +#define RT_DEVICE_OFLAG_CLOSE 0x000 /* 设备已经关闭（内部使用）*/ +#define RT_DEVICE_OFLAG_RDONLY 0x001 /* 以只读方式打开设备 */ +#define RT_DEVICE_OFLAG_WRONLY 0x002 /* 以只写方式打开设备 */ +#define RT_DEVICE_OFLAG_RDWR 0x003 /* 以读写方式打开设备 */ +#define RT_DEVICE_OFLAG_OPEN 0x008 /* 设备已经打开（内部使用）*/ +#define RT_DEVICE_FLAG_STREAM 0x040 /* 设备以流模式打开 */ +#define RT_DEVICE_FLAG_INT_RX 0x100 /* 设备以中断接收模式打开 */ +#define RT_DEVICE_FLAG_DMA_RX 0x200 /* 设备以 DMA 接收模式打开 */ +#define RT_DEVICE_FLAG_INT_TX 0x400 /* 设备以中断发送模式打开 */ +#define RT_DEVICE_FLAG_DMA_TX 0x800 /* 设备以 DMA 发送模式打开 */ +``` + +>注意事项 + 如果上层应用程序需要设置设备的接收回调函数，则必须以 `RT_DEVICE_FLAG_INT_RX` 或者 `RT_DEVICE_FLAG_DMA_RX` 的方式打开设备，否则不会回调函数。 +### 控制设备 +- `rt_err_t rt_device_control(rt_device_t dev, rt_uint8_t cmd, void* arg);` + +| 参数 | 描述 | +| ---------- | --------------------- | +| dev | 设备句柄 | +| cmd | 命令控制字，这个参数通常与设备驱动程序相关 | +| arg | 控制的参数 | +| **返回** | **描述** | +| RT_EOK | 函数执行成功 | +| -RT_ENOSYS | 执行失败，dev为空 | +| 其他错误码 | 执行失败 | + +**参数 cmd 的通用设备命令可取如下宏定义：** +```c +#define RT_DEVICE_CTRL_RESUME 0x01 /* 恢复设备 */ +#define RT_DEVICE_CTRL_SUSPEND 0x02 /* 挂起设备 */ +#define RT_DEVICE_CTRL_CONFIG 0x03 /* 配置设备 */ +#define RT_DEVICE_CTRL_SET_INT 0x10 /* 设置中断 */ +#define RT_DEVICE_CTRL_CLR_INT 0x11 /* 清中断 */ +#define RT_DEVICE_CTRL_GET_INT 0x12 /* 获取中断状态 */ +``` +### 读/写设备 +#### 读设备 +- `rt_size_t rt_device_read(rt_device_t dev, rt_off_t pos,void* buffer, rt_size_t size);` + +| 参数 | 描述 | +| --------- | ------------------------------------ | +| dev | 设备句柄 | +| pos | 读取数据偏移量 | +| buffer | 内存缓冲区指针，读取的数据将会被保存在缓冲区中 | +| size | 读取数据的大小 | +| **返回** | **描述** | +| 读到数据的实际大小 | 如果是字符设备，返回大小以字节为单位，如果是块设备，返回的大小以块为单位 | +| 0 | 需要读取当前线程的 errno 来判断错误状态 | +#### 写设备 +- `rt_size_t rt_device_write(rt_device_t dev, rt_off_t pos,const void* buffer, rt_size_t size);` + +| 参数 | 描述 | +| --------- | ------------------------------------ | +| dev | 设备句柄 | +| pos | 写入数据偏移量 | +| buffer | 内存缓冲区指针，放置要写入的数据 | +| size | 写入数据的大小 | +| **返回** | **描述** | +| 写入数据的实际大小 | 如果是字符设备，返回大小以字节为单位；如果是块设备，返回的大小以块为单位 | +| 0 | 需要读取当前线程的 errno 来判断错误状态 | + +### 设备接收回调 +当硬件设备收到数据时，可以通过如下函数回调另一个函数来设置数据接收指示，通知上层应用线程有数据到达： +- `rt_err_t rt_device_set_rx_indicate(rt_device_t dev, rt_err_t (*rx_ind)(rt_device_t dev,rt_size_t size));` + +| 参数 | 描述 | +| ------ | ------ | +| dev | 设备句柄 | +| rx_ind | 回调函数指针 | +| **返回** | **描述** | +| RT_EOK | 设置成功 | +### 数据发送回调 +- 在应用程序调用`rt_device_write()`写入数据时，如果底层硬件能够支持自动发送，那么上层应用可以设置一个回调函数。这个回调函数会在底层硬件数据发送完成后(例如DMA传送完成或FIFO已经写入完毕产生完成中断时)调用。可以通过如下函数设置设备发送完成指示，函数参数及返回值见： +- `rt_err_t rt_device_set_tx_complete(rt_device_t dev, rt_err_t (*tx_done)(rt_device_t dev,void *buffer));` + +| 参数 | 描述 | +| ------- | ------ | +| dev | 设备句柄 | +| tx_done | 回调函数指针 | +| 返回 | 描述 | +| RT_EOK | 设置成功 | +### IO框架调用框架图 +![[Pasted image 20260820100535.png]] +### 实验2-添加FEST驱动的OPS +#### 代码 +1. +```c +static rt_err_t drv_test_init(rt_device_t dev) +{ + LOG_I("test drv init\n"); + return RT_EOK; +} + +static rt_err_t drv_test_open(rt_device_t dev, rt_uint16_t oflag) +{ + LOG_I("test drv open flag = %d\n", oflag); + return RT_EOK; +} + +static rt_err_t drv_test_close(rt_device_t dev) +{ + LOG_I("test drv close"); + return RT_EOK; +} + +static rt_size_t drv_test_read(rt_device_t dev, rt_off_t pos, void *buffer, rt_size_t size) +{ + LOG_I("test drv read pos = %d, size = %d\n", pos, size); + return size; +} + +static rt_size_t drv_test_write(rt_device_t dev, rt_off_t pos, const void *buffer, rt_size_t size) +{ + LOG_I("test drv write pos = %d, size = %d\n", pos, size); + return size; +} + +static rt_err_t drv_test_control(rt_device_t dev, int cmd, void *args) +{ + LOG_I("test drv control cmd = %d\n", cmd); + return RT_EOK; +} +``` +2. +```c +int rt_drv_test_init(void) +{ + rt_device_t test_dev = rt_device_create(RT_Device_Class_Char, 0); + if(!test_dev) + { + LOG_E("test drv create failed!\n"); + return -RT_ERROR; + } + + test_dev->init = drv_test_init; + test_dev->open = drv_test_open; + test_dev->close = drv_test_close; + test_dev->read = drv_test_read; + test_dev->write = drv_test_write; + test_dev->control = drv_test_control; + + if(rt_device_register(test_dev, "test_drv", RT_DEVICE_FLAG_RDWR) != RT_EOK) + { + LOG_E("test drv register failed!\n"); + return -RT_ERROR; + } + + return RT_EOK; +} + +INIT_BOARD_EXPORT(rt_drv_test_init); +``` +### 代码分析 +```c +- 分析这段代码的打印结果 + +```c +static int drv_test_app(void) +{ + rt_device_t test_dev = rt_device_find("test_drv"); + if(test_dev == RT_NULL) + { + LOG_E("can not find test drv!"); + return -RT_ERROR; + } + + rt_device_open(test_dev, RT_DEVICE_OFLAG_RDWR); + rt_device_control(test_dev, RT_DEVICE_CTRL_CONFIG, RT_NULL); + rt_device_write(test_dev, 100, RT_NULL, 1024); + rt_device_read(test_dev, 20, RT_NULL, 128); + + rt_device_close(test_dev); + + return RT_EOK; +} + +MSH_CMD_EXPORT(drv_test_app, enable test drv app); +``` + +**控制台输出：** +``` +msh >list device +device type ref count +test_drv Character Device 0 +uart1 Character Device 2 +pin Pin Device 0 +msh >drv_test_app +[12609] I/drv.test: test drv init +[12614] I/drv.test: test drv open flag = 3 +[12619] I/drv.test: test drv control cmd = 3 +[12625] I/drv.test: test drv write pos = 100, size = 1024 +[12631] I/drv.test: test drv read pos = 20, size = 128 +[12638] I/drv.test: test drv close +msh > +``` +# RT-Thread GPIO 外设开发 +## GPIO概念与原理 +- 芯片上的引脚一般分为 4 类： + - 电源 + - 时钟 + - 控制 + - I/O +- I/O 口在使用模式上又分为 ： + - General Purpose Input Output（通用输入 / 输出），简称 GPIO + - 与功能复用 I/O（如 SPI/I2C/UART 等）。 +- 大多数 MCU 的引脚都不止一个功能。不同引脚内部结构不一样，拥有的功能也不一样。可以通过不同的配置，切换引脚的实际功能。通用 I/O 口主要特性如下： +- 可编程控制中断：中断触发模式可配置，一般有 5 种中断触发模式： + - `上升沿触发`：用于检测无抖动的**上升沿** + - `下降沿触发`：用于检测无抖动的**下降沿** + - `高电平触发`：用于检测**高电平状态** + - `低电平触发`：用于检测**低电平状态** + - `双边沿触发`：用于检测**无抖动的双边沿** +- 应用程序通过 RT‑Thread 提供的 **PIN 设备管理接口**来访问 GPIO，相关接口： + - `rt_pin_mode()`：设置**引脚模式** + - `rt_pin_write()`：设置**引脚电平** + - `rt_pin_read()`：**读取**引脚电平 + - `rt_pin_attach_irq()`：**绑定**引脚中断回调函数 + - `rt_pin_irq_enable()`：**使能**引脚中断 + - `rt_pin_detach_irq()`：**脱离**引脚中断回调函数 +### 配置 GPIO 引脚模式 +- 引脚在使用前需要先设置好输入或者输出模式： +```c +void rt_pin_mode(rt_base_t pin, rt_base_t mode); +``` + +- mode 可取以下宏定义值之一： +```c +#define PIN_MODE_OUTPUT 0x00 /* 输出 */ +#define PIN_MODE_INPUT 0x01 /* 输入 */ +#define PIN_MODE_INPUT_PULLUP 0x02 /* 上拉输入 */ +#define PIN_MODE_INPUT_PULLDOWN 0x03 /* 下拉输入 */ +#define PIN_MODE_OUTPUT_OD 0x04 /* 开漏输出 */ +``` +### 输出引脚电平 +- 设置引脚输出电平的函数： +```c +void rt_pin_write(rt_base_t pin, rt_base_t value); +``` +- value 可取 2 种宏定义值之一：PIN_LOW 低电平，PIN_HIGH 高电平 +### 读取引脚电平 +- 读取引脚输入电平的函数： +```c +int rt_pin_read(rt_base_t pin); +``` +- **返回值**为 2 种宏定义值之一： + - `PIN_LOW` 低电平 + - `PIN_HIGH` 高电平 +### 实验3-外部中断 +#### 代码 +```c +#include +#include +#include + +#define LOG_TAG "drv_test.app" +#define LOG_LVL LOG_LVL_DBG +#include + +#define KEY_UP GET_PIN(C, 5) +#define KEY_DOWN GET_PIN(C, 1) +#define KEY_LEFT GET_PIN(C, 0) +#define KEY_RIGHT GET_PIN(C, 4) + +void key_up_callback(void *args) +{ + int value = rt_pin_read(KEY_UP); + LOG_I("key up! %d", value); +} + +void key_down_callback(void *args) +{ + int value = rt_pin_read(KEY_DOWN); + LOG_I("key down! %d", value); +} + +void key_left_callback(void *args) +{ + int value = rt_pin_read(KEY_LEFT); + LOG_I("key left! %d", value); +} + +void key_right_callback(void *args) +{ + int value = rt_pin_read(KEY_RIGHT); + LOG_I("key right! %d", value); +} + +void irq_key_enable() +{ + rt_pin_mode(KEY_UP, PIN_MODE_INPUT_PULLUP); + rt_pin_mode(KEY_DOWN, PIN_MODE_INPUT_PULLUP); + rt_pin_mode(KEY_LEFT, PIN_MODE_INPUT_PULLUP); + rt_pin_mode(KEY_RIGHT,PIN_MODE_INPUT_PULLUP); + + rt_pin_attach_irq(KEY_UP, PIN_IRQ_MODE_FALLING, key_up_callback, RT_NULL); + rt_pin_attach_irq(KEY_DOWN, PIN_IRQ_MODE_FALLING, key_down_callback, RT_NULL); + rt_pin_attach_irq(KEY_LEFT, PIN_IRQ_MODE_FALLING, key_left_callback, RT_NULL); + rt_pin_attach_irq(KEY_RIGHT,PIN_IRQ_MODE_FALLING, key_right_callback,RT_NULL); + + rt_pin_irq_enable(KEY_UP, PIN_IRQ_ENABLE); + rt_pin_irq_enable(KEY_DOWN, PIN_IRQ_ENABLE); + rt_pin_irq_enable(KEY_LEFT, PIN_IRQ_ENABLE); + rt_pin_irq_enable(KEY_RIGHT,PIN_IRQ_ENABLE); +} +MSH_CMD_EXPORT(irq_key_enable, enable key irq); +``` + +#### 终端输出： +``` +\- RT - Thread Operating System + / | \ 5.2.0 build Jul 23 2024 14:13:25 + 2006 - 2024 Copyright by RT‑Thread team +msh >irq_key_enable +msh >[14960] I/drv_test.app: key up! 0 +[15596] I/drv_test.app: key left! 0 +[16334] I/drv_test.app: key down! 0 +[16334] I/drv_test.app: key right! 0 +``` +# I2C 外设开发 +## I2C简介 +- I2C 是 `Inter‑Integrated Circuit` 的简称，读作：I‑squared‑C。由飞利浦公司于1980年代提出，为了让主板、嵌入式系统或手机用以连接低速周边外部设备而发展。 +- 常见的I2C总线以传输速率的不同分为不同的模式： + - `低速模式：10Kbit/s` + - `标准模式：100Kbit/s` + - `快速模式：400Kbit/s` + - `高速模式：3.4Mbit/s` +- 电路： + - 总线接上拉电阻Rp到Vdd； + - 总线上可挂载多个设备。 +### 数据传输格式 + +| S | 从设备地址 | R/W | ACK | N 字节数据 + ACK | ACK/NACK | P | +| :--: | :---: | :-: | :-: | :----------: | :------: | :--: | +| 开始条件 | 从设备地址 | 读写位 | 应答 | N 字节数据 + 应答 | 应答 / 非应答 | 停止条件 | +#### 起始位和结束位 +- `起始位（S）`：**在SCL为高电平时**，SDA由**高电平变为低电平** +- `结束位（P）`：**在SCL为高电平时**，SDA由**低电平变为高电平** +#### ACK NACK +- `应答（ACK）`：**拉低SDA线**，并**在SCL为高电平期间保持SDA线为低电平** +- `非应答（NOACK）`：不要拉低SDA线（此时**SDA线为高电平**），并在**SCL为高电平期间保持SDA线为高电平** +### 主设备向从设备读/写数据 +#### 写数据： +开始数据传输后，先发送一个**起始位（S）**，主设备发送一个**地址数据**（由7bit的从设备地址，和最低位的写标志位组成的**8bit字节数据**，该读写标志位决定数据的传输方向），然后，**主设备释放SDA线**，并**等待从设备的应答信号（ACK）**。**每一个字节数据的传输都要跟一个应答信号位**。数据传输以**停止位（P）结束**，并且**释放I2C总线。** +#### 读数据： +开始通讯时，主设备先发送一个**起始信号（S）**，主设备发送一个**地址数据**（由7bit的从设备地址，和最低位的写标志位组成的8bit字节数据），然后，主设备**释放SDA线**，并**等待从设备的应答信号（ACK）**，从设备应答主设备后，主设备再**发送要读取的寄存器地址**，**从设备应答主设备（ACK）**，主设备再次发送**起始信号（S）**，主设备**发送设备地址**（包含读标志），**从设备应答主设备**，并将该寄存器的值**发送给主设备**。 +#### 步骤流程 +| 类型 | 步骤流程 | +| ----- | ------------------------------------------------------------------------------- | +| 主机写从机 | S → 从机地址+写位 → ACK → N字节数据(每字节带ACK) → P，释放总线 | +| 主机读从机 | S → 从机地址+写位 → ACK → 寄存器地址 → ACK → S（重复起始）→ 从机地址+读位 → ACK → 从机返回寄存器数据 → NACK → P | +### 从机常用模式 +- 向I2C从机设备，某个寄存器**写一个字节数据**：改变传感器寄存器的值。 +- 向I2C从机设备，某个寄存器**写多个字节数据**：同上。 +- 向I2C从机设备，从某个寄存器**读取一个字节数据**：读取传感器寄存器状态。 +- 向I2C从机设备，从某个寄存器**读取多个字节数据**：读取传感器数据。 +### msh 命令 +#### 查看I2C总线设备 +开启 I2C 驱动后，使用 `list_device` 命令**查看总线设备注册情况。** +#### 设备探测效果 +探测总线上的设备：`i2c scan i2c3` +## I2C API +### 查找设备 +- 查找 I2C 总线设备：在使用 I2C 总线设备前需要根据 I2C 总线设备名称**获取设备句柄**，进而才可以操作 I2C 总线设备。 +```c +rt_device_t rt_device_find(const char* name); +``` +- 一般情况下，注册到系统的 I2C 设备名称为 i2c0，i2c1等，使用示例如下所示： +```c +struct rt_i2c_bus_device *i2c_bus; /* I2C总线设备句柄 */ + +/* 查找I2C总线设备，获取I2C总线设备句柄 */ +i2c_bus = (struct rt_i2c_bus_device *)rt_device_find(name); +``` +### 传输 +```c +rt_size_t rt_i2c_transfer(struct rt_i2c_bus_device *bus, + struct rt_i2c_msg msgs[], + rt_uint32_t num); + +struct rt_i2c_msg +{ + rt_uint16_t addr; /* 从机地址 */ + rt_uint16_t flags; /* 读、写标志等 */ + rt_uint16_t len; /* 读写数据字节数 */ + rt_uint8_t *buf; /* 读写数据缓冲区指针 */ +}; +``` +- I2C 设备接口使用的**从机地址均不包含读写位**，读写位控制需修改标志 `flags`。 +```c +#define RT_I2C_WR 0x0000 /* 写标志 */ +#define RT_I2C_RD (1u << 0) /* 读标志 */ +#define RT_I2C_ADDR_10BIT (1u << 2) /* 10 位地址模式 */ +#define RT_I2C_NO_START (1u << 4) /* 无开始条件 */ +#define RT_I2C_IGNORE_NACK (1u << 5) /* 忽视 NACK */ +#define RT_I2C_NO_READ_ACK (1u << 6) /* 读的时候不发送 ACK */ +``` +>注意事项 + 此函数会调用 `rt_mutex_take()` ,不能在中断服务程序里面调用，会导致 assertion 报错。 +## I2C实践 +### 写一个字节数据 +```c +#include +#include + +void i2c_sample_single_byte_write(void) +{ + struct rt_i2c_bus_device *i2c_bus; + struct rt_i2c_msg msgs; + rt_uint8_t buf[2]; + + i2c_bus = (struct rt_i2c_bus_device *)rt_device_find("i2c2"); + if(i2c_bus == RT_NULL) + { + rt_kprintf("can't find %s device!\n", "i2c2"); + } + + buf[0] = 0x6B; + + msgs.addr = 0x68; + msgs.flags = RT_I2C_WR; + msgs.buf = buf; + msgs.len = 1; + + if(rt_i2c_transfer(i2c_bus, &msgs, 1) == 1) + rt_kprintf("single byte write success!\n"); + else + rt_kprintf("single byte write failed...\n"); +} + +MSH_CMD_EXPORT(i2c_sample_single_byte_write, i2c_sample_single_byte_write); +``` +### 写多字节数据 +```c +void i2c_sample_multi_byte_write(void) +{ + struct rt_i2c_bus_device *i2c_bus; + struct rt_i2c_msg msgs; + rt_uint8_t buf[3]; + + i2c_bus = (struct rt_i2c_bus_device *)rt_device_find("i2c2"); + if(i2c_bus == RT_NULL) + { + rt_kprintf("can't find %s device!\n", "i2c2"); + } + + buf[0] = 0x01; + buf[1] = 0x02; + buf[2] = 0x03; + + msgs.addr = 0x68; + msgs.flags = RT_I2C_WR; + msgs.buf = buf; + msgs.len = 3; + + if(rt_i2c_transfer(i2c_bus, &msgs, 1) == 1) + rt_kprintf("multi byte write success!\n"); + else + rt_kprintf("multi byte write failed...\n"); +} + +MSH_CMD_EXPORT(i2c_sample_multi_byte_write, i2c_sample_multi_byte_write); +``` +### 读数据 +```c +void i2c_sample_single_byte_read(void) +{ + struct rt_i2c_bus_device *i2c_bus; + struct rt_i2c_msg msgs[2]; + rt_uint8_t send_buf[1], recv_buf[1]; + + i2c_bus = (struct rt_i2c_bus_device *)rt_device_find("i2c2"); + if(i2c_bus == RT_NULL) + { + rt_kprintf("can't find %s device!\n", "i2c2"); + } + + send_buf[0] = 0x6B; + recv_buf[0] = 0x6A; + + msgs[0].addr = 0x68; + msgs[0].flags = RT_I2C_WR; + msgs[0].buf = send_buf; + msgs[0].len = 1; + + msgs[1].addr = 0x68; + msgs[1].flags = RT_I2C_RD; + msgs[1].buf = recv_buf; + msgs[1].len = 1; + + if(rt_i2c_transfer(i2c_bus, msgs, 2) == 2) + rt_kprintf("single byte read: 0x%02x success!\n", recv_buf[0]); + else + rt_kprintf("single byte read failed...\n"); +} + +MSH_CMD_EXPORT(i2c_sample_single_byte_read, i2c_sample_single_byte_read); +``` +## I2C应用开发常遇到的问题 +### 单个设备挂掉导致总线死锁 +#### 死锁原因 +- 当 I2C 主机正在和从机通信时，如果主机正好发生打算发第9个时钟，此时SCL为高，而从机开始拉低SDA为低做准备（作为ACK信号），等待主机SCL变低后，从再释放SDA为高。 +- 如果此时正好主机复位，主机SCL还没来得及变低，直接变成高电平，此时从机还在等待SCL变低，所以一直拉低SDA；而主机由于复位，发现SDA一直为低，也在等待从释放SDA为高。因此主机和从机都进入一个相互等待的死锁状态。 +#### 死锁解锁思路 +I2C主设备中增加I2C总线解锁程序，方法如下： +I2C 主设备启动传输前，先控制 I2C 中的 SCL 时钟线产生 9 个时钟脉冲（针对8位数据的情况）这样I2C从设备就可以完成被挂起的读操作，从死锁状态中恢复过来。 + +```c +static rt_err_t stm32_i2c_bus_unlock(const struct stm32_soft_i2c_config *cfg) +{ + rt_int32_t i = 0; + + if (PIN_LOW == rt_pin_read(cfg->sda)) + { + while (i++ < 9) + { + rt_pin_write(cfg->scl, PIN_HIGH); + stm32_udelay(100); + rt_pin_write(cfg->scl, PIN_LOW); + stm32_udelay(100); + } + } + + if (PIN_LOW == rt_pin_read(cfg->sda)) + { + return -RT_ERROR; + } + + return RT_EOK; +} +``` +### rt_i2c_transfer函数执行返回 -5 +- 设备地址错误： +``` +RT‑Thread Operating System +5.2.0 build Jul 24 2024 19:31:34 +2006‑2024 Copyright by RT‑Thread team +msh >i2c_sample_error +single byte read -5 failed... +msh > +``` + +```c +void i2c_sample_error(void) +{ + rt_err_t ret = RT_EOK; + struct rt_i2c_bus_device *i2c_bus; + struct rt_i2c_msg msgs[2]; + rt_uint8_t send_buf[1], recv_buf[1]; + + i2c_bus = (struct rt_i2c_bus_device *)rt_device_find("i2c2"); + if(i2c_bus == RT_NULL) + { + rt_kprintf("can't find i2c device!\n"); + } + + send_buf[0] = 0x6B; + recv_buf[0] = 0; + + msgs[0].addr = 0x68; + msgs[0].flags = RT_I2C_WR; + msgs[0].buf = send_buf; + msgs[0].len = 1; + + msgs[1].addr = 0x6D; + msgs[1].flags = RT_I2C_RD; + msgs[1].buf = recv_buf; + msgs[1].len = 1; + + ret = rt_i2c_transfer(i2c_bus, msgs, 2); + if(ret == 2) + rt_kprintf("single byte read: %02x success!\n", recv_buf[0]); + else + rt_kprintf("single byte read %d failed...\n", ret); +} + +MSH_CMD_EXPORT(i2c_sample_error, i2c_sample_error); +``` +## 编写软件I2C驱动模板 +### 代码 +```c +#include +#include +#include + +static void udelay(rt_uint32_t us) +{ + volatile rt_int32_t i = us; + while (i-- > 0) i = i; +} + +static void set_sda(void *data, rt_int32_t state){} +static void set_scl(void *data, rt_int32_t state){} +static rt_int32_t get_sda(void *data){return 0;} +static rt_int32_t get_scl(void *data){return 0;} + +static const struct rt_i2c_bit_ops bit_ops = +{ + RT_NULL, + set_sda, set_scl, + get_sda, get_scl, + udelay, 20, 50 +}; + +static struct rt_i2c_bus_device i2c_bus; + +int rt_sw_i2c_init(void) +{ + i2c_bus.priv = (void *)&bit_ops; + rt_i2c_bit_add_bus(&i2c_bus, "i2c_sim"); + return RT_EOK; +} + +INIT_DEVICE_EXPORT(rt_sw_i2c_init); +``` +### 终端输出 +``` +rw007 sn: [rw0072795b244008b49] +rw007 ver: [1.2.8-f7698586-18979] +list_de +list_device +msh />list_device +device type ref count +---------------------------------------- +w1 Network Interface 0 +w0 Network Interface 0 +wlan0 Network Interface 1 +wlan1 Network Interface 1 +wspi SPI Device 0 +sd0 Block Device 1 +rtc RTC 0 +record Pipe 0 +mic0 Sound Device 0 +sound0 Sound Device 0 +i2c_sim I2C Bus 0 +i2c2 I2C Bus 1 +i2c1 I2C Bus 0 +spi2 SPI Bus 0 +uart3 Character Device 2 +pin Miscellaneous Device 0 +msh /> +``` +# SPI外设开发 +## SPI 简介 +- SPI（`Serial Peripheral Interface`，串行外设接口）是一种**高速、全双工、同步通信**总线 +- 常用于**短距离通讯** +- 主要应用于 EEPROM、FLASH、实时时钟、AD 转换器、还有数字信号处理器和数字信号解码器之间 +- SPI 一般使用 4 根线通信 + - SCLK -> SCLK + - MOSI -> MOSI + - MISO -> MISO + - CS -> CS +- 在 RT‑Thread 中，SPI 设备分为 “**SPI 总线**” 和 “**SPI 设备**” 两大类，SPI 总线对应 **SPI 控制器**，SPI 设备对应**不同 CS 连接的从设备** +- 使用前需要**先注册 SPI 总线，再把从设备挂载到总线上。** +## SPI API +### 注册SPI设备 +- 挂载 SPI 设备：SPI 驱动会注册 SPI 总线，SPI 设备需要挂载到已经注册好的 SPI 总线上。 +```c +rt_err_t rt_spi_bus_attach_device(struct rt_spi_device *device, + const char *name, + const char *bus_name, + void *user_data) +``` +- 此函数用于挂载一个 SPI 设备到指定的 SPI 总线，并向内核注册 SPI 设备，并将 user_data 保存到 SPI 设备的控制块里。 +### SPI 注册设备 +- 若使用 rt‑thread/bsp/stm32 目录下的 BSP 则可以使用下面的函数挂载 SPI 设备到总线： +```c +rt_err_t rt_hw_spi_device_attach(const char *bus_name, + const char *device_name, + GPIO_TypeDef *cs_gpiox, + uint16_t cs_gpio_pin); +``` +- 一般 SPI 总线命名原则为 spix， SPI 设备命名原则为 spixy，如 spi10 表示挂载在 spi1 总线上的 0 号设备。user_data 一般为 SPI 设备的 CS 引脚指针，进行数据传输时 SPI 控制器会操作此引脚进行片选。 +### 实验5-注册 SPI 设备 +#### 代码 + +```c +#include +#include + +#include "drv_spi.h" +#include "drv_gpio.h" + +static int spi_attach(void) +{ + return rt_hw_spi_device_attach("spi2", "spi20", GET_PIN(B, 12)); +} +INIT_DEVICE_EXPORT(spi_attach); +``` +#### 终端输出 +``` +RT‑Thread Operating System +5.2.0 build Jul 24 2024 19:31:34 +2006‑2024 Copyright by RT‑Thread team +msh >list device +device type ref count +---------------------------------------- +spi20 SPI Device 0 +spi2 SPI Bus 0 +i2c2 I2C Bus 0 +i2c1 I2C Bus 0 +uart1 Character Device 2 +pin Pin Device 0 +msh > +``` +### SPI 相关API +- `rt_device_find()，`根据 SPI 设备名称查找设备获取设备句柄 +- `rt_spi_configure()`，配置 SPI 设备 +- `rt_spi_transfer()`，传输一次数据 +- `rt_spi_send()`，发送一次数据 +- `rt_spi_recv()`，接收一次数据 +- `rt_spi_send_then_send()`，连续两次发送 +- `rt_spi_send_then_recv()`，先发送后接收 +- `rt_spi_transfer_message()`，自定义传输数据 +>注： + SPI数据传输相关接口会调用 rt_mutex_take()，此函数不能在中断服务程序里面调用，会导致 assertion 报错。 +### 查找SPI设备 +- 在使用 SPI 设备前需要根据 SPI 设备名称获取**设备句柄**，进而才可以操作 SPI 设备： +```c +rt_device_t rt_device_find(const char* name); +``` +- 一般情况下，注册到系统的 SPI 设备名称为 spi10，使用示例： +```c +#define W25Q_SPI_DEVICE_NAME "qspi10" /* SPI 设备名称 */ +struct rt_spi_device *spi_dev_w25q; /* SPI 设备句柄 */ + +/* 查找 spi 设备获取设备句柄 */ +spi_dev_w25q = (struct rt_spi_device *)rt_device_find(W25Q_SPI_DEVICE_NAME); +``` +### SPI设备驱动配置 +```c +rt_err_t rt_spi_configure(struct rt_spi_device *device, + struct rt_spi_configuration *cfg); + +struct rt_spi_configuration +{ + rt_uint8_t mode; /* 模式 */ + rt_uint8_t data_width; /* 数据宽度，可取8位、16位、32位 */ + rt_uint16_t reserved; /* 保留 */ + rt_uint32_t max_hz; /* 最大频率 */ +}; +``` + +```c +/* 设置数据传输顺序是MSB位在前还是LSB位在前 */ +#define RT_SPI_LSB (0<<2) /* bit[2]: 0‑LSB */ +#define RT_SPI_MSB (1<<2) /* bit[2]: 1‑MSB */ + +/* 设置SPI的主从模式 */ +#define RT_SPI_MASTER (0<<3) /* SPI master device */ +#define RT_SPI_SLAVE (1<<3) /* SPI slave device */ + +/* 设置时钟极性和时钟相位 */ +#define RT_SPI_MODE_0 (0 | 0) /* CPOL = 0, CPHA = 0 */ +#define RT_SPI_MODE_1 (0 | RT_SPI_CPHA) /* CPOL = 0, CPHA = 1 */ +#define RT_SPI_MODE_2 (RT_SPI_CPOL | 0) /* CPOL = 1, CPHA = 0 */ +#define RT_SPI_MODE_3 (RT_SPI_CPOL | RT_SPI_CPHA) /* CPOL = 1, CPHA = 1 */ + +#define RT_SPI_CS_HIGH (1<<4) /* Chipselect active high */ +#define RT_SPI_NO_CS (1<<5) /* No chipselect */ +#define RT_SPI_3WIRE (1<<6) /* SI/SO pin shared */ +#define RT_SPI_READY (1<<7) /* Slave pulls low to pause */ +``` + +### SPI设备传输数据实践 +- 如果只传输一次数据可以通过如下函数： +```c +rt_size_t rt_spi_transfer(struct rt_spi_device *device, + const void *send_buf, + void *recv_buf, + rt_size_t length); +``` +- 此函数不需要手动控制片选，等同于调用`rt_spi_transfer_message()`传输一条消息，开始发送数据时片选选中，函数返回时释放片选。 +#### 传输数据(一次通信) +```c +#include +#include + +#include "drv_spi.h" +#include "drv_gpio.h" + +static int spi_attach(void) +{ + return rt_hw_spi_device_attach("spi2", "spi20", GET_PIN(B, 12)); +} +MSH_CMD_EXPORT(spi_attach, spi_attach); + +static int spi_example(void) +{ + rt_err_t ret = RT_EOK; + struct rt_spi_device * spi20 = (struct rt_spi_device *)rt_device_find("spi20"); + + struct rt_spi_configuration cfg; + cfg.data_width = 8; + cfg.mode = RT_SPI_MASTER | RT_SPI_MODE_0 | RT_SPI_MSB; + cfg.max_hz = 1 * 1000 * 1000; /* 1M */ + rt_spi_configure(spi20, &cfg); + + rt_uint8_t sendBuff = 0xDA; + rt_uint8_t recvBuff = 0xF1; + ret = rt_spi_transfer(spi20, &sendBuff, &recvBuff, 1); + rt_kprintf("ret = %d\n", ret); + + return ret; +} +``` +#### 单独发送数据(一次通信) +```c +static int spi_send_one_data(void) +{ + rt_err_t ret = RT_EOK; + struct rt_spi_device * spi20 = (struct rt_spi_device *)rt_device_find("spi20"); + + struct rt_spi_configuration cfg; + cfg.data_width = 8; + cfg.mode = RT_SPI_MASTER | RT_SPI_MODE_0 | RT_SPI_MSB; + cfg.max_hz = 1 * 1000 * 1000; /* 1M */ + rt_spi_configure(spi20, &cfg); + + rt_uint8_t sendBuff = 0x1A; + ret = rt_spi_send(spi20, &sendBuff, 1); + rt_kprintf("ret = %d\n", ret); // return actual num + + return ret; +} +MSH_CMD_EXPORT(spi_send_one_data, spi_send_one_data); +``` +#### 连续两次发送数据 +- 如果需要先后连续发送 2 个缓冲区的数据，并且**中间片选不释放**，可以调用如下函数： +```c +rt_err_t rt_spi_send_then_send(struct rt_spi_device *device, + const void *send_buf1, + rt_size_t send_length1, + const void *send_buf2, + rt_size_t send_length2); +``` +- 此函数可以连续发送 2 个缓冲区的数据，**忽略接收到的数据**，发送send_buf1时片选选中，发送完send_buf2后释放片选，适用于先发送地址，再发送指定长度的数据，中途不释放片选的情况。 +##### 代码 +```c +static int spi_send_then_send_data(void) +{ + rt_err_t ret = RT_EOK; + struct rt_spi_device * spi20 = (struct rt_spi_device *)rt_device_find("spi20"); + + struct rt_spi_configuration cfg; + cfg.data_width = 8; + cfg.mode = RT_SPI_MASTER | RT_SPI_MODE_0 | RT_SPI_MSB; + cfg.max_hz = 1 * 1000 * 1000; /* 1M */ + rt_spi_configure(spi20, &cfg); + + rt_uint8_t sendBuff1[2] = {0x1A, 0x99}; + rt_uint8_t sendBuff2[2] = {0x12, 0x39}; + ret = rt_spi_send_then_send(spi20, &sendBuff1, 2, &sendBuff2, 2); + rt_kprintf("ret = %d\n", ret); // RT_EOK means success + + return ret; +} +MSH_CMD_EXPORT(spi_send_then_send_data, spi_send_then_send_data); +``` +#### 先发送后接收数据 +- 如果需要向从设备**先发送数据，然后接收从设备发送的数据，并且中间片选不释放**，可以调用如下函数： +```c +rt_err_t rt_spi_send_then_recv(struct rt_spi_device *device, + const void *send_buf, + rt_size_t send_length, + void *recv_buf, + rt_size_t recv_length); +``` + +- 函数发送第一条数据时开始片选，忽略接收到的数据，然后发送第二条数据，此时主设备会发送数据 0XFF，接收到的数据保存在 recv_buf 里，函数返回时释放片选。 +- 本函数适合从 SPI 从设备中读取一块数据，第一次会先发送一些命令和地址数据，然后再接收指定长度的数据。 +##### 代码 +```c +static int spi_send_then_recv_data(void) +{ + rt_err_t ret = RT_EOK; + struct rt_spi_device * spi20 = (struct rt_spi_device *)rt_device_find("spi20"); + + struct rt_spi_configuration cfg; + cfg.data_width = 8; + cfg.mode = RT_SPI_MASTER | RT_SPI_MODE_0 | RT_SPI_MSB; + cfg.max_hz = 1 * 1000 * 1000; /* 1M */ + rt_spi_configure(spi20, &cfg); + + rt_uint8_t sendBuff1[2] = {0x1A, 0x99}; + rt_uint8_t sendBuff2[2] = {0x12, 0x39}; + ret = rt_spi_send_then_recv(spi20, &sendBuff1, 2, &sendBuff2, 2); + rt_kprintf("ret = %d\n", ret); // RT_EOK means success + + return ret; +} +MSH_CMD_EXPORT(spi_send_then_recv_data, spi_send_then_recv_data); +``` +# 作业 +| 作业： | +| :--------------------------------------: | +| 整理今天的课堂笔记，分析PIN设备如何对接的，提交PR和发表论坛笔记
| +| 自己设计一个虚拟的设备驱动框架层（test_dev）。 | -- Gitee From c86de989949c80762565c6558cc45ea7efd3977d Mon Sep 17 00:00:00 2001 From: yythlss <2911687347@qq.com> Date: Thu, 20 Aug 2026 23:28:59 +0800 Subject: [PATCH 4/5] =?UTF-8?q?[=E4=BD=9C=E4=B8=9A=E6=8F=90=E4=BA=A4]=20da?= =?UTF-8?q?y4=20RT=E2=80=91Thread=20=E8=AE=BE=E5=A4=87=E9=A9=B1=E5=8A=A8?= =?UTF-8?q?=E2=80=91=20=E6=98=93=E8=8E=B9=E8=8E=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../figures/Pasted image 20260820091727.png" | Bin 0 -> 291674 bytes .../figures/Pasted image 20260820100535.png" | Bin 0 -> 369864 bytes ...233\345\244\251\347\254\224\350\256\260.md" | 0 3 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260/figures/Pasted image 20260820091727.png" create mode 100644 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"a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260.md" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260.md" similarity index 100% rename from "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260.md" rename to "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260.md" -- Gitee From efbdb522e33fffb3aac2ac23f8eccf796cb126ca Mon Sep 17 00:00:00 2001 From: yythlss <2911687347@qq.com> Date: Sun, 23 Aug 2026 11:37:00 +0800 Subject: [PATCH 5/5] =?UTF-8?q?[=E4=BD=9C=E4=B8=9A=E6=8F=90=E4=BA=A4]=20da?= =?UTF-8?q?y5=E8=BD=AF=E4=BB=B6=E5=8C=85=E4=B8=8E=E7=BB=84=E4=BB=B6=20-=20?= =?UTF-8?q?=E6=98=93=E8=8E=B9=E8=8E=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../README.md" | 1 - .../README.md" | 27 ++ .../aht10_example.c" | 40 ++ .../drv_filesystem.c" | 162 +++++++ .../481b50ce039e77903e151603b97cb79c.png" | Bin 0 -> 143696 bytes .../ca0f6245a201499f33a303f3637b96d3.png" | Bin 0 -> 142864 bytes .../ea5ace48cb4c5c18e5899b70db084133.png" | Bin 0 -> 76880 bytes .../mqtt_test.c" | 166 +++++++ ...24\345\244\251\347\254\224\350\256\260.md" | 451 ++++++++++++++++++ 9 files changed, 846 insertions(+), 1 deletion(-) delete mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/README.md" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/README.md" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/aht10_example.c" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/drv_filesystem.c" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/figures/481b50ce039e77903e151603b97cb79c.png" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/figures/ca0f6245a201499f33a303f3637b96d3.png" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/figures/ea5ace48cb4c5c18e5899b70db084133.png" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/mqtt_test.c" create mode 100644 "2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\344\272\224\345\244\251\347\254\224\350\256\260.md" diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/README.md" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/README.md" deleted file mode 100644 index b4dd9cd..0000000 --- "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/README.md" +++ /dev/null @@ -1 +0,0 @@ -# 第1组 \ No newline at end of file diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/README.md" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/README.md" new file mode 100644 index 0000000..684f197 --- /dev/null +++ "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/README.md" @@ -0,0 +1,27 @@ +# 作业1 论坛笔记 +[RT-Thread-【RSOC】软件包与组件入门RT-Thread问答社区 - RT-Thread](https://club.rt-thread.org/ask/article/338a5a73f4fb796d.html) +# 作业2 使用AHT10软件包采集温湿度并上传到emqx +## 运行截图 +![[ca0f6245a201499f33a303f3637b96d3.png]] +# 作业3 温湿度数据同步系统文件 +## 运行截图 +![[ea5ace48cb4c5c18e5899b70db084133.png]] +# 作业4 云端控制开发板上小灯翻转 +## 运行截图 +![[481b50ce039e77903e151603b97cb79c.png]] +# 作业代码 +## aht10读取温湿度代码 +[aht10_example.c](aht10_example.c) +## 文件操作相关代码 +[drv_filesystem.c](drv_filesystem.c) +## mqtt订阅发布相关代码 +[mqtt_test.c](mqtt_test.c) +# 作业 +- [x] 将今天的任务完成并将学习笔记上传至RT-Thread论坛，笔记标题命名为：【RSOC26】+ xxx +- [x] 使用AHT10软件包采集温湿度并上传到emqx（如果你有其他MQTT服务器也可上传到对应服务器上）； +- [x] 梳理文件系统启动流程，熟悉shell命令使用。能够将font分区给挂载上。在温湿度上传上传云端的同时，将数据同步放在文件系统处，文件名为：Data.txt； + 文件内容： Temp：XX ; Humi：XX ; Count： 1（自上电起所采集的数据次数） + Temp：XX ; Humi：XX ; Count： 2（自上电起所采集的数据次数） + Temp：XX ; Humi：XX ; Count： 3（自上电起所采集的数据次数） +- [x] 利用云端给开发板发送指令然后实现小灯翻转； +- [x] 熟悉其他软件包 \ No newline at end of file diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/aht10_example.c" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/aht10_example.c" new file mode 100644 index 0000000..8e49364 --- /dev/null +++ "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/aht10_example.c" @@ -0,0 +1,40 @@ +#define DBG_TAG "AHT10" +#define DBG_LVL DBG_LOG +#include + +#include +#include + +float humi ,temp; + +int aht10_read_entry(void *par) +{ + aht10_device_t aht10 = aht10_init("i2c3"); + if(aht10 == RT_NULL) + { + LOG_E("aht10 init failed!\n"); + return -RT_ERROR; + } + + while(1) + { + temp = aht10_read_temperature(aht10); + humi = aht10_read_humidity(aht10); + + //rt_kprintf("temp = %.2f,humi = %.2f",temp,humi); + rt_thread_mdelay(3000); + } +} + +int aht10_thread_init(void) +{ + rt_thread_t aht10_thread = rt_thread_create("aht10", aht10_read_entry, RT_NULL, 1024, 10, 10); + if(aht10_thread == RT_NULL) + { + LOG_E("aht10 thread create failed!\n"); + return RT_ERROR; + } + rt_thread_startup(aht10_thread); + return RT_EOK; +} +MSH_CMD_EXPORT(aht10_thread_init,aht10_thread_init); diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/drv_filesystem.c" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/drv_filesystem.c" new file mode 100644 index 0000000..0dc534b --- /dev/null +++ "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/drv_filesystem.c" @@ -0,0 +1,162 @@ +/* + * Copyright (c) 2006-2021, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2018-12-13 balanceTWK add sdcard port file + * 2021-05-10 Meco Man fix a bug that cannot use fatfs in the main thread at starting up + * 2021-07-28 Meco Man implement romfs as the root filesystem + */ + +#include +#include +#include +#include + +#if DFS_FILESYSTEMS_MAX < 4 +#error "Please define DFS_FILESYSTEMS_MAX more than 4" +#endif +#if DFS_FILESYSTEM_TYPES_MAX < 4 +#error "Please define DFS_FILESYSTEM_TYPES_MAX more than 4" +#endif + +#define DBG_TAG "app.filesystem" +#define DBG_LVL DBG_INFO +#include + +#ifdef BSP_USING_FS_AUTO_MOUNT +#ifdef BSP_USING_SDCARD_FATFS + +static int onboard_sdcard_mount(void) +{ + if (dfs_mount("sd0", "/sdcard", "elm", 0, 0) == RT_EOK) + { + LOG_I("SD card mount to '/sdcard'"); + } + else + { + LOG_E("SD card mount to '/sdcard' failed!"); + } + + return RT_EOK; +} +#endif /* BSP_USING_SDCARD_FATFS */ +#endif /* BSP_USING_FS_AUTO_MOUNT */ + +#ifdef BSP_USING_FLASH_FS_AUTO_MOUNT +#ifdef BSP_USING_FLASH_FATFS +#define FS_PARTITION_NAME "filesystem" + +static int onboard_fal_mount(void) +{ + /* 初始化 fal 功能 */ + extern int fal_init(void); + extern struct rt_device *fal_blk_device_create(const char *parition_name); + fal_init(); + /* 在 spi flash 中名为 "filesystem" 的分区上创建一个块设备 */ + struct rt_device *flash_dev = fal_blk_device_create(FS_PARTITION_NAME); + if (flash_dev == NULL) + { + LOG_E("Can't create a block device on '%s' partition.", FS_PARTITION_NAME); + } + else + { + LOG_D("Create a block device on the %s partition of flash successful.", FS_PARTITION_NAME); + } + + /* 挂载 spi flash 中名为 "filesystem" 的分区上的文件系统 */ + if (dfs_mount(flash_dev->parent.name, "/fal", "elm", 0, 0) == 0) + { + LOG_I("Filesystem initialized!"); + } + else + { + LOG_E("Failed to initialize filesystem!"); + LOG_D("You should create a filesystem on the block device first!"); + } + + return RT_EOK; +} + +/* ==========新增font分区挂载函数，函数名独立：onboard_font_mount ========== */ +#define FONT_PARTITION_NAME "font" +static int onboard_font_mount(void) +{ + extern struct rt_device *fal_blk_device_create(const char *parition_name); + + struct rt_device *font_dev = fal_blk_device_create(FONT_PARTITION_NAME); + if (font_dev == NULL) + { + LOG_E("Can't create a block device on '%s' partition.", FONT_PARTITION_NAME); + return -RT_ERROR; + } + else + { + LOG_D("Create a block device on the %s partition of flash successful.", FONT_PARTITION_NAME); + } + + int ret = dfs_mount(font_dev->parent.name,"/font","elm",0,RT_NULL); + if(ret == RT_EOK) + { + LOG_I("font partition mount to '/font' ok!"); + } + else if(ret == -RT_EINVAL) + { + LOG_I("font partition already mounted."); + } + else + { + LOG_E("font mount failed! ret=%d, please format font partition(mkfs elmfat font)", ret); + } + return RT_EOK; +} + +#endif /*BSP_USING_FLASH_FATFS*/ +#endif /*BSP_USING_FLASH_FS_AUTO_MOUNT*/ + + +const struct romfs_dirent _romfs_root[] = +{ +#ifdef BSP_USING_SDCARD_FATFS + {ROMFS_DIRENT_DIR, "sdcard", RT_NULL, 0}, +#endif + +#ifdef BSP_USING_FLASH_FATFS + {ROMFS_DIRENT_DIR, "fal", RT_NULL, 0}, +#endif + /* 新增font虚拟目录项 */ + {ROMFS_DIRENT_DIR, "font", RT_NULL, 0}, +}; + +const struct romfs_dirent romfs_root = +{ + ROMFS_DIRENT_DIR, "/", (rt_uint8_t *)_romfs_root, sizeof(_romfs_root) / sizeof(_romfs_root[0]) +}; + +static int filesystem_mount(void) +{ + +#ifdef BSP_USING_FS + if (dfs_mount(RT_NULL, "/", "rom", 0, &(romfs_root)) != 0) + { + LOG_E("rom mount to '/' failed!"); + } + + /* 确保块设备注册成功之后再挂载文件系统 */ + rt_thread_delay(500); +#endif +#ifdef BSP_USING_FS_AUTO_MOUNT + onboard_sdcard_mount(); +#endif /* BSP_USING_FS_AUTO_MOUNT */ + + +#ifdef BSP_USING_FLASH_FS_AUTO_MOUNT + onboard_fal_mount(); + onboard_font_mount(); //调用font挂载函数 +#endif + + return RT_EOK; +} +INIT_APP_EXPORT(filesystem_mount); diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/figures/481b50ce039e77903e151603b97cb79c.png" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\344\275\234\344\270\232/\347\254\254\344\272\224\345\244\251\344\275\234\344\270\232/figures/481b50ce039e77903e151603b97cb79c.png" new file mode 100644 index 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z>N|Gd>SD_*J#*gU$!^16h^l8Le3!z)NJ4LKh{?G9aI$P;zv3>zw{5<){m*T_Na?So z1fZ2wuBVIfZkbFtM9KBVCJJclF>)e!FSJJ4#r%|1A6&vos!>$IGJjT4Qw@JZ(C7`^ zD--<2J-5c$OBzS^>49O}CmQ$P#RfaRc1?M*H89qUP@GMUtvoj5s^8_^lY<1xLBKSt z*}|>gXeiP{*6XV@|0A4!nk2p&uW^CPa|_TLzKf@Gdx&2M=n?6x<6S(I&*XBw0$#3@ z)%$zfYx&iO+G)9m2m6LlM!C%V{Csd?Lzii)HsittvjiZ{YEjZC3Ho2I8$dJhtpUSo z-{+}?Sy|(UTWj5$E?!iNm4toAYF^;-Q=1=#AtXGqYBrAo8f9>QHP(4{rpozR*7R7s zd*S~KOaa{cXSDqfztGp_6V8~KW%&soIQnD9u<9DUz<3I(gMB|5pN9VaerZmCQUEQ1 a)(*4F%HE9!?gW5e%1SBT&Xc(R +#include +#include +#include +#include +#include "mqttclient.h" + +#include + +//#include +#include +#include +#include /* rename() */ +#include +#include /* statfs() */ + +static uint32_t sample_count = 0; +static char file_buf[128]; +static char mqtt_buf[128]; + +#define PIN_LED_B GET_PIN(F, 11) // PF11 : LED_B --> LED +#define PIN_LED_R GET_PIN(F, 12) // PF12 : LED_R --> LED + + +#ifndef KAWAII_MQTT_HOST +#define KAWAII_MQTT_HOST "jiejie01.top" +#endif +#ifndef KAWAII_MQTT_PORT +#define KAWAII_MQTT_PORT "1883" +#endif +#ifndef KAWAII_MQTT_CLIENTID +#define KAWAII_MQTT_CLIENTID "rtthread001" +#endif +#ifndef KAWAII_MQTT_USERNAME +#define KAWAII_MQTT_USERNAME "rt-thread" +#endif +#ifndef KAWAII_MQTT_PASSWORD +#define KAWAII_MQTT_PASSWORD "rt-thread" +#endif +#ifndef KAWAII_MQTT_SUBTOPIC +#define KAWAII_MQTT_SUBTOPIC "rtt-sub" +#endif +#ifndef KAWAII_MQTT_PUBTOPIC +#define KAWAII_MQTT_PUBTOPIC "rtt-pub" +#endif + +char send_buf[128]; + +static void sub_topic_handle1(void* client, message_data_t* msg) +{ + (void) client; + KAWAII_MQTT_LOG_I("-----------------------------------------------------------------------------------"); + KAWAII_MQTT_LOG_I("%s:%d %s()...\ntopic: %s\nmessage:%s", __FILE__, __LINE__, __FUNCTION__, msg->topic_name, (char*)msg->message->payload); + KAWAII_MQTT_LOG_I("-----------------------------------------------------------------------------------"); + + //解析指令控制小灯 + char *rcvd_cmd = (char*)msg->message->payload; + if(rt_strcmp(rcvd_cmd, "led_toggle") == 0) + { + rt_kprintf("toggle LED!\n"); + rt_pin_write(PIN_LED_R, !rt_pin_read(PIN_LED_R)); + } + else if(rt_strcmp(rcvd_cmd, "led_on") == 0) + { + rt_kprintf("LED On!\n"); + rt_pin_write(PIN_LED_R, PIN_LOW); + } + else if(rt_strcmp(rcvd_cmd, "led_off") == 0) + { + rt_kprintf("LED Off!\n"); + rt_pin_write(PIN_LED_R, PIN_HIGH); + } +} + +void save_data_to_file(float temp, float humi, uint32_t count) +{ + int fd; + int w_len; + + fd = open("/font/Data.txt", O_WRONLY | O_CREAT | O_APPEND, 0666); + if(fd < 0) + { + rt_kprintf("open /font/Data.txt FAILED!\n"); + return; + } + + w_len = rt_snprintf(file_buf, sizeof(file_buf),"Temp: %.2f ; Humi: %.2f ; Count: %d\r\n", temp, humi, count); + write(fd, file_buf, w_len); + close(fd); +} + + +static int mqtt_publish_handle1(mqtt_client_t *client) +{ + sample_count ++; + + mqtt_message_t msg; + memset(&msg, 0, sizeof(msg)); + + rt_snprintf(send_buf, sizeof(send_buf), "temp = %.2f,humi = %.2f\n", temp, humi); + msg.payload = (void *)send_buf; + + msg.qos = QOS0; + + mqtt_publish(client, KAWAII_MQTT_PUBTOPIC, &msg); + save_data_to_file(temp, humi, sample_count); + + return RT_EOK; +} + +static void kawaii_mqtt_demo(void *parameter) +{ + mqtt_client_t *client = NULL; + + rt_thread_delay(6000); + + + + mqtt_log_init(); + + client = mqtt_lease(); + + mqtt_set_host(client, KAWAII_MQTT_HOST); + mqtt_set_port(client, KAWAII_MQTT_PORT); + mqtt_set_user_name(client, KAWAII_MQTT_USERNAME); + mqtt_set_password(client, KAWAII_MQTT_PASSWORD); + mqtt_set_client_id(client, KAWAII_MQTT_CLIENTID); + mqtt_set_clean_session(client, 1); + + KAWAII_MQTT_LOG_I("The ID of the Kawaii client is: %s ", KAWAII_MQTT_CLIENTID); + + mqtt_connect(client); + + mqtt_subscribe(client, KAWAII_MQTT_SUBTOPIC, QOS0, sub_topic_handle1); + + while (1) { + mqtt_publish_handle1(client); + + mqtt_sleep_ms(4 * 1000); + } +} + +int ka_mqtt(void) +{ + rt_thread_t tid_mqtt; + + tid_mqtt = rt_thread_create("kawaii_demo", kawaii_mqtt_demo, RT_NULL, 4096, 17, 10); + if (tid_mqtt == RT_NULL) { + return -RT_ERROR; + } + + rt_thread_startup(tid_mqtt); + + return RT_EOK; +} +MSH_CMD_EXPORT(ka_mqtt, Kawaii MQTT client test program); diff --git "a/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\344\272\224\345\244\251\347\254\224\350\256\260.md" "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\344\272\224\345\244\251\347\254\224\350\256\260.md" new file mode 100644 index 0000000..1be0fa4 --- /dev/null +++ "b/2026/\347\254\2541\347\273\204/\346\230\223\350\216\271\350\216\271/\347\254\224\350\256\260/\347\254\254\344\272\224\345\244\251\347\254\224\350\256\260.md" @@ -0,0 +1,451 @@ +# 软件包与组件 +本文以 RT-Thread 为基础，记录软件包、网络连接、文件系统和 Flash 抽象层的学习路径。示例中的板卡、I2C 总线名、Flash 设备名和 Kconfig 菜单项可能因 BSP 版本不同而变化，实际操作时应以工程中的配置和 `list_device` 输出为准。 +## 软件包 +- 软件包：具有特定功能、用于完成特定任务的一个程序或一组程序。 +- 软件包通常已经封装**了底层驱动、协议栈或通用算法**，应用程序只需要**调用它提供的 API，就可以减少重复开发。** +- 使用软件包的**主要收益**： + - 缩短开发周期，快速验证传感器、网络和存储功能； + - 复用经过测试的驱动和协议实现； + - 通过 Kconfig 和 `menuconfig` 按需裁剪功能，控制 ROM、RAM 和线程栈占用。 +- **RT-Thread 软件包中心：[软件包中心](https://packages.rt-thread.org/index.html)** +- 在 RT-Thread Studio 中，ENV/Kconfig 工具通常位于 Studio 安装目录下的 `env` 目录。不同版本的 Studio 菜单名称可能略有差异，但基本流程都是“打开配置、保存配置、生成工程、下载软件包”。 +### 温湿度传感器：AHT10（I2C 设备） +#### I2C传感器驱动流程： +- 驱动一个 I2C 传感器通常需要完成的工作： + 1. 阅读数据手册，确认**设备地址、初始化命令、测量命令和数据格式**； + 2. 找到设备**实际连接的 I2C 总线**，并确认 BSP 已经**注册该总线设备**； + 3. 使用 RT-Thread I2C API 完成**写命令、读数据和错误处理**； + 4. 将原始数据转换为**温度、湿度等应用层单位**，并通过线程或 Shell 命令验证。 +**不使用软件包**的驱动示例：[AHT10NotUsePackage.c](./Docx/AHT10NotUsePackage.c)。 + 该示例直接调用 `rt_i2c_transfer()`，适合学习 I2C 消息结构和传感器时序。 +#### 直接使用 I2C API +原始驱动至少要关注的问题： +- `AHT_I2C_BUS_NAME` 必须与板卡实际**注册的总线名**一致； +- **设备地址**通常为 `0x38`，但仍应以传感器数据手册和硬件连接为准； +- 发送测量命令后需要**等待转换完成**，再读取状态字节和数据字节； +- `rt_i2c_transfer()` 的**返回值应检查**，不能只依赖串口输出判断成功； +- **定点或浮点输出**需要相应的 `rt_kprintf` 配置，资源受限时可以先按整数和小数部分输出。 +#### 使用 AHT10 软件包 +1. 在板级配置中开启对应的 I2C 外设和 AHT 传感器引脚； +2. 在软件包菜单中启用 AHT10 软件包； +3. 在工程中确认 `aht10.h` 能够被包含，并将总线名改成实际值，例如 `i2c3`； +4. 如果需要直接打印 `%f`，再启用 `rt_vsprintf_full` 软件包；否则继续使用整数和小数部分输出； +5. 执行 `pkgs --update` 下载软件包并重新生成工程。 +**使用软件包的示例见：[AHT10UsePackage.c](./Docx/AHT10UsePackage.c)。** +#### 验证与故障排查 +启动示例线程后，可以观察类似下面的输出： +```c +msh > AHT10_Creat_Thread +Humi: xxx +Temp: xxx +``` +如果**没有输出或数值明显异常**： + +| 现象 | 检查项 | +| :--------: | :----------------------------------: | +| 找不到 I2C 总线 | Kconfig 是否开启 I2C、总线名是否与宏定义一致 | +| 读写返回错误 | SDA/SCL 接线、上拉电阻、设备地址和供电电压 | +| 温湿度一直为零 | 是否完成初始化和校准，测量命令后等待时间是否足够 | +| `%f` 输出异常 | 是否启用 `rt_vsprintf_full`，或改用整数/小数拆分打印 | + +### MQTT 协议 +#### 基本概念 +- MQTT（Message Queuing Telemetry Transport）是一种轻量级的**发布/订阅消息协议**，适合资源受限设备以及带宽有限、延迟较高或连接不稳定的网络环境。 +- MQTT 通信由**客户端**、**服务端**、**主题**和**消息**组成： + - **Client：** 客户端，即设备或应用程序。客户端可以连接服务端、发布消息、订阅主题、取消订阅和断开连接。 + - **Server：** 服务端，也称 Broker，负责维护连接、接收发布消息、处理订阅并将消息转发给匹配的客户端。 + - **Topic Name：** 主题名，用于对消息进行分层分类，例如 `rsoc/sensor/temperature`。 + - **Publish：** 发布，将消息发送到指定主题。 + - **Subscription：** 订阅，声明客户端希望接收哪些主题的消息。 +- MQTT 的优势： + - **轻量级：** 报文开销小，适合 RAM、Flash 和功耗受限的嵌入式设备； + - **解耦：** 发布者和订阅者不需要直接知道对方，只需要约定主题； + - **可扩展：** 可以通过主题层级和通配符组织大量设备和数据； + - **可配置可靠性：** 通过 QoS、保活和会话参数在实时性、带宽与可靠性之间取舍。 +#### QoS、主题和会话 +- MQTT 定义了三个 QoS 等级。 +- QoS 并不是“网络绝对可靠”的保证，而是客户端与 Broker 之间的交付语义： + +| 等级 | 含义 | 典型场景 | +| ----- | ----------------- | --------------- | +| QoS 0 | 最多一次，不等待确认，可能丢失 | 高频环境数据、可丢失的状态刷新 | +| QoS 1 | 至少一次，可能重复，需要应用层去重 | 报警、控制命令和重要状态 | +| QoS 2 | 恰好一次，交互次数更多，开销最高 | 不能重复处理且消息量较小的业务 | + +主题可以使用 `+` 匹配单层，使用 `#` 匹配多层。例如，订阅 `rsoc/+/temperature` 可以接收不同设备的一层温度主题。生产项目中应为不同设备规划清晰的主题层级，并对发布和订阅权限进行限制。 +#### RT-Thread 上使用 MQTT +本实验使用 [EMQX 免费公共 MQTT Broker](https://www.emqx.com/zh/mqtt/public-mqtt5-broker)： +- 只采用**未加密 TCP 连接** +- 当前公共接入地址为 `broker.emqx.io` +- TCP 端口为 `1883` +- 不需要用户名和密码 +- 该服务只适合学习和功能验证，不能用于生产环境。 +#### 获取引脚编号 +```txt +pin [option] + num: get pin number from hardware pin + num can be PE02, PE2, PE.02, PE.2, pe02, pe2, pe.02, pe.2 + e.g. MSH >pin num PA.16 + mode: set pin mode to output/input/input_pullup/input_pulldown/output_od + e.g. MSH >pin mode PA.16 output + read: read pin level of hardware pin + e.g. MSH >pin read PA.16 + write: write pin level(high/low or on/off) to hardware pin + e.g. MSH >pin write PA.16 high + help: this help list +msh >pin num PG.11 +PG.11 : 107 +``` + +| 引脚名称 | 引脚编号 | +| ------------------------------------- | ---- | +| RW007 BUS NAME | spi2 | +| CS pin index | 90 | +| BOOT0 pin index (same as spi clk pin) | 29 | +| BOOT1 pin index (same as spi cs pin) | 90 | +| INT(BUSY) pin index | 107 | +| RESET pin index | 111 | +#### 调试顺序 +1. 开启 RW007 或其他网络模组，确认网卡能够获取 IP； +2. 使用 `ifconfig`、`ping` 等命令检查网络、网关和 DNS； +3. 在 `RT-Thread online packages` 中启用 `kawaii-mqtt` 软件包； +4. 将 MQTT 版本设为 `4`，即 MQTT 3.1.1； +5. 将 Broker 和端口分别设为 `broker.emqx.io` 和 `1883`，用户名、密码留空； +6. 为板卡设置唯一的客户端 ID，并配置独立的发布和订阅主题； +7. 先完成 MQTTX 与板卡之间的双向收发，再接入传感器数据； +8. 为断线重连、心跳超时、发布失败和接收回调增加日志。 +>注： +> 公共 Broker 上的主题和消息对其他用户可见。 +> 主题不要使用 `test`、`hello` 等常见名称，建议加入学号、板卡编号或随机后缀 +```text +板卡发布，MQTTX 订阅：rsoc/<唯一标识>/device/up +MQTTX 发布，板卡订阅：rsoc/<唯一标识>/device/down +``` +#### 使用 MQTTX 验证收发 +[MQTTX](https://mqttx.app/zh/downloads) 是跨平台 MQTT 客户端，可以在电脑上查看板卡发布的消息，也可以向板卡订阅的主题发送测试数据。 +##### 新建 MQTTX 连接时的参数 + +| 配置项 | 值 | +| ------------ | ------------------------------ | +| 协议 | `mqtt://`（TCP） | +| Host | `broker.emqx.io` | +| Port | `1883` | +| MQTT Version | `3.1.1`，与当前 `kawaii-mqtt` 配置一致 | +| Client ID | 自定义唯一值，例如 `mqttx-rsoc-<唯一标识>` | +| Username | 随便填 | +| Password | 随便填 | + +##### 连接成功后，验证顺序： +1. MQTTX 订阅 `rsoc/<唯一标识>/device/up`； +2. 在板卡上发布一条消息，确认 MQTTX 能显示主题、QoS 和 Payload； +3. MQTTX 向 `rsoc/<唯一标识>/device/down` 发布一条短消息； +4. 确认板卡订阅回调收到该消息，并正确使用消息长度； +5. 断开板卡网络后重新连接，确认订阅可以自动恢复； +6. 再接入 AHT10 数据，建议使用简短 JSON，例如 `{"temperature":26.1,"humidity":45.2}`。 +>如果 MQTTX 能连接但收不到数据，先核对两端的主题方向：板卡的发布主题必须等于 MQTTX 的订阅主题，板卡的订阅主题必须等于 MQTTX 的发布主题。主题区分大小写，也不要多写或漏写 `/`。 +## 组件（Component） +- 组件是可以**独立开发、测试、部署和维护**的**软件单元**。 +- 与单个驱动相比，组件通常包含**更完整的接口、配置项和示例**，能够为上层应用提供稳定的功能边界。 +### 文件系统 +- 本节基于板载 W25Q64，学习 RT-Thread DFS、FAL 和 POSIX 接口之间的关系。 +- 参考文档：[RT-Thread 文件系统](https://www.rt-thread.org/document/site/#/rt-thread-version/rt-thread-standard/programming-manual/filesystem/filesystem)。 +#### 文件系统定义 +- DFS（Device File System）是 RT-Thread 提供的虚拟文件系统组件。 +- 它向上层提供统一的路径和文件操作接口，向下层对接 FatFS、RomFS、DevFS 等不同文件系统以及块设备。 +#### 文件系统架构 +在 DFS 中，系统使用统一的根目录 `/`。一个具体文件系统通常先格式化到块设备，再挂载到某个目录，例如 `/fal`；挂载完成后，应用不需要关心底层 Flash 的擦写细节，只需要按路径访问文件。 +#### 常见文件系统 + +| 类型 | 特点 | +| --- | --- | +| FatFS | 兼容 FAT 格式，移植性较好，适合 SD 卡和可读写 Flash；本实验中的 `elm_fat` 属于这一类。 | +| RomFS | 结构简单、只读，适合作为固件内置资源或只读根文件系统；不适合频繁写入。 | +| DevFS | 将设备映射到 `/dev` 目录，使设备可以使用类似文件的 `read`、`write` 接口。 | +| UFFS | 面向 NAND Flash 的轻量级文件系统，适合资源受限场景；使用前应确认 BSP 和维护状态。 | +| NFS | 通过网络共享主机文件系统，适合开发调试，不建议直接作为量产设备的本地存储方案。 | + +#### POSIX 接口层 +POSIX（Portable Operating System Interface）为应用提供统一的文件和目录操作接口。在 RT-- Thread 中，常见接口包括： + - 文件：`open()`、`close()`、`read()`、`write()`、`lseek()`、`rename()`、`stat()`、`unlink()`； + - 目录：`mkdir()`、`opendir()`、`readdir()`、`closedir()`； + - 文件系统：`mkfs()`、`mount()`、`umount()`。 +- 文件描述符 `fd` 是一个整数句柄，代表当前进程打开的文件或设备。调用 `open()` 成功后必须在所有退出路径调用 `close()`，否则长时间运行可能耗尽文件描述符。 + +| API | 描述 | +| --- | --- | +| `int rename(const char *old, const char *new)` | 文件重命名 | +| `int stat(const char *file, struct stat *buf)` | 获取文件状态 | +| `int unlink(const char *pathname)` | 删除文件 | + +#### 目录管理 +目录操作应遵循**“打开、遍历、关闭”的生命周期**。 +- `readdir()` 返回 `RT_NULL` 表示遍历结束 +- 异常路径要调用 `closedir()`。 +#### 文件系统启动流程 +1. **DFS 组件初始化：** 系统启动时初始化文件系统注册表、文件描述符表以及相关锁。如果启用了 DevFS，还会初始化设备文件系统。 +2. **注册文件系统类型：** FatFS、RomFS 等文件系统通过各自的初始化函数注册到 DFS，之后才能被 `mount()` 识别。 +3. **格式化并挂载：** 块设备第一次使用时需要选择文件系统并格式化，然后挂载到路径。自动挂载功能可以在系统启动阶段完成这一步，但量产项目仍应检查挂载返回值和分区版本。 +### FAL（搭配 SFUD 使用） +#### SFUD +- [SFUD](https://github.com/armink/SFUD)（Serial Flash Universal Driver）是串行 Flash 通用驱动库。 +- 它屏蔽不同 SPI NOR Flash 在 JEDEC ID、读写和擦除命令上的差异，为上层提供统一的设备访问接口，例如: + - `sfud_get_device()` + - `sfud_read()` + - `sfud_erase()` + - `sfud_write()`。 +#### FAL +- FAL（Flash Abstraction Layer）是 **Flash 抽象层**，负责**管理 Flash 设备和分区**，并向文件系统、OTA、NVM 等上层模块**提供统一的分区访问接口**。 +- FAL 与 SFUD 的职责： + - `SFUD` 负责“如何和具体 Flash 芯片通信”； + - `FAL` 负责“如何把一个或多个 Flash 划分成可管理的逻辑分区”。 +- FAL 的**常见特性**： + - 支持**静态配置分区表**，并**可关联多个 Flash 设备**； + - 分区表**支持自动装载**，减少多固件项目中的重复定义； + - **对操作系统依赖较少**，也可以运行在 Bootloader 或裸机环境； + - 向文件系统、OTA、NVM 等组件**提供统一的分区接口**； + - 提供基于 FinSH/MSH 的**测试命令**，便于按地址读、写和擦除 Flash。 +#### FAL API +FAL API 的典型使用顺序是：找到分区、读取分区信息、按偏移读写或擦除。执行擦除和写入前，应确认偏移地址、长度和对齐要求，避免覆盖其他分区。 +### 文件系统结合 FAL 配置 W25Q64 +#### 设备链路 +一个常见的 W25Q64 数据链路： +```text +SPI 控制器 +  -> spi20 设备 +  -> SFUD SPI_FLASH 设备（例如 W25Q64） +  -> FAL 分区 +  -> BLK 块设备 +  -> FatFS/elm_fat +  -> DFS 挂载点（例如 /fal） +  -> POSIX 文件 API +``` + +在 BSP 的 `rt_hw_spi_flash()` 中，通常： +1. 把 SPI 设备挂到总线上 +2. 通过 `rt_sfud_flash_probe()` 绑定为 `SPI_FLASH` 设备 +3. 在 FAL 中定义分区，并为目标分区创建块设备 +4. 文件系统格式化并挂载后，应用即可通过 `open()`、`read()`、`write()` 等接口访问 W25Q64。 +#### menuconfig 配置步骤 +1. 开启 SPI Flash、文件系统和 FAL 相关**外设**。 +2. 在文件系统菜单中**启用基于 W25Q64 的 FAL 分区和自动挂载**。 +3. 确认 **FAL 分区配置**已经启用。 +4. 检查**自动加载或自动挂载选项**，并保存配置。 +5. 如果 BSP 还有额外的存储或兼容选项，再根据工程需求开启，**不要无条件勾选全部功能**。 +#### Shell 验证 +下载运行后，先确认设备和分区名称： +```c +msh > list_device +msh > fal probe +msh > ls / +``` + +如果没有启用自动挂载，可以根据 BSP 实际设备名手动格式化和挂载： +```c +msh > mkfs -t elm +msh > mount /fal +msh > ls /fal +``` + +命令中的 `` 必须替换为 `list_device` 输出的真实块设备名。格式化会清除分区中的原有数据，首次操作前应确认分区范围。 +#### POSIX 文件读写示例 +- 写入、读取和目录遍历 +- `/fal` 必须替换成工程实际的挂载点。 +```c +#include +#include +#include + +static const char message[] = "Hello, RT-Thread. Welcome to RSOC!"; + +static char buffer[sizeof(message)] = {0}; + +static void FileSystem_Test(void) + +{ +    int fd; +    int written; +    int size; + + +    fd = open("/fal/FileTest.txt", O_WRONLY | O_CREAT | O_TRUNC, 0666); +    if (fd < 0) +    { +        rt_kprintf("open for write failed\n"); +        return; +    } + + +    written = write(fd, message, sizeof(message) - 1); +    close(fd); +    if (written != (int)(sizeof(message) - 1)) +    { +        rt_kprintf("write failed: %d\n", written); +        return; +    } + + +    fd = open("/fal/FileTest.txt", O_RDONLY, 0); +    if (fd < 0) +    { +        rt_kprintf("open for read failed\n"); +        return; +    } + +    size = read(fd, buffer, sizeof(buffer) - 1); +    close(fd); +    if (size < 0) +    { +        rt_kprintf("read failed: %d\n", size); +        return; +    } + + +    buffer[size] = '\0'; +    rt_kprintf("read: %s\n", buffer); +} + +MSH_CMD_EXPORT(FileSystem_Test, file read/write test); + +static void readdir_sample(void) + +{ +    DIR *dirp = opendir("/fal"); +    struct dirent *d; + + +    if (dirp == RT_NULL) +    { +        rt_kprintf("open directory failed\n"); +        return; +    } + +    while ((d = readdir(dirp)) != RT_NULL) +    { +        rt_kprintf("found %s\n", d->d_name); +    } +    closedir(dirp); +} + +MSH_CMD_EXPORT(readdir_sample, list files under /fal); + +``` + +- 执行 `FileSystem_Test` 后，应该能够看到写入和读取的字符串一致。 +- 原示例中把 `read()` 返回值保存到无符号类型再判断 `< 0`，无法正确识别读取错误；同时没有为读取结果补充字符串结束符，这里已经一并修正。 +#### 文件系统故障排查 + +| 现象 | 检查顺序 | +| --- | --- | +| 找不到 W25Q64 | SPI 引脚、片选、设备 ID、SFUD 探测日志 | +| FAL 分区不存在 | 分区表是否编译进工程，设备名是否与 FAL 配置一致 | +| `mount` 失败 | 分区是否已格式化、文件系统类型是否匹配、挂载点是否存在 | +| 文件写入失败 | 分区是否只读、剩余空间是否足够、擦写对齐是否满足要求 | +| 重启后文件丢失 | 是否启用自动挂载，是否在卸载或掉电前完成写入同步 | +# tips +## aht10 +### 使能 +- `MSH: command shell` 使能终端 +- `使能ulog` 打印日志 +- `Enable AHT21 (i2c3)` 使能AHT10 +- `rt_vsnprintf_full: fully functional version of rt_vsnprintf` 浮点数输出 +### 头文件与宏定义 +```c +#define DBG_TAG "AHT10" +#define DBG_LVL DBG_LOG +#include + +#include +#include +``` +### 函数 +#### aht10_read_entry +```c +int aht10_read_entry(void *par) +{ + aht10_device_t aht10 = aht10_init("i2c2"); + if(aht10 == RT_NULL) + { + LOG_E("aht10 init failed!\n"); + return -RT_ERROR; + } + + while(1) + { + float temp = aht10_read_temperature(aht10); + float humi = aht10_read_humidity(aht10); + + rt_kputs("temp = %.2f,humi = %.2f",temp,humi); + rt_thread_mdelay(3000); + } +} +``` +#### aht10_thread_init +```c +int aht10_thread_init(void) +{ + rt_thread_t aht10_thread = rt_thread_create("aht10", aht10_read_entry, RT_NULL, 1024, 10, 10); + if(aht10_thread == RT_NULL) + { + LOG_E("aht10 thread create failed!\n"); + return RT_ERROR; + } + rt_thread_startup(aht10_thread); + return RT_EOK; +} +``` +#### msh +`MSH_CMD_EXPORT(aht10_thread_init,aht10_thread_init);` +## mqtt +### 使能 +- `rw007: SPI WIFI rw007 driver` WIFI + +| 配置项 | 值 | +| ------------------------------------- | ---- | +| RW007 BUS NAME | spi2 | +| CS pin index | 90 | +| BOOT0 pin index (same as spi clk pin) | 29 | +| BOOT1 pin index (same as spi cs pin) | 90 | +| INT/BUSY pin index | 107 | +| RESET pin index | 111 | +- `kawaii-mqtt: a mqtt client based on the socket API, support QoS2, mbedtls.` + - `enable kawaii mqtt test` + +| 配置项 | 值 | +| -------------------- | -------------- | +| mqtt host | broker.emqx.io | +| mqtt port | 1883 | +| mqtt client id | rtthread_7730 | +| mqtt username | rt‑thread | +| mqtt password | rt‑thread | +| mqtt subscribe topic | rtt‑pub_7730 | +| mqtt publish topic | rtt‑pub_7730 | + +## fal文件系统 + +| 分区名 (name) | 存储设备 (flash_dev) | 起始偏移 (offset) | 分区大小 (length) | 存储内容说明 | +| -------------- | ----------------- | ------------- | ------------------- | ------------------------------------------------------------------------------- | +| **app** | onchip_flash_128k | 0x00000000 | 0x00060000 (384 KB) | **应用程序分区**：存放 STM32 主程序固件（用户编译生成的 bin/hex 烧录到此），是程序运行的代码区。 | +| **param** | onchip_flash_128k | 0x00060000 | 0x000a0000 (640 KB) | **参数分区**：存放系统运行参数、配置信息（如 WiFi 账号密码、MQTT 配置、设备参数等持久化数据）。 | +| **easyflash** | W25Q64 | 0x00000000 | 0x00080000 (512 KB) | **EasyFlash KV 存储分区**：基于 EasyFlash 组件的键值对存储区，存放环境变量、用户配置、运行状态等可快速读写的小数据。 | +| **download** | W25Q64 | 0x00080000 | 0x00100000 (1 MB) | **OTA 下载 / 升级缓存分区**：存放通过网络下载的待升级固件包，Bootloader 升级时从此区读取新固件并搬运到 app 区。 | +| **wifi_image** | W25Q64 | 0x00180000 | 0x00080000 (512 KB) | **WiFi 固件镜像分区**：存放 RW007 等外置 WiFi 模块的固件镜像，模块启动或升级时从此分区加载 WiFi 协议栈固件。 | +| **font** | W25Q64 | 0x00200000 | 0x00300000 (3 MB) | **字库分区**：存放 OLED/LCD 显示所需的字体文件（如你之前报错的 `/font/Data.txt` 字库数据），供中文 / ASCII 显示调用。 | +| **filesystem** | W25Q64 | 0x00500000 | 0x00300000 (3 MB) | **文件系统分区**：挂载 FatFs/elm‑chan 文件系统，存放用户数据文件（日志、图片、配置文件等），对应你之前 `ls /` 看到的可操作目录。 | +### 使能 +- `Enable File System` 使能文件系统 +- `Enable FAL filesystem partition based on W25Q64` 使用自动挂载 +- 旧版本兼容性支持 +- 使用设备虚拟文件系统 + - 使能 elm‑chan FatFs + - 设置要处理的最大扇区大小——4096 +- `Enable SDCARD (FATFS)` +- `使能POSIX文件系统` +### 找不到头文件dfs_posix.h +换成： +```c +#include +#include +#include /* rename() */ +#include +#include /* statfs() */ +``` \ No newline at end of file -- Gitee