FreeRtos学习笔记（12）systemView 分析任务调度情况

不咸不要钱2024-03-26 19:28

FreeRtos学习笔记（12）systemView 分析任务调度情况

使用stm32f429 + freertosV10.5.1 + systemView 3.5 + keil AC5

systemView 移植

  1. 从官网下载 systemView 软件
  2. 将下面文件添加到工程中




freertos 修改

  1. systemView 需要 FreeRTOSConfig.h 开启如下宏, 并添加头文件 "SEGGER_SYSVIEW_FreeRTOS.h"
c 复制代码 
#define configCHECK_FOR_STACK_OVERFLOW         2
#define configUSE_TRACE_FACILITY               1
#define INCLUDE_uxTaskGetStackHighWaterMark    1
#define INCLUDE_xTaskGetIdleTaskHandle         1
#define INCLUDE_eTaskGetState                  1
#define INCLUDE_pxTaskGetStackStart            1
#include "SEGGER_SYSVIEW_FreeRTOS.h"

此时工程应该可以通过编译

  1. 对freertos 的源码打补丁，来更好的适配systemView

下载对应版本的 SystemView, Target Sources，或者打开systemView软件的安装目录，找到freertos对应版本的补丁文件， 这里用的是freertosV10.4, 因此使用 Src\Sample\FreeRTOSV10.4\Patch 文件


c 复制代码 
diff -rupN org/config/FreeRTOSConfig.h new/config/FreeRTOSConfig.h
--- org/config/FreeRTOSConfig.h	2020-12-15 19:53:08.000000000 +0100
+++ new/config/FreeRTOSConfig.h	2021-03-10 13:28:14.645130255 +0100
@@ -91,6 +91,10 @@ to exclude the API function. */
 #define INCLUDE_vTaskDelayUntil			1
 #define INCLUDE_vTaskDelay				1
 #define INCLUDE_eTaskGetState			1
+#define INCLUDE_xTaskGetIdleTaskHandle                          1
+#define INCLUDE_pxTaskGetStackStart                             1
+
+#include "SEGGER_SYSVIEW_FreeRTOS.h"
 
 /* Cortex-M specific definitions. */
 #ifdef __NVIC_PRIO_BITS
diff -rupN org/FreeRTOS/Source/include/FreeRTOS.h new/FreeRTOS/Source/include/FreeRTOS.h
--- org/FreeRTOS/Source/include/FreeRTOS.h	2020-12-15 19:54:26.000000000 +0100
+++ new/FreeRTOS/Source/include/FreeRTOS.h	2021-03-10 14:58:58.000000000 +0100
@@ -182,6 +182,10 @@
     #define INCLUDE_uxTaskGetStackHighWaterMark2    0
 #endif
 
+#ifndef INCLUDE_pxTaskGetStackStart
+	#define INCLUDE_pxTaskGetStackStart 0
+#endif
+
 #ifndef INCLUDE_eTaskGetState
     #define INCLUDE_eTaskGetState    0
 #endif
@@ -448,6 +452,23 @@
     #define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
 #endif
 
+#ifndef traceREADDED_TASK_TO_READY_STATE
+	#define traceREADDED_TASK_TO_READY_STATE( pxTCB )	traceMOVED_TASK_TO_READY_STATE( pxTCB )
+#endif
+
+#ifndef traceMOVED_TASK_TO_DELAYED_LIST
+	#define traceMOVED_TASK_TO_DELAYED_LIST()
+#endif
+
+#ifndef traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST
+	#define traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST()
+#endif
+
+#ifndef traceMOVED_TASK_TO_SUSPENDED_LIST
+	#define traceMOVED_TASK_TO_SUSPENDED_LIST( pxTCB )
+#endif
+
+
 #ifndef traceQUEUE_CREATE
     #define traceQUEUE_CREATE( pxNewQueue )
 #endif
@@ -696,6 +717,18 @@
     #define traceTASK_NOTIFY_GIVE_FROM_ISR( uxIndexToNotify )
 #endif
 
+#ifndef traceISR_EXIT_TO_SCHEDULER
+	#define traceISR_EXIT_TO_SCHEDULER()
+#endif
+
+#ifndef traceISR_EXIT
+	#define traceISR_EXIT()
+#endif
+
+#ifndef traceISR_ENTER
+	#define traceISR_ENTER()
+#endif
+
 #ifndef traceSTREAM_BUFFER_CREATE_FAILED
     #define traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer )
 #endif
diff -rupN org/FreeRTOS/Source/include/task.h new/FreeRTOS/Source/include/task.h
--- org/FreeRTOS/Source/include/task.h	2020-12-15 19:54:26.000000000 +0100
+++ new/FreeRTOS/Source/include/task.h	2021-03-03 10:07:46.000000000 +0100
@@ -1538,6 +1538,25 @@ UBaseType_t uxTaskGetStackHighWaterMark(
  */
 configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
 
+/**
+ * task.h
+ * <PRE>uint8_t* pxTaskGetStackStart( TaskHandle_t xTask);</PRE>
+ *
+ * INCLUDE_pxTaskGetStackStart must be set to 1 in FreeRTOSConfig.h for
+ * this function to be available.
+ *
+ * Returns the start of the stack associated with xTask.  That is,
+ * the highest stack memory address on architectures where the stack grows down
+ * from high memory, and the lowest memory address on architectures where the
+ * stack grows up from low memory.
+ *
+ * @param xTask Handle of the task associated with the stack returned.
+ * Set xTask to NULL to return the stack of the calling task.
+ *
+ * @return A pointer to the start of the stack.
+ */
+uint8_t* pxTaskGetStackStart( TaskHandle_t xTask) PRIVILEGED_FUNCTION;
+
 /* When using trace macros it is sometimes necessary to include task.h before
  * FreeRTOS.h.  When this is done TaskHookFunction_t will not yet have been defined,
  * so the following two prototypes will cause a compilation error.  This can be
diff -rupN org/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c new/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c
--- org/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c	2020-12-15 19:54:26.000000000 +0100
+++ new/FreeRTOS/Source/portable/GCC/ARM_CM0/port.c	2021-03-03 10:20:34.000000000 +0100
@@ -359,13 +359,19 @@ void xPortSysTickHandler( void )
     uint32_t ulPreviousMask;
 
     ulPreviousMask = portSET_INTERRUPT_MASK_FROM_ISR();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* Pend a context switch. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portCLEAR_INTERRUPT_MASK_FROM_ISR( ulPreviousMask );
 }
diff -rupN org/FreeRTOS/Source/portable/GCC/ARM_CM0/portmacro.h new/FreeRTOS/Source/portable/GCC/ARM_CM0/portmacro.h
--- org/FreeRTOS/Source/portable/GCC/ARM_CM0/portmacro.h	2020-12-15 19:54:26.000000000 +0100
+++ new/FreeRTOS/Source/portable/GCC/ARM_CM0/portmacro.h	2021-03-03 10:21:08.000000000 +0100
@@ -82,7 +82,7 @@
     #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
     #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
     #define portYIELD()                                 vPortYield()
-    #define portEND_SWITCHING_ISR( xSwitchRequired )    if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT
+    #define portEND_SWITCHING_ISR( xSwitchRequired ) { if( xSwitchRequired ) { traceISR_EXIT_TO_SCHEDULER(); portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } else { traceISR_EXIT(); } }
     #define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
diff -rupN org/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c new/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
--- org/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c	2020-12-15 19:54:26.000000000 +0100
+++ new/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c	2021-03-03 10:17:16.000000000 +0100
@@ -436,14 +436,19 @@ void xPortSysTickHandler( void )
      * save and then restore the interrupt mask value as its value is already
      * known. */
     portDISABLE_INTERRUPTS();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else {
+            traceISR_EXIT();
+        }
     }
     portENABLE_INTERRUPTS();
 }
diff -rupN org/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h new/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
--- org/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h	2020-12-15 19:54:26.000000000 +0100
+++ new/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h	2021-03-03 10:18:26.000000000 +0100
@@ -90,7 +90,7 @@
 
     #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
     #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-    #define portEND_SWITCHING_ISR( xSwitchRequired )    if( xSwitchRequired != pdFALSE ) portYIELD()
+    #define portEND_SWITCHING_ISR( xSwitchRequired )    { if( xSwitchRequired != pdFALSE ) { traceISR_EXIT_TO_SCHEDULER(); portYIELD() } else { traceISR_EXIT(); } }
     #define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
diff -rupN org/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c new/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
--- org/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c	2020-12-15 19:54:26.000000000 +0100
+++ new/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c	2021-03-03 10:25:28.000000000 +0100
@@ -498,14 +498,20 @@ void xPortSysTickHandler( void )
      * save and then restore the interrupt mask value as its value is already
      * known. */
     portDISABLE_INTERRUPTS();
+    traceISR_ENTER();
     {
         /* Increment the RTOS tick. */
         if( xTaskIncrementTick() != pdFALSE )
         {
+            traceISR_EXIT_TO_SCHEDULER();
             /* A context switch is required.  Context switching is performed in
              * the PendSV interrupt.  Pend the PendSV interrupt. */
             portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
         }
+        else
+        {
+            traceISR_EXIT();
+        }
     }
     portENABLE_INTERRUPTS();
 }
diff -rupN org/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h new/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
--- org/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h	2020-12-15 19:54:26.000000000 +0100
+++ new/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h	2021-03-03 10:26:06.000000000 +0100
@@ -90,7 +90,7 @@
 
     #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
     #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
-    #define portEND_SWITCHING_ISR( xSwitchRequired )    if( xSwitchRequired != pdFALSE ) portYIELD()
+    #define portEND_SWITCHING_ISR( xSwitchRequired ) { if( xSwitchRequired != pdFALSE ) { traceISR_EXIT_TO_SCHEDULER(); portYIELD(); } else { traceISR_EXIT(); } }
     #define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
 /*-----------------------------------------------------------*/
 
diff -rupN org/FreeRTOS/Source/tasks.c new/FreeRTOS/Source/tasks.c
--- org/FreeRTOS/Source/tasks.c	2020-12-15 19:54:28.000000000 +0100
+++ new/FreeRTOS/Source/tasks.c	2021-03-10 14:59:11.000000000 +0100
@@ -1735,7 +1735,7 @@ static void prvAddNewTaskToReadyList( TC
             {
                 mtCOVERAGE_TEST_MARKER();
             }
-
+            traceMOVED_TASK_TO_SUSPENDED_LIST(pxTCB);
             vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
 
             #if ( configUSE_TASK_NOTIFICATIONS == 1 )
@@ -3927,6 +3927,20 @@ static void prvCheckTasksWaitingTerminat
 #endif /* INCLUDE_uxTaskGetStackHighWaterMark */
 /*-----------------------------------------------------------*/
 
+#if (INCLUDE_pxTaskGetStackStart == 1)
+	uint8_t* pxTaskGetStackStart( TaskHandle_t xTask)
+	{
+	    TCB_t *pxTCB;
+	    UBaseType_t uxReturn;
+        (void)uxReturn;
+
+		pxTCB = prvGetTCBFromHandle( xTask );
+		return ( uint8_t * ) pxTCB->pxStack;
+	}
+
+#endif /* INCLUDE_pxTaskGetStackStart */
+/*-----------------------------------------------------------*/
+
 #if ( INCLUDE_vTaskDelete == 1 )
 
     static void prvDeleteTCB( TCB_t * pxTCB )
@@ -5311,12 +5325,14 @@ static void prvAddCurrentTaskToDelayedLi
                 {
                     /* Wake time has overflowed.  Place this item in the overflow
                      * list. */
+                    traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST();
                     vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
                 }
                 else
                 {
                     /* The wake time has not overflowed, so the current block list
                      * is used. */
+                    traceMOVED_TASK_TO_DELAYED_LIST();
                     vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
 
                     /* If the task entering the blocked state was placed at the
@@ -5345,11 +5361,13 @@ static void prvAddCurrentTaskToDelayedLi
 
             if( xTimeToWake < xConstTickCount )
             {
+                traceMOVED_TASK_TO_OVERFLOW_DELAYED_LIST();
                 /* Wake time has overflowed.  Place this item in the overflow list. */
                 vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
             }
             else
             {
+                traceMOVED_TASK_TO_DELAYED_LIST();
                 /* The wake time has not overflowed, so the current block list is used. */
                 vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );

由于使用的是STMF429 和keil 的AC5， 因此按照上述补丁文件，逐条对以下文件进行修改(由于补丁是V10.4.3的，而实际使用的freertos版本为10.5.1，因此补丁的行数信息不准确，需要根据上下文搜索确定文件修改位置)

  • config/FreeRTOSConfig.h

此文件上面已经修改过了

  • FreeRTOS/Source/include/FreeRTOS.h



  • FreeRTOS/Source/include/task.h
  • FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
  • FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
  • FreeRTOS/Source/tasks.c




systemView 使用

  • 配置
    systemView 可以简单看成当RTOS进行任务切换、消息队列发送接收时，会向RAM写入时间戳等信息，systemView通过jlink直接读取RAM，将RAM中的时间戳等信息翻译成图表信息。因此时间戳怎么获取是很重要的，cortex-M3/M4/M7内核中有一个DWT定时器，分辨率是系统时钟，systemView就是使用的这个定时器。

systemView通过jlink直接读取RAM时，会从该地址开始进行查找。

  • 初始化
c 复制代码 
traceSTART();

打开 systemView 即可

  • 添加想要测量的中断
  1. 添加描述符

SysTick_IRQn 为15， 所以 TIM8_TRG_COM_TIM14_IRQn 为 16 + 45 = 61

  1. 中断服务函数中添加trace
  • 测量代码段运行时长

systemView 溢出

  • 提高 jlink 速度

  • 增大RAM缓冲区

  • 如果使用了SEGGER RTT打印log，关闭RTT打印

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