MQX

I

MQX

2009

MQXMQX Precise Software Technologies

1989 2009 MQX

APITCP/IP USB

MQX

MQX

1 MQX MQX

MQX

MQX

2 MQX FIFO RR

FIFO RRMQX

3 MQX MCF52223

LCD MQX

MQX

MQX

MQX

Abstract Kernel Analysis and Application Research of Embedded Real-time Operating System MQX

II

Kernel Analysis and Application Research of Embedded Real-time Operating System MQX

Abstract

Embedded real-time operating system MQX that applies industrial control, automotive electronics and consumer electronics is launched by Freescale semiconductor in the chinese market in 2009. MQX was first developed by Precise Software Technologies Corporation in 1989. MQX opens source after Freescale's acquisition in 2009. MQX adopts micro-kernel structure, with standard API interface, module architecture, TCP/IP protocol stack, USB protocol stack and so on. So it has excellent performance in terms of real-time, transplant and reduction. In view of the domestic research and application of MQX not yet begin, commissioned by Freescale semiconductor, the paper analyzes and researches MQX mainly from the following aspects:

(1) Researches MQX micro-kernel structure and kernel management function, and deeply analyzes MQX running implementation mechanism from MQXs startup, task scheduling, device driver and so on. Puts forward MQX engineering framework structure by the idea of underlying software component, and rewrites device driver.

(2) Analyzes and researches FIFO scheduling policy and RR scheduling policy of MQX, combines FIFO scheduling policy with RR scheduling policy, designs and implements multi-level feedback queue scheduling algorithm in the MQX, which not only responds the task with high priority but also makes the short task done quickly.

(3) Transplants MQX to the automatic bending system microcontroller MCF52223, elaborates transplant procedure, files to modify and configure in the transplant process, designs LCD touch screen interface and completes the software platform design of automatic bending system on the MQX.

Automatic bending equipment based on MQX runs well, effectively controls angle and accuracy of bending, and possesses high real-time response capability. The paper completes analysis and research of MQX, which has heuristic instructional function for its study and application in the field of embedded control.

Key words: MQX, Kernel, Task Scheduling, Device Driver, Transplant Written by ChengYujuan

Supervised by WangYihuai

......................................................................................................................1

1.1 .............................................................................................1 1.1.1 RTOS...........................................................................................1 1.1.2 RTOS...................................................................................................2 1.1.3 RTOS...................................................................................2 1.1.4 RTOS..................................................................................4

1.2 MQX ................................................................................................................5 1.2.1 MQX ...........................................................................................5 1.2.2 MQX ...................................................................................................6

1.3 .............................................................................................7 1.3.1 ........................................................................................................7 1.3.2 ........................................................................................................7

1.4 .............................................................................................7 1.4.1 ........................................................................................................8 1.4.2 ........................................................................................................8

1.5 .........................................................................................................9

MQX ......................................................................................................10

2.1 MQX ......................................................................................................10 2.1.1 ..........................................................................................10 2.1.2 MQX .................................................................................................11

2.2 ...............................................................................................................12 2.2.1 ..............................................................................................13 2.2.2 MQX .........................................................................................13 2.2.3 MQX .............................................................................................14 2.2.4 MQX .....................................................................................15

2.3 ...............................................................................................................16 2.3.1 MQX .....................................................................................16 2.3.2 MQX .....................................................................................16 2.3.3 MQX .........................................................................................17

2.4 ...............................................................................................................17 2.4.1 ..........................................................................................17 2.4.2 MQX .........................................................................................18

2.4.3 MQX .............................................................................................18 2.5 ...............................................................................................................19 2.6 ...................................................................................................20

2.6.1 ..............................................................................................................21 2.6.2 ..........................................................................................................21 2.6.3 ..............................................................................................................22 2.6.4 ..............................................................................................................22

2.7 ...............................................................................................................23

MQX ..............................................................................................24

3.1 MQX ..........................................................................................24 3.1.1 Bootloader.........................................................................................25 3.1.2 Bootloader.....................................................................................25 3.1.3 MQX .............................................................................................26

3.2 MQX ..................................................................................................27 3.2.1 ..............................................................................................27 3.2.2 ..............................................................................................29

3.3 ...........................................................................................30 3.3.1 ......................................................................................30 3.3.2 ......................................................................................31 3.3.3 ......................................................................................32 3.3.4 ..................................................................................................34

3.4 MQX ..................................................................................34 3.4.1 MQX .............................................................................35 3.4.2 MQX ............................................................................36 3.4.3 ......................................................................................37

3.5 ...............................................................................................................39

MQX ..................................................................................................40

4.1 MQX ..................................................................................................40 4.1.1 CodeWarrior..................................................................................40 4.1.2 CW ................................................................................................41

4.2 MQX ..................................................................................................41 4.3 MQX ..............................................................................................42

4.3.1 ..........................................................................42 4.3.2 ..........................................................................43

4.4 MQX .....................................................................................................44 4.4.1 ..............................................................44

4.4.2 CWMQX..............................................................45 4.4.3 ..................................................................46

4.5 ...............................................................................................................51

MQX ..........................................................................52

5.1 ...............................................................52 5.1.1 ......................................................................................................52 5.1.2 ......................................................................................................53

5.2 MQX ..................................................................................................53 5.3 LCD............................................................................................55

5.3.1 LCD...........................................................................................55 5.3.2 ..........................................................................................56

5.4 .......................................................................................58 5.4.1 ......................................................................................................58 5.4.2 ..............................................................................................61

5.5 ...............................................................................................................62

............................................................................................................63

6.1 .......................................................................................................................63 6.2 .......................................................................................................................64

..............................................................................................................................65

..................................................................70

A MQX.....................................................................................................71

B .............................................................................................72

..................................................................................................................................73

MQX

1

MQX 2009 RTOS

ROM

MQX

RTOS

RTOSMQX

1.1

[1]

Embedded Real-Time Operating SystemERTOSRTOS

1.1.1 RTOS

20 70 40

40RTOSRTOS

200RTOS[2]RTOS

120 70

RTOS

RTOSCRTOS

[2]

21981Ready System

VRTX32[3]20 80RTOS

MQX

2

RTOSVRTXIPIMTOS 80 ISIPSOS

16 68k8086[4]

320 90

RTOS

[4]

420 90 RTOS

RTOS

APIApplication Programming InterfaceAPI

POSIXPortable Operating System Interface of UnixPOSIXWin32

RTOS UNIXWindows

1.1.2 RTOS

RTOS

[5]RTOS

[6]

RTOS

Interrupt Service RoutineISR

I/ORTOS

1

2

3

4

5

1.1.3 RTOS

1.

RTOS

MQX

3

2.

3.

4.

[9]

5.

12

6.

CPUCPU

ISR

7.

CPU

8.

CPU CPU

CPU

9.

MQX

4

10.

1.1.4 RTOS

MP4[7]RTOS

RTOS

VxWorksC/OS-IIClinuxmicro-control LinuxQNXeCosEmbedded

Configurable Operating System[8]-[13]RTOS

Windows CEAndroidSymbian[14]-[16] 1-1RTOS 1-1 RTOS

VxWorks

WindRiver

400

C/OS-II

Jean Labrosse 1992

64

RAM ROM

Clinux

Linux

API TCP/IP

MMU

QNX

QNX

eCos GNU

WinCE

OS

Visual Studio PDA

Android Google Linux

Linux

Symbian

MQX

5

1.2 MQX

Message Queue eXecutiveMQXPrecise Software Technologies

19892000 3MQXARC

[17]FreescaleColdFireIBM/Freescale

PowerPCARMARCi.MX[18]2009

ColdFire MCUMQXRTOS

MQX

1.2.1 MQX

2009MQXRTOS 3.0.1

3.6.2

[19]-[21] 1-2 1-2 MQX RTOS

3.0.1 2009,1

1CodeWarrior Task-Aware DebuggingTAD2Board Support PackageBSPTrivial File SystemTFSI2CInter Integrated CircuitFlexCANReal-Time ClockRTC I/OGeneral Purpose I/OGPIOPCPC 3 TCP/IPReal-Time TCP/IP Communication SuiteRTCSMQXMQX File SystemMFSUniversal Serial BUSUSB RAM 4RTCS HTTP 5 USB HUBHUB 6 USB USBHost Development KitHDK

3.1.0 2009,4

1 2 SNMPv2Simple Network Management ProtocolSNMP ROMManagement Information BaseMIB 3Analog-to-Digital ConverterADCSerial Peripheral InterfaceSPI

3.2.1 2009,6 1 ColdFire V1 V2 2MQX Flash FlashX Flash

3.3.0 2009,8

1 ColdFire V1-V4Fast Ethernet ControllerFECMedium Access ControlMAC 2ShellMFSFile Transfer ProtocolFTP 3USBMASS Storage DeviceMSDCommunication Device ClassCDC

MQX

6

3.4.0 2009,10

1 USBEnhanced Host Controller InterfaceEHCI 2Personal Hospital Device ClassPHDCInter-processor communicationIPC 3 SPI SPIQSPI DSPI SPI SD

3.5.0 2010,2

1MQX 2SPI EEPROM SPIEEPROMMRAM 3ENET MAC

3.5.1 2010,4 1 ColdFire V1-V4 2 SDEmbeded Secure Digital High CapacityESDHCDigital-Analog ConverterDACNAND Flash

3.6.0 2010,6 1 CodeWarrior 10 2 eGUIembedded Graphical user interfaceeGUI 3 UDP IPC

3.6.2 2010,11

1Freescale Kinetis ARM Cortex M4 PSP 2 ARM IARMQX Kinetis 3 RTC API I/O MAC-NET Kinetis

1.2.2 MQX

MQX

MQX

[22]

1

MQX Freescale

MQX

2[23]

MQX

3

MQX

4 APIMS-DOSMS-DOS

File SystemMFS

5[24]

RTCSMAC TCP/IPFTPTelnet

DHCPSNMPDNSHTTP

MQX

7

6USB[25]

USB USB USB PHDC

HIDMSD CDCHUB

1.3

1.3.1

RTOS 40 RTOS

VxWorksC/OS-IIClinuxWindows CEAndroid 1-1

1.3.2

RTOS

MCU&DSP

RTOS

RTOS MQXMQX

1.4

MQX

MQX

MQX

8

APITCP/IP[22]

MQX

1.4.1

MQX

1 MQX MQX RTOS

MQX

2 MQX MQX

MQX MQX

MQX FIFO

RRMQX

MQX

3 MQX

MQX

4 MQX

LCD

1.4.2

RTOS

RTOS

MQXMQX

MQX

MQXMQXMQX

MQX

RTOSMQX

MQX

9

1.5

RTOS RTOS

RTOSMQX

RTOS

MQXMQX

MQXMQX

MQX

MQX

MQX

MQXMQX

Bootloader

MQX

MQXMQX

MQX

MQX MQX CodeWarrior

CW

MQX

MQX

MQX

MQX

MQXMCF52223

LCD

MQX MQX

MQX

MQX RTOS

RTOS

CPU

MQX

MQX

2.1 MQX

MQX

2.1.1

[26]

[27] 2-1

2-1

10

MQX MQX

2.1.2 MQX

MQX

MQX

2-2 MQX[22]

MQX

A

2-2 MQX

2-2 MQX

MQX 2-1

11

MQX MQX

12

2-1

RRFIFO

MQX

MQXMQX

Memory Management UnitMMU

ID

EDS EDSMQX

BSP

BSP I/O

I/O I/O I/O I/O API

2.2

TaskRTOS

CPU

ID

TCB[28]

RTOSC

[29]

MQX MQX

13

2.2.1

MQXTASK_TEMPLATE_STRUCT

MQX_AUTO_START_TASK

MQX

typedef struct task_template_struct {

_mqx_uint TASK_TEMPLATE_INDEX; // void (_CODE_PTR_ TASK_ADDRESS)(uint_32); // _mem_size TASK_STACKSIZE; // _mqx_uint TASK_PRIORITY; // char _PTR_ TASK_NAME; // _mqx_uint TASK_ATTRIBUTES; // uint_32 CREATION_PARAMETER; // _mqx_uint DEFAULT_TIME_SLICE; //

};

MQX

32 IDMQX

MQX 0

6

7

1MQX

2Digital Signal ProcessingDSPMQX DSP

3MQX

4MQX FIFO

2.2.2 MQX

OS[30]MQX

MQX MQX

2-3[31]

2-3

MQX

1Terminated CPU

2Blocked

[30]

3Ready

4Active CPU

2.2.3 MQX

OSCPU

CPUMQX

MQX

1

2

3

4

14

MQX MQX

15

2.2.4 MQX

RTOSMQX

[22][32]

1

[33]

MQX_task_create()_task_create_blocked()

_task_create()

_task_create_blocked()

_task_ready()

2 IDs

_task_get_id() ID

_task_get_creator() ID

ID

_task_get_id_from_name()

ID

3

_task_get_priority()_task_set_priority()

4

_sched_get_policy()_sched_set_policy()

5

_task_stop_preemption()

MQX MQX

16

_task_start_preemption()

6

MQX

_task_get_error()

_task_set_error()

MQX_OKMQX_OKMQX

7

_task_restart()

ID

8

ID

MQX MQX

_task_destroy()_task_abort()

2.3

2.3.1 MQX

MQXtick

MQX

200 5MQX ISR

MQX MQX

2.3.2 MQX

_time_get_resolution()

MQX MQX

17

_time_set()

_time_get()

_time_delay()

2.3.3 MQX

MQX

1 MQX

2

MQX

MQX

2.4

[34]

ISRRTOS

CPU

RTOS[35]

RTOSCPU

ISRISR

[36]

2.4.1

ISR

MQX MQX

18

1

ISRISR

ISR

2

3

4 ISR API ISR

API ISR

5

2.4.2 MQX

MQXISRMQXISR[37]

1

2

3

4

2.4.3 MQX

MQX ISR ISR

ISR MQX

ISR ISR

MQX ISR

ISR

1

2

3 ISR

4 ISR

MQX ISR ISR

MQX MQX

ISR ISR ISR

2-4MQX

2-4 MQX

MQX

1MQX ISR

ISR ISR_int_default_isr() ISR

2 ISRMQX_int_install_isr()

ISR ISR_int_install_isr()

123

ISR

3 ISR_int_install_kernel_isr() ISR ISR

ISR1

2MQX3

2.5

RTOS malloc() free()

RTOS

MQX

MQX MQX

19

MQX MQX

MQX

MQX MMU

MMUMMUMMU

2-5MMU

2-5 MQX

2.6

[30]

RTOS

MQX

MQX MQX

20

MQX MQX

21

2.6.1

ISR

ISR

1

234

5

MQX

ISRMQX

MQX

MQX

2.6.2

ISR

12

3[38]

[39]

3

[9]

MQX MQX

MQX 0 MQX

MQX

MQX MQX

22

MQX

MQX

[40]

[41]

MQX

2.6.3

MQX

2.6.4

ISR

12

[42]

MQX

MQX MQX

ID

MQX

MQX ID

MQX MQX

23

ISR

MQX

2.7

MQXMQX

1

MQX

2 MQX

MQX

3MQX

4 MQX

MQX

MQXMQX

MQX

MQX MQX

MQX

RTOS

RTOSMQX

BootloaderMQX

MQX

MQXMQX

3.1 MQX

MQX Bootloader

main()_mqx()

MQX 3-1 MQX

CodeWarrior BSPMQX

3-1 MQX

1ColdWarrior

CF_startup.cColdWarrior _start()

_SP_INIT.bss/.sbss C

24

MQX MQX

25

initialize_hardware() initialize_OS() main()

2BSP[37]

vectors.c_boot()

init_hw.c/bsp_init.c Flash

SDRAM PLLFlex

cw.cMetrowerksCodeWarrior

CW

cw2.cMQX Cmain()

init_bsp.cBSP I/O

3MQX

mqx.cMQX_mqx()

dispatch.cw

3.1.1 Bootloader

Bootloader

BootloaderMQX

Bootloader

CPU

Bootloader[43]

3.1.2 Bootloader

vectors.c

(vector_entry)__BOOT_STACK_ADDRESS, // __boot, //(0x004) PC

__BOOT_STACK_ADDRESS intflash.lcf

MQX MQX

26

__boot__boot

Program CounterPC__boot

_boot() start()_boot()

SRAMFlash IPSBAR 4G

IPSBAR

FLASHBAR Flash RAMBAR1 SRAM

start()

jsr mcf5222_init // jmp _start //

jsr mcf5222_init

PC jmp _start

CF_startup.c start()

CPU ColdFire

initialize_hardware() initialize_OS() main()

3.1.3 MQX

Bootloader main()_mqx()

MQXMQX

main() cw2.cMQXMQX

TASK_TEMPLATE_STRUCT

MQX_AUTO_START_TASK

MQX

main()

int main(void) {

extern MQX_INITIALIZATION_STRUCT MQX_init_struct; _mqx(&MQX_init_struct ); //MQX return 0;

}

mqx()

TD

MQX MQX

27

BSP

mqx()

_mqx()MQX[22]

typedef struct mqx_initialization_struct {

_mqx_uint PROCESSOR_NUMBER; // pointer START_OF_KERNEL_MEMORY; // RAM pointer END_OF_KERNEL_MEMORY; // RAM _mqx_uint INTERRUPT_STACK_SIZE; // TASK_TEMPLATE_STRUCT_PTR TASK_TEMPLATE_LIST; // _mqx_uint MQX_HARDWARE_INTERRUPT_LEVEL_MAX; // _mqx_uint MAX_MSGPOOLS; // _mqx_uint MAX_MSGQS; // char _PTR_ IO_CHANNEL; // I/O char _PTR_ IO_OPEN_MODE; // I/O _mqx_uint RESERVED[2]; //

}MQX_INITIALIZATION_STRUCT, _PTR_ MQX_INITIALIZATION_STRUCT_PTR;

3.2 MQX

MQX

First In First Out

FIFORound RobinRR

FIFO RR

MQX

3.2.1

MQX POSIX.4

1. FIFO

MQX FIFOFIFO

\mqx\source\kernel\mqxiinit.h

#if MQX_HAS_TIME_SLICE kernel_data->SCHED_POLICY = MQX_SCHED_FIFO;// #endif

MQX MQX

FIFO

3-2

1MQX

2

3

3-2 FIFO

2. RR

RR

RR

MQX_TIME_SLICE_TASK RR

\lib\.cw\mqx\mqx_cnfg.h

#define MQX_HAS_TIME_SLICE 1

MQX_TIME_SLICE_TASK

DEFAULT_TIME_SLICE

0

BSP 5ms

50ms _sched_get_rr_interval()

_sched_get_rr_interval_ticks()_sched_set_rr_interval()

_sched_set_rr_interval_ticks()

MQX

MQX

28

MQX MQX

RR

FIFO 3-3

3-3

3.

#define MQX_TASK_QUEUE_FIFO (0x00) #define MQX_TASK_QUEUE_BY_PRIORITY (0x08)

1_taskq_create()

2_taskq_suspend()

3_taskq_resume()

3.2.2

MQX

\lib\.cw\mqx\mqx.h

1 MQX_AUTO_START_TASK

#define MQX_AUTO_START_TASK (0x01)

2 MQX_FLOATING_POINT_TASK 29

MQX MQX

30

#define MQX_FLOATING_POINT_TASK (0x02)

3MQX_TIME_SLICE_TASK

RR

#define MQX_TIME_SLICE_TASK (0x04)

4MQX_DSP_TASK DSP

DSP DSP

DSP

#define MQX_DSP_TASK (0x08)

3.3

[44]

[45]

3.3.1

MQXFIFORR

MQX FIFO

1

21

2 CPU I/O

MQX MQX

31

MQX RR

CPU

CPU

FIFO

CPU

RR

1T=N*q

2

3

MQX FIFO RR

FIFO RR

3.3.2

MQX[30][46]

1NQ1,Q2....QN

Priority(Q1)>Priority(Q2)>...>Priority(QN)

2

Q1FIFO

Q2FIFO

Q2Q3

MQX MQX

Q1QnQn

3Q1Q2Q1~Qi-1

QiQi

Q1~Qi-1

Qi

3-4

3-4

3Q1Q2Q3 248Priority(Q1)>

Priority(Q2) > Priority(Q3) 3J1J2J3 013

CPU 321

3-5

3-5

3.3.3

MQXTask DescriptorTD

_task_set_priority()_sched_internal()

_sched_setscheduler()_sched_set_policy()MQX

kernel _sched_internal()

32

MQX MQX

33

_sched_setscheduler()_task_set_priority()

\mqx\source\psp\coldfire\

dispatch.cw

sc_irdyq.c

\mqx\source\kernel

sc_ipq.c

sc_obsel.csc_spol.c

sc_srr.c

MQX

1 kernel

60~5 5 FIFO

MQX 5ms

5ms 5*2nn0n5

2 TD_STRUCT

QnumberWaitTime

3_sched_internal()

1 6 WaitTime

maxWaitTime 1

2 1 FIFO

_task_set_priority()

2 5

6 6

1

3 I/O

4

MQX MQX

3.3.4

ColdWarrior 7.2

3.6.2 MQX MCF52223

80 RR

3-6 3-7

3-6

3-7

MQX

MQX

3.4 MQX

1

2

3

4

34

MQX MQX

3.4.1 MQX

MQX

1 I/O

2 buffercache

3

MQX

[47]

MQX

MQX

3-8 I/O I/O

3-8 MQX

MQX

FILE_STRUCTFILE_STRUCTMQX

API

FILE_STRUCT

[48] 3-9

3-9 I/O

MQX

(open)(close)(read)(write)

I/O(ioctl)MQX

I/OAPI35

MQX MQX

POSIXI/O[37][49]MQXAPI 3-10

3-10 MQXAPI

MQX

1

2

3.4.2 MQX

MQX BSP

RAM\config\\user_config.h

#define BSPCFG_ENABLE_TTYB 0

1 BSP

fopen

MQX 3-1

3-1 MQX

I/O (user_config.h) ttya: UART0 BSPCFG_ENABLE_TTYA ttyb: UART1 BSPCFG_ENABLE_TTYB ttyc: UART2 BSPCFG_ENABLE_TTYC ittya: UART0 BSPCFG_ENABLE_ITTYA ittyb: UART1 BSPCFG_ENABLE_ITTYB ittyc: UART2 BSPCFG_ENABLE_ITTYC i2c0: I2C0 BSPCFG_ENABLE_I2C0 i2c1: I2C1 BSPCFG_ENABLE_I2C1 spi0: SPI0 BSPCFG_ENABLE_SPI0 spi1: SPI1 BSPCFG_ENABLE_SPI1 gpio: GPIO BSPCFG_ENABLE_GPIODEV adc: ADC BSPCFG_ENABLE_ADC

adcn: ADC BSPCFG_ENABLE_ADCn flashx: CFM BSPCFG_ENABLE_FLASHX

36

MQX MQX

37

3.4.3

I/OMQX

1

2BSPBSP[50]

1.

MQX device.h device.c

1

device.h extern "C" {

extern _mqx_uint _io_device_install(char_ptr); }

2

device.c MQX

1_io_device_install(char_ptr)_io_dev_install()

MQX

fopen

_mqx_uint _io_device_install(char_ptr identifier) {

_mqx_uint result; result = _int_io_dev_install (

identifier, _io_device_open, _io_device_close, _io_device_read, _io_device_write, _io_device_ioctl, NULL

); return result;

}

2_io_device_open(FILE_PTR, char_ptr, char_ptr)

MQX MQX

38

fopen I/O

_io_device_open 3-10

_io_device_open

3_io_device_close(FILE_PTR)

fclose I/O_io_device_close 3-10

_io_device_close xxx_open

4_io_device_read(FILE_PTR, char_ptr, _mqx_int)

read I/O_io_device_read 3-10

_io_device_read

5_io_device_write(FILE_PTR, char_ptr, _mqx_int)

write I/O_io_device_write 3-10

_io_device_write

6_io_device_ioctl(FILE_PTR, _mqx_uint, pointer)I/O

_io_device_ioctl

ioctl

I/O_io_device_ioctl 3-10

3

device.h device.c\mqx\source\io\

device device.h device.c

2. BSP

MQXPlatform Support PackagePSP

Board Support PackageBSPPSP

BSP

MQX BSP

Codewarrior BSP \mqx\build\codewarrior\

bsp_.mcp

1 device Codewarrior IO Drivers

MQX MQX

39

2OK

3 device.h \lib\

.cw\mqx

4

#include_io_device_install fopenfclosewriteread

ioctl

3.5

MQX

1MQXMQX

BootloaderBootloaderMQX

main() main() mqx()

2MQXMQX

MQX FIFO

RRMQX

MQX

MQX

3MQXMQX

MQX

RTOSMQX

MQX MQX

40

MQX

MQXMQX

1MQX

2 MQX 3 MQX

MQX4

MQX

4.1 MQX

PC

MQX CodeWarrior

4.1.1 CodeWarrior

CodeWarriorCWFreescale MCU

DSP

[51]CodeWarriorGUIIntegrated

Development EnvironmentIDEMCUC

C++

CodeWarrior 3Special Edition

C

12KB 30

3 license

CodeWarrior

CodeWarrior for S08 V6.2CodeWarrior for HC12 V4.6CodeWarrior for

ColdFire V6.3CodeWarrior for ColdFire 7.1CodeWarrior for Microprocessor 9.2

CodeWarrior for MCU V10

CW

MQX MQX

[7]CW

MQX IARCodeWarrior for ColdFire V6.3

4.1.2 CW

CW Windows

license key

E-MAIL License.dat

License.dat License.dat

MQX

MQX

4.2 MQX

MQX

4-1

1config

Common BSP

BSP

2demo demo

3docMQXMQX

MFSRTCSUSB 4-1 MQX

4lib BSP

5mfsMFSBuildExamples

Source

6mqx MQX BSP 41

MQX MQX

42

BuildExamples Source

Build CodeWarriorIAR

BSP PSP bat

BSPPSP

ExamplesMQX

MQX BSP

Source MQX BSP PSP

7rtcsTCP/IP

8shellshell

9tools

10usbUSB

4.3 MQX

MQX

MQX

4.3.1

Embedded Software ComponentESC

[52]MCF52223

CW 7.2MQX 4-2

MQX MQX

4-2 MQX

4-2:

1 inflash.lcf

MQX

2BSPMQX

MQXApplication Binary InterfaceABI

MQXBSPABIBSP

[21]

3main

ID

4.3.2

MQX

43

MQX MQX

4-3 MQX

4-3MQX

mcp

.S19MCU

MQX

.S19

bin map

MCU map

MCU

.c

.o

.S19

CodeWarrior

4.4 MQX

4.4.1

#include

44

MQX MQX

45

[53]

1

2

3 MCU

MCU

4

5

4.4.2 CWMQX

File->New ProjectMCU

CRelocatable assembly

Project name Location

Light LCD

1 LCD

2 Light.mcp LCD.mcp

3 Light_Data

MQX MQX

46

4 bin

4.4.3

MCF52223

MQX

MCF52223 I/O I/O

MCF52223 0 MCF52223

PC

main_taskled_taskuart0_task

1. GPIO

GPIO

1 0 1 0MCU GPIO

Port GPIO

GPIO IO_Driver.hIO_Driver.c GPIO

GPIO

Light_Run0 MCU GPIO_PORT_TC 0

MCU IO_Driver.h

1GPIOIO_Driver.h

//-------------------------------------------------------------------------------------------* //:IO_Driver.h(GPIO) * //-------------------------------------------------------------------------------------------* #include // #include // static FILE_PTR output_port=NULL; // #define Light_PORT GPIO_PORT_TC // GPIO TC #define Light_Run0 0 //Run0 0// boolean IO_Init(uint_32 port,uint_32 name,uint_32 state); //IO_Init() void IO_Control(uint_32 port,uint_32 name,uint_32 state); //IO_Control()

2GPIOIO_Driver.c

IO_Driver.c

MQX MQX

47

//----------------------------------------------------------------------------------------------* //:IO_Driver.c(GPIO) * //----------------------------------------------------------------------------------------------* #include //----------------------------------------------------------------------------------------------* //:IO_Init * // : * // :port: * // name: * // state:,1=(),0=() * // : IO * //----------------------------------------------------------------------------------------------* boolean IO_Init(uint_32 port,uint_32 name,uint_32 state) { uint_32 output_set[] = // { GPIO_PIN_STATUS_0, GPIO_LIST_END }; output_set[0]=port|name|output_set[0]; output_port=fopen("gpio:write",(char_ptr)&output_set); // GPIO if(output_port) // GPIO { ioctl(output_port,(state)? GPIO_IOCTL_WRITE_LOG1:GPIO_IOCTL_WRITE_LOG0,(pointer)&output_set); } return(output_port!=NULL); } //-----------------------------------------------------------------------------------------------* //:IO_Control * // : * // :port: * // name: * // state:,1=(),0=() * // : * //------------------------------------------------------------------------------------------------* void IO_Control(uint_32 port,uint_32 name,uint_32 state) { uint_32 light[]= { GPIO_PIN_STATUS_0, GPIO_LIST_END }; light[0]=port|name|light[0]; if(output_port) // GPIO { ioctl(output_port,(state)?GPIO_IOCTL_WRITE_LOG1:GPIO_IOCTL_WRITE_LOG0,(pointer)&light); } }

2. Light

Light_task.hLight_task.cLight_task.h

MQX MQX

48

UART_SEMLIGHT_SEM

Light_task.c

1LightLight_task.h

//------------------------------------------------------------------------------------------------* //:Light_task.h () * //------------------------------------------------------------------------------------------------* #include #include #include #include extern uint_8 times; // extern LWSEM_STRUCT UART_SEM; extern LWSEM_STRUCT LIGHT_SEM; extern boolean IO_Init(uint_32 port,uint_32 name,uint_32 state); // extern void IO_Control(uint_32 port,uint_32 name,uint_32 state); void led_task(uint_32); //

2LightLight_task.c

//---------------------------------------------------------------------------------------------------* //:Light_task.c() * //---------------------------------------------------------------------------------------------------* #include //---------------------------------------------------------------------------------------------------* //:led_task * // : * // :initial_data * // : * //----------------------------------------------------------------------------------------------------* void led_task(uint_32 initial_data) { uint_8 i; _lwsem_wait(&LIGHT_SEM); // for(i=0;i

MQX MQX

49

1UARTUart_task.h

#include #include #include // #define LED_TASK 6 // extern uint_8 times; // extern LWSEM_STRUCT UART_SEM; extern LWSEM_STRUCT LIGHT_SEM; void uart0_task(uint_32 initial_data); //

2UARTUart_task.c

#include //-------------------------------------------------------------------------------------------------------------* //:uart0_task * // :,,, * // :initial_data * // : * //--------------------------------------------------------------------------------------------------------------* void uart0_task(uint_32 initial_data) { uint_32 c; uint_32 flags=0; _task_id task_id; uint_32 result; FILE_PTR serial_fd = fopen("ttya:",0); // 0 IO_Init (GPIO_PORT_TC,Light_Run0,0); // ioctl(serial_fd, IO_IOCTL_SERIAL_SET_FLAGS, &flags); // result = _lwsem_create(&UART_SEM, 1); // result = _lwsem_create(&LIGHT_SEM, 1); if (result!=MQX_OK) { printf("\nCreating sem failed: 0x%X",result); _mqx_exit(0); } while(TRUE) { if(fstatus(serial_fd)) // { _lwsem_wait(&UART_SEM); // c=fgetc(serial_fd); // times=c; if(c==IO_ERROR)break; putchar((char)c); // _lwsem_post(&LIGHT_SEM); // task_id=_task_create(0,LED1_TASK,0); // if(task_id==MQX_NULL_TASK_ID) { printf("\nCould not create LED_TASK\n"); } else

MQX MQX

50

{ printf("\nLED_TASK created\n"); } } } fclose(serial_fd); }

4.

main_taskled_task

uart0_taskmain_task uart0_task

uart0_task PCled_task

//-----------------------------------------------------------------------------------------------------------* // :Light * //:MCU 0 PC * //: I/O, * // :MQX * // : Freescale MCU * //--------------- 2011-----------------------------------* #include // #define MAIN_TASK 5 // ID, #define LED_TASK 6 #define UART_TASK 7 uint_8 times; // LWSEM_STRUCT UART_SEM; // LWSEM_STRUCT LIGHT_SEM; // extern void main_task(uint_32); extern void led_task(uint_32); extern void uart0_task(uint_32); // TASK_TEMPLATE_STRUCT MQX_template_list[] = { //, ,,,, , , {MAIN_TASK,main_task,1500, 9, "main",MQX_AUTO_START_TASK,0, 0},// {LED_TASK,led_task, 1500, 10, "led1", 0, 0, 0},// {UART_TASK,uart0_task,1500, 11, "uart", 0, 0, 0},// {0, 0, 0, 0, 0, 0, 0, 0} // }; //------------------------------------------------------------------------------------------------------------* //:main_task * // : * // : initial_data * // : * //-------------------------------------------------------------------------------------------------------------* void main_task(uint_32 initial_data) { int i=0; _task_id task_id; task_id=_task_create(0,UART_TASK,0); //

MQX MQX

51

if(task_id==MQX_NULL_TASK_ID) { printf("\n Could not create UART_TASK\n"); } else { printf("\n UART_TASK created \n"); } }

MCF52223MQX

UART SPI IIC AD

Flash

4.5

MQXMQX

1 MQX CodeWarrior CW

MQX CW

2 MQX

MQX

3 MQX MQX

4 MQX

MQX MQX

52

MQX

MQX

RTOS MQX MQX

MQX

LCD

5.1

ColdFire V2MCF52223[54]-[56]

RTOS MQX

5.1.1

MCU LCD

MCU LCD

/

1 1 4 6 /

1141

14141 USB

2LCD USB

3

MQX MQX

5.1.2

MCF52223 /

LCD USB 5-1

B

5-1

MCF52223

USB

RS232

/

LCD

ZigBee

5.2 MQX

MQXColdFire V2 MCF52223

MQX 4-1 MQX

mqxbuildBSPPSP

[57]

1. BSP

MCF52223MCF52235 ColdFire V2MQX

MCF52235MCF52235 BSP

2. BSPPSP

\mqx\build\cwcf72 bsp_m52235evb.mcp

psp_m52235evb.mcp bsp_MCF52223.mcp psp_MCF52223.mcp

\mqx\build\bat bsp_m52235evb.bat

psp_m52235evb.bat bsp_MCF52223.bat psp_MCF52223.bat

\mqx\source\bspMCF52223

53

MQX MQX

54

\mqx\source\bsp\m52235evbMCF52223

\libMCF52223.cw\lib\MCF52223.cw mqx

3.

bsp_ MCF52223.bat psp_ MCF52223.bat m52235evb

MCF52223

\mqx\source\bsp\MCF52223\ m52235evb.h

MCF52223.h m52235evb

MCF52223

\mqx\source\bsp\MCF52223\cw\dbg

m52235evb.cfg m52235evb.memMCF52223.cfgMCF52223.mem

MCF52223.mem FlashMCF52223 Flash

\mqx\source\bsp\MCF52223\cw\intflash.lcf

MCF52223 ROM Flash

\mqx\source\bsp\MCF52223\.c.h

m52235evbMCF52223

4. PSP

codewarrior for Microcontroller V7.2 \mqx\build\cwcf72\

psp_MCF52223.mcp

m52235evb user configMCF52223 user config user_config.h

\config\MCF52223\user_config.h

Debug RegABI setting

1 Target Setting choose output Directory

\lib\MCF52223.cw\mqx

2 Access Paths{Project}...\...\config\m52235evb add

\config\MCF52223

3 BatchRunner P choose\mqx\build\bat\

psp_MCF52223.bat

5. BSP

Codewarrior for Microcontroller V7.2 \mqx\build\cwcf72\

MQX MQX

55

bsp_MCF52223.mcp

m52235evb user configMCF52223 user config user_config.h

\config\MCF52223\user_config.h

m52235evb BSP FilesMCF52223 BSP Files

add files\mqx\source\bsp\

.h.c

Debug RegABI setting

1 Target SettingAccess Paths BatchRunner P

MCF52223 PSP

2 Coldfire Target File Name m52235evb_regabi_d.a

MCF52223_regabi_d.a

6.

\mqx\source\bsp\MCF52223\bsp_init.c MQX

5.3 LCD

MCU LCD

5.3.1 LCD

LCDDMT80600T080TFT

MAX232MCU[58]

LCDMCU

0xAA 0xCC0x330xC30x3C

[59] 5-1 5-1

0xAA (1) 0xCC 0x33 0xC3 0x3C

LCD1 18

LCD MCU 2 8

MQX MQX

3 9 LCD

LCD

5.3.2

4

PC

LCD

LCD

1.

5-2

MCU Flash

5-2

56

MQX MQX

2.

5-3

5-3

3.

5-4

5-4

57

MQX MQX

4.

5-5

LCDLCD

5-5

5.4

5.4.1

RTOS

[28]

I/O

[60]

LCD

LCD LCD

58

MQX MQX

USB Flash

5-6

5-6

PWM

I/O I/O PIT

I/O

UART LCDUART

LCD LCD

PC

LCD

LCD

MCU

5-7

LCD

59

MQX MQX

5-7 LCD

MCU LCD

5-8

5-8 LCD

USB MCU Flash

FlashMCU Flash

MCUMCU

60

MQX MQX

61

5.4.2

I/O

I/O

1

2

3

MQX

LCD

LCD LCD

io_LCD_int_install()io_LCD_int_open()io_LCD_int_close()

io_LCD_int_read()io_LCD_int_write()io_LCD_int_ioctl()io_LCD_int_isr()LCD ISR

LCD

ISR

typedef struct io_ lcd _init_struct // LCD {

_mqx_uint QUEUE_SIZE; /// uint_32 DEVICE; // uint_32 VECTOR; // _int_level LEVEL; //

}LCD_INT_STRUCT; typedef struct io_ lcd _ info_struct // {

LCD_INT_STRUCT INIT; // pointer OLD_ISR_DATA; // void (_CODE_PTR_ OLD_ISR)(pointer);

} LCD_INFO_STRUCT;

MQX MQX

62

5.5

MQX

1

MQX

2 MQX MCF52223

3 LCD

4 RTOS

MQX

MQX

63

6.1

RTOS

RTOS

RTOS RTOSMQX

ROM API

RTOS

RTOS MQX

1 RTOS RTOS

MQX

2MQXMQX

MQX

3MQXBootloader

MQXMQX

MQXMQX

4MQX CodeWarrior CW

MQX

MQX

MQX

5 MQX MCF52223

LCD RTOS

MQX

64

6.2

RTOS MQXMQX

MQX

1MQX TCP/IP

MQXMQX

2 MQX MQX

3MQX

ZigbeeMQX

MQX

65

[1] Wolf WMadsen JEmbedded systems education for the future[J]Proceedings of

the IEEE2000,88(1):23-30.

[2] [J]

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[3] VRTX32[J]

1992,5(4):7-14.

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[6] Mohamed Tag ElsirPatrick SebastianYap Vooi VoonA RTOS for Educational

Purposes[CA]International Conference on Intelligent and Advanced Systems

(ICIAS)2010:1-4.

[7] 2[M]:

2011.

[8] Paul ParkinsonFranco GasperoniHigh-Integrity Systems Development for

Integrated Modular Avionics Using VxWorks and GNAT[C]Blieberger and

Strohmeier2002:163-178.

[9] Jean J.Labrosse C/OS-II( 2)[M]

2003:88-91.

[10] Rick Lehrbaum Using Linux in Embeded and Real time

Systems[J/OL]http://www.linuxdevices.com.

[11] P MantegazzaBianchi EDozio LPapacharalambous SRTAIReal-Time

Application Interface[J]Linux Journal Magazine2000,4:105-108.

[12] Cheng FeiMiao Ke-jianWang Rui-minAnalysis and real-time performance

tests of QNX and VxWorks[J] Computer Engineering and Design

2008,29(18):4734-4739.

MQX

66

[13] Anthony J Massa eCos[M]

2006.

[14] Dong YibingWang LangDesign of Embedded Cropland Data Acquisition and

Processing System Based On Xscale and WinCE[J]International Forum on

Information Technology and Applications2009,31(13):22-119.

[15] Sarah AllenVidal GrauperaLee LundriganPro Smartphone Cross-Platform

Development iPhoneBlackBerryWindows Mobileand Android Development

and Distribution[M]Paul Manning2010:35-50.

[16] Thomas BaduraMichael BecherTesting the Symbian OS Platform Security

Architecture[CA] Advanced Information Networking and Applications

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[17] Anon ARC international precise/MQX[J] Penton Publishing Co

2002,50(12):90-94.

[18] MQX RTOS[DB/OL]http://en.wikipedia.org/wiki/MQX.

[19] Freescale MQX RTOS 3.0.1 Release Notes[DB/OL]http://www.freescale.com.

[20] Freescale MQX RTOS 3.4.0 Release Notes[DB/OL]http://www.freescale.com.

[21] Freescale MQX RTOS 3.6.2 Release Notes[DB/OL]http://www.freescale.com.

[22] Freescale MQXTM Real-Time Operating System Users Guide

[DB/OL]http://www.freescale.com.

[23] AnonPrecise/MQX RTOS Gets User-configurable[J]Cahner Publishing Co

2001,46(12):20-25.

[24] Freescale MQX RTCS Users Guide[DB/OL]http://www.freescale.com.

[25] PHDC USB[DB/OL]http://www.freescale.com.

[26] Gien M Micro-kernel Architecture Key to Modern Operating System

Design[EB/OL]http://www.chorus.com/documentation/ref.html.

[27] [J]

2001,21(1):113-115.

[28] RTOS[D]

2008.

[29] [J]

MQX

67

2000,19(8):13-15.

[30] [M]

2006:37-38.

[31] MQX RTOS Hands-On[DB/OL]http://www.freescale.com.

[32] Freescale MQX RTOS Reference Manual[DB/OL]http://www.freescale.com.

[33] Ren PengXiang ZhengA Multitask Scheduling Algorithm For Vxworks: Design

and Task Simulation[CA]International Conference on Artificial Intelligence and

Computational Intelligence2009,3:353-357.

[34] Linux 2.6[D]

2008.

[35] RAM C/OS-II[D]2005.

[36] [J]

2002,24(4):38-40.

[37] Hands-On Workshop: Freescale MQX Drivers and BSPs[DB/OL].

http://www.freescale.com2010.

[38] Yan LiPing-Ping GuXian-Shan WangThe Implementation of Semaphore

Management In Hardware Real-time Operating System[J] Information

Technology Journal2011,10(1):63-158.

[39] RTOS[D]

2007.

[40] Tao WangDaxin LiuAvoiding Unbounded Priority Inversion by Integrating Task

Inheritance and Classification into Preemption Threshold

Scheduling[CA]ISSCAA2006: 593-596.

[41] Jaehong ShimKyunghee ChoiGihyun JungSeungkyu ParkHyeonSik Shin

Dongyoon KimPriority inversion handling in microkernel-based Real-Time

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[42] Shu Hong-xiaWang Ji-hongDesign and Implementation of Message Passing for

Distributed Real-time Operating System[J]Computer Engineering and Design

2008,29(9):2239-2245.

[43] Xiaofeng WanHailin HuXiaojun ZhouAnalysis and Design of Bootloader on

MQX

68

Embedded Electric Power Steering System[CA]ISECS International Colloquium

on Computing, Communication, Control, and Management(CCCM)

2008,2:276-280.

[44] [D]

2009.

[45] Hessel FMarcon CSantos THigh Level RTOS Scheduler Modeling for A Fast

Design Validation[CA]IEEE Computer Society Annual Symposium on VLSI

2007:6-10.

[46] Linux[J]2004

30(20):81-83.

[47] Alessandro Rubini Linux Device Drivers[M] Sebastopol CA

OReilly&AssociatesInc1998.

[48] Freescale MQXTM I/O Drivers Users Guide[DB/OL]http://www.freescale.com.

[49] Ji Chan MaengJong-Hyuk KimMinsoo RyuAn RTOS API Translator for

Model-driven Embedded Software Development[CA]12th IEEE International

Conference on Embedded and Real-Time Computing Systems and Applications

2006:363-367.

[50] How to Develop I/O Drivers for MQX[DB/OL]http://www.freescale.com.

[51] CodeWarrior Development Studio for ColdFire Architectures

V7.2[DB/OL]http://www.freescale.com.

[52] 32 ColdFire[M]

2009.

[53] [D]

2007.

[54] ColdFire [M]

2006.

[55] MCF52223 Data Sheet Rev 2[DB/OL]http://www.freescale.com.

[56] MCF52223 ColdFire Integrated Microcontroller Reference Manual

Rev3[DB/OL]http://www.freescale.com.

[57] MQX BSP [DB/OL]http://www.freescaleic.org.

MQX

69

[58] DMT80600T080[DB/OL]http://www.dwin.com.cn.

[59] DMT80600T080[DB/OL]http://www.dwin.com.cn.

[60] [J]

2000,26(7):190-192.

MQX

70

[1] RFID

2011,28(3):44-46

[2]

[3]

2011 2

[4]

0171463

[5] 2

2011

[6] 2009

MQX

A MQX

71

MQX

B

72

MQX

73

1.1 1.1.1 RTOS1.1.2 RTOS1.1.3 RTOS1. 2. 3. 4. 5. 6. 7. 8. 9. 10.

1.1.4 RTOS

1.2 MQX1.2.1 MQX1.2.2 MQX

1.3 1.3.1 1.3.2

1.4 1.4.1 1.4.2

1.5

MQX2.1 MQX2.1.1 2.1.2 MQX

2.2 2.2.1 2.2.2 MQX2.2.3 MQX2.2.4 MQX

2.3 2.3.1 MQX2.3.2 MQX2.3.3 MQX

2.4 2.4.1 2.4.2 MQX2.4.3 MQX

2.5 2.6 2.6.1 2.6.2 2.6.3 2.6.4

2.7

MQX3.1 MQX3.1.1 Bootloader3.1.2 Bootloader3.1.3 MQX

3.2 MQX3.2.1 1. FIFO2. RR3.

3.2.2

3.3 3.3.1 3.3.2 3.3.3 3.3.4

3.4 MQX3.4.1 MQX3.4.2 MQX3.4.3 1. 123

2. BSP

3.5

MQX4.1 MQX4.1.1 CodeWarrior4.1.2 CW

4.2 MQX4.3 MQX4.3.1 4.3.2

4.4 MQX4.4.1 4.4.2 CWMQX4.4.3 1. GPIO1GPIOIO_Driver.h2GPIOIO_Driver.c

2. Light1LightLight_task.h2LightLight_task.c

3. UART1UARTUart_task.h2UARTUart_task.c

4.

4.5

MQX5.1 5.1.1 5.1.2

5.2 MQX1. BSP2. BSPPSP3. 4. PSP5. BSP6.

5.3 LCD5.3.1 LCD5.3.2 1. 2. 3. 4.

5.4 5.4.1 5.4.2

5.5

6.1 6.2

A MQXB