这一次咱们来移植大名鼎鼎的ThreadX RTOS，目前微软已经把它转到eclipse组织下了，笔者比较喜欢这个os的代码风格。为跑起ThreadX RTOS，至少需要timer中断中断，然后弄个uart驱动输出。我们最好利用原厂的一些驱动代码，英飞凌是由工具生成的驱动代码，但由于你懂的原因，英飞凌那个工具我用起来不太方便，怎么办？上一篇评测文章其实已经有些风声：我是把RT-Thread英飞凌的bsp抠出来替代的，RT-Thread大部分外设都配置好了，所以它带的bsp和自己用英飞凌的工具自动生成的bsp代码应该差不多。

RT-Thread的 英飞凌的bsp 有些代码是做成package的，所以我们scons --menuconfig一次然后更新包：
  1. cd rt-thread/bsp/Infineon/psoc6-evaluationkit-062S2
  2. scons --menuconfig
  3. pkgs --update


现在可以复制rt-thread/bsp/Infineon/psoc6-evaluationkit-062S2目录备用
  1. cp -a rt-thread/bsp/Infineon/psoc6-evaluationkit-062S2 ~/psoc6


因ThreadX RTOS原生使用cmake管理，所以笔者也以cmake组织工程编译。为写CMakeLists.txt，需要对刚刚拷贝出来的psoc6文件仔细分析哪些是bsp驱动、哪些是RT-Thread的HAL，哪些是RT-Thread的app。经过分析后发现，
1.真正有用的目录就是libs和packages两个目录，可以其它目录都删除了
2.libs和packages目录下的目录/文件并没有全部用上，需要分析SConscript后把结果写入CMakeLists.txt编译规则，具体可以参考笔者后附的完整CMakeLists.txt文件
  1. set(CMAKE_SYSTEM_NAME Generic)
  2. set(CMAKE_SYSTEM_VERSION 1)
  3. set(CMAKE_TRY_COMPILE_TARGET_TYPE "STATIC_LIBRARY")
  4. cmake_minimum_required(VERSION 3.20)

  6. set(CMAKE_C_COMPILER arm-none-eabi-gcc)
  7. set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
  8. set(CMAKE_ASM_COMPILER arm-none-eabi-gcc)
  9. set(CMAKE_AR arm-none-eabi-ar)
  10. set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
  11. set(CMAKE_OBJDUMP arm-none-eabi-objdump)
  12. set(SIZE arm-none-eabi-size)

  14. set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
  15. set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
  16. set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
  17. set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)

  19. add_compile_options(-mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16)
  20. add_compile_options(-ffunction-sections -fdata-sections -fno-builtin -fno-common -Wall -Wshadow -Wdouble-promotion -Wno-unused-parameter)

  22. add_compile_options(-O3)

  24. project(cy8c624alqi C ASM)
  25. set(CMAKE_CXX_STANDARD 11)
  26. set(CMAKE_C_STANDARD 99)

  28. include_directories(libs/TARGET_RTT-062S2/config/GeneratedSource
  29.                     libs/TARGET_RTT-062S2
  30.                     packages/Infineon_cmsis-latest/Core/Include
  31.                     packages/Infineon_retarget-io-latest
  32.                     packages/Infineon_core-lib-latest/include
  33.                     packages/Infineon_capsense-latest
  34.                     packages/Infineon_mtb-hal-cat1-latest/include
  35.                     packages/Infineon_mtb-hal-cat1-latest/include_pvt
  36.                     packages/Infineon_mtb-hal-cat1-latest/COMPONENT_CAT1A/include
  37.                     packages/Infineon_mtb-hal-cat1-latest/COMPONENT_CAT1A/include/pin_packages
  38.                     packages/Infineon_mtb-hal-cat1-latest/COMPONENT_CAT1A/include/triggers
  39.                     packages/Infineon_mtb-pdl-cat1-latest/drivers/include
  40.                     packages/Infineon_mtb-pdl-cat1-latest/devices/COMPONENT_CAT1A/include
  41.                     packages/Infineon_mtb-pdl-cat1-latest/devices/COMPONENT_CAT1A/include/ip)

  43. add_definitions(-DCY_RETARGET_IO_NO_FLOAT -DCY8C624ALQI_S2D42 -DCORE_NAME_CM0P_0 -DCORE_NAME_CM4_0 -DCY_USING_PREBUILT_CM0P_IMAGE -DCY_USING_HAL -DCOMPONENT_CAT1A -DCOMPONENT_CAT1)

  45. file(GLOB_RECURSE SOURCES
  46.                 "applications/threadx/*.c"
  47.                 "packages/Infineon_cat1cm0p-latest/COMPONENT_CAT1A/COMPONENT_CM0P_SLEEP/*.c"
  48.                 "packages/Infineon_retarget-io-latest/cy_retarget_io.c"
  49.                 "packages/Infineon_mtb-pdl-cat1-latest/devices/COMPONENT_CAT1A/source/cy_device.c"
  50.                 "packages/Infineon_mtb-pdl-cat1-latest/drivers/source/*.c"
  51.                 "packages/Infineon_mtb-pdl-cat1-latest/drivers/source/TOOLCHAIN_GCC_ARM/cy_syslib_ext.S"
  52.                 "packages/Infineon_mtb-hal-cat1-latest/source/*.c"
  53.                 "packages/Infineon_mtb-hal-cat1-latest/COMPONENT_CAT1A/source/triggers/cyhal_triggers_psoc6_02.c"
  54.                 "packages/Infineon_mtb-hal-cat1-latest/COMPONENT_CAT1A/source/pin_packages/cyhal_psoc6_02_68_qfn.c"
  55.                 "libs/TARGET_RTT-062S2/COMPONENT_CM4/TOOLCHAIN_GCC_ARM/startup_psoc6_02_cm4.S"
  56.                 "libs/TARGET_RTT-062S2/COMPONENT_CM4/system_psoc6_cm4.c"
  57.                 "libs/TARGET_RTT-062S2/config/GeneratedSource/*.c"
  58.                 "libs/TARGET_RTT-062S2/cybsp.c"
  59.                 )

  61. set(THREADX_SRC_DIR ${CMAKE_SOURCE_DIR}/../../kernel/threadx/)
  62. set(THREADX_ARCH "cortex_m4")
  63. set(THREADX_TOOLCHAIN "gnu")
  64. add_subdirectory(${THREADX_SRC_DIR}/threadx threadx)

  66. set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/board/linker_scripts/link.ld)
  67. add_link_options(
  68.                 -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
  69.                 -Wl,--gc-sections,--print-memory-usage,-Map,${PROJECT_NAME}.map
  70.                 --specs=nano.specs
  71.                 --specs=nosys.specs)
  72. add_link_options(-T ${LINKER_SCRIPT})

  74. add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT})

  76. target_link_libraries(${PROJECT_NAME}.elf azrtos::threadx)

  78. set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
  79. set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)
  80. set(LST_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.lst)
  81. add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD
  82.         COMMAND ${CMAKE_OBJCOPY} -Oihex [        DISCUZ_CODE_140        ]lt;TARGET_FILE:${PROJECT_NAME}.elf> ${HEX_FILE}
  83.         COMMAND ${CMAKE_OBJCOPY} -Obinary [        DISCUZ_CODE_140        ]lt;TARGET_FILE:${PROJECT_NAME}.elf> ${BIN_FILE}
  84.         COMMAND ${CMAKE_OBJDUMP} --all-headers --demangle --disassemble [        DISCUZ_CODE_140        ]lt;TARGET_FILE:${PROJECT_NAME}.elf> > ${LST_FILE}
  85.         COMMAND ${SIZE} --format=berkeley [        DISCUZ_CODE_140        ]lt;TARGET_FILE:${PROJECT_NAME}.elf>
  86. )

创建applications/threadx目录，目录中有main.c和sample_threadx.c。其中sample_threadx.c内容来自ThreadX的测试用例，main.c内容如下：
  1. #include "cyhal.h"
  2. #include "cybsp.h"
  3. #include "cy_retarget_io.h"

  5. #define TICK_PER_SECOND 100

  7. extern void tx_main(void);
  8. extern void _tx_timer_interrupt(void);

  10. static void handle_error(void)
  11. {
  12.      /* Disable all interrupts. */
  13.     __disable_irq();

  15.     CY_ASSERT(0);
  16. }

  18. int main(void)
  19. {
  20.         cy_rslt_t result;

  22.         /* Initialize the device and board peripherals */
  23.         result = cybsp_init();
  24.         if (result != CY_RSLT_SUCCESS)
  25.                 handle_error();

  27.         /* Initialize retarget-io to use the debug UART port */
  28.         result = cy_retarget_io_init_fc(CYBSP_DEBUG_UART_TX,
  29.                                         CYBSP_DEBUG_UART_RX,
  30.                                         NC,
  31.                                         NC,
  32.                                         CY_RETARGET_IO_BAUDRATE);
  33.         if (result != CY_RSLT_SUCCESS)
  34.                 handle_error();

  36.         tx_main();
  37. }

  39. static void SysTick_Handler_CB(void)
  40. {
  41. #ifdef TX_ENABLE_EXECUTION_CHANGE_NOTIFY
  42.         _tx_execution_isr_enter();
  43. #endif
  44.         _tx_timer_interrupt();
  45. #ifdef TX_ENABLE_EXECUTION_CHANGE_NOTIFY
  46.         _tx_execution_isr_exit();
  47. #endif
  48. }

  50. void _tx_initialize_low_level(void)
  51. {
  52.         __disable_irq();

  54.         /* TODO Enable the cycle count register */

  56.         /* not used */
  57.         //_tx_initialize_unused_memory = __RAM_segment_used_end__;
  58.         //_tx_thread_system_stack_ptr = _estack;

  60.         SysTick_Config(SystemCoreClock / TICK_PER_SECOND);
  61.         (void)Cy_SysInt_SetVector(SysTick_IRQn, SysTick_Handler_CB);

  63.         NVIC_SetPriority(SVCall_IRQn, 0xff);
  64.         NVIC_SetPriority(PendSV_IRQn, 0xff);
  65.         NVIC_SetPriority(SysTick_IRQn, 4);
  66. }

编译：
  1. cmake -B build
  2. cmake --build build

烧录:
  1. openocd -f interface/kitprog3.cfg -f target/psoc6_2m.cfg -c "program build/cy8c624alqi.bin verify reset exit 0x10000000"

运行视频：