rtt在at91sam9260平台的运行问题

发布于 2011-02-23 10:26:22 浏览：19268 订阅该版

大家好，最近我把rt-thread-0.4.0移植到at91sam9260芯片上，并成功跑起来了，但是在这个过程中遇到了一些问题，请各位指教。

目前开启了三个测试线程，情况如下： 
线程一：点亮led灯 
线程二：打印串口信息 
线程三：获取按键中断发的邮箱信号，并打印串口信息

代码如下：

```static rt_thread_t key_tid1 = RT_NULL;
/* 邮箱控制块 */
static struct rt_mailbox mb;
/* 用于放邮件的内存池 */
static char mb_pool[16];

static char mb_str1[] = "PC15";
static char mb_str2[] = "PC7";

/* 线程1入口 */
static void key_thread_entry(void* parameter)
{
    unsigned char* str;

while (1)
    {
        rt_kprintf("thread1: try to recv a mail
");

/* 从邮箱中收取邮件 */
        if (rt_mb_recv(&mb, (rt_uint32_t*)&str, RT_WAITING_FOREVER) == RT_EOK)
        {
            rt_kprintf("KEY pressed on PC15:%s
", str);

/* 延时10个OS Tick */
//rt_thread_delay(10);
        }
    }
}

void rt_pioc_handler(int vector)
{
    rt_uint32_t status;
    status = at91_sys_read(AT91_PIOC+0x4c);
    if (status & (1<<15))
    {
//rt_kprintf("KEY pressed on PC15
");
        rt_mb_send(&mb, (rt_uint32_t)&mb_str1[0]);
    }
    if (status & (1<<7))
    {
//rt_kprintf("KEY pressed on PC7
");
        rt_mb_send(&mb, (rt_uint32_t)&mb_str2[0]);
    }
}

void key_init(void)
{
    at91_sys_write(AT91_PIOC, (1<<15)|(1<<7));
    at91_sys_write(AT91_PIOC+0x14, (1<<15)|(1<<7));
    at91_sys_write(AT91_PIOC+0x20, (1<<15)|(1<<7));
    at91_sys_write(AT91_PIOC+0x40, (1<<15)|(1<<7));
    at91_sys_write(AT91_PIOC+0x64, (1<<15)|(1<<7));
    at91_sys_read(AT91_PIOC+0x4c);

/* 初始化一个mailbox */
    rt_mb_init(&mb,
               "key_mb",             /* 名称是mbt */
               &mb_pool[0],       /* 邮箱用到的内存池是mb_pool */
               sizeof(mb_pool)/4,   /* 大小是mb_pool大小除以4，因为一封邮件的大小是4字节 */
               RT_IPC_FLAG_FIFO); /* 采用FIFO方式进行线程等待 */
    /* 创建线程1 */
    key_tid1 = rt_thread_create("key",
                                key_thread_entry, RT_NULL, /* 线程入口是thread1_entry, 入口参数是RT_NULL */
                                512, 20, 10);
    if (key_tid1 != RT_NULL)
        rt_thread_startup(key_tid1);
    else
        rt_kprintf("start thread key failed
");

rt_hw_interrupt_install(AT91SAM9260_ID_PIOC, rt_pioc_handler, RT_NULL);
    rt_hw_interrupt_umask(AT91SAM9260_ID_PIOC);
}

void rt_led_thread_entry(void* parameter)

{
    rt_uint8_t cnt = 0;
    led_init();
    while(1)
    {
        /* light on leds for one second */
        rt_thread_delay(40);
        cnt++;
        if (cnt&0x01)
            led_on(1);
        else
            led_off(1);
        if (cnt&0x02)
            led_on(2);
        else
            led_off(2);
        if (cnt&0x04)
            led_on(3);
        else
            led_off(3);
    }

}

void rt_test_thread_entry(void *parameter)
{
    while(1)
    {
        rt_kprintf("test thread enter
");
        rt_thread_delay(400);
    }
}

int rt_application_init()
{
    rt_thread_t led_thread;
    rt_thread_t test_thread;
#if (RT_THREAD_PRIORITY_MAX == 32)
    led_thread = rt_thread_create("led",
                                  rt_led_thread_entry, RT_NULL,
                                  512, 20, 20);

test_thread = rt_thread_create("test",

rt_test_thread_entry, RT_NULL,

512, 24, 20);
#else
    led_thread = rt_thread_create("led",
                                  rt_led_thread_entry, RT_NULL,
                                  512, 200, 20);
    test_thread = rt_thread_create("test",
                                   rt_test_thread_entry, RT_NULL,
                                   512, 240, 20);
#endif
    if(led_thread != RT_NULL)
        rt_thread_startup(led_thread);
    if(test_thread != RT_NULL)
        rt_thread_startup(test_thread);
    key_init();

return 0;

}
```

目前遇到的问题是在频繁按键后，中断会消失，即按键不会进入中断，正常情况下在按键过程中，在按键信号的上升沿和下降沿都会产生中断。 
串口打印信息如下： 
```thread1: try to recv a mail 
finsh>>test thread enter

finsh>>test thread enter 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
test thread enter 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
KEY pressed on PC15:PC15 
thread1: try to recv a mail 
test thread enter              ------------> 之后无论怎样按键都不会进入中断处理函数，但是其他的功能都正常， 
test thread enter                            不过有个奇怪的现象，在finsh中多次执行list_thread()命令会导致idle线程栈溢出死机 
test thread enter 
test thread enter 
test thread enter 
test thread enter ```

除此之外，不进行任何按键动作，只是在finsh终端中执行list_thread()命令，会出现idle线程栈溢出的警告信息，多次执行后会出现栈溢出死机。 
串口打印信息如下： 
```finsh>> 
finsh>>list_thread() 
 thread  pri  status      sp     stack size max used   left tick  error 
-------- ---- ------- ---------- ---------- ---------- ---------- --- 
tidle    0xff ready   0x0000007c 0x00000100 0x000000f4 0x0000001e 000 
timer    0x08 suspend 0x00000094 0x00000200 0x000000e4 0x00000008 000 
tshell   0x14 ready   0x000001cc 0x00001000 0x0000024c 0x00000009 -04 
key      0x14 suspend 0x000000ac 0x00000200 0x000000ac 0x00000008 000 
test     0xf0 suspend 0x000000a4 0x00000200 0x000000a4 0x00000014 000 
led      0xc8 suspend 0x000000ac 0x00000200 0x000000ac 0x00000014 000 
        0, 0x00000000 
finsh>>list_thread() 
 thread  pri  status      sp     stack size max used   left tick  error 
-------- ---- ------- ---------- ---------- ---------- ---------- --- 
tidle    0xff ready   0x0000007c 0x00000100 0x000000f4 0x0000000b 000 
timer    0x08 suspend 0x00000094 0x00000200 0x000000e4 0x00000008 000 
tshell   0x14 ready   0x000000a4 0x00001000 0x0000024c 0x00000004 -04 
key      0x14 suspend 0x000000ac 0x00000200 0x000000ac 0x00000008 000 
test     0xf0 suspend 0x000000a4 0x00000200 0x000000a4 0x00000014 000 
led      0xc8 suspend 0x000000ac 0x00000200 0x000000ac 0x00000014 000 
        0, 0x00000000 
finsh>>test thread enter 
finsh>>list_thread() 
 thread  pri  status      sp     stack size max used   left tick  error 
-------- ---- ------- ---------- ---------- ---------- ---------- --- 
tidle    0xff ready   0x00000054 0x00000100 0x000000f4 0x00000018 000 
timer    0x08 suspend 0x00000094 0x00000200 0x000000e4 0x00000008 000 
tshell   0x14 ready   0x000000a4 0x00001000 0x0000024c 0x00000009 -04 
key      0x14 suspend 0x000000ac 0x00000200 0x000000ac 0x00000008 000 
test     0xf0 suspend 0x000000a4 0x00000200 0x000000a4 0x00000014 000 
led      0xc8 ready   0x000000ac 0x00000200 0x000000ac 0x00000014 -02 
        0, 0x00000000 
finsh>>list_thread() 
 thread  pri  status      sp     stack size max used   left tick  error 
-------- ---- ------- ---------- ---------- ---------- ---------- --- 
tidle    0xff ready   0x0000007c 0x00000100 0x000000f4 0x0000001c 000 
timer    0x08 suspend 0x00000094 0x00000200 0x000000e4 0x00000008 000 
tshell   0x14 ready   0x000000a4 0x00001000 0x0000024c 0x00000002 -04 
key      0x14 suspend 0x000000ac 0x00000200 0x000000ac 0x00000008 000 
test     0xf0 suspend 0x000000a4 0x00000200 0x000000a4 0x00000014 000 
led      0xc8 ready   0x000000ac 0x00000200 0x000000ac 0x00000014 -02 
        0, 0x00000000 
finsh>>list_thread() 
 thread  pri  status      sp     stack size max used   left tick  error 
-------- ---- ------- ---------- ---------- ---------- ---------- --- 
tidle    0xff ready   0x00000070 0x00000100 0x000000f4 0x00000010 000 
timer    0x08 suspend 0x00000094 0x00000200 0x000000e4 0x00000008 000 
tshell   0x14 ready   0x000000a4 0x00001000 0x0000024c 0x00000006 -04 
key      0x14 suspend 0x000000ac 0x00000200 0x000000ac 0x00000008 000 
test     0xf0 suspend 0x000000a4 0x00000200 0x000000a4 0x00000014 000 
led      0xc8 ready   0x000000ac 0x00000200 0x000000ac 0x00000014 -02 
        0, 0x00000000 
finsh>>list_thread() 
 thread  pri  status      sp     stack size max used   left tick  error 
-------- ---- ------- ---------- ---------- ---------- ---------- --- 
tidle    0xff ready   0x0000006c 0x00000100 0x000000f4 0x00000007 000 
timer    0x08 suspend 0x00000094 0x00000200 0x000000e4 0x00000008 000 
tshell   0x14 ready   0x000000a4 0x00001000 0x0000024c 0x00000009 -04 
key      0x14 suspend 0x000000ac 0x00000200 0x000000ac 0x00000008 000 
test     0xf0 suspend 0x000000a4 0x00000200 0x000000a4 0x00000014 000 
led      0xc8 suspend 0x000000ac 0x00000200 0x000000ac 0x00000014 000 
        0, 0x00000000 
finsh>>test thread enter 
finsh>>list_thread()warning: tidle stack is close to end of stack address. 
thread:tidle stack overflow 
 thread  pri  status      sp     stack size max used   left tick  error 
-------- ---- ------- ---------- ---------- ---------- ---------- --- 
tidle    0xff ready   0x00000124 0x00000100 0x00000100 0x0000001f 000 
timer    0x08 suspend 0x00000094 0x00000200 0x000000e4 0x00000008 000 
tshell   0x14 suspend 0x000000a4 0x00001000 0x0000024c 0x00000006 000 
key      0x14 suspend 0x000000ac 0x00000200 0x000000ac 0x00000008 000 
test     0xf0 suspend 0x000000a4 0x00000200 0x000000a4 0x00000014 000 
led      0xc8 suspend 0x000000ac 0x00000200 0x00000170 0x00000014 000```

另外如果没有在finsh中执行list_thread()，就不会出现tidle线程栈溢出的情况。

请教一下，这些问题是什么原因导致？ 
谢谢！
![2440.jpg](https://oss-club.rt-thread.org/uploads/53_7f65cf77102e606085eae5ec57dc6cb7.jpg)

下载附件 [rtthread-0.4.0-for-at9260.tar.bz2](https://oss-club.rt-thread.org/uploads/2715_fd4412c113e0d4fdaa127bd3402ade41.bz2)

30 个回答

bernard 2011-02-23

这家伙很懒，什么也没写！

weety 2011-02-23

这家伙很懒，什么也没写！

rtconfig.h的内容如下：

/* RT-Thread config file */
#ifndef __RTTHREAD_CFG_H__
#define __RTTHREAD_CFG_H__

/* RT_NAME_MAX*/
#define RT_NAME_MAX	32

/* RT_ALIGN_SIZE*/
#define RT_ALIGN_SIZE	4

/* PRIORITY_MAX */
#define RT_THREAD_PRIORITY_MAX	256

/* Tick per Second */
#define RT_TICK_PER_SECOND	100

/* SECTION: RT_DEBUG */
/* Thread Debug */
#define RT_DEBUG
//#define SCHEDULER_DEBUG
/* #define RT_THREAD_DEBUG */

#define RT_USING_OVERFLOW_CHECK

/* Using Hook */
#define RT_USING_HOOK

/* Using Software Timer */
#define RT_USING_TIMER_SOFT
#define RT_TIMER_THREAD_PRIO		8
#define RT_TIMER_THREAD_STACK_SIZE	512
#define RT_TIMER_TICK_PER_SECOND	10

/* SECTION: IPC */
/* Using Semaphore */
#define RT_USING_SEMAPHORE

/* Using Mutex */
#define RT_USING_MUTEX

/* Using Event */
#define RT_USING_EVENT

/* Using MailBox */
#define RT_USING_MAILBOX

/* Using Message Queue */
#define RT_USING_MESSAGEQUEUE

/* SECTION: Memory Management */
/* Using Memory Pool Management*/
#define RT_USING_MEMPOOL

/* Using Dynamic Heap Management */
#define RT_USING_HEAP

/* Using Small MM */
/* #define RT_USING_SMALL_MEM */

/* Using SLAB Allocator */
#define RT_USING_SLAB

/* SECTION: Device System */
/* Using Device System */
#define RT_USING_DEVICE

/* Using Module System */
#define RT_USING_MODULE
#define RT_USING_LIBDL

/* SECTION: Console options */
/* the buffer size of console */
#define RT_CONSOLEBUF_SIZE	128

/* SECTION: finsh, a C-Express shell */
/* Using FinSH as Shell*/
#define RT_USING_FINSH
/* Using symbol table */
#define FINSH_USING_SYMTAB
#define FINSH_USING_DESCRIPTION
#define FINSH_THREAD_STACK_SIZE 4096

/* SECTION: the runtime libc library */
/* the runtime libc library */
#define RT_USING_NEWLIB
#define RT_USING_PTHREADS

/* SECTION: C++ support */
/* Using C++ support */
/* #define RT_USING_CPLUSPLUS */

/* SECTION: Device filesystem support */
/* using DFS support */
#define RT_USING_DFS
#define RT_USING_DFS_ELMFAT
/* use long file name feature 			*/
#define RT_DFS_ELM_USE_LFN			1
/* the max number of file length 		*/
#define RT_DFS_ELM_MAX_LFN			128
/* #define RT_USING_DFS_YAFFS2 */
#define RT_USING_DFS_DEVFS

#define RT_USING_DFS_NFS
#define RT_NFS_HOST_EXPORT		"192.168.1.5:/"

#define DFS_USING_WORKDIR

/* the max number of mounted filesystem */
#define DFS_FILESYSTEMS_MAX		4
/* the max number of opened files 		*/
#define DFS_FD_MAX					16
/* the max number of cached sector 		*/
#define DFS_CACHE_MAX_NUM   		4

/* Enable freemodbus protocol stack*/
/* #define RT_USING_MODBUS */

#endif

另外时钟中断和串口中断都没有问题，现在就是这个GPIO中断有问题，我再看看还有没有需要注意的，谢谢！

bernard 2011-02-23

这家伙很懒，什么也没写！

weety 2011-02-23

这家伙很懒，什么也没写！

rtconfig.py内容如下：

# toolchains options
ARCH     = 'arm'
CPU      = 'at91sam926x'
TextBase = '0x20000000'

CROSS_TOOL 	= 'gcc'

if  CROSS_TOOL == 'gcc':
	PLATFORM 	= 'gcc'
	EXEC_PATH 	= '/opt/arm-2010.09/bin'
elif CROSS_TOOL == 'keil':
	PLATFORM 	= 'armcc'
	EXEC_PATH 	= 'E:/Keil'
BUILD = 'debug'

if PLATFORM == 'gcc':
    # toolchains
    PREFIX = 'arm-none-eabi-'
    #PREFIX = 'arm-none-linux-gnueabi-'
    CC = PREFIX + 'gcc'
    AS = PREFIX + 'gcc'
    AR = PREFIX + 'ar'
    LINK = PREFIX + 'gcc'
    TARGET_EXT = 'axf'
    SIZE = PREFIX + 'size'
    OBJDUMP = PREFIX + 'objdump'
    OBJCPY = PREFIX + 'objcopy'

DEVICE = ' -mcpu=arm926ej-s'
    CFLAGS = DEVICE
    AFLAGS = ' -c' + DEVICE + ' -x assembler-with-cpp' + ' -DTEXT_BASE=' + TextBase
    LFLAGS = DEVICE + ' -Wl,--gc-sections,-Map=rtthread_at91sam9260.map,-cref,-u,_start -T at91sam9260_ram.ld' + ' -Ttext ' + TextBase

CPATH = ''
    LPATH = ''

if BUILD == 'debug':
        CFLAGS += ' -O0 -gdwarf-2'
        AFLAGS += ' -gdwarf-2'
    else:
        CFLAGS += ' -O2'

POST_ACTION = OBJCPY + ' -O binary $TARGET rtthread.bin\n' + SIZE + ' $TARGET \n'

weety 2011-02-23

这家伙很懒，什么也没写！

另at91sam9260_ram.ld的内容如下：

OUTPUT_FORMAT("elf32-littlearm", "elf32-littlearm", "elf32-littlearm")
OUTPUT_ARCH(arm)
ENTRY(_start)
SECTIONS
{
	. = 0x20000000;

. = ALIGN(4);
	.text :	
	{
		*(.init)
		*(.text)
		*(.gnu.linkonce.t*)
		
		/* section information for finsh shell */
		. = ALIGN(4);
		__fsymtab_start = .;
		KEEP(*(FSymTab))
		__fsymtab_end = .;
		. = ALIGN(4);
		__vsymtab_start = .;
		KEEP(*(VSymTab))
		__vsymtab_end = .;
		. = ALIGN(4);

/* section information for modules */
		. = ALIGN(4);
		__rtmsymtab_start = .;
		KEEP(*(RTMSymTab))
		__rtmsymtab_end = .;
	}

. = ALIGN(4);
	.rodata : { *(.rodata) *(.rodata.*) *(.gnu.linkonce.r*) *(.eh_frame) }

. = ALIGN(4);
	.ctors :
	{
		PROVIDE(__ctors_start__ = .);
		KEEP(*(SORT(.ctors.*)))
		KEEP(*(.ctors))
		PROVIDE(__ctors_end__ = .);
	}

.dtors :
	{
		PROVIDE(__dtors_start__ = .);
		KEEP(*(SORT(.dtors.*)))
		KEEP(*(.dtors))
		PROVIDE(__dtors_end__ = .);
	}

. = ALIGN(4);
	.data :
	{
		*(.data)
		*(.data.*)
		*(.gnu.linkonce.d*)
	}

. = ALIGN(4);
	.nobss : { *(.nobss) }

. = 0x20300000;
	. = ALIGN(4);
	__bss_start = .;
	.bss : { *(.bss) }
	__bss_end = .;

/* stabs debugging sections. */
	.stab 0 : { *(.stab) }
	.stabstr 0 : { *(.stabstr) }
	.stab.excl 0 : { *(.stab.excl) }
	.stab.exclstr 0 : { *(.stab.exclstr) }
	.stab.index 0 : { *(.stab.index) }
	.stab.indexstr 0 : { *(.stab.indexstr) }
	.comment 0 : { *(.comment) }
	.debug_abbrev 0 : { *(.debug_abbrev) }
	.debug_info 0 : { *(.debug_info) }
	.debug_line 0 : { *(.debug_line) }
	.debug_pubnames 0 : { *(.debug_pubnames) }
	.debug_aranges 0 : { *(.debug_aranges) }

_end = .;
}