ARMCortex-M3GNUGCC快速开发指南

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QP state machine frameworks for STM32 with GNU

QDK™

ARM-Cortex STM32 with GNU

Document Revision B

February 2010

www.quantum-leaps.com

www.state-machine.com

Table of Contents

1 Introduction ................................................................................................................................................... 1

1.1 About QP™ .............................................................................................................................................. 3

1.2 About the ARM-Cortex Port ...................................................................................................................... 4

1.3 Cortex Microcontroller Software Interface Standard (CMSIS) .................................................................. 4

1.4 What’s Included in the QDK ..................................................................................................................... 4

1.5 Licensing QP ............................................................................................................................................ 5

2 Getting Started .............................................................................................................................................. 6

2.1 Building the Examples .............................................................................................................................. 7

2.2 Downloading to Flash and Debugging the Examples ............................................................................. 10

2.3 Building the QP Libraries ........................................................................................................................ 15

3 Interrupt Vector Table and Startup Code .................................................................................................. 17

4 Linker Script ................................................................................................................................................ 20

4.1 Linker Options ........................................................................................................................................ 23

5 C/C++ Compiler Options and Minimizing the Overhead of C++ .............................................................. 25

5.1 Compiler Options for C ........................................................................................................................... 25

5.2 Compiler Options for C++ ....................................................................................................................... 25

5.3 Reducing the Overhead of C++ .............................................................................................................. 26

6 Testing QK Preemption Scenarios ............................................................................................................ 28

6.1 Interrupt Nesting Test ............................................................................................................................. 29

6.2 Task Preemption Test ............................................................................................................................ 29

6.3 Other Tests ............................................................................................................................................ 29

7 QS Software Tracing Instrumentation ....................................................................................................... 30

7.1 QS Time Stamp Callback QS_onGetTime() ........................................................................................... 32

7.2 QS Trace Output in QF_onIdle()/QK_onIdle() ........................................................................................ 33

7.3 Invoking the QSpy Host Application ....................................................................................................... 34

8 References ................................................................................................................................................... 35

9 Contact Information .................................................................................................................................... 36

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QDK

STM32 with GNU

www.state-machine.com/arm

6. Zylin Embedded CDT plugin available from http://opensource.zylin.com/embeddedcdt.html

[Zylin-pugin] to improve support for the GDB embedded debugging with Eclipse.

7. Alternatively to standard Eclipse with the Zylin plugin: Atollic TRUE Studio Light available from

http://www.atollic.com/index.php/download [Atollic]

8. SAM3210C-EVAL evaluation board from STMicroelectronics (STM32F107C MCU)

9. STMicroelectronics ST-LINK (see http://www.st.com/mcu/contentid-126-110-ST_LINK.html)

10. Alternatively to ST-LINK and Atollic TRUE Studio: SEGGER J-Link ARM J-TAG pod available

from www.segger.com.

11. SEGGER J-Link GDB Server software v4.08l available for download from

www.segger.com/cms/downloads.html

This QDK uses the open source devkitPro GNU-ARM toolset available from https://sourceforge.net/ -

projects/devkitpro/files/devkitARM [devkitARM]. This Application Note covers building and debugging

ARM-Cortex projects with the GNU toolchain and with Eclipse.

The examples included in this QDK are based on the standard Dining Philosophers Problem implemented

with active objects (see Chapter 9 in [PSiCC2] and the Application Note “Dining Philosopher Problem

Example” [AN-DPP]).

NOTE: This QDK Manual pertains both to C and C++ versions of the QP™ state machine frameworks. Most of the

code listings in this document refer to the QP/C version. Occasionally the C code is followed by the equivalent C++

implementation to show the C++ differences whenever such differences become important.

1.1 About QP™

QP™ is a family of very lightweight, open source, state machine-based

frameworks for developing event-driven applications. QP enables building

well-structured embedded applications as a set of concurrently executing

hierarchical state machines (UML statecharts) directly in C or C++, even

without big code-synthesizing tools. QP is described in great detail in the

book “Practical UML Statecharts in C/C++, Second Edition: Event-Driven

Programming for Embedded Systems” [PSiCC2] (Newnes, 2008).

As shown in Figure 2, QP consists of a universal UML-compliant event

processor (QEP), a portable real-time framework (QF), a tiny run-to-

completion kernel (QK), and software tracing instrumentation (QS). Current

versions of QP include: QP/C™ and QP/C++™, which require about 4KB of

code and a few hundred bytes of RAM, and the ultra-lightweight QP-nano,

which requires only 1-2KB of code and just several bytes of RAM.

QP can work with or without a traditional RTOS or OS. In the simplest configuration, QP can completely

replace a traditional RTOS. QP includes a simple non-preemptive scheduler and a fully preemptive

kernel (QK). QK is smaller and faster than most traditional preemptive kernels or RTOS, yet offers fully

deterministic, preemptive execution of embedded applications. QP can manage up to 63 concurrently

executing tasks structured as state machines (called active objects in UML).

QP/C and QP/C++ can also work with a traditional OS/RTOS to take advantage of existing device drivers,

communication stacks, and other middleware. QP has been ported to Linux/BSD, Windows, VxWorks,

ThreadX, uC/OS-II, FreeRTOS.org, and other popular OS/RTOS.

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