Tracealyzer for FreeRTOS（FreeRTOS+Trace）详解（源码解析+移植）

2023-05-16

原文：http://blog.csdn.net/zcshoucsdn/article/details/54670473

最近公司搞新项目，需要使用FreeRTOS，之前只有Linux的基础（学了个皮毛），对于FreeRTOS不是非常了解。在官网转悠的时候发现了有个可视化分析工具：FreeRTOS+Trace，感觉应该不错！下载后发现其是http://percepio.com/这个网站上的东西。到官网看了看，功能确实非常强大！

Views

不过这个东西是收费的，虽然也提供了免费版本，但是免费版功能确实太少了，只能查看各全局图，没有详细信息！不过，对于个人使用，可以申请30天的评估版License。
目前，Tracealyzer for FreeRTOS支持两种追踪模式：快照模式（Snapshot Mode）和流模式（Streaming Mode）

快照模式（Snapshot Mode）:将追踪数据放到芯片的RAM中，然后读取出来分析显示（就相当于每次都取一次快照）
流模式（Streaming Mode）:将追踪数据实时传送到PC机，目前Tracealyzer for FreeRTOS支持Jlink_RTT、 USB CDC、TCP/IP三种方式的流模式（官方将其称为streamports）。注意，虽然是实时传送过来的，在分析时还是需要停止后才能分析，即：不能实时分析

以上两种模式，都需要进行相关的配置，配置项目还是挺多的，详细的说明，可以参照官方的 User Manual！

仅适用于 FreeRTOS v7.3 及之后的版本

Trace源码

想要使用Tracealyzer for FreeRTOS，必须将Tracealyzer for FreeRTOS的Trace源码放到自己的项目中才可以！安装后打开软件（至于注册啥的就不说了）如下图所示

Tracealyzer for FreeRTOS

通过上图的菜单，可以定位到Tracealyzer for FreeRTOS的Trace源代码！各文件的说明见注释。

│  readme.txt
│  trcKernelPort.c
│  trcSnapshotRecorder.c
│  trcStreamingRecorder.c
├─config
│      trcConfig.h                  // 整个Trace源码的配置文件.
│      trcSnapshotConfig.h          // 快照模式配置文件，和流模式对应文件选其一
│      trcStreamingConfig.h         // 流模式配置文件，和快照模式对应文件选其一
├─include
│      trcHardwarePort.h            // 所有硬件依赖关系。包含几个预定义的硬件端口，包括ARM Cortex-M，PIC32，Renesas RX等。
│      trcKernelPort.h              // FreeRTOS特定的定义，最值得注意的是跟踪钩子定义。
│      trcPortDefines.h             // 配置文件的各种常量定义
│      trcRecorder.h                // 公共API,开发者将以上两种模式进行了统一，用户使用时，只需要包含该文件即可!
└─streamports                       // 该文件夹下就是流模式对应的不同接口方式的实现，以下任选其一即可
    ├─Jlink_RTT
    │  │  Readme.txt
    │  │  SEGGER_RTT.c
    │  │  SEGGER_RTT_Printf.c
    │  └─include
    │          SEGGER_RTT.h
    │          SEGGER_RTT_Conf.h
    │          trcStreamingPort.h
    ├─TCPIP
    │  │  Readme.txt
    │  │  trcStreamingPort.c
    │  └─include
    │          trcStreamingPort.h
    └─USB_CDC
        │  Readme.txt
        │  trcStreamingPort.c
        └─include
                trcStreamingPort.h

注意：
1. 官网最新的版本是3.1.0，从3.1.0开始，Trace源代码有了很大的改变，源码进行了整合，简洁了很多!
2. FreeRTOS的源码目录下，有个FreeRTOS-Plus目录，其中也有Trace源码，但是该源码也比较旧，不建议使用！
3. 网上现有资料也是针对旧源码的，和官方的User Manual不匹配。

Trace源码ARM-MDK使用

上面提到，Tracealyzer for FreeRTOS支持两种追踪模式，首先我们就要确定使用哪一种模式。Tracealyzer for FreeRTOS默认的模式是快照模式。这里，我以流模式使用Jlink_RTT方式为例来说明。使用的开发板为自己画的，芯片为STM32F205VE。在移植之前，首先确保已将FreeRTOS移植完成，并能正常运行。
首先对Trace的源代码进行一下整理（个人不喜欢在源码中放一堆实际用不到的文件），以下是我的目录结构（整个项目结构）：

├─Docs                      // 文档
├─FreeRTOS                  // FreeRTOS源码的头文件和源文件
│  ├─inc
│  └─src
├─Libraries                 // STM32 标准外设库和CMSIS
│  ├─CMSIS                  // CMSIS
│  │  ├─Device
│  │  │  ├─Include
│  │  │  │      stm32f2xx.h
│  │  │  │      system_stm32f2xx.h 
│  │  │  └─Source
│  │  │          startup_stm32f2xx.s
│  │  │          system_stm32f2xx.c
│  │  └─Include             // ARM Cortex 核相关文件
│  └─STM32F2xx_StdPeriph_Driver     // 标准外设库
│      ├─inc   
│      └─src           
├─MDK-ARM                           // MDK-ARM项目文件及其输出文件目录
│  │  E10.uvprojx
│  ├─Bin   
│  ├─Listings
│  └─Objects
├─TraceRecorder                     // Trace的源码整理后
│  ├─inc
│  │      SEGGER_RTT.h
│  │      SEGGER_RTT_Conf.h
│  │      trcConfig.h
│  │      trcHardwarePort.h
│  │      trcKernelPort.h
│  │      trcPortDefines.h
│  │      trcRecorder.h
│  │      trcStreamingConfig.h
│  │      trcStreamingPort.h
│  │      
│  └─src
│          SEGGER_RTT.c
│          trcKernelPort.c
│          trcStreamingRecorder.c
└─User                          // 用户自定义源码的头文件及源文件
    ├─inc
    └─src

如果使用的是快照模式，streamports下的代码完全忽略即可。

接下来，在MDK-ARM中建立项目
IDE

（1）将各文件添加到MDK-ARM中，并且设置好MDK-ARM头文件路径（保证FreeRTOS以正常运行）

（2）打开trcConfig.h，修改如下，尤其是加注释的地方，特别注意。其他参数保持默认即可：

/*******************************************************************************
 * Trace Recorder Library for Tracealyzer v3.1.0
 * Percepio AB, www.percepio.com
 *
 * trcConfig.h
 *
 * Main configuration parameters for the trace recorder library.
 * More settings can be found in trcStreamingConfig.h and trcSnapshotConfig.h.
 *
 * Read more at http://percepio.com/2016/10/05/rtos-tracing/
 *
 * Terms of Use
 * This file is part of the trace recorder library (RECORDER), which is the 
 * intellectual property of Percepio AB (PERCEPIO) and provided under a
 * license as follows.
 * The RECORDER may be used free of charge for the purpose of recording data
 * intended for analysis in PERCEPIO products. It may not be used or modified
 * for other purposes without explicit permission from PERCEPIO.
 * You may distribute the RECORDER in its original source code form, assuming
 * this text (terms of use, disclaimer, copyright notice) is unchanged. You are
 * allowed to distribute the RECORDER with minor modifications intended for
 * configuration or porting of the RECORDER, e.g., to allow using it on a 
 * specific processor, processor family or with a specific communication
 * interface. Any such modifications should be documented directly below
 * this comment block.  
 *
 * Disclaimer
 * The RECORDER is being delivered to you AS IS and PERCEPIO makes no warranty
 * as to its use or performance. PERCEPIO does not and cannot warrant the 
 * performance or results you may obtain by using the RECORDER or documentation.
 * PERCEPIO make no warranties, express or implied, as to noninfringement of
 * third party rights, merchantability, or fitness for any particular purpose.
 * In no event will PERCEPIO, its technology partners, or distributors be liable
 * to you for any consequential, incidental or special damages, including any
 * lost profits or lost savings, even if a representative of PERCEPIO has been
 * advised of the possibility of such damages, or for any claim by any third
 * party. Some jurisdictions do not allow the exclusion or limitation of
 * incidental, consequential or special damages, or the exclusion of implied
 * warranties or limitations on how long an implied warranty may last, so the
 * above limitations may not apply to you.
 *
 * Tabs are used for indent in this file (1 tab = 4 spaces)
 *
 * Copyright Percepio AB, 2016.
 * www.percepio.com
 ******************************************************************************/

#ifndef TRC_CONFIG_H
#define TRC_CONFIG_H

#ifdef __cplusplus
extern "C" {
#endif

#include "trcPortDefines.h"

/******************************************************************************
 * Include of processor header file
 * 
 * Here you may need to include the header file for your processor. This is 
 * required at least for the ARM Cortex-M port, that uses the ARM CMSIS API.
 * Try that in case of build problems. Otherwise, remove the #error line below.
 *****************************************************************************/
#include "stm32F2xx.h"      // 这里根据需要添加自己的芯片的头文件
//#error "Trace Recorder: Please include your processor´s header file here and remove this line."

/*******************************************************************************
 * Configuration Macro: TRC_CFG_HARDWARE_PORT
 *
 * Specify what hardware port to use (i.e., the "timestamping driver").
 * All ARM Cortex-M MCUs are supported by "TRC_HARDWARE_PORT_ARM_Cortex_M".
 *
 * See trcSnapshotHardwarePort.h or trcStreamingHardwarePort.h for available
 * ports and information on how to define your own port, if not already present.
 ******************************************************************************/
#define TRC_CFG_HARDWARE_PORT TRC_HARDWARE_PORT_ARM_Cortex_M        // 选择芯片对应的类型

/*******************************************************************************
 * Configuration Macro: TRC_CFG_RECORDER_MODE
 *
 * Specify what recording mode to use. Snapshot means that the data is saved in
 * an internal RAM buffer, for later upload. Streaming means that the data is
 * transferred continuously to the host PC. 
 *
 * For more information, see http://percepio.com/2016/10/05/rtos-tracing/
 * and the Tracealyzer User Manual.
 *
 * Values:
 * TRC_RECORDER_MODE_SNAPSHOT
 * TRC_RECORDER_MODE_STREAMING
 ******************************************************************************/
#define TRC_CFG_RECORDER_MODE TRC_RECORDER_MODE_STREAMING       // 选择追踪模式（默认快照模式，这里我改成了流模式）

/*******************************************************************************
 * Configuration Macro: TRC_CFG_RECORDER_BUFFER_ALLOCATION
 *
 * Specifies how the recorder's internal buffer is allocated (snapshot or
 * streaming). Note that CUSTOM is only supported in snapshot mode.
 *
 * TRC_RECORDER_BUFFER_ALLOCATION_STATIC  - Static allocation 
 * TRC_RECORDER_BUFFER_ALLOCATION_DYNAMIC - Allocated in vTraceEnable
 * TRC_RECORDER_BUFFER_ALLOCATION_CUSTOM  - Use vTraceSetRecorderDataBuffer
 ******************************************************************************/
#define TRC_CFG_RECORDER_BUFFER_ALLOCATION TRC_RECORDER_BUFFER_ALLOCATION_STATIC

/******************************************************************************
 * TRC_CFG_FREERTOS_VERSION
 * 
 * Specify what version of FreeRTOS that is used (don't change unless using the
 * trace recorder library with an older version of FreeRTOS).
 * 
 * TRC_FREERTOS_VERSION_7_3_OR_7_4              If using FreeRTOS v7.3.0 - v7.4.2
 * TRC_FREERTOS_VERSION_7_5_OR_7_6              If using FreeRTOS v7.5.0 - v7.6.0
 * TRC_FREERTOS_VERSION_8_X                     If using FreeRTOS v8.X.X
 * TRC_FREERTOS_VERSION_9_X                     If using FreeRTOS v9.X.X
 *****************************************************************************/
#define TRC_CFG_FREERTOS_VERSION    TRC_FREERTOS_VERSION_9_X                // 这里根据自己的FreeRTOS版本修改

/******************************************************************************
 * TRC_CFG_MAX_ISR_NESTING
 * 
 * Defines how many levels of interrupt nesting the recorder can handle, in
 * case multiple ISRs are traced and ISR nesting is possible. If this
 * is exceeded, the particular ISR will not be traced and the recorder then 
 * logs an error message. This setting is used to allocate an internal stack
 * for keeping track of the previous execution context (4 byte per entry). 
 *
 * This value must be a non-zero positive constant, at least 1.
 * 
 * Default value: 8
 *****************************************************************************/
#define TRC_CFG_MAX_ISR_NESTING 8

/* Specific configuration, depending on Streaming/Snapshot mode */
#if (TRC_CFG_RECORDER_MODE == TRC_RECORDER_MODE_SNAPSHOT)
#include "trcSnapshotConfig.h"
#elif (TRC_CFG_RECORDER_MODE == TRC_RECORDER_MODE_STREAMING)
#include "trcStreamingConfig.h"
#endif

#ifdef __cplusplus
}
#endif

#endif /* _TRC_CONFIG_H */

（3）注意：由于默认情况下，Keil不支持C99特性，而Trace源码使用了C99特性（C99规定，变量声明可以放到函数的任何位置，而早期C规定，变量定义必须在函数开头）。在Keil中，将C99特性选中，如下图：
Keil修改

如果没有上面的设置，编译时，Keil报错：error: #268: declaration may not appear after executable statement in block.

（4）修改 FreeRTOSConfig.h。FreeRTOS 是一个高度可配置的系统。通常来说，我们只需要修改该配置文件即可，而不用去关注FreeRTOS的其他文件，修改后文件如下（注意图中注释部分）：

/*
 自带的文件说明，为节省篇幅，省略...
*/

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

/*-----------------------------------------------------------
 * Application specific definitions.
 *
 * These definitions should be adjusted for your particular hardware and
 * application requirements.
 *
 * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
 * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
 *
 * See http://www.freertos.org/a00110.html.
 *----------------------------------------------------------*/

#define configUSE_PREEMPTION        1
#define configUSE_IDLE_HOOK         0
#define configUSE_TICK_HOOK         0
#define configCPU_CLOCK_HZ          ( ( unsigned long ) 24000000 )  
#define configTICK_RATE_HZ          ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES        ( 5 )
#define configMINIMAL_STACK_SIZE    ( ( unsigned short ) 128 )
#define configTOTAL_HEAP_SIZE       ( ( size_t ) ( 17 * 1024 ) )
#define configMAX_TASK_NAME_LEN     ( 16 )
#define configUSE_TRACE_FACILITY    1               // 开启追踪调试
#define configUSE_16_BIT_TICKS      0
#define configIDLE_SHOULD_YIELD     1

/* Co-routine definitions. */
#define configUSE_CO_ROUTINES       0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */

#define INCLUDE_vTaskPrioritySet        1
#define INCLUDE_uxTaskPriorityGet       1
#define INCLUDE_vTaskDelete             1
#define INCLUDE_vTaskCleanUpResources   0
#define INCLUDE_vTaskSuspend            1
#define INCLUDE_vTaskDelayUntil         1
#define INCLUDE_vTaskDelay              1
#define INCLUDE_xTaskGetCurrentTaskHandle               1   // 启用一个可选函数（该函数被 Trace源码使用，默认该值为0 表示不用）

/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
(lowest) to 0 (1?) (highest). */
#define configKERNEL_INTERRUPT_PRIORITY         255
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY    191 /* equivalent to 0xb0, or priority 11. */

/* This is the value being used as per the ST library which permits 16
priority values, 0 to 15.  This must correspond to the
configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15

/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler    SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler

/* Trace源码头文件，前面说过，最新的3.1.0版本，Trace源码被统一，简化，使用者只需要包含这一个文件即可！*/
/* Integrates the Tracealyzer recorder with FreeRTOS */ 
#if ( configUSE_TRACE_FACILITY == 1 )
#include "trcRecorder.h"
#endif
#endif /* FREERTOS_CONFIG_H */

注意：由于trcRecorder的源码是针对旧的FreeRTOS源码的，因此，configENABLE_BACKWARD_COMPATIBILITY 必须留空或者定义为 1以兼容旧的FreeRTOS源码

（5）在main函数中，启用trcRecorder中统一的API即可！启动追踪函数为 vTraceEnable(TRC_INIT)。

注意：对于两种模式，trcRecorder中的公共API的传参是有区别的！例如：上面的vTraceEnable函数，在流模式下只能用：TRC_INIT或者TRC_START_AWAIT_HOST

至此，编译项目（我已经添加了两个任务），现在到开发板即可！打开Tracealyzer for FreeRTOS，如下，现在自己的芯片类型，然后，菜单->file->就可以开始追踪了！

我测试编译后程序未正常运行，发现heap不足，修改FreeRTOSConfig.h 中的configTOTAL_HEAP_SIZE 改大即可。使用的是 heap_4管理方案。

#define configTOTAL_HEAP_SIZE (( size_t ) ( 17 * 1024 ))

本文内容由网友自发贡献，版权归原作者所有，本站不承担相应法律责任。如您发现有涉嫌抄袭侵权的内容，请联系:hwhale#tublm.com(使用前将#替换为@)