rt-thread的PIN设备的启动

最新推荐文章于 2026-07-16 13:53:29 发布

原创最新推荐文章于 2026-07-16 13:53:29 发布 · 568 阅读

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rt-thread学习

本文介绍RT-Thread实时操作系统在STM32平台上的启动流程及PIN驱动初始化过程，详细解析了从Reset_Handler到rtthread_startup函数的执行路径，以及rt_hw_board_init函数中涉及的系统初始化步骤。

在rt-thread-403上查看
启动代码

; Reset handler
Reset_Handler    PROC
                 EXPORT  Reset_Handler             [WEAK]
     IMPORT  __main
     IMPORT  SystemInit
                 LDR     R0, =SystemInit
                 BLX     R0
                 LDR     R0, =__main
                 BX      R0
                 ENDP

指向到rt-thread启动代码， $S u b$ $main简单说明就是先指向到这个main函数

/* re-define main function */
int $Sub$$main(void)
{
    rtthread_startup();
    return 0;
}

进入rtthread_startup()

int rtthread_startup(void)
{
    rt_hw_interrupt_disable();

    /* board level initialization
     * NOTE: please initialize heap inside board initialization.
     */
    rt_hw_board_init();

    /* show RT-Thread version */
    rt_show_version();

    /* timer system initialization */
    rt_system_timer_init();

    /* scheduler system initialization */
    rt_system_scheduler_init();

#ifdef RT_USING_SIGNALS
    /* signal system initialization */
    rt_system_signal_init();
#endif

    /* create init_thread */
    rt_application_init();

    /* timer thread initialization */
    rt_system_timer_thread_init();

    /* idle thread initialization */
    rt_thread_idle_init();

#ifdef RT_USING_SMP
    rt_hw_spin_lock(&_cpus_lock);
#endif /*RT_USING_SMP*/

    /* start scheduler */
    rt_system_scheduler_start();

    /* never reach here */
    return 0;
}

进入rt_hw_board_init()

/**
 * This function will initial STM32 board.
 */
RT_WEAK void rt_hw_board_init()
{
#ifdef SCB_EnableICache
    /* Enable I-Cache---------------------------------------------------------*/
    SCB_EnableICache();
#endif

#ifdef SCB_EnableDCache
    /* Enable D-Cache---------------------------------------------------------*/
    SCB_EnableDCache();
#endif

    /* HAL_Init() function is called at the beginning of the program */
    HAL_Init();

    /* enable interrupt */
    __set_PRIMASK(0);
    /* System clock initialization */
    SystemClock_Config();
    /* disable interrupt */
    __set_PRIMASK(1);

    rt_hw_systick_init();

    /* Heap initialization */
#if defined(RT_USING_HEAP)
    rt_system_heap_init((void *)HEAP_BEGIN, (void *)HEAP_END);
#endif

    /* Pin driver initialization is open by default */
#ifdef RT_USING_PIN
    rt_hw_pin_init();
#endif

    /* USART driver initialization is open by default */
#ifdef RT_USING_SERIAL
    rt_hw_usart_init();
#endif

    /* Set the shell console output device */
#ifdef RT_USING_CONSOLE
    rt_console_set_device(RT_CONSOLE_DEVICE_NAME);
#endif

    /* Board underlying hardware initialization */
#ifdef RT_USING_COMPONENTS_INIT
    rt_components_board_init();
#endif
}

进入rt_hw_pin_init()

int rt_hw_pin_init(void)
{
#if defined(__HAL_RCC_GPIOA_CLK_ENABLE)
    __HAL_RCC_GPIOA_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOB_CLK_ENABLE)
    __HAL_RCC_GPIOB_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOC_CLK_ENABLE)
    __HAL_RCC_GPIOC_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOD_CLK_ENABLE)
    __HAL_RCC_GPIOD_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOE_CLK_ENABLE)
    __HAL_RCC_GPIOE_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOF_CLK_ENABLE)
    __HAL_RCC_GPIOF_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOG_CLK_ENABLE)
    #ifdef SOC_SERIES_STM32L4
        HAL_PWREx_EnableVddIO2();
    #endif
    __HAL_RCC_GPIOG_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOH_CLK_ENABLE)
    __HAL_RCC_GPIOH_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOI_CLK_ENABLE)
    __HAL_RCC_GPIOI_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOJ_CLK_ENABLE)
    __HAL_RCC_GPIOJ_CLK_ENABLE();
#endif

#if defined(__HAL_RCC_GPIOK_CLK_ENABLE)
    __HAL_RCC_GPIOK_CLK_ENABLE();
#endif

    return rt_device_pin_register("pin", &_stm32_pin_ops, RT_NULL);
}

进入**_stm32_pin_ops**

const static struct rt_pin_ops _stm32_pin_ops =
{
    stm32_pin_mode,
    stm32_pin_write,
    stm32_pin_read,
    stm32_pin_attach_irq,
    stm32_pin_dettach_irq,
    stm32_pin_irq_enable,
    stm32_pin_get,
};
void rt_pin_mode(rt_base_t pin, rt_base_t mode)
{
    RT_ASSERT(_hw_pin.ops != RT_NULL);
    _hw_pin.ops->pin_mode(&_hw_pin.parent, pin, mode);
}
void rt_pin_write(rt_base_t pin, rt_base_t value)
{
    RT_ASSERT(_hw_pin.ops != RT_NULL);
    _hw_pin.ops->pin_write(&_hw_pin.parent, pin, value);
}
int  rt_pin_read(rt_base_t pin)
{
    RT_ASSERT(_hw_pin.ops != RT_NULL);
    return _hw_pin.ops->pin_read(&_hw_pin.parent, pin);
}
rt_base_t rt_pin_get(const char *name)
{
    RT_ASSERT(_hw_pin.ops != RT_NULL);
    RT_ASSERT(name[0] == 'P');
    
    if(_hw_pin.ops->pin_get == RT_NULL)
    {
        return -RT_ENOSYS;
    }

    return _hw_pin.ops->pin_get(name);
}

这样，PIN驱动框架中的代码和HAL库就联系起来了。

static void stm32_pin_mode(rt_device_t dev, rt_base_t pin, rt_base_t mode)
{
    GPIO_InitTypeDef GPIO_InitStruct;

    if (PIN_PORT(pin) >= PIN_STPORT_MAX)
    {
        return;
    }

    /* Configure GPIO_InitStructure */
    GPIO_InitStruct.Pin = PIN_STPIN(pin);
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;

    if (mode == PIN_MODE_OUTPUT)
    {
        /* output setting */
        GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
    }
    else if (mode == PIN_MODE_INPUT)
    {
        /* input setting: not pull. */
        GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
    }
    else if (mode == PIN_MODE_INPUT_PULLUP)
    {
        /* input setting: pull up. */
        GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
        GPIO_InitStruct.Pull = GPIO_PULLUP;
    }
    else if (mode == PIN_MODE_INPUT_PULLDOWN)
    {
        /* input setting: pull down. */
        GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
        GPIO_InitStruct.Pull = GPIO_PULLDOWN;
    }
    else if (mode == PIN_MODE_OUTPUT_OD)
    {
        /* output setting: od. */
        GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_OD;
        GPIO_InitStruct.Pull = GPIO_NOPULL;
    }

    HAL_GPIO_Init(PIN_STPORT(pin), &GPIO_InitStruct);
}
static void stm32_pin_write(rt_device_t dev, rt_base_t pin, rt_base_t value)
{
    GPIO_TypeDef *gpio_port;
    uint16_t gpio_pin;

    if (PIN_PORT(pin) < PIN_STPORT_MAX)
    {
        gpio_port = PIN_STPORT(pin);
        gpio_pin = PIN_STPIN(pin);

        HAL_GPIO_WritePin(gpio_port, gpio_pin, (GPIO_PinState)value);
    }
}
static int stm32_pin_read(rt_device_t dev, rt_base_t pin)
{
    GPIO_TypeDef *gpio_port;
    uint16_t gpio_pin;
    int value = PIN_LOW;

    if (PIN_PORT(pin) < PIN_STPORT_MAX)
    {
        gpio_port = PIN_STPORT(pin);
        gpio_pin = PIN_STPIN(pin);
        value = HAL_GPIO_ReadPin(gpio_port, gpio_pin);
    }

    return value;
}
static rt_base_t stm32_pin_get(const char *name)
{
    rt_base_t pin = 0;
    int hw_port_num, hw_pin_num = 0;
    int i, name_len;

    name_len = rt_strlen(name);

    if ((name_len < 4) || (name_len >= 6))
    {
        return -RT_EINVAL;
    }
    if ((name[0] != 'P') || (name[2] != '.'))
    {
        return -RT_EINVAL;
    }

    if ((name[1] >= 'A') && (name[1] <= 'Z'))
    {
        hw_port_num = (int)(name[1] - 'A');
    }
    else
    {
        return -RT_EINVAL;
    }

    for (i = 3; i < name_len; i++)
    {
        hw_pin_num *= 10;
        hw_pin_num += name[i] - '0';
    }

    pin = PIN_NUM(hw_port_num, hw_pin_num);

    return pin;
}