From 61cf4b2da5dac0df79a760027613ae76abe8575d Mon Sep 17 00:00:00 2001 From: renpeiying Date: Thu, 31 Aug 2023 18:02:12 +0800 Subject: [PATCH] docs: Provide Chinese translation for api-reference/system/freertos.rst --- docs/en/api-reference/system/freertos.rst | 48 ++++--- docs/zh_CN/api-reference/system/freertos.rst | 143 ++++++++++++++++++- 2 files changed, 168 insertions(+), 23 deletions(-) diff --git a/docs/en/api-reference/system/freertos.rst b/docs/en/api-reference/system/freertos.rst index 526507bb26..bb8bbaf1d9 100644 --- a/docs/en/api-reference/system/freertos.rst +++ b/docs/en/api-reference/system/freertos.rst @@ -1,10 +1,14 @@ -FreeRTOS (Overview) -=================== +FreeRTOS Overview +================= + +:link_to_translation:`zh_CN:[中文]` Overview -------- -FreeRTOS is an open source real-time operating system kernel that acts as the operating system for ESP-IDF applications and is integrated into ESP-IDF as a component. The FreeRTOS component in ESP-IDF contains ports of the FreeRTOS kernel for all the CPU architectures used by ESP targets (i.e., Xtensa and RISC-V). Furthermore, ESP-IDF provides different implementations of FreeRTOS in order to support SMP (Symmetric Multiprocessing) on multi-core ESP targets. This document provides an overview of the FreeRTOS component, the FreeRTOS implementations offered by ESP-IDF, and the common aspects across all implementations. +FreeRTOS is an open source RTOS (real-time operating system) kernel that is integrated into ESP-IDF as a component. Thus, all ESP-IDF applications and many ESP-IDF components are written based on FreeRTOS. The FreeRTOS kernel is ported to all architectures (i.e., Xtensa and RISC-V) available of ESP chips. + +Furthermore, ESP-IDF provides different implementations of FreeRTOS in order to support SMP (Symmetric Multiprocessing) on multi-core ESP chips. This document provides an overview of the FreeRTOS component, the different FreeRTOS implementations offered by ESP-IDF, and the common aspects across all implementations. Implementations --------------- @@ -14,11 +18,11 @@ The `official FreeRTOS `_ (henceforth refer ESP-IDF FreeRTOS ^^^^^^^^^^^^^^^^ - ESP-IDF FreeRTOS is a FreeRTOS implementation based on Vanilla FreeRTOS v10.4.3, but contains significant modifications to support SMP. ESP-IDF FreeRTOS only supports two cores at most (i.e., dual core SMP), but is more optimized for this scenario by design. For more details regarding ESP-IDF FreeRTOS and its modifications, please refer to the :doc:`freertos_idf` document. +ESP-IDF FreeRTOS is a FreeRTOS implementation based on Vanilla FreeRTOS v10.4.3, but contains significant modifications to support SMP. ESP-IDF FreeRTOS only supports two cores at most (i.e., dual core SMP), but is more optimized for this scenario by design. For more details regarding ESP-IDF FreeRTOS and its modifications, please refer to the :doc:`freertos_idf` document. - .. note:: +.. note:: - ESP-IDF FreeRTOS is currently the default FreeRTOS implementation for ESP-IDF. + ESP-IDF FreeRTOS is currently the default FreeRTOS implementation for ESP-IDF. .. only:: not esp32p4 @@ -27,11 +31,11 @@ ESP-IDF FreeRTOS Amazon SMP FreeRTOS ^^^^^^^^^^^^^^^^^^^ - Amazon SMP FreeRTOS is an SMP implementation of FreeRTOS that is officially supported by Amazon. Amazon SMP FreeRTOS is able to support N-cores (i.e., more than two cores). Amazon SMP FreeRTOS can be enabled via the :ref:`CONFIG_FREERTOS_SMP` option. For more details regarding Amazon SMP FreeRTOS, please refer to the `official Amazon SMP FreeRTOS documentation `_. + Amazon SMP FreeRTOS is an SMP implementation of FreeRTOS that is officially supported by Amazon. Amazon SMP FreeRTOS is able to support N-cores (i.e., more than two cores). Amazon SMP FreeRTOS can be enabled via the :ref:`CONFIG_FREERTOS_SMP` option. For more details regarding Amazon SMP FreeRTOS, please refer to the `official Amazon SMP FreeRTOS documentation `_. - .. warning:: + .. warning:: - The Amazon SMP FreeRTOS implementation (and its port in ESP-IDF) are currently in experimental/beta state. Therefore, significant behavioral changes and breaking API changes can occur. + The Amazon SMP FreeRTOS implementation (and its port in ESP-IDF) are currently in experimental/beta state. Therefore, significant behavioral changes and breaking API changes can occur. Configuration ------------- @@ -39,9 +43,9 @@ Configuration Kernel Configuration ^^^^^^^^^^^^^^^^^^^^ -Vanilla FreeRTOS requires that ports and applications configure the kernel by adding various ``#define config...`` macros to ``FreeRTOSConfig.h``. Vanilla FreeRTOS supports a list of kernel configuration options which allow various kernel behaviors and features to be enabled or disabled. +Vanilla FreeRTOS requires that ports and applications configure the kernel by adding various ``#define config...`` macro definitions to the ``FreeRTOSConfig.h`` header file. Vanilla FreeRTOS supports a list of kernel configuration options which allow various kernel behaviors and features to be enabled or disabled. -**However, for all FreeRTOS ports in ESP-IDF, the ``FreeRTOSConfig.h`` file is considered private and must not be modified by users**. A large number of kernel configuration options in ``FreeRTOSConfig.h`` are hard coded as they are either required or not supported in ESP-IDF. All kernel configuration options that are configurable by the user are exposed via menuconfig under ``Component Config/FreeRTOS/Kernel``. +**However, for all FreeRTOS ports in ESP-IDF, the FreeRTOSConfig.h header file is considered private and must not be modified by users**. A large number of kernel configuration options in ``FreeRTOSConfig.h`` are hard-coded as they are either required/not supported by ESP-IDF. All kernel configuration options that are configurable by the user are exposed via menuconfig under ``Component Config/FreeRTOS/Kernel``. For the full list of user configurable kernel options, see :doc:`/api-reference/kconfig`. The list below highlights some commonly used kernel configuration options: @@ -68,7 +72,7 @@ Using FreeRTOS Application Entry Point ^^^^^^^^^^^^^^^^^^^^^^^ -Unlike Vanilla FreeRTOS, users of FreeRTOS in ESP-IDF **must never call** :cpp:func:`vTaskStartScheduler` and :cpp:func:`vTaskEndScheduler`. Instead, ESP-IDF starts FreeRTOS automatically. Users must define a ``void app_main(void)`` function which acts as the entry point for user's application and is automatically called on ESP-IDF startup. +Unlike Vanilla FreeRTOS, users of FreeRTOS in ESP-IDF **must never call** :cpp:func:`vTaskStartScheduler` and :cpp:func:`vTaskEndScheduler`. Instead, ESP-IDF starts FreeRTOS automatically. Users must define a ``void app_main(void)`` function which acts as the entry point for user's application and is automatically invoked on ESP-IDF startup. - Typically, users would spawn the rest of their application's task from ``app_main``. - The ``app_main`` function is allowed to return at any point (i.e., before the application terminates). @@ -91,14 +95,14 @@ During startup, ESP-IDF and the FreeRTOS kernel automatically create multiple ta - Affinity - Priority * - Idle Tasks (``IDLEx``) - - An idle task (``IDLEx``) is created for (and pinned to) each CPU, where ``x`` is the CPU's number. + - An idle task (``IDLEx``) is created for (and pinned to) each CPU core, where ``x`` is the CPU core's number - :ref:`CONFIG_FREERTOS_IDLE_TASK_STACKSIZE` - - CPUx + - Core x - ``0`` * - FreeRTOS Timer Task (``Tmr Svc``) - - FreeRTOS will create the Timer Service/Daemon Task if any FreeRTOS Timer APIs are called by the application. + - FreeRTOS will create the Timer Service/Daemon Task if any FreeRTOS Timer APIs are called by the application - :ref:`CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH` - - CPU0 + - Core 0 - :ref:`CONFIG_FREERTOS_TIMER_TASK_PRIORITY` * - Main Task (``main``) - Task that simply calls ``app_main``. This task will self delete when ``app_main`` returns @@ -106,14 +110,14 @@ During startup, ESP-IDF and the FreeRTOS kernel automatically create multiple ta - :ref:`CONFIG_ESP_MAIN_TASK_AFFINITY` - ``1`` * - IPC Tasks (``ipcx``) - - When :ref:`CONFIG_FREERTOS_UNICORE` is false, an IPC task (``ipcx``) is created for (and pinned to) each CPU. IPC tasks are used to implement the Inter-processor Call (IPC) feature. + - When :ref:`CONFIG_FREERTOS_UNICORE` is false, an IPC task (``ipcx``) is created for (and pinned to) each CPU core. IPC tasks are used to implement the Inter-processor Call (IPC) feature. - :ref:`CONFIG_ESP_IPC_TASK_STACK_SIZE` - - CPUx + - Core x - ``24`` * - ESP Timer Task (``esp_timer``) - - ESP-IDF creates the ESP Timer Task used to process ESP Timer callbacks. + - ESP-IDF creates the ESP Timer Task used to process ESP Timer callbacks - :ref:`CONFIG_ESP_TIMER_TASK_STACK_SIZE` - - CPU0 + - Core 0 - ``22`` .. note:: @@ -129,10 +133,10 @@ ESP-IDF provides some supplemental features to FreeRTOS such as Ring Buffers, ES FreeRTOS Heap ------------- -Vanilla FreeRTOS provides its own `selection of heap implementations `_. However, ESP-IDF already implements its own heap (see :doc:`/api-reference/system/mem_alloc`), thus ESP-IDF does not make use of the heap implementations provided by Vanilla FreeRTOS. All FreeRTOS ports in ESP-IDF map FreeRTOS memory allocation/free calls (e.g., ``pvPortMalloc()`` and ``pvPortFree()``) to ESP-IDF heap API (i.e., :cpp:func:`heap_caps_malloc` and :cpp:func:`heap_caps_free`). However, the FreeRTOS ports ensure that all dynamic memory allocated by FreeRTOS is placed in internal memory. +Vanilla FreeRTOS provides its own `selection of heap implementations `_. However, ESP-IDF already implements its own heap (see :doc:`/api-reference/system/mem_alloc`), thus ESP-IDF does not make use of the heap implementations provided by Vanilla FreeRTOS. All FreeRTOS ports in ESP-IDF map FreeRTOS memory allocation or free calls (e.g., ``pvPortMalloc()`` and ``pvPortFree()``) to ESP-IDF heap API (i.e., :cpp:func:`heap_caps_malloc` and :cpp:func:`heap_caps_free`). However, the FreeRTOS ports ensure that all dynamic memory allocated by FreeRTOS is placed in internal memory. .. note:: If users wish to place FreeRTOS tasks/objects in external memory, users can use the following methods: - - Allocate the task/object using one of the ``...CreateWithCaps()`` API such as :cpp:func:`xTaskCreateWithCaps` and :cpp:func:`xQueueCreateWithCaps` (see :ref:`freertos-idf-additional-api` for more details). + - Allocate the task or object using one of the ``...CreateWithCaps()`` API, such as :cpp:func:`xTaskCreateWithCaps` and :cpp:func:`xQueueCreateWithCaps` (see :ref:`freertos-idf-additional-api` for more details). - Manually allocate external memory for those objects using :cpp:func:`heap_caps_malloc`, then create the objects from the allocated memory using on of the ``...CreateStatic()`` FreeRTOS functions. diff --git a/docs/zh_CN/api-reference/system/freertos.rst b/docs/zh_CN/api-reference/system/freertos.rst index 67f97f5056..d32ac2ef97 100644 --- a/docs/zh_CN/api-reference/system/freertos.rst +++ b/docs/zh_CN/api-reference/system/freertos.rst @@ -1 +1,142 @@ -.. include:: ../../../en/api-reference/system/freertos.rst \ No newline at end of file +FreeRTOS 概述 +=================== + +:link_to_translation:`en:[English]` + +概述 +-------- + +FreeRTOS 是一个开源的 RTOS（实时操作系统）内核，它以组件的形式集成到 ESP-IDF 中。因此，所有的 ESP-IDF 应用程序及多种 ESP-IDF 组件都基于 FreeRTOS 编写。FreeRTOS 内核已移植到 ESP 芯片的所有 CPU 架构（即 Xtensa 和 RISC-V）中。 + +此外，ESP-IDF 还提供了不同的 FreeRTOS 实现，支持在多核 ESP 目标芯片上的 SMP（对称多处理）。本文档主要介绍了 FreeRTOS 组件、ESP-IDF 提供的 FreeRTOS 实现，并简要介绍了这些实现的共同之处。 + +实现 +--------------- + +`官方 FreeRTOS `__ （下文称为原生 FreeRTOS）是一个单核 RTOS。为了支持各种多核 ESP 目标芯片，ESP-IDF 支持下述不同的 FreeRTOS 实现。 + +ESP-IDF FreeRTOS +^^^^^^^^^^^^^^^^ + + ESP-IDF FreeRTOS 是基于原生 FreeRTOS v10.4.3 的 FreeRTOS 实现，其中包含支持 SMP 的大量更新。ESP-IDF FreeRTOS 最多支持两个核（即双核 SMP），但在设计上对这种场景进行了优化。关于 ESP-IDF FreeRTOS 及具体更新内容，请参考 :doc:`freertos_idf` 文档。 + + .. note:: + + ESP-IDF FreeRTOS 是目前 ESP-IDF 默认的 FreeRTOS 实现。 + +.. only:: not esp32p4 + + .. _amazon_smp_freertos: + + Amazon SMP FreeRTOS + ^^^^^^^^^^^^^^^^^^^ + + Amazon SMP FreeRTOS 是由 Amazon 官方支持的 FreeRTOS SMP 实现。Amazon SMP FreeRTOS 能够支持 N 核，即双核以上。通过 :ref:`CONFIG_FREERTOS_SMP` 选项能够启用 Amazon SMP FreeRTOS。关于 Amazon SMP FreeRTOS 的更多细节，请参考 `官方 Amazon SMP FreeRTOS 文档 `__。 + + .. warning:: + + Amazon SMP FreeRTOS 实现（及其在 ESP-IDF 中的移植）目前处于试验/测试状态，因此，可能会发生重大的行为变化及 API 变更。 + +配置 +------------- + +内核配置 +^^^^^^^^^^^^^^^^^^^^ + +原生 FreeRTOS 要求移植工具和应用程序通过在 ``FreeRTOSConfig.h`` 头文件中添加各种 ``#define config...`` 宏定义来配置内核。原生 FreeRTOS 支持一系列内核配置选项，允许启用或禁用各种内核行为和功能。 + +**然而，对于 ESP-IDF 中的所有 FreeRTOS 移植，FreeRTOSConfig.h 头文件被视为私有文件，用户不得修改。** 由于该选项在 ESP-IDF 中是必选项或不被支持，``FreeRTOSConfig.h`` 中的大量内核配置选项均为硬编码。所有用户可配置的内核配置选项都在 ``Component Config/FreeRTOS/Kernel`` 下的 menuconfig 中。 + +关于用户可配置内核选项的完整列表，参见 :doc:`/api-reference/kconfig`。下列为常用的内核配置选项： + +- :ref:`CONFIG_FREERTOS_UNICORE`：仅在 CPU0 上运行 FreeRTOS。注意，这 **不等同于运行原生 FreeRTOS。** 另外，此选项还可能影响除 :component:`freertos` 外其他组件的行为。关于在单核上运行 FreeRTOS 的更多内容，请参考 :ref:`freertos-smp-single-core` （使用 ESP-IDF FreeRTOS 时）或参考 Amazon SMP FreeRTOS 的官方文档，还可以在 ESP-IDF 组件中搜索 ``CONFIG_FREERTOS_UNICORE``。 + +.. only:: CONFIG_FREERTOS_UNICORE + + .. note:: + 由于 {IDF_TARGET_NAME} 是一个单核 SoC，所以总是会启用 :ref:`CONFIG_FREERTOS_UNICORE` 配置。 + +- :ref:`CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY` 可以向后兼容某些 FreeRTOS 宏、类型或函数，这些宏、类型或函数已在 v8.0 及以上版本中弃用。 + +端口配置 +^^^^^^^^^^^^^^^^^^ + +其他不属于内核配置的 FreeRTOS 相关配置选项都在 ``Component Config/FreeRTOS/Port`` 下的 menuconfig 中。这些选项可以配置以下内容： + +- FreeRTOS 端口本身（如 tick 定时器选择，ISR 堆栈大小） +- 其他添加到 FreeRTOS 实现或端口的功能 + +使用 FreeRTOS +---------------- + +应用程序入口点 +^^^^^^^^^^^^^^^^^^^^^^^ + +与原生 FreeRTOS 不同，在 ESP-IDF 中使用 FreeRTOS 的用户 **永远不应调用** :cpp:func:`vTaskStartScheduler` 和 :cpp:func:`vTaskEndScheduler`。相反，ESP-IDF 会自动启动 FreeRTOS。用户必须定义一个 ``void app_main(void)`` 函数作为用户应用程序的入口点，并在 ESP-IDF 启动时被自动调用。 + +- 通常，用户会从 ``app_main`` 中启动应用程序的其他任务。 +- ``app_main`` 函数可以在任何时候返回（应用终止前）。 +- ``app_main`` 函数由 ``main`` 任务调用。 + +.. _freertos_system_tasks: + +后台任务 +^^^^^^^^^^^^^^^^ + +在启动过程中，ESP-IDF 和 FreeRTOS 内核会自动创建多个在后台运行的任务，如下表所示。 + +.. list-table:: 启动过程创建任务列表 + :widths: 10 75 5 5 5 + :header-rows: 1 + + * - 任务名称 + - 描述 + - 堆栈大小 + - 亲和性 + - 优先级 + * - 空闲任务 (``IDLEx``) + - 为每个 CPU 核创建并固定一个空闲任务 (``IDLEx``)，其中 ``x`` 是 CPU 核的编号 + - :ref:`CONFIG_FREERTOS_IDLE_TASK_STACKSIZE` + - Core x + - ``0`` + * - FreeRTOS 定时器任务 (``Tmr Svc``) + - 如果应用程序调用了任何 FreeRTOS 定时器 API，FreeRTOS 会创建定时器服务或守护任务 + - :ref:`CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH` + - Core 0 + - :ref:`CONFIG_FREERTOS_TIMER_TASK_PRIORITY` + * - 主任务 (``main``) + - 简单调用 ``app_main`` 的任务在 ``app_main`` 返回时会自我删除 + - :ref:`CONFIG_ESP_MAIN_TASK_STACK_SIZE` + - :ref:`CONFIG_ESP_MAIN_TASK_AFFINITY` + - ``1`` + * - IPC 任务 (``ipcx``) + - 当 :ref:`CONFIG_FREERTOS_UNICORE` 为假时，为每个 CPU 核创建并固定一个 IPC 任务 (``ipcx``)。IPC 任务用于实现处理器间调用 (IPC) 功能 + - :ref:`CONFIG_ESP_IPC_TASK_STACK_SIZE` + - Core x + - ``24`` + * - ESP 定时器任务 (``esp_timer``) + - ESP-IDF 创建 ESP 定时器任务用于处理 ESP 定时器回调 + - :ref:`CONFIG_ESP_TIMER_TASK_STACK_SIZE` + - Core 0 + - ``22`` + +.. note:: + 注意，如果应用程序使用了其他 ESP-IDF 功能（如 Wi-Fi 或蓝牙），那么这些功能可能会在上表的任务之外创建自己的后台任务。 + +FreeRTOS 附加功能 +------------------ + +ESP-IDF 还为 FreeRTOS 提供了一些补充功能，如环形缓冲区、ESP-IDF 风格的 Tick 和 Idle 钩子、以及 TLSP 删除回调。要了解更多信息，请参见 :doc:`freertos_additions`。 + +.. _freertos-heap: + +FreeRTOS 堆 +------------- + +原生 FreeRTOS 自带 `堆实现选择 `_，然而 ESP-IDF 已经实现了自己的堆（参见 :doc:`/api-reference/system/mem_alloc`），因此不使用原生 FreeRTOS 的堆实现。ESP-IDF 中的所有 FreeRTOS 端口都将 FreeRTOS 内存分配或释放调用（例如 ``pvPortMalloc()`` 和 ``pvPortFree()``）映射到 ESP-IDF 堆 API（即 :cpp:func:`heap_caps_malloc` 和 :cpp:func:`heap_caps_free`）。然而 FreeRTOS 端口可以确保 FreeRTOS 分配的所有动态内存都放在内部内存中。 + +.. note:: + 如果希望将 FreeRTOS 任务或对象放在外部内存中，可以使用以下方法： + + - 使用一个 ``...CreateWithCaps()`` API，如 :cpp:func:`xTaskCreateWithCaps` 和 :cpp:func:`xQueueCreateWithCaps` 来分配任务或对象（参见 :ref:`freertos-idf-additional-api` 获取更多详细信息）。 + - 使用 :cpp:func:`heap_caps_malloc` 为这些对象手动分配外部内存，然后使用 FreeRTOS 的一个 ``...CreateStatic()`` 函数从分配的内存中创建对象。