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#!/bin/bash
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# FreeRTOS环境设置脚本
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# 用于设置CodeDetect项目中的FreeRTOS验证环境
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set -e
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# 颜色定义
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RED='\033[0;31m'
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GREEN='\033[0;32m'
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YELLOW='\033[1;33m'
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BLUE='\033[0;34m'
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NC='\033[0m' # No Color
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# 配置变量
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FREERTOS_VERSION="10.4.6"
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FREERTOS_SOURCE_URL="https://github.com/FreeRTOS/FreeRTOS-Kernel/archive/refs/tags/V${FREERTOS_VERSION}.tar.gz"
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INSTALL_DIR="/opt/freertos"
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CODEDETECT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
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FREERTOS_CONFIG_DIR="${CODEDETECT_DIR}/config/freertos"
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# 日志函数
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log_info() {
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echo -e "${BLUE}[INFO]${NC} $1"
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}
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log_success() {
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echo -e "${GREEN}[SUCCESS]${NC} $1"
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}
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log_warning() {
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echo -e "${YELLOW}[WARNING]${NC} $1"
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}
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log_error() {
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echo -e "${RED}[ERROR]${NC} $1"
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}
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# 检查依赖
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check_dependencies() {
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log_info "检查系统依赖..."
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local deps=("wget" "tar" "gcc" "make" "cmake" "python3" "pip3")
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local missing_deps=()
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for dep in "${deps[@]}"; do
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if ! command -v "$dep" &> /dev/null; then
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missing_deps+=("$dep")
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fi
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done
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if [ ${#missing_deps[@]} -gt 0 ]; then
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log_error "缺少以下依赖: ${missing_deps[*]}"
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log_info "请安装缺少的依赖:"
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echo " Ubuntu/Debian: sudo apt-get install ${missing_deps[*]}"
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echo " CentOS/RHEL: sudo yum install ${missing_deps[*]}"
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exit 1
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fi
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log_success "所有依赖已安装"
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}
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# 创建目录结构
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create_directory_structure() {
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log_info "创建目录结构..."
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# 创建主安装目录
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sudo mkdir -p "$INSTALL_DIR"
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sudo chown "$USER:$USER" "$INSTALL_DIR"
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# 创建FreeRTOS子目录
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mkdir -p "$INSTALL_DIR/src"
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mkdir -p "$INSTALL_DIR/include"
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mkdir -p "$INSTALL_DIR/config"
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mkdir -p "$INSTALL_DIR/examples"
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# 创建CodeDetect配置目录
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mkdir -p "$FREERTOS_CONFIG_DIR"
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log_success "目录结构创建完成"
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}
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# 下载FreeRTOS源码
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download_freertos() {
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log_info "下载FreeRTOS源码 (版本: $FREERTOS_VERSION)..."
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cd "$INSTALL_DIR/src"
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if [ ! -f "FreeRTOS-Kernel-${FREERTOS_VERSION}.tar.gz" ]; then
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wget "$FREERTOS_SOURCE_URL" -O "FreeRTOS-Kernel-${FREERTOS_VERSION}.tar.gz"
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fi
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# 解压源码
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if [ ! -d "FreeRTOS-Kernel-${FREERTOS_VERSION}" ]; then
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tar -xzf "FreeRTOS-Kernel-${FREERTOS_VERSION}.tar.gz"
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fi
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# 创建符号链接
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ln -sf "FreeRTOS-Kernel-${FREERTOS_VERSION}" "freertos-kernel"
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log_success "FreeRTOS源码下载完成"
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}
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# 安装FreeRTOS头文件
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install_headers() {
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log_info "安装FreeRTOS头文件..."
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local kernel_dir="$INSTALL_DIR/src/freertos-kernel"
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# 复制核心头文件
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cp -r "$kernel_dir/include" "$INSTALL_DIR/"
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# 复制便携层头文件（选择x86_64作为示例）
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cp -r "$kernel_dir/portable/GCC/Linux" "$INSTALL_DIR/portable/"
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# 创建include目录的符号链接
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ln -sf "$INSTALL_DIR/include" "$INSTALL_DIR/freertos"
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log_success "FreeRTOS头文件安装完成"
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}
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# 创建配置文件
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create_config_files() {
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log_info "创建FreeRTOS配置文件..."
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# 创建基础FreeRTOSConfig.h
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cat > "$FREERTOS_CONFIG_DIR/FreeRTOSConfig.h" << 'EOF'
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#ifndef FREERTOS_CONFIG_H
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#define FREERTOS_CONFIG_H
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/* 包含标准头文件 */
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#include <stdint.h>
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#include <stdlib.h>
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/* 基础配置 */
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#define configUSE_PREEMPTION 1
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#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
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#define configUSE_TICKLESS_IDLE 0
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#define configCPU_CLOCK_HZ ( ( uint32_t ) 16000000 )
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#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
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#define configMAX_PRIORITIES ( 5 )
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#define configMINIMAL_STACK_SIZE ( ( uint16_t ) 128 )
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#define configMAX_TASK_NAME_LEN ( 16 )
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#define configUSE_16_BIT_TICKS 0
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#define configIDLE_SHOULD_YIELD 1
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#define configUSE_TASK_NOTIFICATIONS 1
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#define configUSE_MUTEXES 1
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#define configUSE_RECURSIVE_MUTEXES 1
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#define configUSE_COUNTING_SEMAPHORES 1
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#define configQUEUE_REGISTRY_SIZE 10
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#define configUSE_QUEUE_SETS 0
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#define configUSE_TIME_SLICING 1
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#define configUSE_NEWLIB_REENTRANT 0
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#define configENABLE_BACKWARD_COMPATIBILITY 0
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#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
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/* 内存分配相关 */
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#define configSUPPORT_STATIC_ALLOCATION 1
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#define configSUPPORT_DYNAMIC_ALLOCATION 1
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#define configTOTAL_HEAP_SIZE ( ( size_t ) 40960 )
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#define configAPPLICATION_ALLOCATED_HEAP 0
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/* 钩子函数相关 */
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#define configUSE_IDLE_HOOK 0
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#define configUSE_TICK_HOOK 0
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#define configCHECK_FOR_STACK_OVERFLOW 2
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#define configUSE_MALLOC_FAILED_HOOK 1
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#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
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/* 运行时统计相关 */
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#define configGENERATE_RUN_TIME_STATS 0
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#define configUSE_TRACE_FACILITY 0
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#define configUSE_STATS_FORMATTING_FUNCTIONS 0
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/* 协程相关 */
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#define configUSE_CO_ROUTINES 0
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#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
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/* 软件定时器相关 */
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#define configUSE_TIMERS 1
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#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
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#define configTIMER_QUEUE_LENGTH 10
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#define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 2 )
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/* 中断配置 */
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#define configKERNEL_INTERRUPT_PRIORITY 0
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#define configMAX_SYSCALL_INTERRUPT_PRIORITY 0
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#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 0
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/* 定义和断言 */
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#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}
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/* 可选函数定义 */
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#define INCLUDE_vTaskPrioritySet 1
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#define INCLUDE_uxTaskPriorityGet 1
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#define INCLUDE_vTaskDelete 1
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#define INCLUDE_vTaskCleanUpResources 0
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#define INCLUDE_vTaskSuspend 1
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#define INCLUDE_vTaskDelayUntil 1
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#define INCLUDE_vTaskDelay 1
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#define INCLUDE_xTaskGetSchedulerState 1
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#define INCLUDE_xTimerPendFunctionCall 1
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#define INCLUDE_xQueueGetMutexHolder 1
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#define INCLUDE_uxTaskGetStackHighWaterMark 1
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#define INCLUDE_eTaskGetState 1
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#define INCLUDE_xTaskAbortDelay 1
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#define INCLUDE_xTaskGetHandle 1
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/* 映射函数到Linux环境 */
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#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
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#define portGET_RUN_TIME_COUNTER_VALUE() 0
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/* 针对CBMC验证的特定配置 */
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#ifdef CBMC_VERIFICATION
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#define configASSERT( x ) if ((x) == 0) { __CPROVER_assert(0, "FreeRTOS config assertion failed"); }
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#endif
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#endif /* FREERTOS_CONFIG_H */
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EOF
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# 创建测试专用配置
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cat > "$FREERTOS_CONFIG_DIR/FreeRTOSConfig_Test.h" << 'EOF'
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#ifndef FREERTOS_CONFIG_TEST_H
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#define FREERTOS_CONFIG_TEST_H
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#include "FreeRTOSConfig.h"
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/* 测试环境特定配置 */
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#define configTOTAL_HEAP_SIZE ( ( size_t ) 8192 )
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#define configMINIMAL_STACK_SIZE ( ( uint16_t ) 64 )
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#define configMAX_PRIORITIES ( 3 )
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#define configTICK_RATE_HZ ( ( TickType_t ) 100 )
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/* CBMC验证优化 */
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#ifdef CBMC_VERIFICATION
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#define configMAX_TASK_NAME_LEN ( 8 )
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#define configQUEUE_REGISTRY_SIZE 3
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#define configTIMER_QUEUE_LENGTH 3
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#endif
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#endif /* FREERTOS_CONFIG_TEST_H */
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EOF
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# 创建CodeDetect集成配置
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cat > "$FREERTOS_CONFIG_DIR/codedetect_freertos.yaml" << EOF
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# FreeRTOS配置文件 - CodeDetect集成
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freertos:
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version: "$FREERTOS_VERSION"
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install_path: "$INSTALL_DIR"
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include_paths:
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- "$INSTALL_DIR/include"
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- "$INSTALL_DIR/portable/GCC/Linux"
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config_files:
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- "$FREERTOS_CONFIG_DIR/FreeRTOSConfig.h"
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- "$FREERTOS_CONFIG_DIR/FreeRTOSConfig_Test.h"
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# 验证参数
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verification:
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max_tasks: 10
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max_queues: 5
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max_semaphores: 5
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max_timers: 3
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heap_size: 8192
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stack_size: 1024
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# CBMC配置
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cbmc:
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include_paths:
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- "$INSTALL_DIR/include"
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- "$INSTALL_DIR/portable/GCC/Linux"
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defines:
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- "CBMC_VERIFICATION"
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unwind_set:
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task: 5
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queue: 3
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timer: 2
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options:
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- "--bounds-check"
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- "--pointer-check"
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- "--memory-leak-check"
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- "--div-by-zero-check"
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- "--float-div-by-zero-check"
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# 编译配置
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compilation:
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c_flags: "-std=c99 -Wall -Wextra -I$INSTALL_DIR/include"
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ld_flags: "-lpthread -lrt"
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# 示例配置
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examples:
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task_verification:
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source: "examples/freertos/task_verification_example.c"
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config: "FreeRTOSConfig.h"
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queue_verification:
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source: "examples/freertos/queue_verification_example.c"
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config: "FreeRTOSConfig.h"
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EOF
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log_success "配置文件创建完成"
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}
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# 创建示例构建脚本
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create_build_scripts() {
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log_info "创建构建脚本..."
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# 创建主构建脚本
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cat > "$INSTALL_DIR/build_freertos.sh" << 'EOF'
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#!/bin/bash
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# FreeRTOS构建脚本
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set -e
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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FREERTOS_DIR="$SCRIPT_DIR/src/freertos-kernel"
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PORTABLE_DIR="$SCRIPT_DIR/portable/GCC/Linux"
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# 编译参数
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CC="gcc"
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CFLAGS="-std=c99 -Wall -Wextra -I$SCRIPT_DIR/include"
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LDFLAGS="-lpthread -lrt"
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# 创建构建目录
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BUILD_DIR="$SCRIPT_DIR/build"
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mkdir -p "$BUILD_DIR"
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# 编译FreeRTOS核心
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echo "编译FreeRTOS核心..."
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$CC $CFLAGS -c \
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"$FREERTOS_DIR/tasks.c" \
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"$FREERTOS_DIR/queue.c" \
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"$FREERTOS_DIR/timers.c" \
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"$FREERTOS_DIR/event_groups.c" \
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"$FREERTOS_DIR/list.c" \
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"$PORTABLE_DIR/port.c" \
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"$PORTABLE_DIR/../memory.c" \
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-o "$BUILD_DIR/freertos.o"
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# 创建静态库
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echo "创建静态库..."
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ar rcs "$BUILD_DIR/libfreertos.a" "$BUILD_DIR/freertos.o"
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echo "FreeRTOS构建完成: $BUILD_DIR/libfreertos.a"
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EOF
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# 创建测试构建脚本
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cat > "$INSTALL_DIR/test_example.sh" << 'EOF'
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#!/bin/bash
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# FreeRTOS示例测试脚本
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set -e
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SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
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BUILD_DIR="$SCRIPT_DIR/build"
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CODEDETECT_DIR="$(cd "$SCRIPT_DIR/../.." && pwd)"
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# 编译测试示例
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echo "编译FreeRTOS测试示例..."
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gcc -std=c99 -Wall -Wextra \
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-I"$SCRIPT_DIR/include" \
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-L"$BUILD_DIR" \
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"$CODEDETECT_DIR/examples/freertos/task_verification_example.c" \
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-lfreertos -lpthread -lrt \
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-o "$BUILD_DIR/task_test"
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gcc -std=c99 -Wall -Wextra \
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-I"$SCRIPT_DIR/include" \
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-L"$BUILD_DIR" \
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"$CODEDETECT_DIR/examples/freertos/queue_verification_example.c" \
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-lfreertos -lpthread -lrt \
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-o "$BUILD_DIR/queue_test"
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echo "示例编译完成:"
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echo " 任务测试: $BUILD_DIR/task_test"
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echo " 队列测试: $BUILD_DIR/queue_test"
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EOF
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# 使脚本可执行
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chmod +x "$INSTALL_DIR/build_freertos.sh"
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chmod +x "$INSTALL_DIR/test_example.sh"
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log_success "构建脚本创建完成"
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}
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# 创建验证测试
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create_verification_tests() {
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log_info "创建验证测试..."
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local test_dir="$INSTALL_DIR/tests"
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mkdir -p "$test_dir"
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# 创建基础验证测试
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cat > "$test_dir/test_freertos_basic.c" << 'EOF'
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#include "FreeRTOS.h"
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#include "task.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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void vTestTask(void *pvParameters) {
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int counter = 0;
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for (int i = 0; i < 10; i++) {
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counter++;
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vTaskDelay(pdMS_TO_TICKS(100));
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}
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printf("Test task completed: %d\n", counter);
|
|
|
vTaskDelete(NULL);
|
|
|
}
|
|
|
|
|
|
int main() {
|
|
|
printf("Starting FreeRTOS basic test...\n");
|
|
|
|
|
|
xTaskCreate(vTestTask, "Test", 128, NULL, 1, NULL);
|
|
|
vTaskStartScheduler();
|
|
|
|
|
|
return 0;
|
|
|
}
|
|
|
EOF
|
|
|
|
|
|
# 创建CBMC验证规范
|
|
|
cat > "$test_dir/cbmc_task_test.c" << 'EOF'
|
|
|
#include "FreeRTOS.h"
|
|
|
#include "task.h"
|
|
|
#include <assert.h>
|
|
|
|
|
|
void test_task_creation() {
|
|
|
TaskHandle_t xTaskHandle = NULL;
|
|
|
|
|
|
// 测试任务创建
|
|
|
BaseType_t xResult = xTaskCreate(
|
|
|
(TaskFunction_t)0, // 简化的任务函数
|
|
|
"TestTask",
|
|
|
configMINIMAL_STACK_SIZE,
|
|
|
NULL,
|
|
|
1,
|
|
|
&xTaskHandle
|
|
|
);
|
|
|
|
|
|
__CPROVER_assert(xResult == pdPASS, "Task creation should succeed");
|
|
|
__CPROVER_assert(xTaskHandle != NULL, "Task handle should not be NULL");
|
|
|
}
|
|
|
|
|
|
void test_task_parameters() {
|
|
|
// 测试任务参数边界
|
|
|
UBaseType_t uxPriority = configMAX_PRIORITIES - 1;
|
|
|
uint16_t usStackDepth = configMINIMAL_STACK_SIZE;
|
|
|
|
|
|
__CPROVER_assert(uxPriority < configMAX_PRIORITIES, "Priority should be valid");
|
|
|
__CPROVER_assert(usStackDepth >= configMINIMAL_STACK_SIZE, "Stack depth should be sufficient");
|
|
|
}
|
|
|
|
|
|
int main() {
|
|
|
test_task_creation();
|
|
|
test_task_parameters();
|
|
|
return 0;
|
|
|
}
|
|
|
EOF
|
|
|
|
|
|
log_success "验证测试创建完成"
|
|
|
}
|
|
|
|
|
|
# 设置环境变量
|
|
|
setup_environment() {
|
|
|
log_info "设置环境变量..."
|
|
|
|
|
|
local bashrc_file="$HOME/.bashrc"
|
|
|
local profile_file="$HOME/.profile"
|
|
|
|
|
|
# 检查是否已经设置
|
|
|
if ! grep -q "FREERTOS_HOME" "$bashrc_file" 2>/dev/null; then
|
|
|
cat >> "$bashrc_file" << EOF
|
|
|
|
|
|
# FreeRTOS环境变量
|
|
|
export FREERTOS_HOME="$INSTALL_DIR"
|
|
|
export FREERTOS_INCLUDE="$INSTALL_DIR/include"
|
|
|
export PATH="\$PATH:\$FREERTOS_HOME"
|
|
|
EOF
|
|
|
log_success "环境变量已添加到 ~/.bashrc"
|
|
|
else
|
|
|
log_warning "环境变量已存在"
|
|
|
fi
|
|
|
|
|
|
# 创建当前会话的环境变量
|
|
|
export FREERTOS_HOME="$INSTALL_DIR"
|
|
|
export FREERTOS_INCLUDE="$INSTALL_DIR/include"
|
|
|
export PATH="$PATH:$FREERTOS_HOME"
|
|
|
|
|
|
log_success "环境变量设置完成"
|
|
|
}
|
|
|
|
|
|
# 验证安装
|
|
|
verify_installation() {
|
|
|
log_info "验证FreeRTOS安装..."
|
|
|
|
|
|
# 检查目录结构
|
|
|
local required_dirs=(
|
|
|
"$INSTALL_DIR/include"
|
|
|
"$INSTALL_DIR/src/freertos-kernel"
|
|
|
"$INSTALL_DIR/portable"
|
|
|
"$FREERTOS_CONFIG_DIR"
|
|
|
)
|
|
|
|
|
|
for dir in "${required_dirs[@]}"; do
|
|
|
if [ ! -d "$dir" ]; then
|
|
|
log_error "目录不存在: $dir"
|
|
|
exit 1
|
|
|
fi
|
|
|
done
|
|
|
|
|
|
# 检查关键文件
|
|
|
local required_files=(
|
|
|
"$INSTALL_DIR/include/FreeRTOS.h"
|
|
|
"$INSTALL_DIR/include/task.h"
|
|
|
"$FREERTOS_CONFIG_DIR/FreeRTOSConfig.h"
|
|
|
"$INSTALL_DIR/build_freertos.sh"
|
|
|
)
|
|
|
|
|
|
for file in "${required_files[@]}"; do
|
|
|
if [ ! -f "$file" ]; then
|
|
|
log_error "文件不存在: $file"
|
|
|
exit 1
|
|
|
fi
|
|
|
done
|
|
|
|
|
|
# 测试编译
|
|
|
cd "$INSTALL_DIR"
|
|
|
if ! ./build_freertos.sh; then
|
|
|
log_error "FreeRTOS编译失败"
|
|
|
exit 1
|
|
|
fi
|
|
|
|
|
|
log_success "FreeRTOS安装验证完成"
|
|
|
}
|
|
|
|
|
|
# 显示使用说明
|
|
|
show_usage_info() {
|
|
|
echo ""
|
|
|
echo "======================================="
|
|
|
echo "FreeRTOS环境设置完成"
|
|
|
echo "======================================="
|
|
|
echo ""
|
|
|
echo "环境变量:"
|
|
|
echo " FREERTOS_HOME: $INSTALL_DIR"
|
|
|
echo " FREERTOS_INCLUDE: $INSTALL_DIR/include"
|
|
|
echo ""
|
|
|
echo "重要文件:"
|
|
|
echo " 配置文件: $FREERTOS_CONFIG_DIR/FreeRTOSConfig.h"
|
|
|
echo " 构建脚本: $INSTALL_DIR/build_freertos.sh"
|
|
|
echo " 测试脚本: $INSTALL_DIR/test_example.sh"
|
|
|
echo ""
|
|
|
echo "下一步操作:"
|
|
|
echo " 1. 重新启动终端或运行: source ~/.bashrc"
|
|
|
echo " 2. 编译FreeRTOS: cd $INSTALL_DIR && ./build_freertos.sh"
|
|
|
echo " 3. 运行测试示例: cd $INSTALL_DIR && ./test_example.sh"
|
|
|
echo " 4. 在CodeDetect中验证FreeRTOS代码"
|
|
|
echo ""
|
|
|
echo "CodeDetect集成:"
|
|
|
echo " 配置文件: $FREERTOS_CONFIG_DIR/codedetect_freertos.yaml"
|
|
|
echo " 示例代码: $CODEDETECT_DIR/examples/freertos/"
|
|
|
echo ""
|
|
|
}
|
|
|
|
|
|
# 主函数
|
|
|
main() {
|
|
|
echo "======================================="
|
|
|
echo "FreeRTOS环境设置脚本"
|
|
|
echo "======================================="
|
|
|
echo ""
|
|
|
|
|
|
# 检查是否已安装
|
|
|
if [ -f "$INSTALL_DIR/include/FreeRTOS.h" ]; then
|
|
|
log_warning "FreeRTOS已安装"
|
|
|
read -p "是否重新安装? (y/N): " -n 1 -r
|
|
|
echo
|
|
|
if [[ ! $REPLY =~ ^[Yy]$ ]]; then
|
|
|
log_info "安装已取消"
|
|
|
exit 0
|
|
|
fi
|
|
|
fi
|
|
|
|
|
|
# 执行安装步骤
|
|
|
check_dependencies
|
|
|
create_directory_structure
|
|
|
download_freertos
|
|
|
install_headers
|
|
|
create_config_files
|
|
|
create_build_scripts
|
|
|
create_verification_tests
|
|
|
setup_environment
|
|
|
verify_installation
|
|
|
show_usage_info
|
|
|
|
|
|
log_success "FreeRTOS环境设置完成"
|
|
|
}
|
|
|
|
|
|
# 脚本入口点
|
|
|
if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then
|
|
|
main "$@"
|
|
|
fi |
