Easy to use STM32Cube HAL class library with FreeRTOS.
Murasaki is a C++ class library for the STM32Cube HAL. By using Murasaki, a programmer can use STM32Cube HAL with FreeRTOS as a multi-task aware style. A set of classes provides the abstraction of the following peripherals.
- UART(Serial)
- SPI master
- SPI slave
- I2C master
- I2C slave
Note that above peripheral abstraction provides the thread-safe, interrupt/DMA based, and blocking IO.
The thread safe is important under the RTOS environment. Because of the multi-tasking, multiple controller algorithms may access one peripheral at once. If a task switch happens at the middle of the communication over certain peripheral and next task accesses that peripheral, the program may be broken. To prevent this problem, Murasaki guards the important portion of the control program by a critical section. Thus, the programmer doesn't need to care the exclusive access to the peripheral.
The Murasaki peripheral classes uses DMA/Interrupt transfer. The interrupt/DMA access is also important to utilize the CPU under an RTOS environment. While STM32Cube HAL provides a polling version of API, these API has a waiting loop inside. As a result, such the polling API will occupy the CPU while it waits for an event. The interrupt/DMA based peripheral access doesn't have such the waitingloop, thus RTOS can utilize CPU for other tasks, while peripheral doens't need CPU's help.
The blocking IO guarantees the end of a communication when the program returns from one IO function. Then, once returned from the function, for example, received data is ready to use in an RX buffer.
In addition to the above peripheral, a set of classes serve the following functionalities :
- Task
- Synchronizer ( Wait-Signal )
- Critical Section
- Message output
You can find a set of sample in the murasaki_samples project.
With the Murasaki library, the STM32Cube HAL IO becomes easy to write.
The text output to a serial console is very easy. Programmer can use a printf() style member function. Then, a programmer can output text with a well-formatted style. This Printf() is Non-blocking and Asynchronous function while the other Murasaki IO are Blocking and Synchronous IO. That mean, program doesn't need to wait for the end of transmission through the IO port. This behavior allows a programmer can use Printf() with the minimum impact the real-time execution. In addition to these characteristics, a programmer can use Printf() in both tasks and interrupt context.
murasaki::debugger->Printf("Hello, World!");
murasaki::debugger->Printf("Coounter value is : %d\n", counter);As like Printf(), almost functions are implemented as a member function of some classes.
You can see a sample of the UART transmission in Murasaki. This is also easy to program. As opposed to the Printf(), the Transmit() member function of the Uart class is Blocking and Synchronous function. Then, Transmit() returns when the transmission is complete.
uint8_t data[5] = { 1, 2, 3, 4, 5 };
murasaki::UartStatus stat;
stat = murasaki::platform.uart->Transmit(
data, // pointer to data
5); // number of data to transmit
If the transmission takes a long time, the task may be switched to the other task to utilize CPU time.
The transmission through the I2C master peripheral is very similar to the transmission through the UART peripheral. One difference is, the I2C master transmission needs a slave device address.
uint8_t data[5] = { 1, 2, 3, 4, 5 };
murasaki::I2cStatus stat;
stat = murasaki::platform.i2cMaster->Transmit(
127, // I2C slave device address in 7bit
data, // pointer to data
5); // number of data to transmitTask is also encapsulated by class.
// For demonstration of FreeRTOS task.
murasaki::platform.task1 = new murasaki::Task(
"Master", // Name of task.
256, // Task stack size
3, // Task priority
nullptr, // parameter to task
&TaskBodyFunction // Pointer to the task body function
);
// Start a task
murasaki::platform.task1->Start();
The STM32 series HAL is designed to cover wide functions as far as possible.
As a result, it can run in either :
- Polling
- Interrupt
- DMA
transfer styles. And its design is free from the specific RTOS. This design added the HAL huge number of functions and requires a programmer to build complex sequence to transmit short data.
The Murasaki library is designed to support only an RTOS environment. This limited use case makes function set smaller. And allows class library encapsulate the complex sequence of using non-blocking asynchronous HAL APIs to utilize the CPU with the interrupt / DMA transfers. Then, Murasaki's function is easier to use compared to the naked HAL.
The STM32Cube HAL is designed to not only C++ but also C compiler. So, all functions are in the global namespace, and constants are macro. This too flat namespace prevent the IDE's completion helps programmer. In addition to this, the wrong macro values are easily passed to the wrong parameters.
Murasaki's design encapsulates the function to the dedicate class. This puts the function into the narrow namespace. Then, a programmer can use the help by input completion of IDE.
Each function parameter has a dedicated enumeration type. These design triggers compile error if the wrong type constant is passed. So, the compiler can help a programmer to write a correct program.
The Murasaki library is developed with the following environment :
- Ubuntu 16.04 LTS
- STM32CubeMX 5.0
- SW for STM32 1.6.0
The tested target is following :
- Nucleo F746ZG(Cortex-M7)
- Nucleo F722ZE(Cortex-M7)
- Nucleo L152RE(Cortex-M3)
- Nucleo F091RC(Cortex-M0)
- Nucleo F303K8(Cortex-M4)
Pins, clocks, peripherals, and FreeRTOS have to be configured by CubeMX.
The required memory resoucese for the Nucleo F722 demo application (2 tasks, 1 LED, 1 UART , 1 I2C and 1 EXTI) is following:
| Section | Memory | Size |
|---|---|---|
| .text | Flash | 48kB |
| .data & .bss | RAM | 16kB |
The Murasaki library can be obtained from Github project page
The Murasaki library is an add-on to the STM32 application skeleton generated by CubeMX.
The detail of the install procedure is described in the doc/refman.pdf
The Murasaki library is distributed under MIT License