STM32关于uc/OS-III的多任务程序

最新推荐文章于 2024-07-03 12:28:40 发布

肯德基疯狂星期四-V我50

最新推荐文章于 2024-07-03 12:28:40 发布

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文章标签： stm32 嵌入式硬件单片机

本文链接：https://blog.csdn.net/2201_75516394/article/details/139551898

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嵌入式实时操作系统是一个特殊的程序，是一个支持多任务的运行环境。嵌入式实时操作系统最大的特点就是“实时性”，如果有一个任务需要执行，实时操作系统会立即执行该任务，不会有较长的延时。

这次实验我们学习嵌入式实时操作系统（RTOS）,以uc/OS为例，将其移植到stm32F103上，构建至少3个任务（task）:

其中两个task分别以1s和3s周期对LED等进行点亮-熄灭的控制；

另外一个task以2s周期通过串口发送“hello uc/OS! 欢迎来到RTOS多任务环境！”。记录详细的移植过程。

一、UCOS-III源码获取

链接: 百度网盘请输入提取码

提取码: 6666

二、HAL库工程的建立

1.RCC配置

2.SYS配置

3.USART1配置

配置NVIC：

4.GPIO配置

配置PB0，PB1为输出管脚。

5.时钟配置

6.项目配置

三、KEil文件添加

1.文件复制

（1）首先我们在刚配置好的项目文件中添加对应的文件夹OS和UCOSIII

（2）在UCOSIII文件夹中添加uCOS-III源码包中的下列三个文件

（3）在文件路径为\uCOS-III源码包\UCOSIII 3.04\Micrium\Software\EvalBoards\ST\STM32F429II-SK\uCOS-III中的找到下图的文件添加到OS文件夹中。

并新增三个空文件app.h；bsp.c；bsp.h。

2.KEil工程添加

（1）打开工程，添加如图的六个组

（2）导入文件

在Application/User/Core添加app.c文件

将OS文件夹中的bsp.c和bsp.h添加到文件夹bsp中

将UCOSIII/uC-CPU中的cpu_core.c、cpu_core.h、cpu_def.h添加进CPU组中，同时将UCOSIII/uC-CPU/ARM-Cortex-M3/RealView中的三个文件添加到该

将UCOSIII/uC-LIB中的9个文件添加到LIB组中，同时将UCOSIII/uC-LIB/Ports/ARM-Cortex-M3/Realview中的lib_mem_a.asm添加到该组

将UCOSIII/UcosIII/Ports/ARM-Cortex-M3/Generic/RealView中的3个文件添加的Ports组中

将UCOSIII/UcosIII/Source中的20个文件添加到Source组中：

将OS文件夹中下图的8个文件添加到OS_cfg组中

3.添加文件路径

点击魔法棒，选择C/C++，添加如下7个文件夹的路径

四、代码修改

1.

将代码

                DCD     PendSV_Handler             ; PendSV Handler
                DCD     SysTick_Handler            ; SysTick Handler

改为：

                DCD     OS_CPU_PendSVHandler   ;       
                DCD     OS_CPU_SysTickHandler     ;

2.修改文件app_cfg.h中代码

（1）将

#define APP_CFG_SERIAL_EN  DEF_ENABLED

改为

#define APP_CFG_SERIAL_EN  DEF_DISABLED

（2）

将

#define APP_TRACE  BSP_Ser_Printf

改为

#define APP_TRACE  (void)

3.修改include.h的代码

（1）

将

#include <stm32f10x_lib.h>

改为

#include "stm32f1xx_hal.h"

（2）添加头文件

#include "gpio.h"
#include "app_cfg.h"
#include "app.h"

4.修改bsp.c和bsp.h的代码

将bsp.c代码全部改为：

// bsp.c
#include "includes.h"

#define  DWT_CR      *(CPU_REG32 *)0xE0001000
#define  DWT_CYCCNT  *(CPU_REG32 *)0xE0001004
#define  DEM_CR      *(CPU_REG32 *)0xE000EDFC
#define  DBGMCU_CR   *(CPU_REG32 *)0xE0042004

#define  DEM_CR_TRCENA                   (1 << 24)
#define  DWT_CR_CYCCNTENA                (1 <<  0)

CPU_INT32U  BSP_CPU_ClkFreq (void)
{
    return HAL_RCC_GetHCLKFreq();
}

void BSP_Tick_Init(void)
{
	CPU_INT32U cpu_clk_freq;
	CPU_INT32U cnts;
	cpu_clk_freq = BSP_CPU_ClkFreq();
	
	#if(OS_VERSION>=3000u)
		cnts = cpu_clk_freq/(CPU_INT32U)OSCfg_TickRate_Hz;
	#else
		cnts = cpu_clk_freq/(CPU_INT32U)OS_TICKS_PER_SEC;
	#endif
	OS_CPU_SysTickInit(cnts);
}



void BSP_Init(void)
{
	BSP_Tick_Init();
	MX_GPIO_Init();
}


#if (CPU_CFG_TS_TMR_EN == DEF_ENABLED)
void  CPU_TS_TmrInit (void)
{
    CPU_INT32U  cpu_clk_freq_hz;


    DEM_CR         |= (CPU_INT32U)DEM_CR_TRCENA;                /* Enable Cortex-M3's DWT CYCCNT reg.                   */
    DWT_CYCCNT      = (CPU_INT32U)0u;
    DWT_CR         |= (CPU_INT32U)DWT_CR_CYCCNTENA;

    cpu_clk_freq_hz = BSP_CPU_ClkFreq();
    CPU_TS_TmrFreqSet(cpu_clk_freq_hz);
}
#endif


#if (CPU_CFG_TS_TMR_EN == DEF_ENABLED)
CPU_TS_TMR  CPU_TS_TmrRd (void)
{
    return ((CPU_TS_TMR)DWT_CYCCNT);
}
#endif


#if (CPU_CFG_TS_32_EN == DEF_ENABLED)
CPU_INT64U  CPU_TS32_to_uSec (CPU_TS32  ts_cnts)
{
	CPU_INT64U  ts_us;
  CPU_INT64U  fclk_freq;

 
  fclk_freq = BSP_CPU_ClkFreq();
  ts_us     = ts_cnts / (fclk_freq / DEF_TIME_NBR_uS_PER_SEC);

  return (ts_us);
}
#endif
 
 
#if (CPU_CFG_TS_64_EN == DEF_ENABLED)
CPU_INT64U  CPU_TS64_to_uSec (CPU_TS64  ts_cnts)
{
	CPU_INT64U  ts_us;
	CPU_INT64U  fclk_freq;


  fclk_freq = BSP_CPU_ClkFreq();
  ts_us     = ts_cnts / (fclk_freq / DEF_TIME_NBR_uS_PER_SEC);
	
  return (ts_us);
}
#endif

将bsp.h代码全部改为：

// bsp.h
#ifndef  __BSP_H__
#define  __BSP_H__

#include "stm32f1xx_hal.h"

void BSP_Init(void);

#endif

5.修改文件lib_cfg.h中的代码

添加如下代码：

#define  LIB_MEM_CFG_HEAP_SIZE          10u * 1024u

6.修改文件app.c

添加如下代码：

#include "includes.h"

7.main.c代码编写

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <includes.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
//?????
static  OS_TCB   AppTaskStartTCB;

//????
static  CPU_STK  AppTaskStartStk[APP_TASK_START_STK_SIZE];

/* ?????? --------------------------------------------------------------*/
static  void  AppTaskCreate(void);
static  void  AppObjCreate(void);
static  void  AppTaskStart(void *p_arg);
static  void  send_msg (void *p_arg);
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /**Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /**Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */
	OS_ERR  err;
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
//  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
//  SystemClock_Config();

  /* USER CODE BEGIN SysInit */
	OSInit(&err);    
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
//  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
                                                                                 
	/* ???? */
	OSTaskCreate((OS_TCB     *)&AppTaskStartTCB,                /* Create the start task                                */
				 (CPU_CHAR   *)"App Task Start",
				 (OS_TASK_PTR ) AppTaskStart,
				 (void       *) 0,
				 (OS_PRIO     ) APP_TASK_START_PRIO,
				 (CPU_STK    *)&AppTaskStartStk[0],
				 (CPU_STK_SIZE) APP_TASK_START_STK_SIZE / 10,
				 (CPU_STK_SIZE) APP_TASK_START_STK_SIZE,
				 (OS_MSG_QTY  ) 0,
				 (OS_TICK     ) 0,
				 (void       *) 0,
				 (OS_OPT      )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
				 (OS_ERR     *)&err);
	/* ???????,?????uC/OS-III */
	OSStart(&err);            /* Start multitasking (i.e. give control to uC/OS-III). */
     
				 
}


/**
  * ????: ????????
  * ????: p_arg ?????????????
  * ? ? ?: ?
  * ?    ?:?
  */
static  void  AppTaskStart (void *p_arg)
{
  OS_ERR      err;

  (void)p_arg;

  BSP_Init();                                                 /* Initialize BSP functions                             */
  CPU_Init();

  Mem_Init();                                                 /* Initialize Memory Management Module                  */

#if OS_CFG_STAT_TASK_EN > 0u
  OSStatTaskCPUUsageInit(&err);                               /* Compute CPU capacity with no task running            */
#endif

  CPU_IntDisMeasMaxCurReset();

  AppTaskCreate();                                            /* Create Application Tasks                             */

  AppObjCreate();                                             /* Create Application Objects                           */


  while (DEF_TRUE)
  {

  	HAL_GPIO_TogglePin(LED0_GPIO_Port,LED0_Pin);
		HAL_GPIO_WritePin(LED1_GPIO_Port,LED1_Pin, GPIO_PIN_SET);
		OSTimeDlyHMSM(0, 0, 0, 500,
                  OS_OPT_TIME_HMSM_STRICT,
                  &err);

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

static  void  send_msg (void *p_arg)
{
  OS_ERR      err;

  (void)p_arg;

  BSP_Init();                                                 /* Initialize BSP functions                             */
  CPU_Init();

  Mem_Init();                                                 /* Initialize Memory Management Module                  */

#if OS_CFG_STAT_TASK_EN > 0u
  OSStatTaskCPUUsageInit(&err);                               /* Compute CPU capacity with no task running            */
#endif

  CPU_IntDisMeasMaxCurReset();

  AppTaskCreate();                                            /* Create Application Tasks                             */

  AppObjCreate();                                             /* Create Application Objects                           */


  while (DEF_TRUE)
  {

    printf("hello world \r\n");
		OSTimeDlyHMSM(0, 0, 0, 500,
                  OS_OPT_TIME_HMSM_STRICT,
                  &err);

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/* USER CODE BEGIN 4 */
/**
  * ????: ??????
  * ????: p_arg ?????????????
  * ? ? ?: ?
  * ?    ?:?
  */
static  void  AppTaskCreate (void)
{
  
}


/**
  * ????: uCOSIII??????
  * ????: ?
  * ? ? ?: ?
  * ?    ?:?
  */
static  void  AppObjCreate (void)
{
	
}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{ 
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/