目录
一、学习内容
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。
二、uc/OS-III介绍
uC/OS-III(Micro C/OS-III)是由Micrium公司开发的第3代实时操作系统内核。它采用C语言编写,是一个可升级、可固化的、基于优先级的实时内核。它支持的任务数量不受限制,并且提供了现代实时内核所期望的大部分功能,如资源管理、同步、任务间通信等。
uc/OS-III的特点:
1)抢占式多任务管理:uC/OS-III支持多任务抢占,总是优先执行任务优先级高的任务。
2)时间片调度:当系统中存在多个相同任务优先级的任务时,uC/OS-III会以时间片的方式调度这些任务,确保公平性。
3)极短的中断禁用时间:通过锁定任务调度器代替禁用中断来保护关键区域,确保系统能够快速响应中断。
4)任务数量不限:理论上,uC/OS-III支持的任务数量不受限制,但实际上受限于处理器内存空间。
5)任务优先级数量不限:uC/OS-III支持的任务优先级数量也不受限制,但通常情况下,使用32~256个任务优先级就足够满足大多数应用场景。
6)内核对象数量不限:提供了多种内核对象,如任务、信号量、事件标志、消息队列、软件定时器和内存区等,用户可以根据需要无限制地创建这些对象。
7)时间戳功能:提供了时间戳功能,方便用户进行时间测量和性能分析。
uC/OS-III作为一款优秀的实时操作系统内核,凭借其可升级、可固化、基于优先级的设计以及丰富的功能和特点,在嵌入式系统开发中占据了重要地位。通过深入了解和应用uC/OS-III,开发者可以更好地满足系统需求,提高系统的性能和可靠性。
三、CubeMX工程创建与uc/OS-III移植
准备:安装STM32CubeMX来配置STM32微控制器
安装 keil
获取uc/OS-III的源代码
STM32CubMX配置:打开 STM32CubMX并选择STM32型号
配置时钟、GPIO以及其他硬件资源
生成初始化代码
uc/OS-III移植:创建一个新的目录用来存放 uc/OS-III的源代码和移植文件
在STM32CubMX生成的项目中添加 uc/OS-III的源代码和移植文件
实现uc/OS-III移植:在keil中对相关代码进行修改与编写
编译运行并下载到STM32开发板,观察LED灯的闪烁
3.1、工程创建
打开 stm32 cubMX ,选择芯片 stm32f103c8t6 ,配置系统时钟为72M,配置RCC
配置SYS
配置串口USART1
选择PC13和PA3为LED灯的输出端口,设置为GPIO_Output
命名并选择工程路径,创建工程,将生成的代码在keil中打开
3.2、uc/OS-III移植
3.2.1、移植前准备
提取 uc/OS-III 源码打开目录(新建 uCOS-BSP 和 uCOS-CONFIG 两个文件夹)
将以下文件添加到 ucOS-CONFIG 文件夹
在uCOS-BSP文件夹下新建bsp.c 和 bsp.h 两个文件
将相关文件复制到HAL工程的MDK-ARM文件夹下
3.2.2、开始移植(将uCOS相关文件添加到项目)
打开keil项目,点击魔法棒右边的三个小方块,将ucOS相关文件添加到项目(CPU、LIB、PORT、SOURCE、CONFIG、BSP)
给CPU文件夹添加文件
给LIB文件夹添加文件
给PORT文件夹添加文件
给SOURCE文件夹添加文件
给CONFIG文件夹添加文件
给BSP文件夹添加文件
所有文件添加完后,项目结构如下图所示
点击魔法棒,选择 C/C++,导入文件路径
3.2.3、修改编写代码
bsp.c
// 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
bsp.h
// bsp.h
#ifndef __BSP_H__
#define __BSP_H__
#include "stm32f1xx_hal.h"
void BSP_Init(void);
#endif
main.c
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "gpio.h"
#include "usart.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <includes.h>
#include "stm32f1xx_hal.h"
/* USER CODE END Includes */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* ????? */
#define START_TASK_PRIO 3
#define LED0_TASK_PRIO 4
#define MSG_TASK_PRIO 5
#define LED1_TASK_PRIO 6
/* ?????? */
#define START_STK_SIZE 96
#define LED0_STK_SIZE 64
#define MSG_STK_SIZE 64
#define LED1_STK_SIZE 64
/* ??? */
CPU_STK START_TASK_STK[START_STK_SIZE];
CPU_STK LED0_TASK_STK[LED0_STK_SIZE];
CPU_STK MSG_TASK_STK[MSG_STK_SIZE];
CPU_STK LED1_TASK_STK[LED1_STK_SIZE];
/* ????? */
OS_TCB StartTaskTCB;
OS_TCB Led0TaskTCB;
OS_TCB MsgTaskTCB;
OS_TCB Led1TaskTCB;
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* ?????? */
void start_task(void *p_arg);
static void AppTaskCreate(void);
static void AppObjCreate(void);
static void led_pc13(void *p_arg);
static void send_msg(void *p_arg);
static void led_pa3(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)
{
OS_ERR err;
OSInit(&err);
HAL_Init();
SystemClock_Config();
//MX_GPIO_Init(); ???BSP??????????
MX_USART1_UART_Init();
/* ???? */
OSTaskCreate((OS_TCB *)&StartTaskTCB, /* Create the start task */
(CPU_CHAR *)"start task",
(OS_TASK_PTR ) start_task,
(void *) 0,
(OS_PRIO ) START_TASK_PRIO,
(CPU_STK *)&START_TASK_STK[0],
(CPU_STK_SIZE) START_STK_SIZE/10,
(CPU_STK_SIZE) 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). */
}
void start_task(void *p_arg)
{
OS_ERR err;
CPU_SR_ALLOC();
p_arg = p_arg;
/* YangJie add 2021.05.20*/
BSP_Init(); /* Initialize BSP functions */
//CPU_Init();
//Mem_Init(); /* Initialize Memory Management Module */
#if OS_CFG_STAT_TASK_EN > 0u
OSStatTaskCPUUsageInit(&err); //????
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN //?????????????
CPU_IntDisMeasMaxCurReset();
#endif
#if OS_CFG_SCHED_ROUND_ROBIN_EN //???????????
//???????????,??????1???????,?1*5=5ms
OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
#endif
OS_CRITICAL_ENTER(); //?????
/* ??LED0?? */
OSTaskCreate((OS_TCB * )&Led0TaskTCB,
(CPU_CHAR * )"led_pc13",
(OS_TASK_PTR )led_pc13,
(void * )0,
(OS_PRIO )LED0_TASK_PRIO,
(CPU_STK * )&LED0_TASK_STK[0],
(CPU_STK_SIZE)LED0_STK_SIZE/10,
(CPU_STK_SIZE)LED0_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);
/* ??LED1?? */
OSTaskCreate((OS_TCB * )&Led1TaskTCB,
(CPU_CHAR * )"led_pa3",
(OS_TASK_PTR )led_pa3,
(void * )0,
(OS_PRIO )LED1_TASK_PRIO,
(CPU_STK * )&LED1_TASK_STK[0],
(CPU_STK_SIZE)LED1_STK_SIZE/10,
(CPU_STK_SIZE)LED1_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);
/* ??MSG?? */
OSTaskCreate((OS_TCB * )&MsgTaskTCB,
(CPU_CHAR * )"send_msg",
(OS_TASK_PTR )send_msg,
(void * )0,
(OS_PRIO )MSG_TASK_PRIO,
(CPU_STK * )&MSG_TASK_STK[0],
(CPU_STK_SIZE)MSG_STK_SIZE/10,
(CPU_STK_SIZE)MSG_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);
OS_TaskSuspend((OS_TCB*)&StartTaskTCB,&err); //??????
OS_CRITICAL_EXIT(); //?????
}
/**
* ????: ????????
* ????: p_arg ?????????????
* ? ? ?: ?
* ? ?:?
*/
static void led_pc13 (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_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_RESET);
OSTimeDlyHMSM(0, 0, 1, 0,OS_OPT_TIME_HMSM_STRICT,&err);
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_SET);
OSTimeDlyHMSM(0, 0, 1, 0,OS_OPT_TIME_HMSM_STRICT,&err);
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */
}
static void led_pa3 (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_WritePin(GPIOA,GPIO_PIN_3,GPIO_PIN_RESET);
OSTimeDlyHMSM(0, 0, 3, 0,OS_OPT_TIME_HMSM_STRICT,&err);
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_3,GPIO_PIN_SET);
OSTimeDlyHMSM(0, 0, 3, 0,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 uc/OS! ????RTOS?????! \r\n");
OSTimeDlyHMSM(0, 0, 2, 0,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****/
修改启动文件 startup_stm32f103xb.s
将PendSV_Handler
和 Systick_Handler
改为 OS_CPU_PendSVHandler
和 OS_CPU_SysTickHandler
。
修改 app_cfg.h
1)#define APP_CFG_SERIAL_EN DEF_ENABLED 改为 #define APP_CFG_SERIAL_EN DEF_DISABLED;
2)#define APP_TRACE BSP_Ser_Printf 改为 #define APP_TRACE (void)
修改 includes.h
1)在 #include <bsp.h>
后面添加:#include "gpio.h"
#include "app_cfg.h"
;
2)将 #include <stm32f10x_lib.h>
改为 #include "stm32f1xx_hal.h"
修改usart.c
在usart.c文件中添加以下代码
typedef struct __FILE FILE;
int fputc(int ch,FILE *f){
HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xffff);
return ch;
}
3.2.4、配置参数
勾选Use MicrolLIB,IRAM1(Size)设置为0x8000
设置Dialog DLL 和 Parameter
3.3、编译烧录
编译运行,0警告0错误
烧录完成
烧录结果
四、总结
本篇文章主要学习了 uC/OS-III 多任务系统,并在 STM32F103C8T6 基于 HAL 库进行了移植代码练习,其中的移植过程操作比较繁琐,仔细一点就好多了。文章多有不足,欢迎大家批评指正。
参考博客:
https://blog.csdn.net/m0_58892312/article/details/121618301
https://blog.csdn.net/apple_52030329/article/details/127719429?spm=1001.2014.3001.5501