【STM32】uC/OS-III多任务程序

一、基于STM32CubeMX建立工程

1、配置RCC

2、配置SYS

3、配置PB0和PB1设置为GPIO_Output，用于和LED相连。

4、配置USART1

5、生成代码

二、获取uC/OS-III源码

官网下载地址：https://www.silabs.com/developers/micrium
网盘下载：https://pan.baidu.com/s/1pXIbNB2pX5gVCKOaRIDuuw
提取码：lzjl

三、复制uC/OS-III文件到工程文件夹

在生成的keil工程文件夹f103c8_uCOSIII_1_test中新建一个UCOSIII的文件夹，将我们下载的源代码中三个文件夹：Uc-CPU、 uC-LIB、 Ucos-III 复制到我们新建的文件夹中：

在Src文件夹下新建一个OS文件夹

将刚才下载源码打开，将路径：\EvalBoards\Micrium\uC-Eval-STM32F107\uCOS-III 下的文件：
app.c 、app_cfg.h、 cpu_cfg.h 、 includes.h 、lib_cfg.h、 os_app_hooks.c 、os_app_hook.h、os_cfg.h、os_cfg_app.h复制到上一步建立的OS文件夹中，同时新建三个空白文件： bsp.c、bsp.h、app.h

最后在OS文件夹中新建三个空白文件： bsp.c、bsp.h、app.h

四、添加工程组件和头文件路径

1、添加工程分组

打开工程，添加以下六个组

2、添加文件到分组

将·Src/OS中的bsp.c 和 bsp.h文件添加至bsp组中，将 app.c 添加进 Application/User/Core 组中：

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


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


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

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

将Core/Src/OS中的以下图中的8个文件添加到OS_cfg组中：

3、添加头文件路径

五、修改文件内容

1.启动文件

2. app_ cfg.h

• #define APP_CFG_SERIAL_EN DEF_ENABLED修改为#define APP_CFG_SERIAL_EN DEF_DISABLED
• #define APP_TRACE BSP_Ser_Printf修改为#define APP_TRACE (void)

3. includes.h

• 添加三个头文件：#include "gpio.h"、#include "app_cfg.h"、#include "app.h"
  
• #include <stm32f10x_lib.h>修改为#include "stm32f1xx_hal.h"

4. bsp.c和bsp.h

• 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

5. main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2024 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* 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 */
/* 任务优先级 */
#define APP_TASK_START_PRIO		2
#define MyTask_LED1_PRIO		3
#define MyTask_LED2_PRIO		3

/* 任务堆栈大小	*/
#define APP_TASK_START_STK_SIZE 128
#define MyTask_LED1_STK_SIZE 	512
#define MyTask_LED2_STK_SIZE	512

/* 任务控制块 */
static OS_TCB AppTaskStartTCB;
static OS_TCB MyTask_LED1TCB;
static OS_TCB MyTask_LED2TCB;

/* 任务栈 */	
static CPU_STK AppTaskStartStk[APP_TASK_START_STK_SIZE];
static CPU_STK TASK_LED1STK[MyTask_LED1_STK_SIZE];
static CPU_STK TASK_LED2STK[MyTask_LED2_STK_SIZE];

/* 声明用户任务 */	
static void AppTaskStart  (void *p_arg);
static void MyTask_LED1  (void *p_arg);
static void MyTask_LED2  (void *p_arg);

/* USER CODE END PD */

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

/* USER CODE END PM */

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

/* USER CODE BEGIN PV */
/* 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 */
static void AppTaskStart (void *p_arg)
{
	CPU_INT32U cpu_clk_freq;
	CPU_INT32U cnts;
	OS_ERR  err;
	(void)p_arg;
	BSP_Init();
	CPU_Init();
	cpu_clk_freq=BSP_CPU_ClkFreq();
	cnts=cpu_clk_freq/(CPU_INT32U)OSCfg_TickRate_Hz;
	OS_CPU_SysTickInit(cnts);
	Mem_Init();
	
	#if OS_CFG_STAT_TASK_EN>0u
		OSStatTaskCPUUsageInit(&err);
	#endif
	CPU_IntDisMeasMaxCurReset();
	OSTaskCreate((OS_TCB *)&MyTask_LED1TCB,                /* Create the start task                                */
				 (CPU_CHAR   *)"LED1",
				 (OS_TASK_PTR ) MyTask_LED1,
				 (void       *) 0,
				 (OS_PRIO     ) MyTask_LED1_PRIO,
				 (CPU_STK    *)&TASK_LED1STK[0],
				 (CPU_STK_SIZE) MyTask_LED1_STK_SIZE/10,
				 (CPU_STK_SIZE) MyTask_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);
				 
	OSTaskCreate((OS_TCB *)&MyTask_LED2TCB,                /* Create the start task                                */
				 (CPU_CHAR   *)"LED2",
				 (OS_TASK_PTR ) MyTask_LED2,
				 (void       *) 0,
				 (OS_PRIO     ) MyTask_LED2_PRIO,
				 (CPU_STK    *)&TASK_LED2STK[0],
				 (CPU_STK_SIZE) MyTask_LED2_STK_SIZE/10,
				 (CPU_STK_SIZE) MyTask_LED2_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);
				 
}


static void MyTask_LED1(void *p_arg)
{
	OS_ERR err;
	(void)p_arg;
	
	while(1)
	{
		OSTimeDlyHMSM(0,0,0,500,OS_OPT_TIME_HMSM_STRICT,&err);
		HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_8);
	}
}

static void MyTask_LED2(void *p_arg)
{
	OS_ERR err;
	(void)p_arg;
	
	while(1)
	{
		OSTimeDlyHMSM(0,0,1,500,OS_OPT_TIME_HMSM_STRICT,&err);
		HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_9);
	}
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */
           
  /* 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 */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */
	OS_ERR  err;
	OSInit(&err);
	/* 创建任务 */
	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  ) 5u,
				 (OS_TICK     ) 0u,
				 (void       *) 0,
				 (OS_OPT      )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
				 (OS_ERR     *)&err);
	/* 启动多任务系统，控制权交给uC/OS-III */
	OSStart(&err);
}



/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  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 buses 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 BEGIN 4 */
/* 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 */
  __disable_irq();
  while (1)
  {
  }
  /* 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,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

6. lib_ cfg.h

• 加入宏定义：#define LIB_MEM_CFG_HEAP_SIZE 10u * 1024u

7. app.c和app.h

• app.c只有一行：#include "includes.h"
• app.h

// app.h
#ifndef  __APP_H__
#define  __APP_H__

#include <includes.h>

#endif /* __APP_H__ */

六、运行结果

参考链接

https://blog.csdn.net/weixin_43116606/article/details/105532222
https://blog.csdn.net/YangMax1/article/details/121617909?spm=1001.2014.3001.5502