嵌入式RTOS编程
如下图所示使用cubemx建立hal库
在main.c中添加如下代码,若b13指示灯亮则代表工程设置正确。
准备ucosIII源码:
进入官网下载:http://micrium.com/downloadcenter/
下载后打开文件夹
其中uC-BSP和uC-CONFIG为自己创建的空文件夹
将以下文件添加到uC-CONFIG文件夹
将以下文件复制到刚刚创建的KEIL工程内
按如下按钮将uCOS文件添加到项目下
自行创建如下文件夹
将对应的文件添加到工程文件的目录下
导入文件路径
为bsp.c和bsp.h添加代码
为bsp.c添加如下代码
#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
为bsp.h添加如下代码
修改main.c代码为
/* 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 typedef -----------------------------------------------------------/
/ USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------/
/ USER CODE BEGIN PD /
/ ??? */
#define START_TASK_PRIO 3
#define LED0_TASK_PRIO 4
#define MSG_TASK_PRIO 5
/* ??? */
#define START_STK_SIZE 64
#define LED0_STK_SIZE 64
#define MSG_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];
/ ??? /
OS_TCB StartTaskTCB;
OS_TCB Led0TaskTCB;
OS_TCB MsgTaskTCB;
/ 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);
/ 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 * )&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, 0, 500,OS_OPT_TIME_HMSM_STRICT,&err);
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,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
参数配置
配置完成后,编译生成.hex文件烧录运行即可。