STM32F103C8T6移植uCOS

最新推荐文章于 2024-09-12 08:07:34 发布

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最新推荐文章于 2024-09-12 08:07:34 发布

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文章标签：嵌入式硬件

本文链接：https://blog.csdn.net/qq_52445967/article/details/121803138

版权

一、CubeMX创建STM32F103C8T6HAL库

1.配置RCC

2.配置SYS

3.设置串口USART1

4.设置A3和C13为GPIO_Output用于点亮LED灯

5、配置时钟树

6.项目创建

7、裸机代码测试
在main函数的循环中添加如下代码，其目的是使两个LED灯闪烁

HAL_GPIO_WritePin(GPIOA, GPIO_PIN_3, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13 ,GPIO_PIN_RESET);
HAL_Delay(500);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_3, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
HAL_Delay(500);

二.准备移植uCOSIII源码

下载好代码uCOSIII源码，新建文件夹UCOSIII

2.UCOSIII文件夹下新建两个文件夹，分别为uCOS-CONFIG、uCOS-BSP

uCOS-CONFIG中添加文件

向uCOS-BSP中添加文件

三、uCOSIII源码移植

Keil项目准备

1.UCOSIII所有文件复制到HAL工程的MDK-ARM文件夹下

2.打开项目

将UCOSIII的文件添加到项目

为项目新建文件夹如下

.分别给新增的文件夹添加文件

目录uC-CPU\ARM-Cortex-M3\RealView下

以及uC-LIB\Ports\ARM-Cortex-M3\RealView下的文件

3.3PORT–>Add Files…，选中uCOS-III\Ports\ARM-Cortex-M3\Generic\RealView下文件，Add

4点击SOURCE–>Add Files…，选中uCOS-III\Source下文件，Add

5点击CONFIG–>Add Files…，选中uCOS-CONFIG下文件，Add

添加完成后选择OK

添加完成后项目如下

导入文件路径：

为bsp.c和bsp.h添加代码

bsp.h

// bsp.h
#ifndef  __BSP_H__
#define  __BSP_H__

#include "stm32f1xx_hal.h"

void BSP_Init(void);

#endif

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

gpio.c中修改代码

void MX_GPIO_Init(void)
{

  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOC_CLK_ENABLE();
  __HAL_RCC_GPIOD_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
	HAL_GPIO_WritePin(GPIOA, GPIO_PIN_3, GPIO_PIN_RESET);


  /*Configure GPIO pin : PC13|PA3 */
  GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_3;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
	HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);

}

修改main.c文件代码

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* 任务优先级 */
#define START_TASK_PRIO		3
#define LED0_TASK_PRIO		4
#define MSG_TASK_PRIO		5
#define LED1_TASK_PRIO		6

/* 任务堆栈大小	*/
#define START_STK_SIZE 		96
#define LED0_STK_SIZE 		64
#define MSG_STK_SIZE 		64
#define LED1_STK_SIZE 		64

/* 任务栈 */	
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];

/* 任务控制块 */
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 */

/* 任务函数定义 */
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(); 这个在BSP的初始化里也会初始化
  MX_USART1_UART_Init();	
	/* 创建任务 */
	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);
	/* 启动多任务系统，控制权交给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);  		//统计任务                
#endif
	
#ifdef CPU_CFG_INT_DIS_MEAS_EN			//如果使能了测量中断关闭时间
    CPU_IntDisMeasMaxCurReset();	
#endif

#if	OS_CFG_SCHED_ROUND_ROBIN_EN  		//当使用时间片轮转的时候
	 //使能时间片轮转调度功能,时间片长度为1个系统时钟节拍，既1*5=5ms
	OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);  
#endif		
	
	OS_CRITICAL_ENTER();	//进入临界区
	/* 创建LED0任务 */
	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);		

/* 创建LED1任务 */
	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);										 
				 
	/* 创建MSG任务 */
	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);		//挂起开始任务			 
	OS_CRITICAL_EXIT();	//进入临界区
}
/**
  * 函数功能: 启动任务函数体。
  * 输入参数: p_arg 是在创建该任务时传递的形参
  * 返 回 值: 无
  * 说    明：无
  */
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 \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 */
/**
  * 函数功能: 创建应用任务
  * 输入参数: p_arg 是在创建该任务时传递的形参
  * 返 回 值: 无
  * 说    明：无
  */
static  void  AppTaskCreate (void)
{
  
}


/**
  * 函数功能: uCOSIII内核对象创建
  * 输入参数: 无
  * 返 回 值: 无
  * 说    明：无
  */
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****/

修改其余文件部分代码

找到文件app_cfg.h

/* USER CODE BEGIN 1 */
int fputc(int ch,FILE *f){
	HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xffff);
	return ch;
}
/* USER CODE END 1 */

参数配置

一、CubeMX创建STM32F103C8T6HAL库

五、总结

本次实验基于HAL库移植uCOS，过程比较繁琐，更多的是细心，需要修改函数等、代码编译不报错，但不能运行，有可能在配置过程中某些步骤出错。

六·、参考资料

STM32F103C8T6移植uCOS_一只特立独行的猪️的博客-CSDN博客

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