第9周-嵌入式RTOS编程

最新推荐文章于 2023-10-14 21:11:50 发布

qq_54636205

最新推荐文章于 2023-10-14 21:11:50 发布

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文章标签：物联网

本文链接：https://blog.csdn.net/qq_54636205/article/details/128680340

版权

一创建项目

配置RCC

配置SYS

设置串口USART1

创建项目

二 uCOSIII源码

官网下载：http://micrium.com/downloadcenter/

三开始移植

1 点击Manage Project Items，为项目新建文件夹如下

目录结构发生变化

导入文件路径

2 为bsp.c和bsp.h添加代码

// bsp.h
#ifndef __BSP_H__
#define __BSP_H__

#include "stm32f1xx_hal.h"

void BSP_Init(void);

#endif

// 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

3 修改main.c代码

/* 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 */
/* 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！欢迎来到RTOS多任务环境！ \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 */