首先必须要谢谢正点原子的uCOS开发手册V3.0,介绍的很详细,大神就是大神
然后呢,这几天就在看的时候发现移植uCOSIII出现了开启FPU的时候就会HardFault,然后上网搜了一下,果然这个问题烂大街了已经,然后我也稍微研究了一下,发现出问题的是uCOS官方的文件不符合浮点寄存器的入栈和出栈顺序,然后呢,经过两个小时的寻找解决方案,最终还是在安富莱电子的uCOSIII教程1-11期中找到了解决方案,出现问题的点有两个: 一个是 CPU_STK *OSTaskStkInit(), 另一个是 PendSV中断。其余的地方按照原子哥的方法修改,然后融合到一起就没问题了。
以下解决方案是基于uCOSIII 3.04版本,其他版本自行测试
具体的移植方法是:
1,按照原子哥的方法移植到编译没有错误为止,然后试一下,添加一个打印浮点数的任务,Debug一下试试会不会死在
/**
* @brief This function handles Hard Fault exception.
* @param None
* @retval None
*/
void HardFault_Handler(void)
{
/* Go to infinite loop when Hard Fault exception occurs */
while (1)
{
}
}
其实根本不用试,这是必须的。
2,找到OSTaskStkInit(在OS_CPU_c.c)函数,改为以下代码
CPU_STK *OSTaskStkInit (OS_TASK_PTR p_task,
void *p_arg,
CPU_STK *p_stk_base,
CPU_STK *p_stk_limit,
CPU_STK_SIZE stk_size,
OS_OPT opt)
{
CPU_STK *p_stk;
(void)opt; /* Prevent compiler warning */
p_stk = &p_stk_base[stk_size]; /* Load stack pointer */
/* Align the stack to 8-bytes. */
p_stk = (CPU_STK *)((CPU_STK)(p_stk) & 0xFFFFFFF8);
/* Registers stacked as if auto-saved on exception */
*--p_stk = (CPU_STK)0x01000000u; /* xPSR */
*--p_stk = (CPU_STK)p_task; /* Entry Point */
*--p_stk = (CPU_STK)OS_TaskReturn; /* R14 (LR) */
*--p_stk = (CPU_STK)0x12121212u; /* R12 */
*--p_stk = (CPU_STK)0x03030303u; /* R3 */
*--p_stk = (CPU_STK)0x02020202u; /* R2 */
*--p_stk = (CPU_STK)p_stk_limit; /* R1 */
*--p_stk = (CPU_STK)p_arg; /* R0 : argument */
/* Remaining registers saved on process stack */
*--p_stk = (CPU_STK)0x11111111u; /* R11 */
*--p_stk = (CPU_STK)0x10101010u; /* R10 */
*--p_stk = (CPU_STK)0x09090909u; /* R9 */
*--p_stk = (CPU_STK)0x08080808u; /* R8 */
*--p_stk = (CPU_STK)0x07070707u; /* R7 */
*--p_stk = (CPU_STK)0x06060606u; /* R6 */
*--p_stk = (CPU_STK)0x05050505u; /* R5 */
*--p_stk = (CPU_STK)0x04040404u; /* R4 */
*--p_stk = (CPU_STK)0xFFFFFFFDUL;
return (p_stk);
}
3,找到PendSV_Handler(在os_cpu_a.asm),改为以下代码
PendSV_Handler
CPSID I ; Prevent interruption during context switch
MRS R0, PSP ; PSP is process stack pointer
CBZ R0, PendSVHandler_nosave ; Skip register save the first time
CBZ R0, PendSVHandler_nosave ; Skip register save the first time
TST LR, #0x10
IT EQ
VSTMDBEQ R0!, {S16-S31}
MOV R3, LR
STMDB R0!,{R3-R11}
LDR R1, =OSTCBCurPtr ; OSTCBCurPtr->OSTCBStkPtr = SP;
LDR R1, [R1]
STR R0, [R1] ; R0 is SP of process being switched out
; At this point, entire context of process has been saved
PendSVHandler_nosave
PUSH {R14} ; Save LR exc_return value
LDR R0, =OSTaskSwHook ; OSTaskSwHook();
BLX R0
POP {R14}
LDR R0, =OSPrioCur ; OSPrioCur = OSPrioHighRdy;
LDR R1, =OSPrioHighRdy
LDRB R2, [R1]
STRB R2, [R0]
LDR R0, =OSTCBCurPtr ; OSTCBCurPtr = OSTCBHighRdyPtr;
LDR R1, =OSTCBHighRdyPtr
LDR R2, [R1]
STR R2, [R0]
LDR R0, [R2] ; R0 is new process SP; SP = OSTCBHighRdyPtr->StkPtr;
LDMIA R0!,{R3-R11}
MOV LR, R3
TST LR, #0x10
IT EQ
VLDMIAEQ R0!, {S16-S31}
MSR PSP, R0 ; Load PSP with new process SP
CPSIE I
BX LR ; Exception return will restore remaining context
END
这个时候再编译下,排错,然后下载试下应该就可以了