目录
目的：以uc/OS-III为例，将其移植到stm32F103上，构建至少3个任务（task）:其中两个task分别以1s和3s周期对LED等进行点亮-熄灭的控制；另外一个task以2s周期通过串口发送“hello uc/OS! 欢迎来到RTOS多任务环境！”。记录详细的移植过程。
一、移植过程
1. uCOS|||下载
下载地址：?
Micrium 公司官网下载中心：Micrium Software and Documentation - Silicon Labs
或者网盘下载：?https://pan.baidu.com/s/1jCoc2sfiij78J0Q-C6ChmA? ? ? ? 提取码：1111
2.开始移植
2.1项目文件整理
- 把下载的源文件解压后，在新建两个空文件夹备用，文件名如下
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- ?在uC-BSP文件中新建两个文件，如下
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- ?将这个文件夹的东西复制到uC-CONFIG,如图
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2.2创建基础stm32框架
- 打开stm32cubemx，选择stm32f103c8芯片，设置gpio管脚PB0,PB1来观察两个task任务下的led闪烁,并且设置串口usart1，中断不用开启。同时要设置sys,rcc。这些设置可以参考我之前的博客（设置好后如图）
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- ?编译后用keil5打开工程
2.3导入文件和增加头函数路径
将上上一步准备的文件复制到生成的工程中
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2.4增加item
- 添加6个文件，分别命名如图
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- ?把刚刚创建的bsp.c和bsp.h文件添加到BSP目录中
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2.5加入文件编译路径
给刚刚创建的6个空目录导入文件
- CONGFIG中
- ?SOURCE中
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- ?PORT中
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- CPU中?
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- LIB中?
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- ?添加编译文件
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二、代码文件修改
2.1 修改startup文件
PendSV_Handler? ??改为? ? ? OS_CPU_PendSVHandler
SysTick_Handler? ???改为? ? ? OS_CPU_SysTickHandler
?AND
2.2 修改CONFIG/app_cfg.h
#define APP_CFG_SERIAL_EN ? ? ? ?DEF_ENABLED? 改为?
#define APP_CFG_SERIAL_EN ? ? ? ?DEF_DISABLED
#define APP_TRACE BSP_Ser_Printf 改为? #define APP_TRACE (void)
AND?
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2.3 修改CONFIG/includes.h
- #include<bsp.h>后加上头文件#include “gpio.h”和 #include “app_cfg.h”
- 将#include <stm32f10x_lib.h>?改为?#include “stm32f1xx_hal.h”?
2.4 修改BSP/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);
}
#endif2.5 bsp.h
// bsp.h
#ifndef __BSP_H__
#define __BSP_H__
#include "stm32f1xx_hal.h"
void BSP_Init(void);
#endif2.6 CONFIG/lib_cfg.h
lib_cfg.h里修改堆空间的宏定义，它原本是27K，但这块板子RAM一共才20k，修改为5k
2.7 usart.c
加入头文件
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- 末尾加入重定向printf函数
/* 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 */2.8?main.c
/* 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_pb0(void *p_arg);
static void send_msg(void *p_arg);
static void led_pb1(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_pb0",
(OS_TASK_PTR )led_pb0,
(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_pb1",
(OS_TASK_PTR )led_pb1,
(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_pb0 (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(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
OSTimeDlyHMSM(0, 0, 1, 0,OS_OPT_TIME_HMSM_STRICT,&err);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,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_pb1 (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(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
OSTimeDlyHMSM(0, 0, 3, 0,OS_OPT_TIME_HMSM_STRICT,&err);
HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,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****/2.9参数设置?
三、结果观察
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?分析：可以看到两只LED灯中一只隔一秒闪烁，一只隔三秒闪烁；串口输出也是想要的输出，达到目标
四、波形观察分析
由于缺乏硬件，我这就只用了keil的逻辑分析仪查看波形了
- 打开keil的调试功能
- ?打开逻辑分析仪并设置待观察的波形管脚
?
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- 运行程序，观察波形?
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?分析：可以看到第一个为串口的波形，每两秒一个低电平即每两秒发个信息；后面是LED的波形，一个是每三秒一次高电平，一个是每一秒一个高电平，即一个灯一秒亮一次，一个灯三秒亮一次
五、总结
这次实验是系统移植，锻炼的是耐心和细心，可以看到过程中有很多文件的添加和更改，稍一不慎就会弄错导致全局崩坏，而且工程量也大，容易疲乏。但是从难以程度上来讲不算难，原理也只是替换了一下文件库。总之学习之路，道阻且长，慢慢来。
参考
STM32F103C8T6移植uC/OS-III基于HAL库超完整详细过程_带火星的小木条的博客-CSDN博客