一、使用CubeMX建立STM32F103C8T6HAL库
1.打开CubeMX,创建一个新项目
配置RCC
![](https://img-blog.csdnimg.cn/8f3b3e15071c4a0e93f9340d58e108aa.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?配置SYS
![](https://img-blog.csdnimg.cn/7f5a8503c8d14303a34da4928f5756bf.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?设置PC13为GPIO_Output用于点亮LED灯
![](https://img-blog.csdnimg.cn/033ee921ee0f4eb6881387f0194a725c.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?设置串口USART1
![](https://img-blog.csdnimg.cn/e4a2704348a14c23996921ddf14685c0.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?点击Project Manager设置工程
![](https://img-blog.csdnimg.cn/fc81f7c07cec48c197c5dfdd49824b09.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?![](https://img-blog.csdnimg.cn/950facf326774048bdb3c5c41e926fa9.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?点击生成代码
![](https://img-blog.csdnimg.cn/c508c5384d3b40b08374302e79d99467.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_14,color_FFFFFF,t_70,g_se,x_16)
?找到你保存的路径中的该项目并用keil5打开
![](https://img-blog.csdnimg.cn/ec9384cae29b4825859fa2c6e921c7f1.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?找到main函数中的while循环语句在其中加入以下代码:
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
HAL_Delay(500);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
HAL_Delay(500);
}
/* USER CODE END 3 */
![](https://img-blog.csdnimg.cn/bada9caeecf2455483e05c8a6d763f68.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?编译保存,没有报错
将代码烧录到芯片中,,然后看到PC13LED灯闪烁,成功
![](https://img-blog.csdnimg.cn/768370ecf18541ee82a383bca1412ca7.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?![](https://img-blog.csdnimg.cn/2ef19cf344444f12b708fad8398743c6.gif)
二、准备uCOSIII源码
进入官网下载: Micrium Software and Documentation - Silicon Labs
或者链接:百度网盘 请输入提取码 提取码:1234
下载完成后打开如下?
![](https://img-blog.csdnimg.cn/ab67c05cade74e0dbe42e1ead6e98aa4.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
三、移植前准备
1.为uC-BSP文件夹新建bsp.c和bsp.h文件
![](https://img-blog.csdnimg.cn/38481073235949eea7d879a8dc17514f.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?2.给文件夹uC-CONFIG添加以下文件(从以下路径复制过来)
![](https://img-blog.csdnimg.cn/0259556de1294c50b13f105c1e2d0c58.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?![](https://img-blog.csdnimg.cn/6e600fc22c7d4e9f99617396c845bc63.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?3.将以下文件复制到HAL工程的MDK-ARM文件夹下
![](https://img-blog.csdnimg.cn/7d25e00f08744a08b4c955e9e475fbdb.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?![](https://img-blog.csdnimg.cn/a4234be7b0ef4b4fa9f2f65af6267569.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?四、开始移植
打开之前的那个keil文件
1.将uCOS文件添加到项目
点击Manage Project Items
![](https://img-blog.csdnimg.cn/4fcfef113a754381bf98cd89d28a2440.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?点击add files
?![](https://img-blog.csdnimg.cn/b0f59f594abe44108232ddc373d5c989.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?然后分别给新增的文件夹添加文件
cpu
![](https://img-blog.csdnimg.cn/05541d1017b04ea5ba48c0be688a9d17.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?![](https://img-blog.csdnimg.cn/714e9fd3917c4b9c8f39833e6360fc4a.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_19,color_FFFFFF,t_70,g_se,x_16)
?LIB
![](https://img-blog.csdnimg.cn/4825473bedd145db940c10f7cbe795d9.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_19,color_FFFFFF,t_70,g_se,x_16)
![](https://img-blog.csdnimg.cn/ffb4399d219d4f2fa788fde9451bab18.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_19,color_FFFFFF,t_70,g_se,x_16)
port
?![](https://img-blog.csdnimg.cn/93fbead40cc84f299f4f66ed27ceb818.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_19,color_FFFFFF,t_70,g_se,x_16)
?SOURCE
![](https://img-blog.csdnimg.cn/3af0dd18030e472780bd015c99a1a3bf.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_19,color_FFFFFF,t_70,g_se,x_16)
CONFIG
![](https://img-blog.csdnimg.cn/09ad80007665475392f732454b463de4.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_19,color_FFFFFF,t_70,g_se,x_16)
?BSP
![](https://img-blog.csdnimg.cn/3d676131d6ad4c84b75837e3707472f3.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_19,color_FFFFFF,t_70,g_se,x_16)
?然后点击ok
![](https://img-blog.csdnimg.cn/04069fa589034541922764f962e112d7.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?然后project会变成这种
![](https://img-blog.csdnimg.cn/f4b87a887bfb4201929acec90787f47c.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_9,color_FFFFFF,t_70,g_se,x_16)
?导入文件路径
![](https://img-blog.csdnimg.cn/7d2f5cb1ee0a4b8ab8073cab1559b577.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?![](https://img-blog.csdnimg.cn/99ba96d6dcfd4514ac8b1890bd6cadf7.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_19,color_FFFFFF,t_70,g_se,x_16)
?然后点击ok
2.为bsp.c和bsp.h添加代码
?![](https://img-blog.csdnimg.cn/2f213624d755474ca5fb8c30ddd3be0d.png)
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
?bsp.h
// bsp.h
#ifndef __BSP_H__
#define __BSP_H__
#include "stm32f1xx_hal.h"
void BSP_Init(void);
#endif
修改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
/* 任务堆栈大小 */
#define START_STK_SIZE 64
#define LED0_STK_SIZE 64
#define MSG_STK_SIZE 64//任务堆大小过大会报错,可以试着改小一点
/* 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];
/* 任务控制块 */
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 */
/* 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);
/* 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 * )&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, 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 */
/**
* 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****/
4.修改下图所示文件部分代码
![](https://img-blog.csdnimg.cn/56e382278f9c41988ea1980763389d26.png)
把PendSV_Handler和SysTick_Handler改为OS_CPU_PendSVHandler和OS_CPU_SysTickHandler
![](https://img-blog.csdnimg.cn/992b3f4459ac4f6cab40bff9f4ffc3e9.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_17,color_FFFFFF,t_70,g_se,x_16)
![](https://img-blog.csdnimg.cn/803f8098e3ea424a88790b71ec21d1da.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_18,color_FFFFFF,t_70,g_se,x_16)
?找到文件app_cfg.h
?![](https://img-blog.csdnimg.cn/5e8ad747f59e419796cc513810492971.png)
?![](https://img-blog.csdnimg.cn/211b655a30e746648f10bed1ed4ec0e0.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?将#define ?APP_CFG_SERIAL_EN?DEF_ENABLED改为#define ?APP_CFG_SERIAL_EN?DEF_ENABLED DISABLED
?![](https://img-blog.csdnimg.cn/7d5e346477694cb7b6bf8227c9f48509.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?将#define ?APP_TRACE?BSP_Ser_Printf改为#define ?APP_TRACE(void)?
找到文件includes.h
![](https://img-blog.csdnimg.cn/502b3330f6e048b886f7f09682889ab4.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_8,color_FFFFFF,t_70,g_se,x_16)
?找到第68行在#include <bsp.h>处添加
#include "gpio.h" #include "app_cfg.h"
![](https://img-blog.csdnimg.cn/d36ab137bdfa4a98b822e76238f52bb8.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_9,color_FFFFFF,t_70,g_se,x_16)
将第86行改为
![](https://img-blog.csdnimg.cn/6e9fc8dbb5d64ee290da313c6512f3e3.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_9,color_FFFFFF,t_70,g_se,x_16)
?找到lib_cfg.h
![](https://img-blog.csdnimg.cn/0d3e278adcaa4c16a950a6bf1f3c1d89.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_7,color_FFFFFF,t_70,g_se,x_16)
此处修改为5(该处宏定义设置堆空间的大小,STM32F103C8T6的RAM只有20K,所以要改小一点)
![](https://img-blog.csdnimg.cn/e6173227db604270bdc51fbc976ec70d.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?因为我们使用了printf函数,需要在usart.c文件中添加以下代码完成printf重定向
?![](https://img-blog.csdnimg.cn/d15ca52198bb4189afe03e6789607947.png)
/* 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 */
但是此时报错 需要在下处添加函数声明,以防止报错
![](https://img-blog.csdnimg.cn/131088dceb2b4d2da55190fcfbd786c0.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_16,color_FFFFFF,t_70,g_se,x_16)
?配置参数
![](https://img-blog.csdnimg.cn/a96e2286d32c4d1d94ce8ee2ac4fc76f.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?![](https://img-blog.csdnimg.cn/1dde2732bc7d4c289d5fd1dd23df3eea.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?编译
![](https://img-blog.csdnimg.cn/4086f68f1c874b0d92fa73926a1a1956.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_19,color_FFFFFF,t_70,g_se,x_16)
?然后把hex文件烧录进芯片
五、运行
可以看到PC13和RXD的指示灯在闪烁,说明在发送数据
![](https://img-blog.csdnimg.cn/6de20a32514043018c4a7c3b1a90385a.gif)
打开串口调试助手效果如下:
![](https://img-blog.csdnimg.cn/e69d7f64c87d4b248748e54a8aebbba9.gif)
?六、实现三个任务
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!”。
在gpio.c中修改代码
![](https://img-blog.csdnimg.cn/f908bce2e7cd4b8fb7e7ae0a2dc0e857.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBA5Y-I6I-c5Y-I54ix5re3,size_20,color_FFFFFF,t_70,g_se,x_16)
?把上图改为如下:
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
把改为
/* 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****/
运行结果:
![](https://img-blog.csdnimg.cn/3ce5c24d7b4741e5a2d249d2250b2eba.gif)
![](https://img-blog.csdnimg.cn/09cb5c959b854ff78c7d480b547f0873.gif)
?成功
总结
本次实验有点复杂,一步错步步错,一定要仔细
参考博客:
STM32F103C8T6移植uCOS基于HAL库_机智的橙子的博客-CSDN博客
?STM32F103C8移植uCOSIII(HAL库)_junseven164的博客-CSDN博客
error: #20: identifier "FILE" is undefined_jinchengzhou的专栏-CSDN博客
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