[嵌入式]STM32基于HAL库移植uCOS-III

STM32基于HAL库移植uC/OS-III

配置HAL库

将pc13设置为out

配置文件

创建OSIII文件，放入下载的文件

在scr文件下创建OS文件，并放入文件，同时创建3个空白文件bsp.c、bsp.h、app.h

调整工程

将Src/OS中的bsp.c 和 bsp.h文件添加至 bsp 组中，将 app.c 添加进 Application/User/Core 组中：

将OSIII/uC-CPU中的cpu_core.c、cpu_core.h、cpu_def.h添加进uCOSIII_CPU组中，同时将OSIII/uC-CPU/ARM-Cortex-M3/RealView中的三个文件添加到该组：

将OSIII/uC-LIB中的9个文件添加到uCOSIII-LIB组中，同时将OSIII/uC-LIB/Ports/ARM-Cortex-M3/Realview中的lib_mem_a.asm添加到该组中：

将OSIII/UcosIII/Ports/ARM-Cortex-M3/Generic/RealView中的3个文件添加的uCOSIII_Ports组中：

将OSIII/UcosIII/Source中的20个文件添加到uCOSIII_Source组中：

将Core/Src/OS中的以下图中的8个文件添加到OS_cfg组中：

添加路径

修改代码

位置

将启动文件下图中的PendSV_Handler和Systick_Handler改为OS_CPU_PendSVHandler和OS_CPU_SysTickHandler：

位置

#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)。

位置

在 #include <bsp.h> 后面添加：#include "gpio.h" #include "app_cfg.h"；
将 #include <stm32f10x_lib.h> 改为 #include "stm32f1xx_hal.h"。

位置

修改大小

位置

添加代码

在bsp.c 和 bsp.h 中添加代码

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

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 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 */

/************************ ? COPYRIGHT STMicroelectronics *END OF FILE/

修改文件 gpio.c

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 */
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);

}

代码编译，烧录进芯片

总结

本次运用了uC/OS-III 进行多任务，过程比较多，但是学习到了许多。