STM32F103C8移植uCOSIII并以不同周期点亮两个LED灯(HAL库方式)【uCOS】【STM32开发板】【STM32CubeMX】

STM32F103C8移植uC/OSIII并以不同周期点亮两个LED灯(HAL库方式)【uC/OS】【STM32开发板】【STM32CubeMX】

实验说明

将嵌入式操作系统uC/OSIII移植到STM32F103C8上,构建两个任务,两个任务分别以1s和3s周期对LED进行点亮---熄灭的控制。

获取uC/OSIII源码

链接:https://pan.baidu.com/s/1Axjz1ptMjIPcH6_0tjKKDw

提取码:ucos

建立STM32CubeMX项目

选择STM32F103C8T6芯片,设置PB0和PB1为GPIO_Output,用于和LED相连。

如下图设置时钟为72MHz。

配置其它参数后,生成Keil项目。

复制uC/OS-III文件到项目文件夹

在生成的项目文件夹下新建一个uCOSIII文件夹,将下载的源文件下的uC-CPU、uC-LIB、uCOS-III复制到该文件夹,如下图:

在Core\Src文件夹下新建OS文件夹,将下载的源码中uCOS-CONFIG中的文件app_cfg.h, cpu_cfg.h, includes.h, lib_cfg.h, os_app_hooks.c, os_app_hook.h, os_cfg.h, os_cfg_app.h复制到该OS文件夹中,并新建bsp.c, bsp.h文件,如下图:

添加项目组件和头文件路径

添加项目分组

在生成的Keil项目中添加六个新组:bsp, uCOSIII-CPU, uCOSIII-LIB, uCOSIII-Port, uCOSIII-Source, OS-cfg, 如下图:

添加文件到分组

将Core\Src\OS路径下的bsp.c和bsp.h文件添加至bsp组中,如下图:

将uCOSIII\uC-CPU路径下的所有文件及uCOSIII\uC-CPU\ARM-Cortex-M4\RealView路径下的所有文件添加至uCOSIII-CPU组中,如下图:

将uCOSIII\uC-LIB路径下的所有文件及uCOSIII\uC-LIB\Ports\ARM-Cortex-M4\RealView路径下的所有文件添加至uCOSIII-LIB组中,如下图:

将uCOSIII\uCOS-III\Ports\ARM-Cortex-M4\Generic\RealView路径下的所有文件添加至uCOSIII-Port组中,如下图:

将uCOSIII\uCOS-III\Source路径下的所有文件添加至uCOSIII-Source组中,如下图:

将Core\Src\OS路径下除bsp.c, bsp.h外的所有文件添加至OS-cfg组,如下图:

添加头文件路径

点击Options for Target,点击C/C++,在Include Path栏中添加以下路径:

修改文件内容及编写程序

启动文件 (startup_stm32f103xb.s)

将启动文件中的PendSV_HandlerSystick_Handler改为OS_CPU_PendSVHandlerOS_CPU_SysTickHandler,如下图:

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)

includes.h

#include <bsp.h>下添加#include "gpio.h", #include "app_cfg.h"#include <stm32f10x_lib.h>改为#include "stm32f1xx_hal.h"

bsp.c和bsp.h

bsp.c

c 复制代码
// 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

c 复制代码
// bsp.h
#ifndef  __BSP_H__
#define  __BSP_H__

#include "stm32f1xx_hal.h"

void BSP_Init(void);

#endif

lib_cfg.h

该文件中有一个宏定义:

c 复制代码
#define  LIB_MEM_CFG_HEAP_SIZE          27u * 1024u

STM32F103C8T6的RAM仅有20KB,因此需要将堆空间改小,这里改成10KB:

c 复制代码
#define  LIB_MEM_CFG_HEAP_SIZE          10u * 1024u

main.c

我在main.c中创建了两个任务:LED0_Task控制B0端口的LED灯以1s为周期亮---灭;LED1_Task控制B1端口的LED灯以3s为周期亮---灭。

c 复制代码
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <includes.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 LED0_TASK_PRIO		1
#define LED1_TASK_PRIO		2
//#define SEND_MSG_TASK_PRIO	3

/* 任务堆栈大小	*/
#define LED0_STK_SIZE 		128
#define LED1_STK_SIZE 		128
//#define SEND_MSG_STK_SIZE	128

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
//任务控制块
static  OS_TCB   LED0TaskTCB;
static  OS_TCB   LED1TaskTCB;

//任务堆栈
static  CPU_STK  LED0_TASK_STK[LED0_STK_SIZE];
static  CPU_STK  LED1_TASK_STK[LED1_STK_SIZE];

/* 私有函数原形 --------------------------------------------------------------*/
static  void  AppTaskCreate(void);
static  void  AppObjCreate(void);
static  void  LED0_Task(void *p_arg);
static  void  LED1_Task(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)
{
  /* USER CODE BEGIN 1 */
	OS_ERR  err;
  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
//  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
//  SystemClock_Config();

  /* USER CODE BEGIN SysInit */
	OSInit(&err);    
  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
//  MX_GPIO_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
                                                                                 
	/* 创建LED0任务 */
	OSTaskCreate((OS_TCB     *)&LED0TaskTCB,                /* Create the start task */
				 (CPU_CHAR   *)"LED0_Task",
				 (OS_TASK_PTR ) LED0_Task,
				 (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,                /* Create the start task */
				 (CPU_CHAR   *)"LED1_Task",
				 (OS_TASK_PTR ) LED1_Task,
				 (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);
				 
	/* 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). */

}


/**
  * 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  LED0_Task (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)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_RESET);
	OSTimeDlyHMSM(0, 0, 0, 500, OS_OPT_TIME_HMSM_STRICT, &err);
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_0, GPIO_PIN_SET);
	OSTimeDlyHMSM(0, 0, 0, 500, OS_OPT_TIME_HMSM_STRICT, &err);
  }
  /* USER CODE END 3 */
}

static  void  LED1_Task (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)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_RESET);
	OSTimeDlyHMSM(0, 0, 1, 500, OS_OPT_TIME_HMSM_STRICT, &err);
	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_1, GPIO_PIN_SET);
	OSTimeDlyHMSM(0, 0, 1, 500, OS_OPT_TIME_HMSM_STRICT, &err);
  }
  /* 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****/

OSTimeDlyHMSM函数是延时函数,括号中的四个数字表示延迟时长,从左至右分别为时、分、秒、毫秒。

实验结果

(绿色接B0,红色接B1)

参考文章

STM32F103基于HAL库移植uC/OS-III_ucos iii + hal移植到正点原子-CSDN博客

STM32F103C8移植uCOSIII(HAL库)_stm32f103移植ucosiii-CSDN博客

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