做网站必要性,网站排名查询软件,wordpress 导航标签,小程序搭建需要多久文章目录 一、建立STM32CubeMX工程二、移植1、 uC/OS-III源码2、移植过程 三、配置相关代码1、bsp.c和bsp.h2、main.c3、修改启动代码4、修改app_cfg.h文件5、修改includes.h文件6、修改lib_cfg.h文件 四、编译与烧录总结参考资料 学习嵌入式实时操作系统#xff08;RTOS… 文章目录 一、建立STM32CubeMX工程二、移植1、 uC/OS-III源码2、移植过程 三、配置相关代码1、bsp.c和bsp.h2、main.c3、修改启动代码4、修改app_cfg.h文件5、修改includes.h文件6、修改lib_cfg.h文件 四、编译与烧录总结参考资料 学习嵌入式实时操作系统RTOS,以uc/OS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、建立STM32CubeMX工程 配置RCC 配置SYS 配置GPIO 配置USTAR1 配置时钟树 设置工程路径、工程名,最后导出文件。使用keil打开并进行编写。
二、移植
1、 uC/OS-III源码
链接https://pan.baidu.com/s/1bg7K34vgNuw2AR8qmb81hQ 提取码1234
2、移植过程
详细过程参考https://blog.csdn.net/weixin_46628481/article/details/121561800?spm1001.2014.3001.5501
三、配置相关代码
1、bsp.c和bsp.h
bsp.c
// bsp.h
#ifndef __BSP_H__
#define __BSP_H__#include stm32f1xx_hal.hvoid BSP_Init(void);#endif
bsp.h
// 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_VERSION3000u)cnts cpu_clk_freq/(CPU_INT32U)OSCfg_TickRate_Hz;#elsecnts cpu_clk_freq/(CPU_INT32U)OS_TICKS_PER_SEC;#endifOS_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-M3s 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
2、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 */
/* 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 0uOSStatTaskCPUUsageInit(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*55msOSSchedRoundRobinCfg(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 0uOSStatTaskCPUUsageInit(err); /* Compute CPU capacity with no task running */
#endifCPU_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 0uOSStatTaskCPUUsageInit(err); /* Compute CPU capacity with no task running */
#endifCPU_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 0uOSStatTaskCPUUsageInit(err); /* Compute CPU capacity with no task running */
#endifCPU_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 *//************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
3、修改启动代码 修改startup_stm32f103xb.s文件 将PendSV_Handler改写为OS_CPU_PendSVHandler 将Systick_Handler改写为OS_CPU_SysTickHandler。 4、修改app_cfg.h文件 将#define APP_CFG_SERIAL_EN DEF_ENABLED改为 #define APP_CFG_SERIAL_EN DEF_DISABLED 将#define APP_TRACE BSP_Ser_Printf改为 #define APP_TRACE (void) 5、修改includes.h文件 在#include bsp.h后面添加#include “gpio.h”和#include “app_cfg.h” 将#include stm32f10x_lib.h 改为#include “stm32f1xx_hal.h” 6、修改lib_cfg.h文件 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 #define LIB_MEM_CFG_HEAP_SIZE 5u * 1024u
四、编译与烧录 总结
在参照别人的博客时,我们需要每一步都看仔细,否则就会出现错误.
参考资料
https://blog.csdn.net/YangMax1/article/details/121617909 https://blog.csdn.net/qq_52215423/article/details/127739607
