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STM32移植uCOS基于HAL库

作者:互联网

一、什么是uCOS-III

UCOSIII是一个可裁剪、可固化、可剥夺的多任务系统,没有任务数目的限制,是UCOS的第三代内核,UCOSIII有以下几个重要的特性:

 

 

 二、建立STM32F103C8T6的工程项目

 

 

 

 

 

最后的展示结果中 PC13将会不断的闪烁提示我们成功!

 

 

 

 

 生成的文件如图所示。打开后,在main.c中添加如下代码:

/* 在main函数中的while循环里添加语句 */
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 */

三、准备uC源码

uC的源码以及后续完成的配置完的完整项目 我已经以ZIP压缩包的方式上传到了我的github。

 

 

 以下是获取连接:https://github.com/LinZJ0423/STM32/releases/tag/STM32

未经修改的uC源代码我也托管到了github

获取连接如下:https://github.com/LinZJ0423/STM32

文件为这个!!!

 

 

 

3.1移植前准备工作

 

 

 这是我们下载完源码文件 解压出来

文件夹uC-BSP和uC-CONFIG是需要新建的两个文件夹

在bsp中,新建两个空的代码文件,如下图:

 

 

 

给文件夹uC-CONFIG添加以下文件(从以下路径复制过来)

 

 

 

需要复制的文件如下:

 

 

 然后放到我们新建的uC-CONFIG文件夹中。

.将uCOS相关文件复制到HAL工程的MDK-ARM文件夹下:

 

 

 四、开始移植工作

回到Keil打开的HAL工程

4.1 将uC的文件添加到工程项目中

点击Manage Project Items

 

 为项目新建文件夹如下:

 

 

分别给新增的文件夹添加文件

点击CPU–>Add Files…,选中以下文件,Add

在cpu中,添加:

 

 以及在该路径下添加

 

 点击LIB–>Add Files…,选中以下文件,Add

 

 

 

 点击PORT–>Add Files…,选中以下文件,Add

 

 点击SOURCE–>Add Files…,选中以下文件,Add

 

 

点击CONFIG–>Add Files…,选中以下文件,Add

 

 

 点击BSP–>Add Files…,选中以下文件,Add

 

 

 

 最后一定要点击OK,不然一切都将前功尽弃!

以上的操作请大家注意文件的路径位置,不要配置错了,不然会出现很多错误!!

导入文件路径

 

 从项目路径下寻找

 

 

4.2为bsp.c和bsp.h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

4.3修改main.c中的代码

/* 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****/

4.4最后的一些小调整

选中文件找到文件startup_stm32f103xb.s

 

 

 

将代码中的内容改成和上图蓝色部分相同。

选中app_cfg.h

 

 

 

 

 

 找到文件includes.h

 

 #include <bsp.h>处添加

 

 

 

 找到lib_cfg.h

 

 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)

由于我们使用了printf函数,需要在usart.c文件中添加以下代码完成printf重定向

/* 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 */

五、三个任务的代码

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 world!”。
gpio.c中修改代码(添加初始化PA3)

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

/* 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****/

 

六、运行结果

tips:在烧录完成后,需要将单片机的BOOT1和BOOT0全部置为0,而后按下RESET键,绿灯就会开始闪亮,单片机就会开始工作!!这点很重要

 

 

 

 

七、心得体会

这次的配置过程十分的复杂而且繁琐,在配置过程中遇到了很多问题,甚至在第一次配置中忘记了设置引脚,真是令人崩溃T_T。第二次配置的时候不知道问题出现在了哪里,烧录进去单片机没有反应。最后重新弄了一次,换了一个USB口,终于成功了。这次的配置过程非常的艰难,但是从中学到了很多东西,磨炼了自己的耐性。同时能够自己搭建一个系统是一件很COOOOOOOL的事情,感受到了这个系统的强大功能!

八、参考链接

https://blog.csdn.net/qq_45659777/article/details/121570886

https://blog.csdn.net/weixin_43116606/article/details/105532222

标签:CODE,HAL,uCOS,void,STK,STM32,OS,CPU,RCC
来源: https://www.cnblogs.com/LinZJ0423/p/15641586.html