【STM32】uC/OS-III多任务程序
目录
- 一、基于STM32CubeMX建立工程
- 二、获取uC/OS-III源码
- 三、复制uC/OS-III文件到工程文件夹
- 四、添加工程组件和头文件路径
- 1、添加工程分组
- 2、添加文件到分组
- 3、添加头文件路径
- 五、修改文件内容
- 1.启动文件
- 2. app_ cfg.h
- 3. includes.h
- 4. bsp.c和bsp.h
- 5. main.c
- 6. lib_ cfg.h
- 7. app.c和app.h
- 六、运行结果
- 参考链接
一、基于STM32CubeMX建立工程
1、配置RCC
2、配置SYS
3、配置PB0和PB1设置为GPIO_Output,用于和LED相连。
4、配置USART1
5、生成代码
二、获取uC/OS-III源码
官网下载地址:http://www.silabs.com/developers/micrium
网盘下载:http://pan.baidu.com/s/1pXIbNB2pX5gVCKOaRIDuuw
提取码:lzjl
三、复制uC/OS-III文件到工程文件夹
在生成的keil工程文件夹f103c8_uCOSIII_1_test
中新建一个UCOSIII
的文件夹,将我们下载的源代码中三个文件夹:Uc-CPU
、 uC-LIB
、 Ucos-III
复制到我们新建的文件夹中:
在Src
文件夹下新建一个OS
文件夹
将刚才下载源码打开,将路径:\EvalBoards\Micrium\uC-Eval-STM32F107\uCOS-III
下的文件:
app.c
、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
复制到上一步建立的OS
文件夹中,同时新建三个空白文件: bsp.c
、bsp.h
、app.h
最后在OS
文件夹中新建三个空白文件: bsp.c
、bsp.h
、app.h
四、添加工程组件和头文件路径
1、添加工程分组
打开工程,添加以下六个组
2、添加文件到分组
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UCOSIII/uC-CPU
中的cpu_core.c
、cpu_core.h
、cpu_def.h
添加进uCOSIII_CPU
组中,同时将UCOSIII/uC-CPU/ARM-Cortex-M3/RealView
中的三个文件添加到该组:
将UCOSIII/uC-LIB
中的9个文件添加到uCOSIII-LIB
组中,同时将UCOSIII/uC-LIB/Ports/ARM-Cortex-M3/Realview
中的lib_mem_a.asm
添加到该组中:
将UCOSIII/UcosIII/Ports/ARM-Cortex-M3/Generic/RealView
中的3个文件添加的uCOSIII_Ports
组中
将UCOSIII/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:
3、添加头文件路径
五、修改文件内容
1.启动文件
2. app_ cfg.h
#define APP_CFG_SERIAL_EN DEF_ENABLED
修改为#define APP_CFG_SERIAL_EN DEF_DISABLED
#define APP_TRACE BSP_Ser_Printf
修改为#define APP_TRACE (void)
3. includes.h
- 添加三个头文件:
#include "gpio.h"、#include "app_cfg.h"、#include "app.h"
#include
修改为#include "stm32f1xx_hal.h"
4. bsp.c和bsp.h
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
5. main.c
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "gpio.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include
/* 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 APP_TASK_START_PRIO 2
#define MyTask_LED1_PRIO 3
#define MyTask_LED2_PRIO 3
/* 任务堆栈大小 */
#define APP_TASK_START_STK_SIZE 128
#define MyTask_LED1_STK_SIZE 512
#define MyTask_LED2_STK_SIZE 512
/* 任务控制块 */
static OS_TCB AppTaskStartTCB;
static OS_TCB MyTask_LED1TCB;
static OS_TCB MyTask_LED2TCB;
/* 任务栈 */
static CPU_STK AppTaskStartStk[APP_TASK_START_STK_SIZE];
static CPU_STK TASK_LED1STK[MyTask_LED1_STK_SIZE];
static CPU_STK TASK_LED2STK[MyTask_LED2_STK_SIZE];
/* 声明用户任务 */
static void AppTaskStart (void *p_arg);
static void MyTask_LED1 (void *p_arg);
static void MyTask_LED2 (void *p_arg);
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* 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 */
static void AppTaskStart (void *p_arg)
{
CPU_INT32U cpu_clk_freq;
CPU_INT32U cnts;
OS_ERR err;
(void)p_arg;
BSP_Init();
CPU_Init();
cpu_clk_freq=BSP_CPU_ClkFreq();
cnts=cpu_clk_freq/(CPU_INT32U)OSCfg_TickRate_Hz;
OS_CPU_SysTickInit(cnts);
Mem_Init();
#if OS_CFG_STAT_TASK_EN>0u
OSStatTaskCPUUsageInit(&err);
#endif
CPU_IntDisMeasMaxCurReset();
OSTaskCreate((OS_TCB *)&MyTask_LED1TCB, /* Create the start task */
(CPU_CHAR *)"LED1",
(OS_TASK_PTR ) MyTask_LED1,
(void *) 0,
(OS_PRIO ) MyTask_LED1_PRIO,
(CPU_STK *)&TASK_LED1STK[0],
(CPU_STK_SIZE) MyTask_LED1_STK_SIZE/10,
(CPU_STK_SIZE) MyTask_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);
OSTaskCreate((OS_TCB *)&MyTask_LED2TCB, /* Create the start task */
(CPU_CHAR *)"LED2",
(OS_TASK_PTR ) MyTask_LED2,
(void *) 0,
(OS_PRIO ) MyTask_LED2_PRIO,
(CPU_STK *)&TASK_LED2STK[0],
(CPU_STK_SIZE) MyTask_LED2_STK_SIZE/10,
(CPU_STK_SIZE) MyTask_LED2_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);
}
static void MyTask_LED1(void *p_arg)
{
OS_ERR err;
(void)p_arg;
while(1)
{
OSTimeDlyHMSM(0,0,0,500,OS_OPT_TIME_HMSM_STRICT,&err);
HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_8);
}
}
static void MyTask_LED2(void *p_arg)
{
OS_ERR err;
(void)p_arg;
while(1)
{
OSTimeDlyHMSM(0,0,1,500,OS_OPT_TIME_HMSM_STRICT,&err);
HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_9);
}
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
/* 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 */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
/* USER CODE BEGIN 2 */
OS_ERR err;
OSInit(&err);
/* 创建任务 */
OSTaskCreate((OS_TCB *)&AppTaskStartTCB, /* Create the start task */
(CPU_CHAR *)"App Task Start",
(OS_TASK_PTR ) AppTaskStart,
(void *) 0,
(OS_PRIO ) APP_TASK_START_PRIO,
(CPU_STK *)&AppTaskStartStk[0],
(CPU_STK_SIZE) APP_TASK_START_STK_SIZE/10,
(CPU_STK_SIZE) APP_TASK_START_STK_SIZE,
(OS_MSG_QTY ) 5u,
(OS_TICK ) 0u,
(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);
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
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 buses 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 BEGIN 4 */
/* 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 */
__disable_irq();
while (1)
{
}
/* 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,
ex: printf("Wrong parameters value: file %s on line %d\r
", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
6. lib_ cfg.h
- 加入宏定义:
#define LIB_MEM_CFG_HEAP_SIZE 10u * 1024u
7. app.c和app.h
- app.c只有一行:
#include "includes.h"
- app.h
// app.h
#ifndef __APP_H__
#define __APP_H__
#include
#endif /* __APP_H__ */
六、运行结果
参考链接
http://blog.csdn.net/weixin_43116606/article/details/105532222
http://blog.csdn.net/YangMax1/article/details/121617909?spm=1001.2014.3001.5502