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_Handler和Systick_Handler改为OS_CPU_PendSVHandler和OS_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
在#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
// 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
lib_cfg.h
该文件中有一个宏定义：
#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：
#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。
/* 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
