【STM32】µC/OS-III多任务程序
- 一、探究目的
- 二、探究原理
- 2.1 嵌入式操作系统
- 2.1.1 RTOS
- 2.1.2 前后台系统
- 2.1.2 µC/OS-III
- 三、探究过程(实验一)
- 3.1 μC/OS-III环境配置
- 3.1.1 CubeMX配置
- 3.1.2 下载μC/OS-III源码
- 3.1.3 KEIL环境配置
- 3.1.4 KEIL代码更改
- 3.1.5 bsp代码
- 3.2 实现代码(main.c)
- 3.3 实现效果
- 3.4 代码分析
- 3.3.1 OS文件功能
- 3.3.2 多任务编程流程
- 1. 在生成任务之前,我们还要进行一些必要的声明,用来声明µC/OS-III的任务函数。
- 2. 多任务编程时,一般在main()函数中创建一个初始任务AppTaskStart。
- 3. 任务函数编写
- 3.5 实验二
- 3.5.1 CubeMX配置
- 四、探究总结
一、探究目的
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!”。
二、探究原理
2.1 嵌入式操作系统
2.1.1 RTOS
实时操作系统(Real Time OS, RTOS),是一款满足实时控制要求的嵌入式操作系统。
主流的RTOS,分别为μClinux、µC/OS-III、eCos、FreeRTOS、mbed OS、RTX、Vxworks、QNX、NuttX,而国产的嵌入式操作系统包括都江堰操作系统(djyos)、Alios Things、Huawei LiteOS、RT-Thread、SylixOS。
2.1.2 前后台系统
简单的小系统通常是前后台系统,这样的程序包括一个死循环和若干个中断服务程序。
其中那个死循环就叫做后台系统。
中断服务程序用于处理系统的异步事件,也就是前台系统。
前台是中断级,后台是任务级。
2.1.2 µC/OS-III
µC/OS-III是一款源代码开放的,抢占式多任务实时操作系统。
同样,µC/OS-III的任务和这个后台系统及其他的多任务系统一样,每个任务都是一个独立功能的无限循环。不同的是,µC/OS-III支持任务的参数输入。
µC/OS-III的任务有两种:系统任务和用户任务。
系统任务:由操作系统提供的任务,µC/OS-III有5个系统任务。
用户任务:由用户编写的实现应用程序功能的任务。
三、探究过程(实验一)
3.1 μC/OS-III环境配置
3.1.1 CubeMX配置
实现实验一的要求,我们只需要配置好时钟、两个GPIO输出端口就可。
3.1.2 下载μC/OS-III源码
配置好的μC/OS-IIIF103环境源码(阿里云盘不限速)
下载之后,把文件放在CubeMX生成的文件uCOS_LED的MDK-ARM文件下。
点开我们下好的文件,它的精神状态是这样的:(几经疯癫后调出来的绝美环境)
确认无误后,开始新一轮的UCOS历险记(受难记)。
3.1.3 KEIL环境配置
打开我们的KEIL工程,点击
-
UC-CPU文件配置
-
UC-LIB文件配置
-
UC-SOURCE文件配置
-
UC-PORT文件配置
-
UC-CONFIG文件配置
-
BSP
到这基本配置好了,但你以为这就结束了吗?痛苦才刚刚开始!
3.1.4 KEIL代码更改
-
startup_stm32f103xb.s
-
app_cfg.h
-
includes.h
-
lib_cfg.h
3.1.5 bsp代码
#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;#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-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
3.2 实现代码(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 <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 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];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>0uOSStatTaskCPUUsageInit(&err);#endifCPU_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\n", file, line) *//* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
3.3 实现效果
3.4 代码分析
3.3.1 OS文件功能
3.3.2 多任务编程流程
1. 在生成任务之前,我们还要进行一些必要的声明,用来声明µC/OS-III的任务函数。
/* 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);
定义命名任务的优先级、堆栈大小、控制块、任务栈以及用户任务声明。
2. 多任务编程时,一般在main()函数中创建一个初始任务AppTaskStart。
//main()中部分代码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);
再通过AppTaskStart创建其它用户任务MyTask1、MyTask2等
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>0uOSStatTaskCPUUsageInit(&err);#endifCPU_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);}
3. 任务函数编写
建立好后我们就可以在子任务中编写代码实现功能。
LED1的周期是1s,因此是每500ms翻转一次电平。
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);}
}
LED1的周期是3s,因此是每1s500ms翻转一次电平。
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);}
}
3.5 实验二
3.5.1 CubeMX配置
和3.1.1一样,区别是多了一个usart配置。
/* 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
#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_pb8(void *p_arg);
static void send_msg(void *p_arg);
static void led_pb9(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*5=5msOSSchedRoundRobinCfg(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_pb8", (OS_TASK_PTR )led_pb8, (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_pb9", (OS_TASK_PTR )led_pb9, (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_pb8 (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){OSTimeDlyHMSM(0, 0, 1, 0,OS_OPT_TIME_HMSM_STRICT,&err);HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_8,GPIO_PIN_RESET);/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}/* USER CODE END 3 */
}static void led_pb9 (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){OSTimeDlyHMSM(0, 0, 3, 0,OS_OPT_TIME_HMSM_STRICT,&err);HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_9,GPIO_PIN_RESET);/* 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 \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****/
四、探究总结
ucos操作系统的关键是环境的配置以及多任务的调配。只要熟悉多任务调配的流程与相关代码模板,想要实现功能就简单多了。
以上则是我本次的探究内容,如有错漏请在评论区指正,谢谢观看!