【STM32】uc/OS-III多任务程序

一、背景介绍

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

二、UCOS-III简单介绍

（一）源码

链接: https://pan.baidu.com/s/1iqYoewoQUHIJzIT-SEUJ-Q?pwd=ur6m
提取码: ur6m

（二）功能

1.实时性： μC/OS-III是一个实时操作系统，旨在满足实时嵌入式系统对任务响应时间的严格要求。它提供了多任务管理、任务优先级、中断处理等功能，以确保系统对事件的及时响应。
2.多任务管理： μC/OS-III支持多任务操作，允许在系统中同时运行多个任务。每个任务都有自己的独立堆栈和任务控制块，可以根据优先级和调度策略进行管理。
3.任务通信与同步：提供了丰富的任务通信和同步机制，包括信号量、消息队列、邮箱、事件标志组等，以便任务之间进行数据传递和协同工作。
4.中断管理： μC/OS-III允许将中断服务程序（ISR）与任务结合起来，提供了可嵌套的中断处理机制，以便更好地处理多种中断情况。
5.内存管理：提供内存管理功能，支持内存池、动态内存分配等机制，使得在资源有限的嵌入式系统中更加高效地管理内存。
6.时钟和定时器管理： μC/OS-III支持时钟和定时器功能，可以用于任务的定时调度、超时处理等。
7.可裁剪和可移植： μC/OS-III的内核设计具有可裁剪性，可以根据具体应用需求选择性地包含或排除功能。同时，它也是可移植的，可以在不同的硬件平台上运行。
8.学术支持和社区： μC/OS-III有一定的学术支持，包括相关的文档、培训课程等。此外，有一个活跃的社区，用户可以在社区中分享经验、提问问题。

三、实验

（一）基于STM32CubeMX建立工程

1、创建项目

配置RCC
在这里插入图片描述
配置SYS

配置USART1

生成

2、配置项目

参考：
STM32F103C8移植uCOSIII（HAL库）
(1)最终结果：
在这里插入图片描述
(2)为bsp.c添加代码

// 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)为bsp.h添加代码

// bsp.h
#ifndef  __BSP_H__
#define  __BSP_H__#include "stm32f1xx_hal.h"void BSP_Init(void);#endif

(4)修改main.c文件代码

/* 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
#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*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_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 \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****/