目录
一、UCOS-III源码获取
二、HAL库工程的建立
1.RCC配置
2.SYS配置
3.USART1配置
4.GPIO配置
5.时钟配置
6.项目配置
三、KEil文件添加
1.文件复制
2.KEil工程添加
3.添加文件路径
四、代码修改
1.
2.修改文件app_cfg.h中代码
3.修改include.h的代码
4.修改bsp.c和bsp.h的代码
5.修改文件lib_cfg.h中的代码
6.修改文件app.c
7.main.c代码编写
五、实验效果
嵌入式实时操作系统是一个特殊的程序，是一个支持多任务的运行环境。嵌入式实时操作系统最大的特点就是“实时性”，如果有一个任务需要执行，实时操作系统会立即执行该任务，不会有较长的延时。
这次实验我们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。
一、UCOS-III源码获取
链接: 百度网盘 请输入提取码
提取码: 6666
二、HAL库工程的建立
1.RCC配置
2.SYS配置
3.USART1配置
配置NVIC：
4.GPIO配置
配置PB0，PB1为输出管脚。
5.时钟配置
6.项目配置
三、KEil文件添加
1.文件复制
（1）首先我们在刚配置好的项目文件中添加对应的文件夹OS和UCOSIII
（2）在UCOSIII文件夹中添加uCOS-III源码包中的下列三个文件
（3）在文件路径为\uCOS-III源码包\UCOSIII 3.04\Micrium\Software\EvalBoards\ST\STM32F429II-SK\uCOS-III中的找到下图的文件添加到OS文件夹中。
并新增三个空文件app.h；bsp.c；bsp.h。
2.KEil工程添加
（1）打开工程，添加如图的六个组
（2）导入文件
在Application/User/Core添加app.c文件
将OS文件夹中的bsp.c和bsp.h添加到文件夹bsp中
将UCOSIII/uC-CPU中的cpu_core.c、cpu_core.h、cpu_def.h添加进CPU组中，同时将UCOSIII/uC-CPU/ARM-Cortex-M3/RealView中的三个文件添加到该
将UCOSIII/uC-LIB中的9个文件添加到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
将UCOSIII/UcosIII/Ports/ARM-Cortex-M3/Generic/RealView中的3个文件添加的Ports组中
将UCOSIII/UcosIII/Source中的20个文件添加到Source组中：
将OS文件夹中下图的8个文件添加到OS_cfg组中
3.添加文件路径
点击魔法棒，选择C/C++，添加如下7个文件夹的路径
四、代码修改
1.
将代码
DCD PendSV_Handler ; PendSV HandlerDCD SysTick_Handler ; SysTick Handler改为：
DCD OS_CPU_PendSVHandler ; DCD OS_CPU_SysTickHandler ;2.修改文件app_cfg.h中代码
（1）将
#define APP_CFG_SERIAL_EN DEF_ENABLED改为
#define APP_CFG_SERIAL_EN DEF_DISABLED
（2）
将
#define APP_TRACE BSP_Ser_Printf改为
#define APP_TRACE (void)3.修改include.h的代码
（1）
将
#include <stm32f10x_lib.h>改为
#include "stm32f1xx_hal.h"（2）添加头文件
#include "gpio.h"
#include "app_cfg.h"
#include "app.h"4.修改bsp.c和bsp.h的代码
将bsp.c代码全部改为：
// 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将bsp.h代码全部改为：
// bsp.h
#ifndef __BSP_H__
#define __BSP_H__#include "stm32f1xx_hal.h"void BSP_Init(void);#endif5.修改文件lib_cfg.h中的代码
添加如下代码：
#define LIB_MEM_CFG_HEAP_SIZE 10u * 1024u6.修改文件app.c
添加如下代码：
#include "includes.h"7.main.c代码编写
/* 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 *//* USER CODE END PD *//* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM *//* USER CODE END PM *//* Private variables ---------------------------------------------------------*//* USER CODE BEGIN PV */
//?????
static OS_TCB AppTaskStartTCB;//????
static CPU_STK AppTaskStartStk[APP_TASK_START_STK_SIZE];/* ?????? --------------------------------------------------------------*/
static void AppTaskCreate(void);
static void AppObjCreate(void);
static void AppTaskStart(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)
{/* 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 *//* ???? */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 ) 0,(OS_TICK ) 0,(void *) 0,(OS_OPT )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),(OS_ERR *)&err);/* ???????,?????uC/OS-III */OSStart(&err); /* Start multitasking (i.e. give control to uC/OS-III). */}/*** ????: ????????* ????: p_arg ?????????????* ? ? ?: ?* ? ?:?*/
static void AppTaskStart (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_TogglePin(LED0_GPIO_Port,LED0_Pin);HAL_GPIO_WritePin(LED1_GPIO_Port,LED1_Pin, 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 > 0uOSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endifCPU_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 */
/*** ????: ??????* ????: p_arg ?????????????* ? ? ?: ?* ? ?:?*/
static void AppTaskCreate (void)
{}/*** ????: uCOSIII??????* ????: ?* ? ? ?: ?* ? ?:?*/
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****/五、实验效果
![【传知代码】DETR[端到端目标检测]（论文复现）](http://pic.xiahunao.cn/【传知代码】DETR[端到端目标检测]（论文复现）)
)
