将uc/OS-III移植到stm32F103上并创建多任务

一、准备uCOSIII源码

1、官网下载：
进入 Micrium 公司官网下载中心：http://micrium.com/downloadcenter/
2、网盘下载：
链接：https://pan.baidu.com/s/1Btj7foEXdXjjJWoZQsN-OQ
提取码：mleh

二、使用STM32CubeMX建立工程

打开STM32CubeMX选择所用芯片，本次实验选择STM32F103C8T6
进行如下配置

三、移植过程

（一）将uC/OS-III文件添加到工程文件

1、在uC-BSP文件夹中新建bsp.c和bsp.h

2、将UCOS\Software\EvalBoards\Micrium\uC-Eval-STM32F107\uCOS-III路径中的一下文件添加到UCOS\Software\uC-CONFIG中
3、将一下文件复制到工程的MDK-ARM文件夹中

（二）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
（1）在CPU中添加选中文件
UC\MDK-ARM\uC-CPU
UC\MDK-ARM\uC-CPU\ARM-Cortex-M3\RealView

（2）在LIB中添加以下文件
UC\MDK-ARM\uC-LIB

UC\MDK-ARM\uC-LIB\Ports\ARM-Cortex-M3\RealView
（3）在PORT中添加文件
UC\MDK-ARM\uCOS-III\Ports\ARM-Cortex-M3\Generic\RealView
UC\MDK-ARM\uCOS-III\Source
（4）在CONFIG中添加文件
UC\MDK-ARM\uC-CONFIG
（5）在BSP中添加文件
UC\MDK-ARM\uC-BSP
3、添加头文件目录
4、bsp.c和bsp.h代码

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;#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

bsp.h

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

5、主函数代码
6、其余代码修改
（1）

OS_CPU_PendSVHandler
OS_CPU_SysTickHandler

OS_CPU_PendSVHandler  PROCEXPORT  OS_CPU_PendSVHandler             [WEAK]B       .ENDP
OS_CPU_SysTickHandler PROCEXPORT  OS_CPU_SysTickHandler            [WEAK]B       .ENDP

(2)

#define  APP_CFG_SERIAL_EN                          DEF_DISABLED

#define  APP_TRACE(void)

（3）

#include "gpio.h"
#include "app_cfg.h"

#include  "stm32f1xx_hal.h"

（4）该处宏定义设置堆空间的大小
（5）修改设置

四、实现三个任务

任务一：task以1s周期对LED等进行点亮-熄灭的控制；
任务二：task以3s周期对LED等进行点亮-熄灭的控制；
任务三：另外一个task以2s周期通过串口发送“hello uc/OS! ”
gpio.c中修改代码（添加初始化PA3）

void MX_GPIO_Init(void)
{GPIO_InitTypeDef GPIO_InitStruct = {0};/* GPIO Ports Clock Enable */__HAL_RCC_GPIOC_CLK_ENABLE();__HAL_RCC_GPIOD_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();/*Configure GPIO pin Output Level */HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);HAL_GPIO_WritePin(GPIOA, GPIO_PIN_3, GPIO_PIN_RESET);/*Configure GPIO pin : PC13|PA3 */GPIO_InitStruct.Pin = GPIO_PIN_13|GPIO_PIN_3;GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull = GPIO_NOPULL;GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);}

main.c

/* 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****/

五、硬件连接及实现效果

硬件连接
实现效果

六、逻辑分析仪效果分析

图中为字符串中各字符对应ASCll值

七、总结

本次UC/O-III移植过程较为复杂，会遇到较多问题，仿真过程也出现问题没有解决。

八、参考

https://blog.csdn.net/qq_45659777/article/details/121570886