【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;
#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
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>0u
OSStatTaskCPUUsageInit(&err);
#endif
CPU_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>0u
OSStatTaskCPUUsageInit(&err);
#endif
CPU_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 > 0u
OSStatTaskCPUUsageInit(&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=5ms
OSSchedRoundRobinCfg(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 > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
CPU_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 > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
CPU_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 > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
CPU_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！
