STM32 —— RTOS Hello World
STM32 —— RTOS Hello World
实验目的
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! ”。记录详细的移植过程。
实验原理
所有原理均发布在单独的一篇博客上,如有需要,点击跳转查看:
这里介绍了如何对 UC/OS III 进行移植,并且介绍了移植中容易出现的一些漏洞和错误
这里介绍了 UC/OS III 中的任内务从 0 到完全创建实现的详细原理
在我的上述博客中已经很详细的介绍了如何移植 UC/OSIII 系统,这里只需要建立任务即可
HAL 库方法
CubeMX 项目配置
RCC 配置
![](https://img2022.cnblogs.com/blog/2829072/202211/2829072-20221110161022327-466361109.png)
USARTT1配置
![](https://img2022.cnblogs.com/blog/2829072/202211/2829072-20221110161053938-2067069302.png)
![](https://img2022.cnblogs.com/blog/2829072/202211/2829072-20221110161104314-1539814941.png)
SYS 配置
![](https://img2022.cnblogs.com/blog/2829072/202211/2829072-20221110161233837-533757077.png)
时钟配置
![](https://img2022.cnblogs.com/blog/2829072/202211/2829072-20221110161325973-480858284.png)
串口配置
![](https://img2022.cnblogs.com/blog/2829072/202211/2829072-20221110161353301-1204921188.png)
代码设计
由于我们已经在 CubeMX 中配置好了对应的内容,所以,这里我们只需要在 main.c 中添加对应的任务即可,下面我们将按照一个完整的添加任务的顺序进行代码设计
任务优先级
目前我们仅对实验进行简单执行,首先我们需要添加任务优先级,代码如下:
#define LED_PC13_TASK_PRIO 4
#define MSG_TASK_PRIO 5
#define LED_PA5_TASK_PRIO 6
设置堆栈大小
然后我们需要设置任务的堆栈大小::
#define LED_PC13_STK_SIZE 64
#define MSG_STK_SIZE 64//任务堆大小过大会报错,可以试着改小一点
#define LED_PA5_STK_SIZE 64
任务栈于任务控制块
添加任务栈和任务控制块:
//任务栈
CPU_STK LED_PC13_TASK_STK[LED_PC13_STK_SIZE];
CPU_STK MSG_TASK_STK[MSG_STK_SIZE];
CPU_STK LED_PA5_TASK_STK[LED_PA5_STK_SIZE];
//任务控制块
OS_TCB Ledpc13TaskTCB;
OS_TCB MsgTaskTCB;
OS_TCB Ledpa5TaskTCB;
任务函数
定义任内务函数:
static void led_pc13(void *p_arg);
static void send_msg(void *p_arg);
static void led_pa5(void *p_arg);
重写 fputc
这里我们需要用到 printf 函数,所以这里重写 fputc 函数:
int fputc(int ch,FILE *f){
HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xffff);
return ch;
}
创建任务
创建任务代码如下:
/* 创建LED_PC13任务 */
OSTaskCreate((OS_TCB * )&Ledpc13TaskTCB,
(CPU_CHAR * )"led_pc13",
(OS_TASK_PTR )led_pc13,
(void * )0,
(OS_PRIO )LED_PC13_TASK_PRIO,
(CPU_STK * )&LED_PC13_TASK_STK[0],
(CPU_STK_SIZE)LED_PC13_STK_SIZE/10,
(CPU_STK_SIZE)LED_PC13_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);
/* 创建LED_PA5任务 */
OSTaskCreate((OS_TCB * )&Ledpa5TaskTCB,
(CPU_CHAR * )"led_pa5",
(OS_TASK_PTR )led_pa5,
(void * )0,
(OS_PRIO )LED_PA5_TASK_PRIO,
(CPU_STK * )&LED_PA5_TASK_STK[0],
(CPU_STK_SIZE)LED_PA5_STK_SIZE/10,
(CPU_STK_SIZE)LED_PA5_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);
实现任务
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 > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
CPU_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 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 ppqppl ! 欢迎来到RTOS多任务环境!\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 */
}
static void led_pa5 (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)
{
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_5,GPIO_PIN_RESET);
OSTimeDlyHMSM(0, 0, 3, 0,OS_OPT_TIME_HMSM_STRICT,&err);
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_5,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 */
}
完整 main.c
/* 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"
#include <stdbool.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 LED_PC13_TASK_PRIO 4
#define MSG_TASK_PRIO 5
#define LED_PA5_TASK_PRIO 6
/* 任务堆栈大小 */
#define START_STK_SIZE 64
#define LED_PC13_STK_SIZE 64
#define MSG_STK_SIZE 64//任务堆大小过大会报错,可以试着改小一点
#define LED_PA5_STK_SIZE 64
/* 任务栈 */
CPU_STK START_TASK_STK[START_STK_SIZE];
CPU_STK LED_PC13_TASK_STK[LED_PC13_STK_SIZE];
CPU_STK MSG_TASK_STK[MSG_STK_SIZE];
CPU_STK LED_PA5_TASK_STK[LED_PA5_STK_SIZE];
/* 任务控制块 */
OS_TCB StartTaskTCB;
OS_TCB Ledpc13TaskTCB;
OS_TCB MsgTaskTCB;
OS_TCB Ledpa5TaskTCB;
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
int fputc(int ch,FILE *f){
HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xffff);
return ch;
}
/* 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_pa5(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LED_PC13任务 */
OSTaskCreate((OS_TCB * )&Ledpc13TaskTCB,
(CPU_CHAR * )"led_pc13",
(OS_TASK_PTR )led_pc13,
(void * )0,
(OS_PRIO )LED_PC13_TASK_PRIO,
(CPU_STK * )&LED_PC13_TASK_STK[0],
(CPU_STK_SIZE)LED_PC13_STK_SIZE/10,
(CPU_STK_SIZE)LED_PC13_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);
/* 创建LED_PA5任务 */
OSTaskCreate((OS_TCB * )&Ledpa5TaskTCB,
(CPU_CHAR * )"led_pa5",
(OS_TASK_PTR )led_pa5,
(void * )0,
(OS_PRIO )LED_PA5_TASK_PRIO,
(CPU_STK * )&LED_PA5_TASK_STK[0],
(CPU_STK_SIZE)LED_PA5_STK_SIZE/10,
(CPU_STK_SIZE)LED_PA5_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 > 0u
OSStatTaskCPUUsageInit(&err); /* Compute CPU capacity with no task running */
#endif
CPU_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 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 ppqppl ! 欢迎来到RTOS多任务环境!\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 */
}
static void led_pa5 (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)
{
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_5,GPIO_PIN_RESET);
OSTimeDlyHMSM(0, 0, 3, 0,OS_OPT_TIME_HMSM_STRICT,&err);
HAL_GPIO_WritePin(GPIOA,GPIO_PIN_5,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 */
}
/* 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****/
标准库方法
此实验为基于 HAL 库的 UC/OSIII 移植,没有标准库与寄存器方法
寄存器方法
此实验为基于 HAL 库的 UC/OSIII 移植,没有标准库与寄存器方法
运行测试
虚拟串口测试
由于要进行点灯,所以这里虚拟串口测试仅有输出部分
Proteus 仿真模拟
测试仍有问题,会在问题解决后即使进行更新
接线示例
运行结果
结果分析
这里的三个任务分别是独立运行的,就好像我们用的电脑中的多任务一样,互不干扰,但公用一个运行内存和 CPU ,虽然我们在两个点灯任务中分别使用了延时函数,但是这里的延时函数并不互相影响,都是分任务独立进行的
波形检测
波形检测没有意义这里不进行检测于分析
错误解决方法
实验中要求点灯于串口发送数据必须通过三个任务进行完成,否则将会出现问题