uC/OS-II 移植笔记

朱雀 2021-12-24 15:21 285阅读 0赞

用过51、AVR、Freescale、STM32，但是写程序一直没有用过实时操作系统，一是因为写的项目不大，二是不太想去看手册学东西。现在写的项目也算比较大，因为需要，所以就学一下，这样也不至于每次的程序都裸奔。

用的红牛STM32开发板（很久之前的板子，STM32F103ZET6芯片）

首先下载官方的库，还有uc/OS的源码。建立好工程后，添加UC/OS。如图

![131012019236113.jpg][]

注意os\_cfg.h 和 app\_cfg.h 在源码里是没有的，一般是拷贝Micrium\\Software\\EvalBoards里面的。

修改 startup\_stm32f10x\_hd.s

把PendSV\_Handler 替换成 OS\_CPU\_PendSVHandler

把SysTick\_Handler 替换成 OS\_CPU\_SysTickHandler

如果编译器报错说这两个函数没有声明，那在前面再添加 IMPORT 声明下。如下：

DCD     SVC_Handler               ; SVCall Handler
            DCD     DebugMon_Handler          ; Debug Monitor Handler
            DCD     0                         ; Reserved
          ;  DCD     PendSV_Handler            ; PendSV Handler
            IMPORT  OS_CPU_PendSVHandler
            DCD     OS_CPU_PendSVHandler
          ;  DCD     SysTick_Handler           ; SysTick Handler
            IMPORT  OS_CPU_SysTickHandler 
            DCD     OS_CPU_SysTickHandler 
           
             ; External Interrupts
            DCD     WWDG_IRQHandler           ; Window Watchdog
            DCD     PVD_IRQHandler            ; PVD through EXTI Line detect
            DCD     TAMPER_IRQHandler         ; Tamper

修改OS\_CFG.H，这里面主要是系统要启用的功能，我的配置如下：

#ifndef OS_CFG_H
    #define OS_CFG_H
    
                                           /* ---------------------- MISCELLANEOUS ----------------------- */
    #define OS_APP_HOOKS_EN           0    /* Application-defined hooks are called from the uC/OS-II hooks */
    #define OS_ARG_CHK_EN             1    /* Enable (1) or Disable (0) argument checking                  */
    #define OS_CPU_HOOKS_EN           1    /* uC/OS-II hooks are found in the processor port files         */
    
    #define OS_DEBUG_EN               0    /* Enable(1) debug variables                                    */
    #define OS_EVENT_MULTI_EN         0    /* Include code for OSEventPendMulti()                          */
    
    #define OS_EVENT_NAME_SIZE       16    /* Determine the size of the name of a Sem, Mutex, Mbox or Q    */
    
    #define OS_LOWEST_PRIO           31    /* Defines the lowest priority that can be assigned ...         */
                                           /* ... MUST NEVER be higher than 254!                           */
    
    #define OS_MAX_EVENTS            10    /* Max. number of event control blocks in your application      */
    #define OS_MAX_FLAGS              5    /* Max. number of Event Flag Groups    in your application      */
    #define OS_MAX_MEM_PART           5    /* Max. number of memory partitions                             */
    #define OS_MAX_QS                 4    /* Max. number of queue control blocks in your application      */
    #define OS_MAX_TASKS             16    /* Max. number of tasks in your application, MUST be >= 2       */
    
    #define OS_SCHED_LOCK_EN          0    /*     Include code for OSSchedLock() and OSSchedUnlock()       */
    
    #define OS_TICK_STEP_EN           0    /* Enable tick stepping feature for uC/OS-View                  */
    #define OS_TICKS_PER_SEC       1000    /* Set the number of ticks in one second                        */
    
    
                                           /* --------------------- TASK STACK SIZE ---------------------- */
    #define OS_TASK_TMR_STK_SIZE    128    /* Timer      task stack size (# of OS_STK wide entries)        */
    #define OS_TASK_STAT_STK_SIZE   128    /* Statistics task stack size (# of OS_STK wide entries)        */
    #define OS_TASK_IDLE_STK_SIZE   128    /* Idle       task stack size (# of OS_STK wide entries)        */
    
    
                                           /* --------------------- TASK MANAGEMENT ---------------------- */
    #define OS_TASK_CHANGE_PRIO_EN    0    /*     Include code for OSTaskChangePrio()                      */
    #define OS_TASK_CREATE_EN         1    /*     Include code for OSTaskCreate()                          */
    #define OS_TASK_CREATE_EXT_EN     1    /*     Include code for OSTaskCreateExt()                       */
    #define OS_TASK_DEL_EN            1    /*     Include code for OSTaskDel()                             */
    #define OS_TASK_NAME_SIZE        16    /*     Determine the size of a task name                        */
    #define OS_TASK_PROFILE_EN        1    /*     Include variables in OS_TCB for profiling                */
    #define OS_TASK_QUERY_EN          0    /*     Include code for OSTaskQuery()                           */
    #define OS_TASK_STAT_EN           0    /*     Enable (1) or Disable(0) the statistics task             */
    #define OS_TASK_STAT_STK_CHK_EN   0    /*     Check task stacks from statistic task                    */
    #define OS_TASK_SUSPEND_EN        0    /*     Include code for OSTaskSuspend() and OSTaskResume()      */
    #define OS_TASK_SW_HOOK_EN        1    /*     Include code for OSTaskSwHook()                          */
    
    
                                           /* ----------------------- EVENT FLAGS ------------------------ */
    #define OS_FLAG_EN                0    /* Enable (1) or Disable (0) code generation for EVENT FLAGS    */
    #define OS_FLAG_ACCEPT_EN         1    /*     Include code for OSFlagAccept()                          */
    #define OS_FLAG_DEL_EN            1    /*     Include code for OSFlagDel()                             */
    #define OS_FLAG_NAME_SIZE        16    /*     Determine the size of the name of an event flag group    */
    #define OS_FLAGS_NBITS           16    /*     Size in #bits of OS_FLAGS data type (8, 16 or 32)        */
    #define OS_FLAG_QUERY_EN          1    /*     Include code for OSFlagQuery()                           */
    #define OS_FLAG_WAIT_CLR_EN       1    /*     Include code for Wait on Clear EVENT FLAGS               */
    
    
                                           /* -------------------- MESSAGE MAILBOXES --------------------- */
    #define OS_MBOX_EN                0    /* Enable (1) or Disable (0) code generation for MAILBOXES      */
    #define OS_MBOX_ACCEPT_EN         1    /*     Include code for OSMboxAccept()                          */
    #define OS_MBOX_DEL_EN            1    /*     Include code for OSMboxDel()                             */
    #define OS_MBOX_PEND_ABORT_EN     1    /*     Include code for OSMboxPendAbort()                       */
    #define OS_MBOX_POST_EN           1    /*     Include code for OSMboxPost()                            */
    #define OS_MBOX_POST_OPT_EN       1    /*     Include code for OSMboxPostOpt()                         */
    #define OS_MBOX_QUERY_EN          1    /*     Include code for OSMboxQuery()                           */
    
    
                                           /* --------------------- MEMORY MANAGEMENT -------------------- */
    #define OS_MEM_EN                 0    /* Enable (1) or Disable (0) code generation for MEMORY MANAGER */
    #define OS_MEM_NAME_SIZE         16    /*     Determine the size of a memory partition name            */
    #define OS_MEM_QUERY_EN           1    /*     Include code for OSMemQuery()                            */
    
    
                                           /* ---------------- MUTUAL EXCLUSION SEMAPHORES --------------- */
    #define OS_MUTEX_EN               0    /* Enable (1) or Disable (0) code generation for MUTEX          */
    #define OS_MUTEX_ACCEPT_EN        1    /*     Include code for OSMutexAccept()                         */
    #define OS_MUTEX_DEL_EN           1    /*     Include code for OSMutexDel()                            */
    #define OS_MUTEX_QUERY_EN         1    /*     Include code for OSMutexQuery()                          */
    
    
                                           /* ---------------------- MESSAGE QUEUES ---------------------- */
    #define OS_Q_EN                   0    /* Enable (1) or Disable (0) code generation for QUEUES         */
    #define OS_Q_ACCEPT_EN            1    /*     Include code for OSQAccept()                             */
    #define OS_Q_DEL_EN               1    /*     Include code for OSQDel()                                */
    #define OS_Q_FLUSH_EN             1    /*     Include code for OSQFlush()                              */
    #define OS_Q_PEND_ABORT_EN        1    /*     Include code for OSQPendAbort()                          */
    #define OS_Q_POST_EN              1    /*     Include code for OSQPost()                               */
    #define OS_Q_POST_FRONT_EN        1    /*     Include code for OSQPostFront()                          */
    #define OS_Q_POST_OPT_EN          1    /*     Include code for OSQPostOpt()                            */
    #define OS_Q_QUERY_EN             1    /*     Include code for OSQQuery()                              */
    
    
                                           /* ------------------------ SEMAPHORES ------------------------ */
    #define OS_SEM_EN                 0    /* Enable (1) or Disable (0) code generation for SEMAPHORES     */
    #define OS_SEM_ACCEPT_EN          1    /*    Include code for OSSemAccept()                            */
    #define OS_SEM_DEL_EN             1    /*    Include code for OSSemDel()                               */
    #define OS_SEM_PEND_ABORT_EN      1    /*    Include code for OSSemPendAbort()                         */
    #define OS_SEM_QUERY_EN           1    /*    Include code for OSSemQuery()                             */
    #define OS_SEM_SET_EN             1    /*    Include code for OSSemSet()                               */
    
    
                                           /* --------------------- TIME MANAGEMENT ---------------------- */
    #define OS_TIME_DLY_HMSM_EN       1    /*     Include code for OSTimeDlyHMSM()                         */
    #define OS_TIME_DLY_RESUME_EN     1    /*     Include code for OSTimeDlyResume()                       */
    #define OS_TIME_GET_SET_EN        1    /*     Include code for OSTimeGet() and OSTimeSet()             */
    #define OS_TIME_TICK_HOOK_EN      1    /*     Include code for OSTimeTickHook()                        */
    
    
                                           /* --------------------- TIMER MANAGEMENT --------------------- */
    #define OS_TMR_EN                 0    /* Enable (1) or Disable (0) code generation for TIMERS         */
    #define OS_TMR_CFG_MAX           16    /*     Maximum number of timers                                 */
    #define OS_TMR_CFG_NAME_SIZE     16    /*     Determine the size of a timer name                       */
    #define OS_TMR_CFG_WHEEL_SIZE     8    /*     Size of timer wheel (#Spokes)                            */
    #define OS_TMR_CFG_TICKS_PER_SEC 10    /*     Rate at which timer management task runs (Hz)            */
    
    
    
    #endif

然后在 os\_cpu\_c.c 中添加一个获取时钟频率的函数：

INT32U OS_CPU_SysTickClkFreq(void) 
    { 
      RCC_ClocksTypeDef  rcc_clocks; 
      RCC_GetClocksFreq(&rcc_clocks); 
      return ((INT32U)rcc_clocks.HCLK_Frequency); 
      
    }

到此为止移植的差不多了。

主函数:

#include "common.h"
    
    extern const unsigned char gImage_image[153600];
    static OS_STK startup_task_stk[STARTUP_TASK_STK_SIZE];
    
    
    void HW_Init(void)
    {
      SystemInit();
      TFT_Init();
      RB_LED_GPIO_Init();
      ili9320_Clear(Green);
      RB_Comm_GPIOOUT_Init();
      RB_Time2_Mode_Config();
      RB_Time2_NVIC_Configuration();
     
    }
    void HW_Set_Init(void)
    {
      ili9320_DrawPicture(0,0,240,320,(u16*)gImage_image);
    }
    
    int main()
    {
      HW_Init();
      SysTick_Config(SystemCoreClock/OS_TICKS_PER_SEC); 
      OSInit();
      OSTaskCreate(RB_Task_LED,(void *)0,&startup_task_stk[STARTUP_TASK_STK_SIZE-1], STARTUP_TASK_PRIO);
      OSStart();
      return 0;
    }

OS的APP函数：

#include "ucos_app.h"
    
    static OS_STK task_led1_stk[TASK_LED1_STK_SIZE];
    static OS_STK task_led2_stk[TASK_LED2_STK_SIZE];
    
    void RB_Task_LED(void *p_arg)
    {
      (void)p_arg;
      OSTaskCreate(RB_Task_led1,(void *)0,&task_led1_stk[TASK_LED1_STK_SIZE-1], TASK_LED1_PRIO);
      OSTaskCreate(RB_Task_led2,(void *)0,&task_led2_stk[TASK_LED2_STK_SIZE-1], TASK_LED2_PRIO);
      while(1)
      {
        RB_LED_ReadWrite(2,0);
        OSTimeDlyHMSM(0, 0,0,100);
        RB_LED_ReadWrite(2,1);
        OSTimeDlyHMSM(0, 0,0,100);
      }
    }
    void RB_Task_led1(void *p_arg)
    {
      (void)p_arg;
      while(1)
      {
        RB_LED_ReadWrite(3,0);
        OSTimeDlyHMSM(0, 0,0,200);
        RB_LED_ReadWrite(3,1);
        OSTimeDlyHMSM(0, 0,0,200);
      }
    }
    
    void RB_Task_led2(void *p_arg)
    {
      (void)p_arg;
      while(1)
      {
        RB_LED_ReadWrite(4,0);
        OSTimeDlyHMSM(0, 0,0,300);
        RB_LED_ReadWrite(4,1);
        OSTimeDlyHMSM(0, 0,0,300);
      }
    }

APP\_CFG.H

#ifndef __APP_CFG_H__
    #define __APP_CFG_H__
    
    #define STARTUP_TASK_PRIO 4         //任务优先级
    #define TASK_LED1_PRIO 5
    #define TASK_LED2_PRIO 6
    
    #define STARTUP_TASK_STK_SIZE 80    //设置栈大小
    #define TASK_LED1_STK_SIZE 80
    #define TASK_LED2_STK_SIZE 80
    
    
    
    
    #endif

编译通过后，下载到板子既可以发现三个LED以不同频率闪烁了

![131029442679695.jpg][]

移植主要参考的是 野火的教程 ：《从0开始移植UCOS II到野火M3开发板教程（V2.0》

接下来就是学习UC/OS的具体用法和功能了。

2015-5-13

转载于:https://www.cnblogs.com/einstein-2014731/p/4499690.html

[131012019236113.jpg]: /images/20211223/b4755ef2e4834b38bfae0060821e4b1d.png
[131029442679695.jpg]: /images/20211223/0cc013b287974049bef89e6c13c39a68.png