二、从Micrium官网下载UCOSIII源码并添加文件到工程中
1. 到Micrium官网下载ucos源码程序(MDK版)
micrium网址:/选择STM32F4xx
下载示例工程
此处需要账号，大家自己注册一下
下载下来目录如下图所示：
2.在STM32CubeMX生成的工程中添加UCOS-III文件夹
2.1 在UCOS-III目录下创建文件夹，放置UCOSIII源码
在STM32CubeMX工程STM32F429_UCOSIII_DEMO\UCOS-III\目录下创建 BSP 和 CONFIG目录2.1.1 BSP目录填充
复制
Micrium_STM32F429II-SK_OS3\Micrium\Examples\ST\STM32F429II-SK\BSP目录下的bsp.c 和 bsp.h到STM32CubeMX工程STM32F429_UCOSIII_DEMO\UCOS-III\BSP
2.1.2 CONFIG目录填充
复制
Micrium_STM32F429II-SK_OS3\Micrium\Examples\ST\STM32F429II-SK\OS3目录下的8个文件到STM32CubeMX工程STM32F429_UCOSIII_DEMO\UCOS-III\CONFIG
2.1.3 复制源码到UCOS-III目录
复制
\Micrium_STM32F429II-SK_OS3\Micrium\Software目录下的uC-CPU、uC-LIB、uCOS-III三个文件夹到STM32CubeMX工程STM32F429_UCOSIII_DEMO\UCOS-III目录下
2.1.4 文件添加完成
3.在MDK5工程中添加UCOS-III目录下的文件
3.1 在工程中添加分组文件夹
3.2 添加文件到分组
3.2.1 UC/OS_III-BSP
将UCOS-III\BSP下所有文件添加到分组：UC/OS_III-BSP3.2.2 UC/OS_III-CONFIG
将UCOS-III\CONFIG下所有文件添加到分组：UC/OS_III-CONFIG3.2.3 UC/OS_III-CPU
将UCOS-III\uC-CPU和UCOS-III\uC-CPU\ARM-Cortex-M4\RealView下所有文件添加到分组：UC/OS_III-CPU3.2.4 UC/OS_III-LIB
将UCOS-III\uC-LIB和UCOS-III\uC-LIB\Ports\ARM-Cortex-M4\RealView下所有文件添加到分组：UC/OS_III-LIB3.2.5 UC/OS_III-SOURCE
将UCOS-III\uCOS-III\Source下所有文件添加到分组：UC/OS_III-SOURCE3.2.6 UC/OS_III-PORTS
将UCOS-III\uCOS-III\Ports\ARM-Cortex-M4\Generic\RealView下所有文件添加到分组：UC/OS_III-PORTS3.3 添加依赖的头文件路径
点击此处进行设置如图依次添加以下七个路径
点击OK，编译，此处会报错，是正常的 我们还要修改几个文件
4.STM32CubeMX工程文件修改
4.1 启动文件修改
修改前：将启动文件中的
PendSV_Handler和SysTick_Handler修改为OS_CPU_PendSVHandler和OS_CPU_SysTickHandler
修改后：
修改前：增加FPU运算支持
修改后：
4.2 bsp.c 和 bsp.h修改
将bsp.c的内容替换成以下代码#define BSP_MODULE#include <bsp.h>#include <os.h>#define BSP_REG_DEM_CR (*(CPU_REG32 *)0xE000EDFC)#define BSP_REG_DWT_CR (*(CPU_REG32 *)0xE0001000)#define BSP_REG_DWT_CYCCNT (*(CPU_REG32 *)0xE0001004)#define BSP_REG_DBGMCU_CR (*(CPU_REG32 *)0xE004)#define BSP_BIT_DEM_CR_TRCENADEF_BIT_24#define BSP_BIT_DWT_CR_CYCCNTENA DEF_BIT_00CPU_INT32U BSP_CPU_ClkFreq (void){return HAL_RCC_GetHCLKFreq();}#if (CPU_CFG_TS_TMR_EN == DEF_ENABLED)void CPU_TS_TmrInit (void){CPU_INT32U fclk_freq;fclk_freq = BSP_CPU_ClkFreq();BSP_REG_DEM_CR|= (CPU_INT32U)BSP_BIT_DEM_CR_TRCENA; /* Enable Cortex-M4's DWT CYCCNT reg. */BSP_REG_DWT_CYCCNT = (CPU_INT32U)0u;BSP_REG_DWT_CR|= (CPU_INT32U)BSP_BIT_DWT_CR_CYCCNTENA;CPU_TS_TmrFreqSet((CPU_TS_TMR_FREQ)fclk_freq);}#endif#if (CPU_CFG_TS_TMR_EN == DEF_ENABLED)CPU_TS_TMR CPU_TS_TmrRd (void){CPU_TS_TMR ts_tmr_cnts;ts_tmr_cnts = (CPU_TS_TMR)BSP_REG_DWT_CYCCNT;return (ts_tmr_cnts);}#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的内容替换成以下代码
#ifndef BSP_PRESENT#define BSP_PRESENT#ifdef BSP_MODULE#define BSP_EXT#else#define BSP_EXT extern#endif#include <stdio.h>#include <stdarg.h>#include <cpu.h>#include <cpu_core.h>#include <lib_def.h>#include <lib_ascii.h>//如果修改芯片，需要修改此包含的库文件名#include "stm32l4xx_hal.h"#endif
4.3 再次编译，编译通过！
5.在main.c中创建usart1和led任务，测试是否移植成功
5.1 引入ucos头文件
/* Private includes ----------------------------------------------------------*//* USER CODE BEGIN Includes */#include "includes.h"/* USER CODE END Includes */
5.2 完整main.c代码
/* USER CODE BEGIN Header *//********************************************************************************* @file : main.c* @brief: Main program body******************************************************************************* @attention** <h2><center>© Copyright (c) STMicroelectronics.* All rights reserved.</center></h2>** This software component is licensed by ST under BSD 3-Clause license,* the "License"; You may not use this file except in compliance with the* License. You may obtain a copy of the License at:* /licenses/BSD-3-Clause********************************************************************************//* USER CODE END Header *//* Includes ------------------------------------------------------------------*/#include "main.h"#include "usart.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 *///注意这里任务优先级从3开始，1和2分别被//时钟节拍任务和定时器任务占用//任务优先级#define START_TASK_PRIO 3//任务堆栈大小#define START_STK_SIZE 512//任务控制块OS_TCB StartTaskTCB;//任务堆栈CPU_STK START_TASK_STK[START_STK_SIZE];//任务函数void start_task(void *p_arg);//任务优先级#define LDE_TASK_PRIO 4//任务堆栈大小#define LDE_STK_SIZE 256//任务控制块OS_TCB LedTaskTCB;//任务堆栈CPU_STK LDE_TASK_STK[LDE_STK_SIZE];//任务函数void led_task(void *p_arg);//任务优先级#define USART1_TASK_PRIO 4//任务堆栈大小#define USART1_STK_SIZE 256//任务控制块OS_TCB USART1TaskTCB;//任务堆栈CPU_STK USART1_TASK_STK[USART1_STK_SIZE];//任务函数void usart1_task(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 *//* USER CODE END 0 *//*** @brief The application entry point.* @retval int*/int main(void){/* USER CODE BEGIN 1 */OS_ERR err;CPU_SR_ALLOC();/* 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();MX_USART1_UART_Init();/* USER CODE BEGIN 2 *//*注意 硬件初始化放这里 不能正常运行 要要放到开始任务里面初始化*/OSInit(&err);//初始化UCOSIIIOS_CRITICAL_ENTER();//进入临界区//创建开始任务OSTaskCreate((OS_TCB* )&StartTaskTCB, //任务控制块(CPU_CHAR* )"start task", //任务名字(OS_TASK_PTR )start_task, //任务函数(void* )0, //传递给函数的参数(OS_PRIO )START_TASK_PRIO, //任务优先级(CPU_STK* )&START_TASK_STK[0], //任务堆栈基地址(CPU_STK_SIZE )START_STK_SIZE/10, //任务堆栈深度限位(CPU_STK_SIZE )START_STK_SIZE, //任务堆栈大小(OS_MSG_QTY )0, //任务内部消息队列能接收的最大消息数目//为0时禁止接收消息(OS_TICK )0, //当使能时间片轮转时的时间片长度//为0时为默认长度(void* )0,//用户补充存储区(OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,(OS_ERR* )&err); //存放该函数错误时候的返回值OS_CRITICAL_EXIT(); //退出临界区OSStart(&err); //开启UCOSIII/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */// while (1)// {/* USER CODE END WHILE *//* USER CODE BEGIN 3 */////HAL_UART_Transmit(&huart1,TxData,20,0xffff);//HAL_GPIO_TogglePin(GPIOH, GPIO_PIN_10);//HAL_Delay(500);//// }/* USER CODE END 3 */}/*** @brief System Clock Configuration* @retval None*/void SystemClock_Config(void){RCC_OscInitTypeDef RCC_OscInitStruct = {0};RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};/** Configure the main internal regulator output voltage */__HAL_RCC_PWR_CLK_ENABLE();__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);/** Initializes the CPU, AHB and APB busses clocks */RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;RCC_OscInitStruct.HSIState = RCC_HSI_ON;RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;RCC_OscInitStruct.PLL.PLLM = 8;RCC_OscInitStruct.PLL.PLLN = 180;RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;RCC_OscInitStruct.PLL.PLLQ = 4;if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK){Error_Handler();}/** Activate the Over-Drive mode */if (HAL_PWREx_EnableOverDrive() != 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_DIV4;RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK){Error_Handler();}}/* USER CODE BEGIN 4 *///开始任务void start_task(void *p_arg){OS_ERR err;CPU_SR_ALLOC();p_arg = p_arg;CPU_Init();#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//使能时间片轮转段杜功能呢，时间片长度为1个系统时钟节拍，即1*5=5msOSSchedRoundRobinCfg(DEF_ENABLED,1,&err);#endifOS_CRITICAL_ENTER(); //临界区保护//创建LED_D2 任务OSTaskCreate((OS_TCB* )&LedTaskTCB,(CPU_CHAR* )"led_task",(OS_TASK_PTR )led_task,(void* )0,(OS_PRIO )LDE_TASK_PRIO,(CPU_STK* )&LDE_TASK_STK[0], (CPU_STK_SIZE )LDE_STK_SIZE/10,(CPU_STK_SIZE )LDE_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* )&USART1TaskTCB,(CPU_CHAR* )"USART1_task",(OS_TASK_PTR )usart1_task,(void* )0,(OS_PRIO )USART1_TASK_PRIO,(CPU_STK* )&USART1_TASK_STK[0], (CPU_STK_SIZE )USART1_STK_SIZE/10,(CPU_STK_SIZE )USART1_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(); //退出临界区}//LDE任务函数void led_task(void *p_arg){OS_ERR err;p_arg = p_arg;while(1){HAL_GPIO_TogglePin(GPIOH, GPIO_PIN_10);OSTimeDly(200, OS_OPT_TIME_DLY, &err);}}//USART1任务函数void usart1_task(void *p_arg){OS_ERR err;uint8_t TxData[20]= "usart1 transmit!\n";p_arg = p_arg;while(1){HAL_UART_Transmit(&huart1,TxData,20,0xffff);OSTimeDly(500, OS_OPT_TIME_DLY, &err);}}/* 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****/
