Porting uC/OS-III operating system based on stm32cubemx and waveform observation

Keywords: Single-Chip Microcomputer stm32

catalogue

1, Get uC/OS-III source code

2, Create folder

2.1 new folder

2.2 create an empty file

2.3 import source code

2.4 creating a basic stm32 framework

2.5 import file and add header function path

two point six   Open keil and add item

​   3, Rewrite code

3.1 modify startup file

3.2 modify CONFIG/app_cfg.h

3.3 modify CONFIG/includes.h  

3.5 bsp.h

3.6 CONFIG/lib_cfg.h

3.7 usart.c

3.8 main.c

4, Operation results

5, Keil 5 simulation

5.1 create a new debug.ini file

5.2 open keil magic wand

5.3 enter the commissioning interface

5.4 waveform results

6, Summary

1, Get uC/OS-III source code

Link: https://pan.baidu.com/s/1_Wk-hbeQ7KrvnoA0GwJXdA  
Extraction code: qwer

2, Create folder

2.1 new folder

Create two new folders, UC BSP and UC config, which will be used later.

2.2 create an empty file

Create bsp.c and bsp.h files

2.3 import source code


2.4 creating a basic stm32 framework

Set gpio pins pb0 and PB1 to observe the led flashing under two task tasks, and set serial port usart1. The interrupt does not need to be turned on. At the same time, sys,rcc, and clock72MHZ should be set

 

For detailed pin settings, refer to: stm32 interrupt and serial DMA communication under stm32cubemx_ Laul Ken Yi's blog - CSDN blog

2.5 import file and add header function path

Import the source folder just created into the cubemx project directory just created

 

two point six   Open keil and add item

Add six groups

2.6.1 add the blank files bsp.c and bsp.h just created under BSP and file.  

2.6.2 add 8 files under CONFIG


2.6.3 add 20 files in SOURCE


2.6.4 add 3 files under port

2.6.5 add 6 files under CPU
Including 3 under UC CPU and 3 under realview

2.6.6 add 10 files under lib
  Similar to 2.6.6 CPU

  2.7 add file compilation path


  3, Rewrite code

3.1 modify startup file

PendSV_Handler    ----->      OS_CPU_PendSVHandler

SysTick_Handler     ----->      OS_CPU_SysTickHandler

Remember that there are two changes

3.2 modify CONFIG/app_cfg.h

#define APP_CFG_SERIAL_EN    DEF_ENABLED ------#define APP_CFG_SERIAL_EN       DEF_DISABLED

#define APP_TRACE BSP_Ser_Printf -------#define APP_TRACE (void)

 

 

3.3 modify CONFIG/includes.h  

Add after #include < BSP. H >
                    #include "gpio.h"
                    #include "app_cfg.h"

Set #include < stm32f10x_ Change lib. H > to #include "stm32f1xx_hal.h"


3.4 modify BSP/bsp.c
// 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;
	#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


3.5 bsp.h

// bsp.h

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

3.6 CONFIG/lib_cfg.h

lib_ Modify the macro definition of heap space in CFG. H, which was originally 27K, but the total RAM of this board is only 20k, which is modified to 5k

3.7 usart.c

Parameter configuration


Add header file

 
Add redirection printf function

/* USER CODE BEGIN 1 */
int fputc(int ch,FILE *f){
    HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xffff);
    return ch;
}
/* USER CODE END 1 */


3.8 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"
/* USER CODE END Includes */
 
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
 
/* USER CODE END PTD */
 
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* Task priority */
#define START_TASK_PRIO		3
#define LED0_TASK_PRIO		4
#define MSG_TASK_PRIO		5
#define LED1_TASK_PRIO		6
 
/* Task stack size	*/
#define START_STK_SIZE 		96
#define LED0_STK_SIZE 		64
#define MSG_STK_SIZE 		64
#define LED1_STK_SIZE 		64
 
/* Task stack */	
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];
 
/* Task control block */
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 */
 
/* Task function definition */
void start_task(void *p_arg);
static  void  AppTaskCreate(void);
static  void  AppObjCreate(void);
static  void  led_pb0(void *p_arg);
static  void  send_msg(void *p_arg);
static  void  led_pb1(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();  This will also be initialized in BSP initialization
  MX_USART1_UART_Init();	
	/* Create task */
	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);
	/* Start the multitasking system and give control to 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);  		//Statistical tasks                
#endif
	
#ifdef CPU_CFG_INT_DIS_MEAS_EN 			// If enabled, measure the interrupt off time
    CPU_IntDisMeasMaxCurReset();	
#endif
 
#if 	 OS_CFG_SCHED_ROUND_ROBIN_EN   		// When using time slice rotation
	 //Enable the time slice rotation scheduling function. The time slice length is 1 system clock beat, i.e. 1*5=5ms
	OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);  
#endif		
	
	OS_CRITICAL_ENTER();	//Enter critical zone
	/* Create LED0 task */
	OSTaskCreate((OS_TCB 	* )&Led0TaskTCB,		
				 (CPU_CHAR	* )"led_pb0", 		
                 (OS_TASK_PTR )led_pb0, 			
                 (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);		
 
/* Create LED1 task */
	OSTaskCreate((OS_TCB 	* )&Led1TaskTCB,		
				 (CPU_CHAR	* )"led_pb1", 		
                 (OS_TASK_PTR )led_pb1, 			
                 (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);										 
				 
	/* Create MSG task */
	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);		//Suspend start task			 
	OS_CRITICAL_EXIT();	//Enter critical zone
}
/**
  * Function function: start the task function body.
  * Input parameter: p_arg is the formal parameter passed when the task was created
  * Return value: None
  * Description: None
  */
static  void  led_pb0 (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(GPIOB,GPIO_PIN_0,GPIO_PIN_RESET);
		OSTimeDlyHMSM(0, 0, 1, 0,OS_OPT_TIME_HMSM_STRICT,&err);
		HAL_GPIO_WritePin(GPIOB,GPIO_PIN_0,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_pb1 (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(GPIOB,GPIO_PIN_1,GPIO_PIN_RESET);
		OSTimeDlyHMSM(0, 0, 3, 0,OS_OPT_TIME_HMSM_STRICT,&err);
		HAL_GPIO_WritePin(GPIOB,GPIO_PIN_1,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 > 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 */
/**
  * Function function: create application task
  * Input parameter: p_arg is the formal parameter passed when the task was created
  * Return value: None
  * Description: None
  */
static  void  AppTaskCreate (void)
{
  
}
 
 
/**
  * Function function: uCOSIII kernel object creation
  * Input parameters: None
  * Return value: None
  * Description: None
  */
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****/


4, Operation results

task1 and task2,led display, one is 1s flashing alternately, and the other is 3s flashing alternately

task3 serial output

5, Keil 5 simulation

Analysis background: Based on the uC/Os operating system transplanted under stm32cubemx, three task tasks, two LED tasks and serial output tasks are realized.

See the blog for specific projects

Porting uC/OS-III operating system based on stm32cubemx_ Laul Ken Yi's blog - CSDN blog

5.1 create a new debug.ini file

New text file

Enter the following debug configuration, otherwise keil simulation will report an error

map 0x40000000, 0x40007FFF read write // APB1
map 0x40010000, 0x400157FF read write // APB2
map 0x40020000, 0x4007FFFF read write // AHB1
map 0x50000000, 0x50060BFF read write // AHB2
map 0x60000000, 0x60000FFF read write // AHB3
map 0xE0000000, 0xE00FFFFF read write // CORTEX-M4 internal peripherals

And save it as an. ini file in the project directory. Remember to change the save type to all files.

 

5.2 open keil magic wand

Add the debug file just created at ②.

5.3 enter the commissioning interface

 

Set the corresponding pin to be observed. Use serial port 1, pb0 and PB1 mentioned in the previous blog.

Knowledge points:
GPIOB_IDR is the IDR register of GPIO. Its function is to read the status of the corresponding I/O port:

For example, gpioa - > IDR & 0x0001 is the level state of PA-1, and the 16 bits of IDR register correspond to P0-P1 of the GPIO

5.4 waveform results


Analysis: first look at the serial port output. One grid corresponds to 1s. When passing through two grids, that is, 2s serial port outputs a signal. For PB0, 1s is on and 1s is off in the project. It can be seen from the simulation diagram that 1s is high level and 1s is low level. For PB1, it can be seen from the number grid that 3s is a high level and 3s is a low level, which corresponds to 3s once set in the project.

6, Summary

  Through the transplantation of uC/OS operating system, we have a general understanding of the realization of functions through the operating system. Through the simulation of waveform, we have a deeper understanding of the working principle of the protocol. It can be seen that the simulated waveform is basically consistent with the actual waveform, and it is still relatively easy when there is a boss.

Reference: zero dead angle play STM32F103 - guide.pdf

  Simulation waveform analysis based on keil and real waveform capture based on logic analyzer_ Laul Ken Yi's blog - CSDN blogPorting uC/OS-III operating system based on stm32cubemx_ Laul Ken Yi's blog - CSDN blog

Posted by Azarian on Sun, 05 Dec 2021 05:35:31 -0800