STM32F103基于uCOS实现多任务

一、项目创建

1.配置GPIO

2.配置RTC

3.配置USART1

4.配置RCC

5.配置时钟

6.配置项目

二、usOS移植

参考文章STM32F103C8T6移植uC/OS-III基于HAL库超完整详细过程

三、创建多任务

1.定义相关变量以及任务函数

//任务控制块
static  OS_TCB   AppTaskStartTCB;
OS_TCB LED1TaskTCB;//PA4
OS_TCB LED2TaskTCB;//PA5
OS_TCB USART1TaskTCB;//串口1

//任务堆栈
static  CPU_STK  AppTaskStartStk[APP_TASK_START_STK_SIZE];

/* 私有函数原形 --------------------------------------------------------------*/
static  void  AppTaskCreate(void);
static  void  AppObjCreate(void);
static  void  AppTaskStart(void *p_arg);

//任务函数
void LED1_TASK(void *p_arg);
void LED2_TASK(void *p_arg);
void USART1_TASK(void *p_arg);

//任务优先级
#define LED1_TASK_PRIO 5  //PA4优先级
#define LED2_TASK_PRIO 4  //PA5优先级
#define USART1_TASK_PRIO 3 //USART1优先级

//任务栈大小
#define LED1_STK_SIZE 64 //PA4栈大小
#define LED2_STK_SIZE 64 //PA5栈大小
#define USART1_STK_SIZE 64 //串口1栈大小


CPU_STK LED1_TASK_STK[LED1_STK_SIZE];//PA4任务栈
CPU_STK LED2_TASK_STK[LED2_STK_SIZE];//PA5任务栈
CPU_STK USART1_TASK_STK[USART1_STK_SIZE];//串口任务栈

2.定义相关任务函数

//LED1每秒闪烁一次
void  LED1_TASK (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();


  while (DEF_TRUE)
  {
		HAL_GPIO_TogglePin(LED1_GPIO_Port,LED1_Pin);
		//延时1秒
		OSTimeDlyHMSM(0, 0, 1, 0,
                  OS_OPT_TIME_HMSM_STRICT,
                  &err);
  }
}

//LED2每3秒闪烁一次
void  LED2_TASK (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();


  while (DEF_TRUE)
  {
		HAL_GPIO_TogglePin(LED2_GPIO_Port,LED2_Pin);
	  //延时3秒
		OSTimeDlyHMSM(0, 0, 3, 0,
                  OS_OPT_TIME_HMSM_STRICT,
                  &err);
  }
}


//串口1每2秒输出一次
void  USART1_TASK (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();


  while (DEF_TRUE)
  {
		printf("hello uc/OS! 欢迎来到RTOS多任务环境\r\n");
	  //延时2秒
		OSTimeDlyHMSM(0, 0, 2, 0,
                  OS_OPT_TIME_HMSM_STRICT,
                  &err);
  }
}

3.创建任务

OSTaskCreate((OS_TCB 	* )&LED1TaskTCB,		
				 (CPU_CHAR	* )"pa4 task", 		
				 (OS_TASK_PTR )LED1_TASK, 			
				 (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);	
				 
	OSTaskCreate((OS_TCB 	* )&LED2TaskTCB,		
				 (CPU_CHAR	* )"pa5 task", 		
				 (OS_TASK_PTR )LED2_TASK, 			
				 (void		* )0,					
				 (OS_PRIO	  )LED2_TASK_PRIO,     
				 (CPU_STK   * )&LED2_TASK_STK[0],	
				 (CPU_STK_SIZE)LED2_STK_SIZE/10,	
				 (CPU_STK_SIZE)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);
				 
				 
	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*)&AppTaskStartTCB,&err);

4.最终效果

四、总结

配置uCOS需要耐心

五、参考

https://blog.youkuaiyun.com/weixin_43116606/article/details/105532222

六、源码

https://github.com/TangtangSix/uCOSProject