1, Using CubeMX to build STM32F103C8T6HAL Library
1. Configure RCC
2. Configure SYS
3. Set PC13 to GPIO_Output
4. Set serial port USART1
5. Setup project
6. Generate code
7. Modify code
Add a statement to the while loop in the main function
while (1)
{
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
HAL_Delay(500);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_RESET);
HAL_Delay(500);
}
/* USER CODE END 3 */
Compile, burn the code into STM32F103, set BOOT0 to zero, press the Reset button, you can see the PC13LED flashing, which proves that there is no problem with the code.
2, Prepare uCOSIII source code
Download address: Micrium Software and Documentation
After downloading, the content is shown in the following figure:
3, Preparation before transplantation
1. Create new bsp.c and bsp.h files for the UC BSP folder
2. Add the following files to the folder UC config (copy from the following path)
3. Copy uCOS related files to MDK-ARM folder of HAL project
4, Start migration
Go back to HAL project opened by Keil
1. Add uCOS file to project
(1) Click Manage Project Items
(2) Create a new folder for the project as follows
(3) Add files to the newly added folder respectively
Click CPU - > Add files... And select the following files to add
Click LIB – > Add files... And select the following files to add
Click PORT - > Add files... And select the following files to add
Click SOURCE – > Add files... And select the following files to add
Click CONFIG - > Add files... And select the following files to add
Click BSP – > Add files... And select the following files to add
(4) Click OK to save
The project structure changes
(5) Import file path
Find from project path
2. Add code for bsp.c and bsp.h
Find the bsp.c and bsp.h files under BSP
Add the following code:
bsp.h
// bsp.h #ifndef __BSP_H__ #define __BSP_H__ #include "stm32f1xx_hal.h" void BSP_Init(void); #endif
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. Modify the main.c file code
/* 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
/* Task stack size */
#define START_STK_SIZE 64
#define LED0_STK_SIZE 64
#define MSG_STK_SIZE 64 / / if the task heap size is too large, an error will be reported. You can try to make it smaller
/* 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];
/* Task control block */
OS_TCB StartTaskTCB;
OS_TCB Led0TaskTCB;
OS_TCB MsgTaskTCB;
/* 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_pc13(void *p_arg);
static void send_msg(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_pc13",
(OS_TASK_PTR )led_pc13,
(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 * )&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_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, 0, 500,OS_OPT_TIME_HMSM_STRICT,&err);
HAL_GPIO_WritePin(GPIOC,GPIO_PIN_13,GPIO_PIN_SET);
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 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 world \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 */
}
/* 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. Modify the code of the rest of the file
Found file startup_
Place pendsv at_ Handler and systick_ Change handler to OS_CPU_PendSVHandler and OS_CPU_SysTickHandler
Find file app_cfg.h
Modify as shown in the figure below
Locate the file includes.h
#Add at include < BSP. H >
Find lib_cfg.h
It is modified to 5 here (the macro definition here sets the size of heap space. The RAM of STM32F103C8T6 is only 20K, so it needs to be reduced)
Since we use the printf function, we need to add the following code to the usart.c file to complete the printf redirection
/* 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 */
5. Parameter configuration
5, Run
6, Summary
There are many contents and complicated steps in this experiment, especially in the process of configuring the code. Be careful. If you don't pay attention, you will report an error.