Catalogue of Series Articles
1. Use CubeMX to build STM32F103C8T6HAL Library
Configure RCC
Configure SYS
Set PC13 to GPIO_Output is used to light up LED lights
Set Serial Port USART1
Setup Project
Click Generate Code and open the project in Keil.
Add statements 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 to STM32F103, set BOOT0 to zero, press the Reset button, you can see the PC13LED light flashing, proving that the code is OK.
2. Preparing uCOSIII source code
Go to the official website to download: http://micrium.com/downloadcenter/
In the generated keil project folder f103c8_ UCOSIII_ 1_ Create a new UCOSIII folder in test and copy the three folders in the source code we downloaded: Uc-CPU, uC-LIB, Ucos-III into the folder we created:
Create a new OS folder under the Scr folder
Open the source you just downloaded, and take the following path: EvalBoardsMicriumuC-Eval-STM32F107uCOS-III:
app.c, app_cfg.h, cpu_cfg.h, include.h, lib_cfg.h, os_app_hooks.c, os_app_hook.h, os_cfg.h, os_cfg_app.h copies to the OS folder you created in the previous step, creating three new blank files at the same time: bsp.c, bsp.h, app.h
3. Add project components and header file paths
1. Add Project Groups
Open f103c8_uCOSIII_1_test project, add six new groups as shown in the figure: bsp, uCOSIII_CPU, uCOSIII_LIB, uCOSIII_Ports, uCOSIII_Source, OS_cfg
2. Add files to groups
File directory is: Src/OS, add bsp.c and bsp.h files to the BSP group, and add app.c to the Application/User group
uCOSIII_CPU component, click the Add Files... button, jump the file directory to: UCOSIII/uC-CPU, select ALL files file type, click Add to add three of the files, and then open: ARM-Cortex-M3\RealView, also select ALL files file type, add three files to uCOSIII_CPU Group
Add uCOSIII_LIB component file: select uCOSIII_LIB group, click the Add Files... button, jump the file directory to: UCOSIII/uCLIB, select ALL files file type, add nine of them to uCOSIII_LIB group; Then continue opening: Ports/ARM-Cortex-M3/Realview, add lib_mem_a.asm file
Select uCOSIII_Ports group, click the Add Files... button to adjust the file directory to: UCOSIII/UcosIII/Ports/RAM-Cortex-M3/Generic/RealView. Select the ALL files file type and add three of them to uCOSIII_Ports Group
Select uCOSIII_ Source group, click the Add Files... button to adjust the file directory to: UCOSIII/UcosIII/Source. Select the ALL files file type and add twenty of them to uCOSIII_Sourc Group
Select OS_cfg group, click the Add Files... button to adjust the file directory to: Src/OS. Select the ALLfiles file type to add eight files to uCOSIII_Sourc Group
3. Add header file path
4. Modify the contents of the document
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
Modify 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//Task heap size is too big. Try 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 is also 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 a 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); //Statistics Tasks
#endif
#ifdef CPU_CFG_INT_DIS_MEAS_EN // If enabled to measure interrupt shutdown time
CPU_IntDisMeasMaxCurReset();
#endif
#if OS_CFG_SCHED_ROUND_ROBIN_EN // When using time slice rotation
//Enables time slice rotation scheduling with a system clock beat of 1*5=5ms
OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
#endif
OS_CRITICAL_ENTER(); //Enter critical zone
/* Create LED 0 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 LED 1 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 a parameter passed in when the task is 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 */
/**
* Functional functions: Create application tasks
* Input parameter: p_arg is a parameter passed in when the task is created
* Return value: None
* Description: None
*/
static void AppTaskCreate (void)
{
}
/**
* Function function: uCOSIII kernel object creation
* Input parameter: 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****/
app_cfg.h
First modification:
Before modification
#define APP_CFG_SERIAL_EN DEF_ENABLED
Modified
#define APP_CFG_SERIAL_EN DEF_DISABLED
Second modification:
Before modification
#define APP_TRACE BSP_Ser_Printf
Modified
#define APP_TRACE (void)
includes.h
First modification: Add related header file
Before modification
#include <bsp.h>
Modified
#include <bsp.h> #include "gpio.h" #include "app_cfg.h" #include "app.h"
Second modification: adding the HAL Library
Before modification
#include <stm32f10x_lib.h>
Modified
#include "stm32f1xx_hal.h"
lib_cfg.h
There is a macro definition in this header file:
#define LIB_MEM_CFG_HEAP_SIZE 27u * 1024u
This means that the heap space is set to 27 KB, but the total RAM I use for stm32f103c8t6 is only 20K:
So I need to make the heap space smaller here. I changed it to 10K
#define LIB_MEM_CFG_HEAP_SIZE 10u * 1024u
This modification is not necessary for single-chip computers with large RAM space, but necessary for single-chip computers with small capacity.
Effect
