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S3C2416裸机开发系列十五_GCC下uCOS的移植(2)
S3C2416裸机开发系列十五
GCC下uCOS的移植(2)
象棋小子 1048272975
4. uCOS配置
uCOS是可裁减实时操作系统，可以根据实际的应用对内核未使用到的功能进行裁减，以进一步节省系统宝贵的硬件资源，通常可用的uCOS-II内核代码在6K~26K，这在uCOS-II配置文件os_cfg.h中进行配置，这个配置文件在源码目录为os_cfg_r.h，从目录中拷贝添加到uCOS/uCOS-II/Cfg目录中，并重命名为os_cfg.h。
#ifndef OS_CFG_H
#define OS_CFG_H
/* ---------------------------- MISCELLANEOUS -------------------------- */
#define OS_CFG_APP_HOOKS_EN 1u /* Enable/Disable application specific hooks*/
#define OS_CFG_ARG_CHK_EN 1u /*Enable/Disable argument checking*/
#define OS_CFG_CALLED_FROM_ISR_CHK_EN 1u /* check for called from ISR*/
#define OS_CFG_DBG_EN 1u /* Enable (1) debugcode/variables */
#define OS_CFG_ISR_POST_DEFERRED_EN 0u /* Enable/Disable DeferredISR posts */
#define OS_CFG_OBJ_TYPE_CHK_EN 1u /* Enable/Disable object typechecking*/
#define OS_CFG_TS_EN 1u /* Enable/Disable timestamping*/
#define OS_CFG_PEND_MULTI_EN 1u /* code generation formulti-pend feature */
#define OS_CFG_PRIO_MAX 32u /* maximum number of taskpriorities */
#define OS_CFG_SCHED_LOCK_TIME_MEAS_EN 1u /* code to measure schedulerlock time */
#define OS_CFG_SCHED_ROUND_ROBIN_EN 1u /* code for Round-Robinscheduling */
#define OS_CFG_STK_SIZE_MIN 64u /* Minimum allowable taskstack size */
/* ----------------------------- EVENT FLAGS --------------------------- */
#define OS_CFG_FLAG_EN 1u /* Enable/Disable code forEVENT FLAGS*/
#define OS_CFG_FLAG_DEL_EN 0u /* Include code forOSFlagDel()*/
#define OS_CFG_FLAG_MODE_CLR_EN 0u /* code for Wait on ClearEVENT FLAGS*/
#define OS_CFG_FLAG_PEND_ABORT_EN 0u /* Include code forOSFlagPendAbort()*/
/* -------------------------- MEMORY MANAGEMENT ------------------------ */
#define OS_CFG_MEM_EN 1u /* code generation for MEMORYMANAGER */
/* --------------------- MUTUAL EXCLUSION SEMAPHORES ------------------- */
#define OS_CFG_MUTEX_EN 1u /* code generation for MUTEX*/
#define OS_CFG_MUTEX_DEL_EN 0u /* code for OSMutexDel()*/
#define OS_CFG_MUTEX_PEND_ABORT_EN 0u /* code for OSMutexPendAbort()*/
/* --------------------------- MESSAGE QUEUES -------------------------- */
#define OS_CFG_Q_EN 1u /* code generation for QUEUES*/
#define OS_CFG_Q_DEL_EN 0u /* Include code forOSQDel()*/
#define OS_CFG_Q_FLUSH_EN 0u /* Include code forOSQFlush()*/
#define OS_CFG_Q_PEND_ABORT_EN 1u /* Include code forOSQPendAbort()*/
/* ----------------------------- SEMAPHORES ---------------------------- */
#define OS_CFG_SEM_EN 1u /* code generation for SEMAPHORES */
#define OS_CFG_SEM_DEL_EN 0u /* Include code forOSSemDel()*/
#define OS_CFG_SEM_PEND_ABORT_EN 1u /* Include code forOSSemPendAbort()*/
#define OS_CFG_SEM_SET_EN 1u /* Include code forOSSemSet()*/
/* -------------------------- TASK MANAGEMENT -------------------------- */
#define OS_CFG_STAT_TASK_EN 1u /* Enable/Disable thestatistics task*/
#define OS_CFG_STAT_TASK_STK_CHK_EN 1u /* Check task stacks fromstatistic task*/
#define OS_CFG_TASK_CHANGE_PRIO_EN 1u /* Include code forOSTaskChangePrio()*/
#define OS_CFG_TASK_DEL_EN 0u /* Include code forOSTaskDel()*/
#define OS_CFG_TASK_Q_EN 1u /* Include code forOSTaskQXXXX()*/
#define OS_CFG_TASK_Q_PEND_ABORT_EN 0u /* Include code forOSTaskQPendAbort()*/
#define OS_CFG_TASK_PROFILE_EN 1u /* variables in OS_TCB forprofiling */
#define OS_CFG_TASK_REG_TBL_SIZE 1u /* Number of task specificregisters*/
#define OS_CFG_TASK_SEM_PEND_ABORT_EN 1u /* Include code forOSTaskSemPendAbort()*/
#define OS_CFG_TASK_SUSPEND_EN 1u /* OSTaskSuspend() and OSTaskResume()*/
/* -------------------------- TIME MANAGEMENT -------------------------- */
#define OS_CFG_TIME_DLY_HMSM_EN 1u /* Include code forOSTimeDlyHMSM()*/
#define OS_CFG_TIME_DLY_RESUME_EN 0u /* Include code forOSTimeDlyResume()*/
/* ------------------- TASK LOCAL STORAGE MANAGEMENT ------------------- */
#define OS_CFG_TLS_TBL_SIZE 0u /* code for Task LocalStorage (TLS) registers */
/* ------------------------- TIMER MANAGEMENT -------------------------- */
#define OS_CFG_TMR_EN 1u /*Enable/Disablecode generation for TIMERS */
#define OS_CFG_TMR_DEL_EN 0u /*Enable/Disable code generation for OSTmrDel()*/
#endif
5. 用户代码
用户需要提供一个周期性定时中断作为uCOS-II的运行Tick，每个Tick需调用OSTimeTick()来让内核管理时钟节拍，在s3c2416用定时器4产生这个系统Tick。在main()函数中需调用OSInit()初始化内核，创建任务后，再调用OSStart()把cpu管理权交给内核。内核即可正确地管理用户的任务。
#include "s3c2416.h"
#include "Exception.h"
#include "ucos_ii.h"
// IO port for controling LEDs
#define LED2 (13) // GPE13 LED2
#define LED3 (11) // GPE11 LED3
#define LED4 (13) // GPL13 LED4
#define LED5 (12) // GPE12 LED5
#define LED6 (2) // GPG2 LED6
OS_STK TaskStartStk[TASK_START_STK_SIZE];
OS_STK Task1Stk[TASK1_STK_SIZE];
OS_STK Task2Stk[TASK2_STK_SIZE];
OS_STK Task3Stk[TASK3_STK_SIZE];
static void Timer4_IRQ(void)
{
OSTimeTick(); // uCOS时钟节拍管理
rSRCPND1 |= (0x01 <<INT_TIMER4); // write 1 to clear
rINTPND1 |= (0x01 <<INT_TIMER4); // write 1 to clear
}
void Timer4_Start()
{
rTCON |= (0x1 << 20); // 定时器开启
}
void Timer4_Stop()
{
rTCON &= ~(0x1 << 20);// 定时器停止
}
void Timer4_Init()
{
// 定时器4时钟频率为PCLK(66.66666M)/(0+1)/16=4.166MHZ
rTCFG1 &= ~(0xf << 16);
rTCFG1 |= (0x3 << 16); // Timer4 16分频
rTCFG0 &= ~(0xff << 8);
rTCFG0 |= (0 << 8); // PCLK预分频为1
rTCNTB4 = 4166; // System Tick设1ms
rTCON |= (0x1 << 21); // 更新计数值
rTCON &= ~(0x1 << 21);// 清除
rTCON |= (0x1 << 22); // 自动重装载
IRQ_Register(INT_TIMER4,Timer4_IRQ); // 注册Timer4中断函数
rINTMOD1 &= ~(1 <<INT_TIMER4); // Timer4 IRQ 模式
rINTMSK1 &= ~(1 <<INT_TIMER4); // Timer4开中断
}
void Gpio_LED2(unsigned char On)
{
if (!On) {
rGPEDAT &=~(1<<LED2);
} else {
rGPEDAT |= (1<<LED2);
}
}
void Gpio_LED3(unsigned char On)
{
if (!On) {
rGPEDAT &=~(1<<LED3);
} else {
rGPEDAT |= (1<<LED3);
}
}
void Gpio_LED4(unsigned char On)
{
if (!On) {
rGPLDAT &=~(1<<LED4);
} else {
rGPLDAT |= (1<<LED4);
}
}
void Gpio_LED5(unsigned char On)
{
if (!On) {
rGPEDAT &=~(1<<LED5);
} else {
rGPEDAT |= (1<<LED5);
}
}
void Gpio_Init()
{
// GPE11,12,13 LED3,LED5,LED2output
rGPECON &=~((0x03<<(LED3<<1)) | (0x03<<(LED5<<1))
|(0x03<<(LED2<<1)));
rGPECON |= ((0x01<<(LED3<<1))| (0x01<<(LED5<<1))
|(0x01<<(LED2<<1)));
// GPL13 LED4 output
rGPLCON &= ~(0x03 <<(LED4<<1));
rGPLCON |= (0x01 <<(LED4<<1));
}
void Task3(void *pdata)
{
(void)pdata;
while (1) {
Gpio_LED5(1);
OSTimeDly(2000); // LED5 2000ms闪烁
Gpio_LED5(0);
OSTimeDly(2000); // LED52000ms闪烁
}
}
void Task2(void *pdata)
{
(void)pdata;
while (1) {
Gpio_LED4(1);
OSTimeDly(1500); // LED41500ms闪烁
Gpio_LED4(0);
OSTimeDly(1500); // LED41500ms闪烁
}
}
void Task1(void *pdata)
{
(void)pdata;
while (1) {
Gpio_LED3(1);
OSTimeDly(1000); // LED31000ms闪烁
Gpio_LED3(0);
OSTimeDly(1000); // LED31000ms闪烁
}
}
void TaskStart(void *pdata)
{
(void)pdata;
Gpio_Init();
Timer4_Init();
Timer4_Start();
OSTaskCreate(Task1, (void *)0,&Task1Stk[TASK1_STK_SIZE - 1], Task1Prio);
OSTaskCreate(Task2, (void *)0,&Task2Stk[TASK2_STK_SIZE - 1], Task2Prio);
OSTaskCreate(Task3, (void *)0,&Task3Stk[TASK3_STK_SIZE - 1], Task3Prio);
while (1) {
Gpio_LED2(1);
OSTimeDly(500); // LED2 500ms闪烁
Gpio_LED2(0);
OSTimeDly(500); // LED2 500ms闪烁
}
}
int main (void)
{
OSInit(); // 初始化uCOS
OSTaskCreate(TaskStart, (void *)0,&TaskStartStk[TASK_START_STK_SIZE-1], TaskStartPrio);
OSStart();// 开始uCOS调度
return 0;
}
uCOS-II通过app_cfg.h文件来配置任务的栈、优先级等，app_cfg.h的内容如下:
#ifndef APP_CFG_MODULE_PRESENT
#define APP_CFG_MODULE_PRESENT
// 任务TaskStart的栈及优先级分配
#define TASK_START_STK_SIZE 256u
#define TaskStartPrio 10
// 任务Task1的栈及优先级分配
#define TASK1_STK_SIZE 256u
#define Task1Prio 11
// 任务Task2的栈及优先级分配
#define TASK2_STK_SIZE 256u
#define Task2Prio 12
// 任务Task3的栈及优先级分配
#define TASK3_STK_SIZE 256u
#define Task3Prio 13
// 定时器优先级配置
#define OS_TASK_TMR_PRIO (OS_LOWEST_PRIO - 2)
#endif
uCOS-II+uCGUI效果图：
6. 附录
本篇uCOS接口部分的移植对于ARM7、ARM9都是适用的，不同型号的cpu只需加入定时器产生系统Tick，通过调用OSTimeTick()来让内核管理时钟节拍。总的来说，熟悉一款操作系统的工作原理，了解其任务调度、信号量同步、临界区访问等概念，对学习其它操作系统、多线程编程等均是有很较大的帮助的。
uCOS_GCC，GCC下uCOS-II的移植工程，可直接make
http://pan.baidu.com/s/1o6NTaVw
uCOS_MDK，MDK下uCOS-II的移植工程
http://pan.baidu.com/s/1jGjzE0A