STM32F4X UCOSIII移植

什么是uCOSIII

在刚学习MCU的时候，我们接触到基本上都是些简单的程序，通常所有的业务逻辑都是在main函数里面完成。但是随着后续程序越来越复杂，就会发现把所有的业务逻辑都放在一个main里面执行就会显得效率特别低，这时候就需要RTOS的帮忙了。RTOS又叫实时操作系统，大家听到操作系统可能会觉得都像Windows、Linux那些操作系统，都特别复杂，其实不然。RTOS是专门运行在MCU上的操作系统，其特点是实时性，其内核一般都不会很复杂，而且占用的资源都很少。常用的RTOS有uCOS、FreeRTOS、RTThread等。本章就以STM32F4X为平台，移植uCOSIII操作系统。

STM32F4X 移植UCOSIII

UCOSIII源代码下载

在进行UCOSIII移植前，我们首先要下载UCOSIII的源代码。UCOSIII的源代码可以去Micrium的官网下载,网址是https://www.silabs.com/developers/micrium，按照以下步骤下载

因为官网下载很慢，而且还要注册账号，很麻烦，所以下面给出了UCOSIII的源代码下载链接，大家也可以进行下载
链接：https://pan.baidu.com/s/1iP4F5xO8eacWW5QpY2hboA
提取码：38qq

UCOSIII源代码目录结构

首先我们打开UCOSIII 3.04->Micrium->Software

• EvalBoards:MCU板型目录，里面有不同MCU的UCOSIII例程。
• uC-CPU:MCU架构目录，里面放了不同架构CPU的代码
• uC-LIB:UCOSIII的程序库
• uCOS-III:UCOSIII内核代码

工程移植

首先我们先拿一个能够在STM32F4X平台上能运行的工程作为模板，然后才开始移植UCOSIII。我就拿了一个串口的例程作为模板。

添加UCOSIII源码到工程

工程添加UCOSIII代码组

我们需要在工程中添加3个组，分别是uC-CPU(存放跟MCU架构相关的代码)，uC-LIB(存放UCOSIII的程序库)和uCOSIII(uCOSIII内核代码)。

添加uC-CPU代码

进入UCOSIII的源码目录UCOSIII 3.04->Micrium->Software->uC-CPU里面，可以看到有以下文件。

因为STM32F4X是Crotex-M4架构，所以我们还要进到ARM-Cortex-M4里面。可以看到UCOSIII的开发者给不同的编译器都编写不同风格的架构代码。

• GNU:GCC编译器的选这个
• IAR:IAR编译器选这个
• RealView:MDK编译器选这个

因为作者用的是MDK编译器，所以选的是RealView。

我们把UCOSIII 3.04->Micrium->Software->uC-CPU下面的3个文件添加到工程中的uC-CPU里面，接着把UCOSIII 3.04->Micrium->Software->uC-CPU->ARM-Cortex-M4\RealView里面的文件也添加到uC-CPU里面

添加uC-LIB代码

进入UCOSIII的源码目录UCOSIII 3.04->Micrium->Software->uC-LIB里面，可以看到有以下文件。这些都是UCOSIII通用的库文件，其中Ports目录下存放是跟CPU架构相关的代码。


我们把UCOSIII 3.04->Micrium->Software->uC-LIB下面的所有文件添加到工程中的uC-LIB里面，接着把UCOSIII 3.04->Micrium->Software->uC-LIB->Ports->ARM-Cortex-M4->RealView里面的文件也添加到uC-LIB里面

添加uCOSIII代码

进入UCOSIII的源码目录UCOSIII 3.04->Micrium->Software->uCOS-III里面，可以看到有以下文件。这些都是UCOSIII的内核代码，其中Ports目录下存放是跟CPU架构相关的代码，Source目录下存放是通用的内核代码

我们把UCOSIII 3.04->Micrium->Software->uCOS-III->Source下面的所有文件添加到工程中的uCOSIII里面，接着把UCOSIII 3.04->Micrium->Software->uCOS-III->Ports->ARM-Cortex-M4->Generic->RealView里面的文件也添加到uCOSIII里面

添加UCOSIII系统时钟

RTOS工作的时候都需要根据一定的时间进行任务的调度，所以在移植RTOS时我们都需要给RTOS一个心跳时钟，简单来说就是给RTOS一个定时器，在定时器里面做任务的调度。因为Crotex-M的架构都会自带一个systick的系统定时器，所以就选择systick作为uCOSIII的系统时钟。
我们先打开startup_stm32f40_41xxx.s文件，找到PendSV_Handler和SysTick_Handler这两个函数，把它们替换成uCOSIII自带的函数。

OS_CPU_PendSVHandler:任务调度函数，汇编语言编写
OS_CPU_SysTickHandler:uCOSIII心跳函数

添加uCOSIII配置文件和初始化文件

因为uCOSIII是可以裁剪的RTOS，所以我们还需要添加uCOSIIII的配置文件。我们打开UCOSIII 3.04->Micrium->Software->EvalBoards->ST->STM32F429II-SK->uCOS-III目录，把以下文件添加到工程


进入UCOSIII 3.04->Micrium->Software->EvalBoards->ST\STM32F429II-SK->BSP，添加bsp.c和bsp.h板级初始化代码。

修改uCOSIII配置文件和初始化文件

添加完配置文件和初始化文件后，我们需要根据不同的开发板和不同芯片进行修改，使其可以成功编译并运行，一般需要做这几步

• 初始化系统时钟，返回系统时钟频率给uCOSIII
• 初始化RTOS的系统心跳时钟
• 初始化开发板外设
• 编译运行

bsp.c

/*
*********************************************************************************************************
*                                     MICIRUM BOARD SUPPORT PACKAGE
*
*                             (c) Copyright 2013; Micrium, Inc.; Weston, FL
*
*               All rights reserved.  Protected by international copyright laws.
*               Knowledge of the source code may NOT be used to develop a similar product.
*               Please help us continue to provide the Embedded community with the finest
*               software available.  Your honesty is greatly appreciated.
*********************************************************************************************************
*/

/*
*********************************************************************************************************
*
*                                     BOARD SUPPORT PACKAGE (BSP)
*
*                                       IAR Development Kits
*                                              on the
*
*                                    STM32F429II-SK KICKSTART KIT
*
* Filename      : bsp.c
* Version       : V1.00
* Programmer(s) : FF
*                 YS
*********************************************************************************************************
*/


/*
*********************************************************************************************************
*                                             INCLUDE FILES
*********************************************************************************************************
*/

#define   BSP_MODULE
#include  


/*
*********************************************************************************************************
*                                            LOCAL DEFINES
*********************************************************************************************************
*/





/*
*********************************************************************************************************
*                                           LOCAL CONSTANTS
*********************************************************************************************************
*/


/*
*********************************************************************************************************
*                                          LOCAL DATA TYPES
*********************************************************************************************************
*/


/*
*********************************************************************************************************
*                                            LOCAL TABLES
*********************************************************************************************************
*/


/*
*********************************************************************************************************
*                                       LOCAL GLOBAL VARIABLES
*********************************************************************************************************
*/


/*
*********************************************************************************************************
*                                             REGISTERS
*********************************************************************************************************
*/

#define  BSP_REG_DEM_CR                           (*(CPU_REG32 *)0xE000EDFC)
#define  BSP_REG_DWT_CR                           (*(CPU_REG32 *)0xE0001000)
#define  BSP_REG_DWT_CYCCNT                       (*(CPU_REG32 *)0xE0001004)
#define  BSP_REG_DBGMCU_CR                        (*(CPU_REG32 *)0xE0042004)

                                                                /* -         RCC REGISTER DEFINES                     - */
#define  BSP_REG_RCC_BASE_ADDR                    ((CPU_INT32U)(0x40023800))

#define  BSP_REG32_RCC_CR                         (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x00u ))
#define  BSP_REG32_RCC_PLLCFGR                    (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x04u ))
#define  BSP_REG32_RCC_CFGR                       (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x08u ))
#define  BSP_REG32_RCC_CIR                        (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x0Cu ))
#define  BSP_REG32_RCC_AHB1RSTR                   (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x10u ))
#define  BSP_REG32_RCC_AHB2RSTR                   (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x14u ))
#define  BSP_REG32_RCC_AHB3RSTR                   (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x18u ))
#define  BSP_REG32_RCC_APB1RSTR                   (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x20u ))
#define  BSP_REG32_RCC_APB2RSTR                   (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x24u ))
#define  BSP_REG32_RCC_AHB1ENR                    (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x30u ))
#define  BSP_REG32_RCC_AHB2ENR                    (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x34u ))
#define  BSP_REG32_RCC_AHB3ENR                    (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x38u ))
#define  BSP_REG32_RCC_APB1ENR                    (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x40u ))
#define  BSP_REG32_RCC_APB2ENR                    (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x44u ))
#define  BSP_REG32_RCC_AHB1LPENR                  (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x50u ))
#define  BSP_REG32_RCC_AHB2LPENR                  (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x54u ))
#define  BSP_REG32_RCC_AHB3LPENR                  (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x58u ))
#define  BSP_REG32_RCC_APB1LPENR                  (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x60u ))
#define  BSP_REG32_RCC_APB2LPENR                  (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x64u ))
#define  BSP_REG32_RCC_BDCR                       (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x70u ))
#define  BSP_REG32_RCC_CSR                        (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x74u ))
#define  BSP_REG32_RCC_SSCGR                      (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x80u ))
#define  BSP_REG32_RCC_PLLI2SCFGR                 (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x84u ))
#define  BSP_REG32_RCC_PLLSAICFGR                 (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x88u ))
#define  BSP_REG32_RCC_DCKCFGR                    (*(CPU_REG32 *)( BSP_REG_RCC_BASE_ADDR + 0x8Cu ))

                                                                /* -               FLASH REGISTER DEFINES             - */
#define  BSP_REG_FLASH_BASE_ADDR                  (( CPU_INT32U )(0x40023C00))

#define  BSP_REG32_FLASH_ACR                      (*(CPU_REG32 *)( BSP_REG_FLASH_BASE_ADDR + 0x00u ))
#define  BSP_REG32_FLASH_KEYR                     (*(CPU_REG32 *)( BSP_REG_FLASH_BASE_ADDR + 0x04u ))
#define  BSP_REG32_FLASH_OPTKEYR                  (*(CPU_REG32 *)( BSP_REG_FLASH_BASE_ADDR + 0x08u ))
#define  BSP_REG32_FLASH_SR                       (*(CPU_REG32 *)( BSP_REG_FLASH_BASE_ADDR + 0x0Cu ))
#define  BSP_REG32_FLASH_CR                       (*(CPU_REG32 *)( BSP_REG_FLASH_BASE_ADDR + 0x10u ))
#define  BSP_REG32_FLASH_OPTCR                    (*(CPU_REG32 *)( BSP_REG_FLASH_BASE_ADDR + 0x14u ))
#define  BSP_REG32_FLASH_OPTCR1                   (*(CPU_REG32 *)( BSP_REG_FLASH_BASE_ADDR + 0x18u ))



/*
*********************************************************************************************************
*                                            REGISTER BITS
*********************************************************************************************************
*/

#define  BSP_DBGMCU_CR_TRACE_IOEN_MASK                 0x10u
#define  BSP_DBGMCU_CR_TRACE_MODE_ASYNC                0x00u
#define  BSP_DBGMCU_CR_TRACE_MODE_SYNC_01              0x40u
#define  BSP_DBGMCU_CR_TRACE_MODE_SYNC_02              0x80u
#define  BSP_DBGMCU_CR_TRACE_MODE_SYNC_04              0xC0u
#define  BSP_DBGMCU_CR_TRACE_MODE_MASK                 0xC0u

#define  BSP_BIT_DEM_CR_TRCENA                    DEF_BIT_24
#define  BSP_BIT_DWT_CR_CYCCNTENA                 DEF_BIT_00


                                                                /* -                    RCC BLOCK                     - */
#define  HSE_TIMEOUT_VAL                              0x0500u
#define  BSP_MSK_HSECFG                           0x00FF0000u
#define  BSP_BIT_RCC_CR_HSION                     DEF_BIT_00
#define  BSP_BIT_RCC_CR_HSEBYP                    DEF_BIT_18
#define  BSP_BIT_RCC_CR_HSEON                     DEF_BIT_16
#define  BSP_BIT_RCC_CR_HSERDY                    DEF_BIT_17
#define  BSP_MSK_RCC_CFGR_HPRE                    0x000000F0u
#define  BSP_MSK_RCC_CFGR_SYSCLKDIV1              0x00000000u
#define  BSP_MSK_RCC_CFGR_SYSCLKDIV2              0x00000080u
#define  BSP_MSK_RCC_CFGR_SYSCLKDIV4              0x00000090u
#define  BSP_MSK_RCC_CFGR_SYSCLKDIV8              0x000000A0u
#define  BSP_MSK_RCC_CFGR_SYSCLKDIV16             0x000000B0u
#define  BSP_MSK_RCC_CFGR_SYSCLKDIV64             0x000000C0u
#define  BSP_MSK_RCC_CFGR_SYSCLKDIV128            0x000000D0u
#define  BSP_MSK_RCC_CFGR_SYSCLKDIV256            0x000000E0u
#define  BSP_MSK_RCC_CFGR_SYSCLKDIV512            0x000000F0u
#define  BSP_MSK_RCC_CFGR_PPRE1                   0x00001C00u
#define  BSP_MSK_RCC_CFGR_PPRE2                   0x0000E000u
#define  BSP_MSK_RCC_CFGR_HCLK_DIV1               0x00000000u
#define  BSP_MSK_RCC_CFGR_HCLK_DIV2               0x00001000u
#define  BSP_MSK_RCC_CFGR_HCLK_DIV4               0x00001400u
#define  BSP_MSK_RCC_CFGR_HCLK_DIV8               0x00001800u
#define  BSP_MSK_RCC_CFGR_HCLK_DIV16              0x00001C00u
#define  BSP_MSK_RCC_CFGR_SWS_HSI                 0x00000000u
#define  BSP_MSK_RCC_CFGR_SWS_HSE                 0x00000004u
#define  BSP_MSK_RCC_CFGR_SWS_PLL                 0x00000008u
#define  BSP_MSK_RCC_CFGR_SWS                     0x0000000Cu
#define  BSP_MSK_RCC_CFGR_SW_HSI                  0x00000000u
#define  BSP_MSK_RCC_CFGR_SW_HSE                  0x00000001u
#define  BSP_MSK_RCC_CFGR_SW_PLL                  0x00000002u
#define  BSP_MSK_RCC_CFGR_SW                      0x00000003u
                                                                /* -                     PLL BLOCK                    - */
#define  BSP_BIT_RCC_PLLCFGR_PLLM                          8u
#define  BSP_BIT_RCC_PLLCFGR_PLLN                        336u
#define  BSP_BIT_RCC_PLLCFGR_PLLP                          2u
#define  BSP_BIT_RCC_PLLCFGR_PLLQ                          7u
#define  BSP_BIT_RCC_CR_PLLON                     DEF_BIT_24
#define  BSP_BIT_RCC_CR_PLLRDY                    DEF_BIT_25
#define  BSP_MSK_RCC_PLLCFGR_PLLSRC_HSE           0x00400000u
#define  BSP_MSK_RCC_PLLCFGR_RST                  0x24003010u
#define  BSP_MSK_SYSCLK_SRC_PLLCLK                0x00000002u
#define  BSP_MSK_PLLCFGR_PLLSRC_HSE               0x00400000u
#define  BSP_MSK_PLLCFGR_PLLSRC_HSI               0x00000000u
                                                                /* -                    FLASH BLOCK                   - */
#define  BSP_BIT_FLASH_ACR_PRFTEN                 DEF_BIT_08
#define  BSP_BIT_FLASH_ACR_ICEN                   DEF_BIT_09
#define  BSP_BIT_FLASH_ACR_DCEN                   DEF_BIT_10
#define  BSP_MSK_FLASHLATENCY_0WS                 0x00000000u
#define  BSP_MSK_FLASHLATENCY_1WS                 0x00000001u
#define  BSP_MSK_FLASHLATENCY_2WS                 0x00000002u
#define  BSP_MSK_FLASHLATENCY_3WS                 0x00000003u
#define  BSP_MSK_FLASHLATENCY_4WS                 0x00000004u
#define  BSP_MSK_FLASHLATENCY_5WS                 0x00000005u
#define  BSP_MSK_FLASHLATENCY_6WS                 0x00000006u
#define  BSP_MSK_FLASHLATENCY_7WS                 0x00000007u
#define  BSP_MSK_FLASHLATENCY_8WS                 0x00000008u
#define  BSP_MSK_FLASHLATENCY_9WS                 0x00000009u
#define  BSP_MSK_FLASHLATENCY_10WS                0x0000000Au
#define  BSP_MSK_FLASHLATENCY_11WS                0x0000000Bu
#define  BSP_MSK_FLASHLATENCY_12WS                0x0000000Cu
#define  BSP_MSK_FLASHLATENCY_13WS                0x0000000Du
#define  BSP_MSK_FLASHLATENCY_14WS                0x0000000Eu
#define  BSP_MSK_FLASHLATENCY_15WS                0x0000000Fu

/*
*********************************************************************************************************
*                                      LOCAL FUNCTION PROTOTYPES
*********************************************************************************************************
*/



/*
*********************************************************************************************************
*                                               BSP_Init()
*
* Description : Initialize the Board Support Package (BSP).
*
* Argument(s) : none.
*
* Return(s)   : none.
*
* Caller(s)   : Application.
*
* Note(s)     : (1) This function SHOULD be called before any other BSP function is called.
*
*               (2) CPU instruction / data tracing requires the use of the following pins :
*                   (a) (1) Asynchronous      :  PB[3]
*                       (2) Synchronous 1-bit :  PE[3:2]
*                       (3) Synchronous 2-bit :  PE[4:2]
*                       (4) Synchronous 4-bit :  PE[6:2]
*
*                   (c) The application may wish to adjust the trace bus width depending on I/O
*                       requirements.
*********************************************************************************************************
*/

void  BSP_Init (void)
{
	NVIC_PriorityGroupConfig(2); // 中断优先级分组
	bsp_usart_init(115200);      //  初始化串口
}


/*
*********************************************************************************************************
*                                            BSP_CPU_ClkFreq()
*
* Description : Read CPU registers to determine the CPU clock frequency of the chip.
*
* Argument(s) : none.
*
* Return(s)   : The CPU clock frequency, in Hz.
*
* Caller(s)   : Application.
*
* Note(s)     : none.
*********************************************************************************************************
*/

CPU_INT32U  BSP_CPU_ClkFreq (void)
{
    RCC_ClocksTypeDef  rcc_clocks;


    RCC_GetClocksFreq(&rcc_clocks);

    return ((CPU_INT32U)rcc_clocks.HCLK_Frequency);
}



/*$PAGE*/
/*
*********************************************************************************************************
*                                          CPU_TS_TmrInit()
*
* Description : Initialize & start CPU timestamp timer.
*
* Argument(s) : none.
*
* Return(s)   : none.
*
* Caller(s)   : CPU_TS_Init().
*
*               This function is an INTERNAL CPU module function & MUST be implemented by application/
*               BSP function(s) [see Note #1] but MUST NOT be called by application function(s).
*
* Note(s)     : (1) CPU_TS_TmrInit() is an application/BSP function that MUST be defined by the developer
*                   if either of the following CPU features is enabled :
*
*                   (a) CPU timestamps
*                   (b) CPU interrupts disabled time measurements
*
*                   See 'cpu_cfg.h  CPU TIMESTAMP CONFIGURATION  Note #1'
*                     & 'cpu_cfg.h  CPU INTERRUPTS DISABLED TIME MEASUREMENT CONFIGURATION  Note #1a'.
*
*               (2) (a) Timer count values MUST be returned via word-size-configurable 'CPU_TS_TMR'
*                       data type.
*
*                       (1) If timer has more bits, truncate timer values' higher-order bits greater
*                           than the configured 'CPU_TS_TMR' timestamp timer data type word size.
*
*                       (2) Since the timer MUST NOT have less bits than the configured 'CPU_TS_TMR'
*                           timestamp timer data type word size; 'CPU_CFG_TS_TMR_SIZE' MUST be
*                           configured so that ALL bits in 'CPU_TS_TMR' data type are significant.
*
*                           In other words, if timer size is not a binary-multiple of 8-bit octets
*                           (e.g. 20-bits or even 24-bits), then the next lower, binary-multiple
*                           octet word size SHOULD be configured (e.g. to 16-bits).  However, the
*                           minimum supported word size for CPU timestamp timers is 8-bits.
*
*                       See also 'cpu_cfg.h   CPU TIMESTAMP CONFIGURATION  Note #2'
*                              & 'cpu_core.h  CPU TIMESTAMP DATA TYPES     Note #1'.
*
*                   (b) Timer SHOULD be an 'up'  counter whose values increase with each time count.
*
*                   (c) When applicable, timer period SHOULD be less than the typical measured time
*                       but MUST be less than the maximum measured time; otherwise, timer resolution
*                       inadequate to measure desired times.
*
*                   See also 'CPU_TS_TmrRd()  Note #2'.
*********************************************************************************************************
*/

#if (CPU_CFG_TS_TMR_EN == DEF_ENABLED)
void  CPU_TS_TmrInit (void)
{
    CPU_INT32U  fclk_freq;


    fclk_freq = BSP_CPU_ClkFreq();

    BSP_REG_DEM_CR     |= (CPU_INT32U)BSP_BIT_DEM_CR_TRCENA;    /* Enable Cortex-M4's DWT CYCCNT reg.                   */
    BSP_REG_DWT_CYCCNT  = (CPU_INT32U)0u;
    BSP_REG_DWT_CR     |= (CPU_INT32U)BSP_BIT_DWT_CR_CYCCNTENA;

    CPU_TS_TmrFreqSet((CPU_TS_TMR_FREQ)fclk_freq);
}
#endif


/*$PAGE*/
/*
*********************************************************************************************************
*                                           CPU_TS_TmrRd()
*
* Description : Get current CPU timestamp timer count value.
*
* Argument(s) : none.
*
* Return(s)   : Timestamp timer count (see Notes #2a & #2b).
*
* Caller(s)   : CPU_TS_Init(),
*               CPU_TS_Get32(),
*               CPU_TS_Get64(),
*               CPU_IntDisMeasStart(),
*               CPU_IntDisMeasStop().
*
*               This function is an INTERNAL CPU module function & MUST be implemented by application/
*               BSP function(s) [see Note #1] but SHOULD NOT be called by application function(s).
*
* Note(s)     : (1) CPU_TS_TmrRd() is an application/BSP function that MUST be defined by the developer
*                   if either of the following CPU features is enabled :
*
*                   (a) CPU timestamps
*                   (b) CPU interrupts disabled time measurements
*
*                   See 'cpu_cfg.h  CPU TIMESTAMP CONFIGURATION  Note #1'
*                     & 'cpu_cfg.h  CPU INTERRUPTS DISABLED TIME MEASUREMENT CONFIGURATION  Note #1a'.
*
*               (2) (a) Timer count values MUST be returned via word-size-configurable 'CPU_TS_TMR'
*                       data type.
*
*                       (1) If timer has more bits, truncate timer values' higher-order bits greater
*                           than the configured 'CPU_TS_TMR' timestamp timer data type word size.
*
*                       (2) Since the timer MUST NOT have less bits than the configured 'CPU_TS_TMR'
*                           timestamp timer data type word size; 'CPU_CFG_TS_TMR_SIZE' MUST be
*                           configured so that ALL bits in 'CPU_TS_TMR' data type are significant.
*
*                           In other words, if timer size is not a binary-multiple of 8-bit octets
*                           (e.g. 20-bits or even 24-bits), then the next lower, binary-multiple
*                           octet word size SHOULD be configured (e.g. to 16-bits).  However, the
*                           minimum supported word size for CPU timestamp timers is 8-bits.
*
*                       See also 'cpu_cfg.h   CPU TIMESTAMP CONFIGURATION  Note #2'
*                              & 'cpu_core.h  CPU TIMESTAMP DATA TYPES     Note #1'.
*
*                   (b) Timer SHOULD be an 'up'  counter whose values increase with each time count.
*
*                       (1) If timer is a 'down' counter whose values decrease with each time count,
*                           then the returned timer value MUST be ones-complemented.
*
*                   (c) (1) When applicable, the amount of time measured by CPU timestamps is
*                           calculated by either of the following equations :
*
*                           (A) Time measured  =  Number timer counts  *  Timer period
*
*                                   where
*
*                                       Number timer counts     Number of timer counts measured
*                                       Timer period            Timer's period in some units of
*                                                                   (fractional) seconds
*                                       Time measured           Amount of time measured, in same
*                                                                   units of (fractional) seconds
*                                                                   as the Timer period
*
*                                                  Number timer counts
*                           (B) Time measured  =  ---------------------
*                                                    Timer frequency
*
*                                   where
*
*                                       Number timer counts     Number of timer counts measured
*                                       Timer frequency         Timer's frequency in some units
*                                                                   of counts per second
*                                       Time measured           Amount of time measured, in seconds
*
*                       (2) Timer period SHOULD be less than the typical measured time but MUST be less
*                           than the maximum measured time; otherwise, timer resolution inadequate to
*                           measure desired times.
*********************************************************************************************************
*/

#if (CPU_CFG_TS_TMR_EN == DEF_ENABLED)
CPU_TS_TMR  CPU_TS_TmrRd (void)
{
    CPU_TS_TMR  ts_tmr_cnts;


    ts_tmr_cnts = (CPU_TS_TMR)BSP_REG_DWT_CYCCNT;

    return (ts_tmr_cnts);
}
#endif


/*$PAGE*/
/*
*********************************************************************************************************
*                                         CPU_TSxx_to_uSec()
*
* Description : Convert a 32-/64-bit CPU timestamp from timer counts to microseconds.
*
* Argument(s) : ts_cnts   CPU timestamp (in timestamp timer counts [see Note #2aA]).
*
* Return(s)   : Converted CPU timestamp (in microseconds           [see Note #2aD]).
*
* Caller(s)   : Application.
*
*               This function is an (optional) CPU module application programming interface (API)
*               function which MAY be implemented by application/BSP function(s) [see Note #1] &
*               MAY be called by application function(s).
*
* Note(s)     : (1) CPU_TS32_to_uSec()/CPU_TS64_to_uSec() are application/BSP functions that MAY be
*                   optionally defined by the developer when either of the following CPU features is
*                   enabled :
*
*                   (a) CPU timestamps
*                   (b) CPU interrupts disabled time measurements
*
*                   See 'cpu_cfg.h  CPU TIMESTAMP CONFIGURATION  Note #1'
*                     & 'cpu_cfg.h  CPU INTERRUPTS DISABLED TIME MEASUREMENT CONFIGURATION  Note #1a'.
*
*               (2) (a) The amount of time measured by CPU timestamps is calculated by either of
*                       the following equations :
*
*                                                                        10^6 microseconds
*                       (1) Time measured  =   Number timer counts   *  -------------------  *  Timer period
*                                                                            1 second
*
*                                              Number timer counts       10^6 microseconds
*                       (2) Time measured  =  ---------------------  *  -------------------
*                                                Timer frequency             1 second
*
*                               where
*
*                                   (A) Number timer counts     Number of timer counts measured
*                                   (B) Timer frequency         Timer's frequency in some units
*                                                                   of counts per second
*                                   (C) Timer period            Timer's period in some units of
*                                                                   (fractional)  seconds
*                                   (D) Time measured           Amount of time measured,
*                                                                   in microseconds
*
*                   (b) Timer period SHOULD be less than the typical measured time but MUST be less
*                       than the maximum measured time; otherwise, timer resolution inadequate to
*                       measure desired times.
*
*                   (c) Specific implementations may convert any number of CPU_TS32 or CPU_TS64 bits
*                       -- up to 32 or 64, respectively -- into microseconds.
*********************************************************************************************************
*/

#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

app.c

/*
*********************************************************************************************************
*                                              EXAMPLE CODE
*
*                             (c) Copyright 2013; Micrium, Inc.; Weston, FL
*
*                   All rights reserved.  Protected by international copyright laws.
*                   Knowledge of the source code may not be used to write a similar
*                   product.  This file may only be used in accordance with a license
*                   and should not be redistributed in any way.
*********************************************************************************************************
*/

/*
*********************************************************************************************************
*
*                                            EXAMPLE CODE
*
*                                       IAR Development Kits
*                                              on the
*
*                                    STM32F429II-SK KICKSTART KIT
*
* Filename      : app.c
* Version       : V1.00
* Programmer(s) : YS
*********************************************************************************************************
*/

/*
*********************************************************************************************************
*                                             INCLUDE FILES
*********************************************************************************************************
*/

#include  

/*
*********************************************************************************************************
*                                            LOCAL DEFINES
*********************************************************************************************************
*/


/*
*********************************************************************************************************
*                                       LOCAL GLOBAL VARIABLES
*********************************************************************************************************
*/

                                                                /* ----------------- APPLICATION GLOBALS -------------- */
static  OS_TCB   AppTaskStartTCB;
static  CPU_STK  AppTaskStartStk[APP_CFG_TASK_START_STK_SIZE];

#define APPTASK1NAME    "App Task1"
#define APP_TASK1_PRIO          3   
#define APP_TASK1_STK_SIZE 512
static OS_TCB AppTask1TCB;
static void  AppTask1  (void *p_arg);
static CPU_STK AppTask1Stk[APP_TASK1_STK_SIZE];
/*
*********************************************************************************************************
*                                         FUNCTION PROTOTYPES
*********************************************************************************************************
*/

static  void  AppTaskStart          (void     *p_arg);


/*
*********************************************************************************************************
*                                                main()
*
* Description : This is the standard entry point for C code.  It is assumed that your code will call
*               main() once you have performed all necessary initialization.
*
* Arguments   : none
*
* Returns     : none
*********************************************************************************************************
*/

int main(void)
{

    OS_ERR  err;


    OSInit(&err);                                               /* Init uC/OS-III.                                      */
   
    OSTaskCreate((OS_TCB       *)&AppTaskStartTCB,              /* Create the start task                                */
                 (CPU_CHAR     *)"App Task Start",
                 (OS_TASK_PTR   )AppTaskStart,
                 (void         *)0u,
                 (OS_PRIO       )APP_CFG_TASK_START_PRIO,
                 (CPU_STK      *)&AppTaskStartStk[0u],
                 (CPU_STK_SIZE  )AppTaskStartStk[APP_CFG_TASK_START_STK_SIZE / 10u],
                 (CPU_STK_SIZE  )APP_CFG_TASK_START_STK_SIZE,
                 (OS_MSG_QTY    )0u,
                 (OS_TICK       )0u,
                 (void         *)0u,
                 (OS_OPT        )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
                 (OS_ERR       *)&err);

    OSStart(&err);                                              /* Start multitasking (i.e. give control to uC/OS-III). */


}


/*
*********************************************************************************************************
*                                          STARTUP TASK
*
* Description : This is an example of a startup task.  As mentioned in the book's text, you MUST
*               initialize the ticker only once multitasking has started.
*
* Arguments   : p_arg   is the argument passed to 'AppTaskStart()' by 'OSTaskCreate()'.
*
* Returns     : none
*
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
*                  used.  The compiler should not generate any code for this statement.
*********************************************************************************************************
*/

static  void  AppTaskStart (void *p_arg)
{
    CPU_INT32U  cpu_clk_freq;
    CPU_INT32U  cnts;
    OS_ERR      err;


   (void)p_arg;

    BSP_Init();                      
    CPU_Init();                                                 /* Initialize the uC/CPU services                       */

    cpu_clk_freq = BSP_CPU_ClkFreq();                           /* Determine SysTick reference freq.                    */
    cnts         = cpu_clk_freq                                 /* Determine nbr SysTick increments                     */
                 / (CPU_INT32U)OSCfg_TickRate_Hz;

    OS_CPU_SysTickInit(cnts);                                   /* Init uC/OS periodic time src (SysTick).              */

    Mem_Init();                                                 /* Initialize memory managment module                   */
    Math_Init();                                                /* Initialize mathematical module                       */


#if OS_CFG_STAT_TASK_EN > 0u
    OSStatTaskCPUUsageInit(&err);                               /* Compute CPU capacity with no task running            */
#endif

#ifdef CPU_CFG_INT_DIS_MEAS_EN
    CPU_IntDisMeasMaxCurReset();
#endif


#if (APP_CFG_SERIAL_EN == DEF_ENABLED)
    App_SerialInit();                                           /* Initialize Serial communication for application ...  */
#endif
	

	OSTaskCreate((OS_TCB     *)&AppTask1TCB,                /* Create the Led1 task                                */
			 (CPU_CHAR   *)APPTASK1NAME,
			 (OS_TASK_PTR ) AppTask1,
			 (void       *) 0,
			 (OS_PRIO     ) APP_TASK1_PRIO,
			 (CPU_STK    *)&AppTask1Stk[0],
			 (CPU_STK_SIZE) APP_TASK1_STK_SIZE / 10,
			 (CPU_STK_SIZE) APP_TASK1_STK_SIZE,
			 (OS_MSG_QTY  ) 5u,
			 (OS_TICK     ) 0u,
			 (void       *) 0,
			 (OS_OPT      )(OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
			 (OS_ERR     *)&err);
	OSTaskDel ( & AppTaskStartTCB, & err );

}

static void  AppTask1  (void *p_arg)
{
    OS_ERR      err;
	while(DEF_TRUE)
	{
		printf("Task1 Runing\r\n");
		OSTimeDly ( 1000, OS_OPT_TIME_DLY, & err ); // 1s运行一次
	}
	
}

总结

除了uCOSIII之外，主流的RTOS还有rtthread和FreeRTOS，但不管哪一款RTOS，移植步骤基本都是一样的

• 下载RTOS的源代码
• 找一个基础工程作为模板开始移植
• 添加RTOS源码和MCU架构相关的源码到工程
• 添加板级初始化代码(初始化时钟、初始化RTOS心跳时钟)
• 编译工程，如果有错误就修改
• 下载观察现象

STM32F4X UCOSIII移植例程下载