前言
ucosii的代码，可以分为两部分：与cpu无关的代码，与cpu有关。移植的主要工作就是修改与cpu有关的部分代码。
uC/OS-II的代码结构
| 分类 | 文件 | 说明 |
| 配置文件 | os_config.h | 操作系统配置文件 |
| 操作系统源文件 | ucos_ii.h | 操作系统头文件 |
| os_core.c | 内核 | |
| os_task.c | 任务管理 | |
| os_time.c | 时间管理 | |
| os_sem.c | 信号量管理 | |
| os_mutex.c | 互斥信号量管理 | |
| os_mbox.c | 消息邮箱管理 | |
| os_q.c | 消息队列管理 | |
| os_flg.c | 事件标志组管理 | |
| os_mem.c | 内存管理 | |
| os_tmr.c | 定时器管理 | |
| 移植文件 | os_cpu.h | 处理器相关头文件 |
| os_cpu.c | 处理器相关c文件 | |
| os_cpu_a.asm | 处理器相关汇编文件 |
uC/OS-III系统文件结构
| 分类 | 文件 | 说明 |
| 配置文件 | os_cfg.h | 全部是宏定义，配置着呢哥哥操作系统，例如是否使能信号量管理，是否使能任务删除 |
| os_cfg_app.h | 任务堆栈的大小，任务优先级的定义 | |
| os_cfg_app.c | 定义了一些可配置的常量 | |
| 操作系统头文件 | os.h | 操作系统头文件，包括宏定义、数据类型定义、结构体定义和函数声明 |
| os_type.h | 数据类型的定义，如OS_CPU_USAGE | |
| 操作系统源文件 | os_core.c | 内核代码 |
| os_task.c | 任务管理代码 | |
| os_sem.c | 信号量管理代码 | |
| os_mutex.c | 互斥信号量管理代码 | |
| os_flg.c | 事件标志组管理代码 | |
| os_q.c | 消息队列管理代码，不单独提供消息邮箱 | |
| os_msg.c | ||
| os_time.c | 时间管理代码 | |
| os_mem.c | 内存管理代码 | |
| os_tmr.c | 操作系统软件定时代码 | |
| os_var.c | 变量定义文件 | |
| os_stat.c | 统计任务代码 | |
| os_pend,multi.c | 任务等待多事件代码 | |
| os_prio.c | 优先级管理代码 | |
| Os_int.c | 中断管理代码 | |
| Os_app_hooks.c | 钩子函数的独立文件，用户可以加入代码 | |
| Os_dbg.c | 系统调试用到的代码 | |
| 移植文件 | os_cpu.h | 移植代码头文件 |
| os_cpu_a.s | 移植代码汇编文件 | |
| os_cpu_c..c | 移植代码c文件 |
需要修改的文件：
1、os_config.h
系统配置文件。系统是可裁剪的，可以通过修改里面的宏定义，裁剪掉一部分功能，节省资源。
2、os_cpu.h
/************************ (C) COPYLEFT 2010 Leafgrass ************************* * File Name : os_cpu_c.c * Author : Librae * Date : 06/10/2010 * Description : ¦ÌCOS-IIÔÚSTM32ÉϵÄÒÆÖ²´úÂëCÓïÑÔ²¿·Ö£¬ * °üÀ¨ÈÎÎñ¶ÑÕ»³õʼ»¯´úÂëºÍ¹³×Óº¯ÊýµÈ ******************************************************************************/ #ifndef __OS_CPU_H__ #define __OS_CPU_H__ #ifdef OS_CPU_GLOBALS #define OS_CPU_EXT #else #define OS_CPU_EXT extern #endif /****************************************************************************** * ¶¨ÒåÓë±àÒëÆ÷Î޹صÄÊý¾ÝÀàÐÍ ******************************************************************************/ typedef unsigned char BOOLEAN; typedef unsigned char INT8U; /* Unsigned 8 bit quantity */ typedef signed char INT8S; /* Signed 8 bit quantity */ typedef unsigned short INT16U; /* Unsigned 16 bit quantity */ typedef signed short INT16S; /* Signed 16 bit quantity */ typedef unsigned int INT32U; /* Unsigned 32 bit quantity */ typedef signed int INT32S; /* Signed 32 bit quantity */ typedef float FP32; /* Single precision floating point*/ typedef double FP64; /* Double precision floating point*/ //STM32ÊÇ32λλ¿íµÄ,ÕâÀïOS_STKºÍOS_CPU_SR¶¼Ó¦¸ÃΪ32λÊý¾ÝÀàÐÍ typedef unsigned int OS_STK; /* Each stack entry is 32-bit wide*/ typedef unsigned int OS_CPU_SR; /* Define size of CPU status register*/ /* ******************************************************************************* * Cortex M3 * Critical Section Management ******************************************************************************* */ /* ******************************************************************************* * ARM Miscellaneous ******************************************************************************* */ //¶¨ÒåÕ»µÄÔö³¤·½Ïò. //CM3ÖÐ,Õ»ÊÇÓɸߵØÖ·ÏòµÍµØÖ·Ôö³¤µÄ,ËùÒÔOS_STK_GROWTHÉèÖÃΪ1 #define OS_STK_GROWTH 1 /* Stack grows from HIGH to LOW memory on ARM */ //ÈÎÎñÇл»ºê,ÓÉ»ã±àʵÏÖ. #define OS_TASK_SW() OSCtxSw() /* ******************************************************************************* * PROTOTYPES * (see OS_CPU_A.ASM) ******************************************************************************* */ //OS_CRITICAL_METHOD = 1 :Ö±½ÓʹÓô¦ÀíÆ÷µÄ¿ª¹ØÖжÏÖ¸ÁîÀ´ÊµÏÖºê //OS_CRITICAL_METHOD = 2 :ÀûÓöÑÕ»±£´æºÍ»Ö¸´CPUµÄ״̬ //OS_CRITICAL_METHOD = 3 :ÀûÓñàÒëÆ÷À©Õ¹¹¦ÄÜ»ñµÃ³ÌÐò״̬×Ö£¬±£´æÔÚ¾Ö²¿±äÁ¿cpu_sr #define OS_CRITICAL_METHOD 3 //½øÈëÁÙ½ç¶ÎµÄ·½·¨ #if OS_CRITICAL_METHOD == 3 #define OS_ENTER_CRITICAL() {cpu_sr = OS_CPU_SR_Save();} #define OS_EXIT_CRITICAL() {OS_CPU_SR_Restore(cpu_sr);} #endif void OSCtxSw(void); void OSIntCtxSw(void); void OSStartHighRdy(void); void OSPendSV(void); #if OS_CRITICAL_METHOD == 3u /* See OS_CPU_A.ASM */ OS_CPU_SR OS_CPU_SR_Save(void); void OS_CPU_SR_Restore(OS_CPU_SR cpu_sr); #endif OS_CPU_EXT INT32U OSInterrputSum; #endif /************************ (C) COPYLEFT 2010 Leafgrass ************************/
数据类型的定义:
/****************************************************************************** * ¶¨ÒåÓë±àÒëÆ÷Î޹صÄÊý¾ÝÀàÐÍ ******************************************************************************/ typedef unsigned char BOOLEAN; typedef unsigned char INT8U; /* Unsigned 8 bit quantity */ typedef signed char INT8S; /* Signed 8 bit quantity */ typedef unsigned short INT16U; /* Unsigned 16 bit quantity */ typedef signed short INT16S; /* Signed 16 bit quantity */ typedef unsigned int INT32U; /* Unsigned 32 bit quantity */ typedef signed int INT32S; /* Signed 32 bit quantity */ typedef float FP32; /* Single precision floating point*/ typedef double FP64; /* Double precision floating point*/ //STM32ÊÇ32λλ¿íµÄ,ÕâÀïOS_STKºÍOS_CPU_SR¶¼Ó¦¸ÃΪ32λÊý¾ÝÀàÐÍ typedef unsigned int OS_STK; /* Each stack entry is 32-bit wide*/ typedef unsigned int OS_CPU_SR; /* Define size of CPU status register*/
此文件是需要修改的重要内容，因为不同的硬件、开发工具等，同样的数据结构类型定义可能是不同的。
进入临界区的方法:
目的是为了配置在访问临界区时，关中断和恢复中断的方法。
/* ******************************************************************************* * PROTOTYPES * (see OS_CPU_A.ASM) ******************************************************************************* */ //OS_CRITICAL_METHOD = 1 :Ö±½ÓʹÓô¦ÀíÆ÷µÄ¿ª¹ØÖжÏÖ¸ÁîÀ´ÊµÏÖºê //OS_CRITICAL_METHOD = 2 :ÀûÓöÑÕ»±£´æºÍ»Ö¸´CPUµÄ״̬ //OS_CRITICAL_METHOD = 3 :ÀûÓñàÒëÆ÷À©Õ¹¹¦ÄÜ»ñµÃ³ÌÐò״̬×Ö£¬±£´æÔÚ¾Ö²¿±äÁ¿cpu_sr #define OS_CRITICAL_METHOD 3 //½øÈëÁÙ½ç¶ÎµÄ·½·¨ #if OS_CRITICAL_METHOD == 3 #define OS_ENTER_CRITICAL() {cpu_sr = OS_CPU_SR_Save();} #define OS_EXIT_CRITICAL() {OS_CPU_SR_Restore(cpu_sr);} #endif void OSCtxSw(void); void OSIntCtxSw(void); void OSStartHighRdy(void); void OSPendSV(void); #if OS_CRITICAL_METHOD == 3u /* See OS_CPU_A.ASM */ OS_CPU_SR OS_CPU_SR_Save(void); void OS_CPU_SR_Restore(OS_CPU_SR cpu_sr); #endif OS_CPU_EXT INT32U OSInterrputSum; #endif
3、os_cpu.c
此文件是移植中需要修改最多的。
/* ********************************************************************************************************* * uC/OS-II * The Real-Time Kernel * * * (c) Copyright 2006, Micrium, Weston, FL * All Rights Reserved * * ARM Cortex-M3 Port * * File : OS_CPU_C.C * Version : V2.86 * By : Jean J. Labrosse * * For : ARMv7M Cortex-M3 * Mode : Thumb2 * Toolchain : RealView Development Suite * RealView Microcontroller Development Kit (MDK) * ARM Developer Suite (ADS) * Keil uVision ********************************************************************************************************* */ #define OS_CPU_GLOBALS #include "includes.h" /* ********************************************************************************************************* * LOCAL VARIABLES ********************************************************************************************************* */ #if OS_TMR_EN > 0 static INT16U OSTmrCtr; #endif /* ********************************************************************************************************* * OS INITIALIZATION HOOK * (BEGINNING) * * Description: This function is called by OSInit() at the beginning of OSInit(). * * Arguments : none * * Note(s) : 1) Interrupts should be disabled during this call. ********************************************************************************************************* */ #if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203 void OSInitHookBegin (void) { #if OS_TMR_EN > 0 OSTmrCtr = 0; #endif } #endif /* ********************************************************************************************************* * OS INITIALIZATION HOOK * (END) * * Description: This function is called by OSInit() at the end of OSInit(). * * Arguments : none * * Note(s) : 1) Interrupts should be disabled during this call. ********************************************************************************************************* */ #if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203 void OSInitHookEnd (void) { } #endif /* ********************************************************************************************************* * TASK CREATION HOOK * * Description: This function is called when a task is created. * * Arguments : ptcb is a pointer to the task control block of the task being created. * * Note(s) : 1) Interrupts are disabled during this call. ********************************************************************************************************* */ #if OS_CPU_HOOKS_EN > 0 void OSTaskCreateHook (OS_TCB *ptcb) { #if OS_APP_HOOKS_EN > 0 App_TaskCreateHook(ptcb); #else (void)ptcb; /* Prevent compiler warning */ #endif } #endif /* ********************************************************************************************************* * TASK DELETION HOOK * * Description: This function is called when a task is deleted. * * Arguments : ptcb is a pointer to the task control block of the task being deleted. * * Note(s) : 1) Interrupts are disabled during this call. ********************************************************************************************************* */ #if OS_CPU_HOOKS_EN > 0 void OSTaskDelHook (OS_TCB *ptcb) { #if OS_APP_HOOKS_EN > 0 App_TaskDelHook(ptcb); #else (void)ptcb; /* Prevent compiler warning */ #endif } #endif /* ********************************************************************************************************* * IDLE TASK HOOK * * Description: This function is called by the idle task. This hook has been added to allow you to do * such things as STOP the CPU to conserve power. * * Arguments : none * * Note(s) : 1) Interrupts are enabled during this call. ********************************************************************************************************* */ #if OS_CPU_HOOKS_EN > 0 && OS_VERSION >= 251 void OSTaskIdleHook (void) { #if OS_APP_HOOKS_EN > 0 App_TaskIdleHook(); #endif } #endif /* ********************************************************************************************************* * STATISTIC TASK HOOK * * Description: This function is called every second by uC/OS-II's statistics task. This allows your * application to add functionality to the statistics task. * * Arguments : none ********************************************************************************************************* */ #if OS_CPU_HOOKS_EN > 0 void OSTaskStatHook (void) { #if OS_APP_HOOKS_EN > 0 App_TaskStatHook(); #endif } #endif /* ********************************************************************************************************* * INITIALIZE A TASK'S STACK * * Description: This function is called by either OSTaskCreate() or OSTaskCreateExt() to initialize the * stack frame of the task being created. This function is highly processor specific. * * Arguments : task is a pointer to the task code * * p_arg is a pointer to a user supplied data area that will be passed to the task * when the task first executes. * * ptos is a pointer to the top of stack. It is assumed that 'ptos' points to * a 'free' entry on the task stack. If OS_STK_GROWTH is set to 1 then * 'ptos' will contain the HIGHEST valid address of the stack. Similarly, if * OS_STK_GROWTH is set to 0, the 'ptos' will contains the LOWEST valid address * of the stack. * * opt specifies options that can be used to alter the behavior of OSTaskStkInit(). * (see uCOS_II.H for OS_TASK_OPT_xxx). * * Returns : Always returns the location of the new top-of-stack once the processor registers have * been placed on the stack in the proper order. * * Note(s) : 1) Interrupts are enabled when your task starts executing. * 2) All tasks run in Thread mode, using process stack. ********************************************************************************************************* */ OS_STK *OSTaskStkInit (void (*task)(void *p_arg), void *p_arg, OS_STK *ptos, INT16U opt) { OS_STK *stk; (void)opt; /* 'opt' is not used, prevent warning */ stk = ptos; /* Load stack pointer */ /* Registers stacked as if auto-saved on exception */ *(stk) = (INT32U)0x01000000L; /* xPSR */ *(--stk) = (INT32U)task; /* Entry Point */ *(--stk) = (INT32U)0xFFFFFFFEL; /* R14 (LR) (init value will cause fault if ever used)*/ *(--stk) = (INT32U)0x12121212L; /* R12 */ *(--stk) = (INT32U)0x03030303L; /* R3 */ *(--stk) = (INT32U)0x02020202L; /* R2 */ *(--stk) = (INT32U)0x01010101L; /* R1 */ *(--stk) = (INT32U)p_arg; /* R0 : argument */ /* Remaining registers saved on process stack */ *(--stk) = (INT32U)0x11111111L; /* R11 */ *(--stk) = (INT32U)0x10101010L; /* R10 */ *(--stk) = (INT32U)0x09090909L; /* R9 */ *(--stk) = (INT32U)0x08080808L; /* R8 */ *(--stk) = (INT32U)0x07070707L; /* R7 */ *(--stk) = (INT32U)0x06060606L; /* R6 */ *(--stk) = (INT32U)0x05050505L; /* R5 */ *(--stk) = (INT32U)0x04040404L; /* R4 */ return (stk); } /* ********************************************************************************************************* * TASK SWITCH HOOK * * Description: This function is called when a task switch is performed. This allows you to perform other * operations during a context switch. * * Arguments : none * * Note(s) : 1) Interrupts are disabled during this call. * 2) It is assumed that the global pointer 'OSTCBHighRdy' points to the TCB of the task that * will be 'switched in' (i.e. the highest priority task) and, 'OSTCBCur' points to the * task being switched out (i.e. the preempted task). ********************************************************************************************************* */ #if (OS_CPU_HOOKS_EN > 0) && (OS_TASK_SW_HOOK_EN > 0) void OSTaskSwHook (void) { #if OS_APP_HOOKS_EN > 0 App_TaskSwHook(); #endif } #endif /* ********************************************************************************************************* * OS_TCBInit() HOOK * * Description: This function is called by OS_TCBInit() after setting up most of the TCB. * * Arguments : ptcb is a pointer to the TCB of the task being created. * * Note(s) : 1) Interrupts may or may not be ENABLED during this call. ********************************************************************************************************* */ #if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203 void OSTCBInitHook (OS_TCB *ptcb) { #if OS_APP_HOOKS_EN > 0 App_TCBInitHook(ptcb); #else (void)ptcb; /* Prevent compiler warning */ #endif } #endif /* ********************************************************************************************************* * TICK HOOK * * Description: This function is called every tick. * * Arguments : none * * Note(s) : 1) Interrupts may or may not be ENABLED during this call. ********************************************************************************************************* */ #if (OS_CPU_HOOKS_EN > 0) && (OS_TIME_TICK_HOOK_EN > 0) void OSTimeTickHook (void) { #if OS_APP_HOOKS_EN > 0 App_TimeTickHook(); #endif #if OS_TMR_EN > 0 OSTmrCtr++; if (OSTmrCtr >= (OS_TICKS_PER_SEC / OS_TMR_CFG_TICKS_PER_SEC)) { OSTmrCtr = 0; OSTmrSignal(); } #endif } #endif #if OS_CPU_HOOKS_EN > 0u && OS_VERSION > 290u void OSTaskReturnHook(OS_TCB *ptcb) { (void)ptcb; } #endif /*----------------------- (C) COPYRIGHT @ 2012 liycobl ----------------- end of file -----------------*/
OSTaskStkInit()
在创建任务时，对任务对战进行初始化，功能是将任务参数地址、任务函数入口地址、各cpu寄存器地址压入任务对战。
OSStartHighRdy()
在程序初次运行时，还没有任务运行，OSStart()将指针指向当前优先级最高的就绪状态的任务。此函数将OSRunning的值设置为真，然后将对战寄存器的值设置为该任务堆栈的地址，转到任务地址去执行。
OSCtxSw()
非中断处理情况下的任务切换函数。使用OS_Sched()调用此函数。