（2）μC/OS-II系统移植到LPC17xx单片机（简化版）

一、工具

　　1、IDE：MCUXpresso IDE v11.2.1 

　　2、下载器：J-Link

　　3、芯片：LPC1768

二、准备移植

　　到μC/OS官网下载基于μC/OS-II系统的LPC1768工程，下载操作请参考另一篇文章：https://www.cnblogs.com/wenhao-Web/p/12662553.html

三、开始移植

 　　1、准备一个基于LCP17xx的裸机工程，裸机工程的创建请参考另一篇文章：https://www.cnblogs.com/wenhao-Web/p/14269102.html

 　　2、打开下载的例程，参照下载的例程，在个人工程中添加如下图所示的文件夹，并添加对应的文件。在添加文件的时候需要注意，在含有IAR、GNU和RealView三个文件夹的文件夹中，只选择GUN文件夹中的文件进行添加：

 　　3、添加对应的头文件路径，如下图所示：

 　　4、修改驱动文件

　　引用μC/OS中的两个中断函数，如下图所示：

 　　　修改中断向量表，如下图所示：

 　　5、修改μC/OS配置文件os_cfg.h，用户可以根据个人所需进行配置：

/*
*********************************************************************************************************
*                                                uC/OS-II
*                                          The Real-Time Kernel
*                                  uC/OS-II Configuration File for V2.9x
*
*                               (c) Copyright 2005-2012, Micrium, Weston, FL
*                                          All Rights Reserved
*
*
* File    : OS_CFG.H
* By      : Jean J. Labrosse
* Version : V2.92.08
*
* LICENSING TERMS:
* ---------------
*   uC/OS-II is provided in source form for FREE evaluation, for educational use or for peaceful research.
* If you plan on using  uC/OS-II  in a commercial product you need to contact Micrium to properly license
* its use in your product. We provide ALL the source code for your convenience and to help you experience
* uC/OS-II.   The fact that the  source is provided does  NOT  mean that you can use it without  paying a
* licensing fee.
*********************************************************************************************************
*/

#ifndef OS_CFG_H
#define OS_CFG_H


                                       /* ---------------------- MISCELLANEOUS ----------------------- */
#define OS_APP_HOOKS_EN           1u   /* Application-defined hooks are called from the uC/OS-II hooks */
#define OS_ARG_CHK_EN             0u   /* Enable (1) or Disable (0) argument checking                  */
#define OS_CPU_HOOKS_EN           1u   /* uC/OS-II hooks are found in the processor port files         */

#define OS_DEBUG_EN               0u   /* Enable(1) debug variables                                    */

#define OS_EVENT_MULTI_EN         1u   /* Include code for OSEventPendMulti()                          */
#define OS_EVENT_NAME_EN          1u   /* Enable names for Sem, Mutex, Mbox and Q                      */

#define OS_LOWEST_PRIO           63u   /* Defines the lowest priority that can be assigned ...         */
                                       /* ... MUST NEVER be higher than 254!                           */

#define OS_MAX_EVENTS            10u   /* Max. number of event control blocks in your application      */
#define OS_MAX_FLAGS              5u   /* Max. number of Event Flag Groups    in your application      */
#define OS_MAX_MEM_PART           5u   /* Max. number of memory partitions                             */
#define OS_MAX_QS                 4u   /* Max. number of queue control blocks in your application      */
#define OS_MAX_TASKS             20u   /* Max. number of tasks in your application, MUST be >= 2       */

#define OS_SCHED_LOCK_EN          1u   /* Include code for OSSchedLock() and OSSchedUnlock()           */

#define OS_TICK_STEP_EN           1u   /* Enable tick stepping feature for uC/OS-View                  */
#define OS_TICKS_PER_SEC        100u   /* Set the number of ticks in one second                        */

#define OS_TLS_TBL_SIZE           5u   /* Size of Thread-Local Storage Table                           */


                                       /* --------------------- TASK STACK SIZE ---------------------- */
#define OS_TASK_TMR_STK_SIZE    128u   /* Timer      task stack size (# of OS_STK wide entries)        */
#define OS_TASK_STAT_STK_SIZE   128u   /* Statistics task stack size (# of OS_STK wide entries)        */
#define OS_TASK_IDLE_STK_SIZE   128u   /* Idle       task stack size (# of OS_STK wide entries)        */


                                       /* --------------------- TASK MANAGEMENT ---------------------- */
#define OS_TASK_CHANGE_PRIO_EN    1u   /*     Include code for OSTaskChangePrio()                      */
#define OS_TASK_CREATE_EN         1u   /*     Include code for OSTaskCreate()                          */
#define OS_TASK_CREATE_EXT_EN     1u   /*     Include code for OSTaskCreateExt()                       */
#define OS_TASK_DEL_EN            1u   /*     Include code for OSTaskDel()                             */
#define OS_TASK_NAME_EN           0u   /*     Enable task names                                        */
#define OS_TASK_PROFILE_EN        1u   /*     Include variables in OS_TCB for profiling                */
#define OS_TASK_QUERY_EN          1u   /*     Include code for OSTaskQuery()                           */
#define OS_TASK_REG_TBL_SIZE      1u   /*     Size of task variables array (#of INT32U entries)        */
#define OS_TASK_STAT_EN           0u   /*     Enable (1) or Disable(0) the statistics task             */
#define OS_TASK_STAT_STK_CHK_EN   1u   /*     Check task stacks from statistic task                    */
#define OS_TASK_SUSPEND_EN        1u   /*     Include code for OSTaskSuspend() and OSTaskResume()      */
#define OS_TASK_SW_HOOK_EN        1u   /*     Include code for OSTaskSwHook()                          */


                                       /* ----------------------- EVENT FLAGS ------------------------ */
#define OS_FLAG_EN                1u   /* Enable (1) or Disable (0) code generation for EVENT FLAGS    */
#define OS_FLAG_ACCEPT_EN         1u   /*     Include code for OSFlagAccept()                          */
#define OS_FLAG_DEL_EN            1u   /*     Include code for OSFlagDel()                             */
#define OS_FLAG_NAME_EN           1u   /*     Enable names for event flag group                        */
#define OS_FLAG_QUERY_EN          1u   /*     Include code for OSFlagQuery()                           */
#define OS_FLAG_WAIT_CLR_EN       1u   /* Include code for Wait on Clear EVENT FLAGS                   */
#define OS_FLAGS_NBITS           16u   /* Size in #bits of OS_FLAGS data type (8, 16 or 32)            */


                                       /* -------------------- MESSAGE MAILBOXES --------------------- */
#define OS_MBOX_EN                1u   /* Enable (1) or Disable (0) code generation for MAILBOXES      */
#define OS_MBOX_ACCEPT_EN         1u   /*     Include code for OSMboxAccept()                          */
#define OS_MBOX_DEL_EN            1u   /*     Include code for OSMboxDel()                             */
#define OS_MBOX_PEND_ABORT_EN     1u   /*     Include code for OSMboxPendAbort()                       */
#define OS_MBOX_POST_EN           1u   /*     Include code for OSMboxPost()                            */
#define OS_MBOX_POST_OPT_EN       1u   /*     Include code for OSMboxPostOpt()                         */
#define OS_MBOX_QUERY_EN          1u   /*     Include code for OSMboxQuery()                           */


                                       /* --------------------- MEMORY MANAGEMENT -------------------- */
#define OS_MEM_EN                 1u   /* Enable (1) or Disable (0) code generation for MEMORY MANAGER */
#define OS_MEM_NAME_EN            1u   /*     Enable memory partition names                            */
#define OS_MEM_QUERY_EN           1u   /*     Include code for OSMemQuery()                            */


                                       /* ---------------- MUTUAL EXCLUSION SEMAPHORES --------------- */
#define OS_MUTEX_EN               1u   /* Enable (1) or Disable (0) code generation for MUTEX          */
#define OS_MUTEX_ACCEPT_EN        1u   /*     Include code for OSMutexAccept()                         */
#define OS_MUTEX_DEL_EN           1u   /*     Include code for OSMutexDel()                            */
#define OS_MUTEX_QUERY_EN         1u   /*     Include code for OSMutexQuery()                          */


                                       /* ---------------------- MESSAGE QUEUES ---------------------- */
#define OS_Q_EN                   1u   /* Enable (1) or Disable (0) code generation for QUEUES         */
#define OS_Q_ACCEPT_EN            1u   /*     Include code for OSQAccept()                             */
#define OS_Q_DEL_EN               1u   /*     Include code for OSQDel()                                */
#define OS_Q_FLUSH_EN             1u   /*     Include code for OSQFlush()                              */
#define OS_Q_PEND_ABORT_EN        1u   /*     Include code for OSQPendAbort()                          */
#define OS_Q_POST_EN              1u   /*     Include code for OSQPost()                               */
#define OS_Q_POST_FRONT_EN        1u   /*     Include code for OSQPostFront()                          */
#define OS_Q_POST_OPT_EN          1u   /*     Include code for OSQPostOpt()                            */
#define OS_Q_QUERY_EN             1u   /*     Include code for OSQQuery()                              */


                                       /* ------------------------ SEMAPHORES ------------------------ */
#define OS_SEM_EN                 1u   /* Enable (1) or Disable (0) code generation for SEMAPHORES     */
#define OS_SEM_ACCEPT_EN          1u   /*    Include code for OSSemAccept()                            */
#define OS_SEM_DEL_EN             1u   /*    Include code for OSSemDel()                               */
#define OS_SEM_PEND_ABORT_EN      1u   /*    Include code for OSSemPendAbort()                         */
#define OS_SEM_QUERY_EN           1u   /*    Include code for OSSemQuery()                             */
#define OS_SEM_SET_EN             1u   /*    Include code for OSSemSet()                               */


                                       /* --------------------- TIME MANAGEMENT ---------------------- */
#define OS_TIME_DLY_HMSM_EN       1u   /*     Include code for OSTimeDlyHMSM()                         */
#define OS_TIME_DLY_RESUME_EN     1u   /*     Include code for OSTimeDlyResume()                       */
#define OS_TIME_GET_SET_EN        1u   /*     Include code for OSTimeGet() and OSTimeSet()             */
#define OS_TIME_TICK_HOOK_EN      1u   /*     Include code for OSTimeTickHook()                        */


                                       /* --------------------- TIMER MANAGEMENT --------------------- */
#define OS_TMR_EN                 0u   /* Enable (1) or Disable (0) code generation for TIMERS         */
#define OS_TMR_CFG_MAX           16u   /*     Maximum number of timers                                 */
#define OS_TMR_CFG_NAME_EN        1u   /*     Determine timer names                                    */
#define OS_TMR_CFG_WHEEL_SIZE     8u   /*     Size of timer wheel (#Spokes)                            */
#define OS_TMR_CFG_TICKS_PER_SEC 10u   /*     Rate at which timer management task runs (Hz)            */

#endif

 　　6、编写main.c文件中的程序，该文件主要是实现main函数的定义以及μC/OS系统初始化、启动和创建任务等操作：

/*
===============================================================================
 Name        : main.c
 Author      : $(author)
 Version     :
 Copyright   : $(copyright)
 Description : main definition
===============================================================================
*/

#ifdef __USE_CMSIS
#include "LPC17xx.h"
#endif

#include <cr_section_macros.h>
#include "includes.h"
#include "bsp.h"

/* 定义任务栈大小 */
#define APP_TASK_START_STK_SIZE         128
#define APP_TASK1_STK_SIZE                128

/* 定义任务优先级 */
#define APP_TASK_START_PRIO                4
#define APP_TASK1_PRIO                    6

/* 定义任务栈 */
__BSS(RAM2) static OS_STK App_TaskStartStk[APP_TASK_START_STK_SIZE];
__BSS(RAM2) static OS_STK App_Task1Stk[APP_TASK1_STK_SIZE];

/* 函数声明 */
static void app_task_start(void *p_arg);
static void app_task1(void *p_arg);

/* 定义变量 */
OS_EVENT *operation_semp;

/**
  * @brief 主函数
  * @retval none
  * @author Mr.W
  * @date 2021年1月12日
  */
int main(void)
{
    bsp_init();

    OSInit();                                                   /* Initialize "uC/OS-II, The Real-Time Kernel"          */

    OSTaskCreate((void (*)(void *))app_task_start,                /* Create the start task                                */
                 (void           *)0,
                 (OS_STK         *)&App_TaskStartStk[APP_TASK_START_STK_SIZE - 1],
                 (INT8U           )APP_TASK_START_PRIO);

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

    while(1);

    return 0 ;
}

/**
  * @brief 起始任务
  * @param none
  * @retval none
  * @author Mr.W
  * @date 2021年1月12日
  */
static void app_task_start(void *p_arg)
{
    /* 配置并开启系统时钟 */
    SysTick_Config(SystemCoreClock/OS_TICKS_PER_SEC);
    /* 创建信号量，初始可用信号量为0 */
    operation_semp = OSSemCreate(0);

    /* 创建任务 */
    OSTaskCreate((void (*)(void *))app_task1,
                 (void              *)0,
                 (OS_STK         *)&App_Task1Stk[APP_TASK1_STK_SIZE - 1],
                 (INT8U           )APP_TASK1_PRIO);
    while(1)
    {
        OSTimeDly(100);
        /* 发送按键操作信号 */
        OSSemPost(operation_semp);
    }
}

/**
  * @brief 任务1
  * @param none
  * @retval none
  * @author Mr.W
  * @date 2021年1月12日
  */
static void app_task1(void *p_arg)
{
    INT8U err;
    static INT8U state = 0;

    while(1)
    {
        /* 等待操作信号 */
        OSSemPend(operation_semp, 0, &err);
        if(err == OS_ERR_NONE)
        {
            if(state == 0)
            {
                state = 1;
                LPC_GPIO1->FIOSET |= (1 << 30);
            }
            else
            {
                state = 0;
                LPC_GPIO1->FIOCLR |= (1 << 30);
            }
        }
    }
}

　　在定义任务栈大小的时候前面加了一个修饰“__BSS(RAM2)”，该修饰的意思是从RAM2中分配资源用于栈的大小（默认是从RAM1中分配资源），需要添加头文件“#include <cr_section_macros.h>”

　　说到这里有必要解释下原因：该编译器会将LPC1768的内存资源分两部分，一部分称RAM1（32Kb），一部分称RAM2（32Kb），默认情况下使用的是RAM1；如果一直默认设置的话可能会导致RAM资源不够用，所以就需要用户指定一些消耗内存的资源变量到RAM2中。

 　　至于在使用该IDE中遇到的其它不懂的问题可以到IDE的安装路径找到相关的手册进行查找，如下图所示：

 　　至此，μC/OS-II系统移植完成，编译一下，提示的错误也很容易解决，我这里也就不再赘述。

 四、总结

　　相较于我之前的一篇移植文章的介绍，这次移植我去掉了很多基本用不到的东西，使整个工程更加简洁，如果有些功能你恰好用到而我这里没有，不妨再回头参考一下官方提供的例程。移植完成后一定要测试一下任务切换是否正常，系统时钟节拍是否准确。

#end