韦东山FreeRTOS学习笔记————freertos工程创建

这里写目录标题

一、freertos.c程序结构
二、创建任务函数
- 1、动态创建
- 2、静态创建
三、任务调用

一、freertos.c程序结构

1、头文件

2、宏定义、typedef定义...

3、全局变量定义

以下是静态任务的相关变量配置，相当于正点原子例程里的TASK1、TASK2...任务配置

以下是默认任务的变量配置,相当于正点原子例程里的START_TASK任务配置

4、函数声明

void StartDefaultTask(void *argument)相当于正点原子例程里的void start_task(void *pvParameters)，即开始任务函数

void MX_FREERTOS_Init(void)相当于正点原子例程里的void freertos_demo(void)，即FreeRTOS例程入口函数

二、创建任务函数

1、动态创建

c 复制代码

BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, // 函数指针, 任务函数
                        const char * const pcName, // 任务的名字
                        const configSTACK_DEPTH_TYPE usStackDepth, // 栈大小,单位为word,10表示40字节
                        void * const pvParameters, // 调用任务函数时传入的参数
                        UBaseType_t uxPriority,    // 优先级
                        TaskHandle_t * const pxCreatedTask ); // 任务句柄, 以后使用它来操作这个任务

参数说明：

c 复制代码

/* 创建任务: 声 */
  TaskHandle_t xSoundTaskHandle;
  BaseType_t ret;
  extern void PlayMusic(void *params);
  ret = xTaskCreate(PlayMusic, "SoundTask", 128, NULL, osPriorityNormal, &xSoundTaskHandle);

2、静态创建

c 复制代码

TaskHandle_t xTaskCreateStatic ( 
    TaskFunction_t pxTaskCode,   // 函数指针, 任务函数
    const char * const pcName,   // 任务的名字
    const uint32_t ulStackDepth, // 栈大小,单位为word,10表示40字节
    void * const pvParameters,   // 调用任务函数时传入的参数
    UBaseType_t uxPriority,      // 优先级
    StackType_t * const puxStackBuffer, // 静态分配的栈，就是一个buffer
    StaticTask_t * const pxTaskBuffer // 静态分配的任务结构体的指针，用它来操作这个任务
);

相比于使用动态分配内存创建任务的函数，最后2个参数不一样：

c 复制代码

  /* 创建任务: 光 */
static StackType_t g_pucStackOfLightTask[128];
static StaticTask_t g_TCBofLightTask;
static TaskHandle_t xLightTaskHandle;
xLightTaskHandle = xTaskCreateStatic(Led_Test, "LightTask", 128, NULL, osPriorityNormal, g_pucStackOfLightTask, &g_TCBofLightTask);

 /* 创建任务: 色 */
xColorTaskHandle = xTaskCreateStatic(ColorLED_Test, "ColorTask", 128, NULL, osPriorityNormal, g_pucStackOfColorTask, &g_TCBofColorTask);

三、任务调用

在void MX_FREERTOS_Init(void)里创建任务后任务调度器会自动调用任务，void StartDefaultTask(void *argument)里面编写默认任务，即开始任务，完整代码如下：

c 复制代码

/* USER CODE BEGIN Header */
#include "driver_led.h"
#include "driver_lcd.h"
#include "driver_mpu6050.h"
#include "driver_timer.h"
#include "driver_ds18b20.h"
#include "driver_dht11.h"
#include "driver_active_buzzer.h"
#include "driver_passive_buzzer.h"
#include "driver_color_led.h"
#include "driver_ir_receiver.h"
#include "driver_ir_sender.h"
#include "driver_light_sensor.h"
#include "driver_ir_obstacle.h"
#include "driver_ultrasonic_sr04.h"
#include "driver_spiflash_w25q64.h"
#include "driver_rotary_encoder.h"
#include "driver_motor.h"
#include "driver_key.h"
#include "driver_uart.h"
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
static StackType_t g_pucStackOfLightTask[128];
static StaticTask_t g_TCBofLightTask;
static TaskHandle_t xLightTaskHandle;

static StackType_t g_pucStackOfColorTask[128];
static StaticTask_t g_TCBofColorTask;
static TaskHandle_t xColorTaskHandle;

/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */
	TaskHandle_t xSoundTaskHandle;
	BaseType_t ret;
  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* 创建任务: 声 */
  extern void PlayMusic(void *params);
  ret = xTaskCreate(PlayMusic, "SoundTask", 128, NULL, osPriorityNormal, &xSoundTaskHandle);
  /* 创建任务: 光 */
  xLightTaskHandle = xTaskCreateStatic(Led_Test, "LightTask", 128, NULL, osPriorityNormal,g_pucStackOfLightTask,&g_TCBofLightTask);
  /* 创建任务: 色 */
  xColorTaskHandle =xTaskCreateStatic(ColorLED_Test,"ColorTask",128,NULL,osPriorityNormal,g_pucStackOfColorTask,&g_TCBofColorTask);
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_StartDefaultTask */

/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  LCD_Init();
  LCD_Clear();
  
  for(;;)
  {
	IRReceiver_Test();  /* 影 */
  }
  /* USER CODE END StartDefaultTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */