STM32F103ZE FreeRTOS任務建立與刪除
阿新 • • 發佈：2019-01-04
一、前期準備
微控制器：STM32F103ZET6
開發環境：MDK5.14
庫函式：標準庫V3.5
FreeRTOS：V9.0.0（網上下載，官網上目前是V10.0.1）
二、實驗效果
總共6個任務，串列埠1、4個RGB小燈以不同頻率閃爍、一個刪除任務，並通過串列埠2列印除錯資訊。刪除任務每秒進行一次自加。當加到3的時候刪除第一個小燈的任務，以此類推直到第四個小燈任務刪除，之後再自加3次刪除自身。這時候只有串列埠1任務在工作。
三、程式講解
任務建立函式：此為動態記憶體分配，由FreeRTOS的heap4.c分配
BaseType_t xTaskCreate(
TaskFunction_t pxTaskCode, /任務函式
const char * const pcName, //任務名稱
const uint16_t usStackDepth, //任務堆疊大小
void *const pvParameters, //傳遞給任務函式的引數
UBaseType_t uxPriority, //任務優先順序
TaskHandle_t * const pxCreateTask //任務控制代碼，刪除任務也是刪除任務控制代碼
);
任務刪除函式：
vTaskDelete(
TaskHandle_t xTaskToDelete //任務控制代碼
);
四、測試程式碼
完整工程請加QQ：1002521871，驗證：呵呵 。只附上與FreeRTOS相關的程式碼，其餘串列埠，LED初始化請參考STM32F103ZE FreeRTOS移植、測試
rtos_app.h
#ifndef __RTOS_APP_H__
#define __RTOS_APP_H__
#include "conf.h"
#include "FreeRTOS.h"
#include "task.h"
#define START_TASK_PRIO 1 rtos_app.c
#include "rtos_app.h"
TaskHandle_t STARTTask_Handler;
TaskHandle_t LED0Task_Handler;
TaskHandle_t LED1Task_Handler;
TaskHandle_t LED2Task_Handler;
TaskHandle_t LED3Task_Handler;
TaskHandle_t UART1Task_Handler;
TaskHandle_t UART2Task_Handler;
TaskHandle_t MessTask_Handler;
TaskHandle_t TESTTask_Handler;
void LED0_task(void *pvParameters)
{
while (1)
{
RGB_LED1 = ON;
vTaskDelay(200 / portTICK_RATE_MS);
RGB_LED1 = OFF;
vTaskDelay(800 / portTICK_RATE_MS);
}
}
void LED1_task(void *pvParameters)
{
while (1)
{
RGB_LED2 = ON;
vTaskDelay(300 / portTICK_RATE_MS);
RGB_LED2 = OFF;
vTaskDelay(700 / portTICK_RATE_MS);
}
}
void LED2_task(void *pvParameters)
{
while (1)
{
RGB_LED3 = ON;
vTaskDelay(400 / portTICK_RATE_MS);
RGB_LED3 = OFF;
vTaskDelay(600 / portTICK_RATE_MS);
}
}
void LED3_task(void *pvParameters)
{
while (1)
{
RGB_LED4 = ON;
vTaskDelay(500 / portTICK_RATE_MS);
RGB_LED4 = OFF;
vTaskDelay(500 / portTICK_RATE_MS);
}
}
void UART1_task(void *pvParameters)
{
int i = 0;
while (1)
{
taskENTER_CRITICAL();
USART_PRINTF_FLAG = 1;
printf("UART1-%05d: FreeRTOS Test!\r\n", i);
i ++;
taskEXIT_CRITICAL();
vTaskDelay(1000 / portTICK_RATE_MS);
}
}
void UART2_task(void *pvParameters)
{
int i = 0;
while (1)
{
taskENTER_CRITICAL();
USART_PRINTF_FLAG = 2;
printf("UART2-%05d: FreeRTOS Test!\r\n", i);
i ++;
taskEXIT_CRITICAL();
vTaskDelay(1000 / portTICK_RATE_MS);
}
}
void Mess_task(void *pvParameters)
{
while (1)
{
//taskENTER_CRITICAL();
if (cmdDealFlag == 1)
{
DealWithUARTMess(RecData);
cmdDealFlag = 0;
}
//taskEXIT_CRITICAL();
}
}
void TEST_task(void *pvParameters)
{
uint8_t times = 0;
while(1)
{
if (times == 3)
{
vTaskDelete(LED0Task_Handler);
taskENTER_CRITICAL();
USART_PRINTF_FLAG = 2;
printf("Task_LED0 has already deleted!\r\n");
taskEXIT_CRITICAL();
}
else if (times == 6)
{
vTaskDelete(LED1Task_Handler);
taskENTER_CRITICAL();
USART_PRINTF_FLAG = 2;
printf("Task_LED1 has already deleted!\r\n");
taskEXIT_CRITICAL();
}
else if (times == 9)
{
vTaskDelete(LED2Task_Handler);
taskENTER_CRITICAL();
USART_PRINTF_FLAG = 2;
printf("Task_LED2 has already deleted!\r\n");
taskEXIT_CRITICAL();
}
else if (times == 12)
{
vTaskDelete(LED3Task_Handler);
taskENTER_CRITICAL();
USART_PRINTF_FLAG = 2;
printf("Task_LED3 has already deleted!\r\n");
taskEXIT_CRITICAL();
}
else if (times == 15)
{
taskENTER_CRITICAL();
USART_PRINTF_FLAG = 2;
printf("Test task has already deleted!\r\n");
taskEXIT_CRITICAL();
vTaskDelete(TESTTask_Handler);
taskEXIT_CRITICAL();
}
taskENTER_CRITICAL();
USART_PRINTF_FLAG = 2;
printf("Times = %d\r\n", times);
taskEXIT_CRITICAL();
times ++;
vTaskDelay(1000 / portTICK_RATE_MS);
}
//vTaskDelete(NULL);
}
void START_task(void *pvParameters)
{
taskENTER_CRITICAL();
xTaskCreate(
(TaskFunction_t) TEST_task,
(const char *) "TEST_task",
(uint16_t) TEST_STK_SIZE,
(void *) NULL,
(UBaseType_t) TEST_TASK_RPIO,
(TaskHandle_t *) &TESTTask_Handler
);
xTaskCreate(
(TaskFunction_t) LED0_task,
(const char *) "LED0_task",
(uint16_t) LED0_STK_SIZE,
(void *) NULL,
(UBaseType_t) LED0_TASK_PRIO,
(TaskHandle_t *) &LED0Task_Handler
);
xTaskCreate(
(TaskFunction_t) LED1_task,
(const char *) "LED1_task",
(uint16_t) LED1_STK_SIZE,
(void *) NULL,
(UBaseType_t) LED1_TASK_PRIO,
(TaskHandle_t *) &LED1Task_Handler
);
xTaskCreate(
(TaskFunction_t) LED2_task,
(const char *) "LED2_task",
(uint16_t) LED2_STK_SIZE,
(void *) NULL,
(UBaseType_t) LED2_TASK_PRIO,
(TaskHandle_t *) &LED2Task_Handler
);
xTaskCreate(
(TaskFunction_t) LED3_task,
(const char *) "LED3_task",
(uint16_t) LED3_STK_SIZE,
(void *) NULL,
(UBaseType_t) LED3_TASK_PRIO,
(TaskHandle_t *) &LED3Task_Handler
);
xTaskCreate(
(TaskFunction_t) UART1_task,
(const char *) "UART1_task",
(uint16_t) UART1_STK_SIZE,
(void *) NULL,
(UBaseType_t) UART1_TASK_PRIO,
(TaskHandle_t *) &UART1Task_Handler
);
//
// xTaskCreate(
// (TaskFunction_t) UART2_task,
// (const char *) "UART2_task",
// (uint16_t) UART2_STK_SIZE,
// (void *) NULL,
// (UBaseType_t) UART2_TASK_PRIO,
// (TaskHandle_t *) &UART2Task_Handler
// );
xTaskCreate(
(TaskFunction_t) Mess_task,
(const char *) "Mess_task",
(uint16_t) Mess_STK_SIZE,
(void *) NULL,
(UBaseType_t) Mess_TASK_PRIO,
(TaskHandle_t *) &MessTask_Handler
);
vTaskDelete(STARTTask_Handler);
taskEXIT_CRITICAL();
}
由於作者能力有限，有不妥之處歡迎指正，郵箱[email protected]