做一电影网站怎么赚钱吗,视频类网站怎么做,51网页版在线登录入口,微信创建小程序STM32CUBEIDE FreeRTOS操作教程#xff08;五#xff09;#xff1a;mutex互斥信号量
STM32CUBE开发环境集成了STM32 HAL库进行FreeRTOS配置和开发的组件#xff0c;不需要用户自己进行FreeRTOS的移植。这里介绍最简化的用户操作类应用教程。以STM32F401RCT6开发板为例五mutex互斥信号量
STM32CUBE开发环境集成了STM32 HAL库进行FreeRTOS配置和开发的组件不需要用户自己进行FreeRTOS的移植。这里介绍最简化的用户操作类应用教程。以STM32F401RCT6开发板为例只用到USBUSART1极少的接口体现FreeRTOS的各种操作过程。 操作教程五配置FreeRTOS及相关环境实现LED闪灯功能及基于mutex互斥信号量的USB虚拟串口双任务打印输出。两个任务轮流获取和释放互斥信号量在得到信号量时向外打印输出。
FreeRTOS的教程较多推荐参考正点原子所出的《STM32F407 FreeRTOS开发手册》了解相关知识。
STM32CUBEIDE工程配置
选择TIM1(也可以是其它TIM)作为FreeRTOS操作系统占用的时钟源 配置时钟树包括USB的48MHz时钟 配置PC13为低电平点灯的管脚 配置USB串口: 配置UART1串口但本例中不用到UART1): FreeRTOS配置 保存并生成初始工程代码 在生成代码的这个部分可以看到FreeRTOS代码部分
任务实现
基于前述的配置main.c代码里会加载Free-RTOS的配置并启动几个任务的调度当然此时的任务都是什么也不干。实现LED闪灯就在LED闪灯任务里加入代码即可
void StartTask_TASK_LED_FLASH(void *argument)
{/* USER CODE BEGIN StartTask_TASK_LED_FLASH *//* Infinite loop */for(;;){osDelay(1000);HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);}/* USER CODE END StartTask_TASK_LED_FLASH */
}也就实现了LED闪灯功能其中osDelay(1000);实现1秒时间的操作系统调度延时也就是1秒执行一次LED灯的亮灭。osDelay(1是最小的调度延时为1毫秒。要实现更小的延时则可以用微秒延时函数实现参考《STM32 HAL us delay微秒延时的指令延时实现方式及优化》
main.c文件里两个任务分别通过获取互斥信号量权柄再发送信息
void StartTask_TASK_USB_VCOM_H(void *argument)
{/* USER CODE BEGIN StartTask_TASK_USB_VCOM_H */BaseType_t err_stu pdFALSE;/* Infinite loop */for(;;){osDelay(8);err_stu xSemaphoreTake(USB_VCOM_Mutex01Handle, USB_VCOM_xBlockTime);if(err_stupdTRUE){if(USB_CONN_STATUS()){usbprintstring(Task 1 Outputting\r\n);}xSemaphoreGive(USB_VCOM_Mutex01Handle);}}/* USER CODE END StartTask_TASK_USB_VCOM_H */
}void StartTask_TASK_USB_VCOM_L(void *argument)
{/* USER CODE BEGIN StartTask_TASK_USB_VCOM_L */BaseType_t err_stu pdFALSE;/* Infinite loop */for(;;){osDelay(5);err_stu xSemaphoreTake(USB_VCOM_Mutex01Handle, USB_VCOM_xBlockTime);if(err_stupdTRUE){if(USB_CONN_STATUS()){usbprintstring(Task 2 Outputting\r\n);}osDelay(10);xSemaphoreGive(USB_VCOM_Mutex01Handle);}}/* USER CODE END StartTask_TASK_USB_VCOM_L */
}完整的main.c代码
/* USER CODE BEGIN Header */
/********************************************************************************* file : main.c* brief : Main program body******************************************************************************* attention** Copyright (c) 2023 STMicroelectronics.* All rights reserved.** This software is licensed under terms that can be found in the LICENSE file* in the root directory of this software component.* If no LICENSE file comes with this software, it is provided AS-IS.********************************************************************************/
//Example 5: LED flash Mutex
//Written by Pegasus Yu
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include main.h
#include cmsis_os.h
#include usb_device.h/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include semphr.h
/* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
__IO float usDelayBase 7.63238716; //For STM32F401RCT6 working in 84MHz main clockvoid PY_Delay_us_t(uint32_t Delay)
{__IO uint32_t delayReg;__IO uint32_t usNum (uint32_t)(Delay*usDelayBase);delayReg 0;while(delayReg!usNum) delayReg;
}
/* 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 ---------------------------------------------------------*/
UART_HandleTypeDef huart1;
DMA_HandleTypeDef hdma_usart1_rx;/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes {.name defaultTask,.stack_size 128 * 4,.priority (osPriority_t) osPriorityNormal,
};
/* Definitions for TASK_LED_FLASH */
osThreadId_t TASK_LED_FLASHHandle;
const osThreadAttr_t TASK_LED_FLASH_attributes {.name TASK_LED_FLASH,.stack_size 128 * 4,.priority (osPriority_t) osPriorityLow,
};
/* Definitions for TASK_UART1 */
osThreadId_t TASK_UART1Handle;
const osThreadAttr_t TASK_UART1_attributes {.name TASK_UART1,.stack_size 128 * 4,.priority (osPriority_t) osPriorityLow,
};
/* Definitions for TASK_USB_VCOM_H */
osThreadId_t TASK_USB_VCOM_HHandle;
const osThreadAttr_t TASK_USB_VCOM_H_attributes {.name TASK_USB_VCOM_H,.stack_size 128 * 4,.priority (osPriority_t) osPriorityHigh,
};
/* Definitions for TASK_USB_VCOM_L */
osThreadId_t TASK_USB_VCOM_LHandle;
const osThreadAttr_t TASK_USB_VCOM_L_attributes {.name TASK_USB_VCOM_L,.stack_size 128 * 4,.priority (osPriority_t) osPriorityLow,
};
/* Definitions for USB_VCOM_Mutex01 */
osMutexId_t USB_VCOM_Mutex01Handle;
const osMutexAttr_t USB_VCOM_Mutex01_attributes {.name USB_VCOM_Mutex01
};
/* USER CODE BEGIN PV *//* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_DMA_Init(void);
static void MX_USART1_UART_Init(void);
void StartDefaultTask(void *argument);
void StartTask_TASK_LED_FLASH(void *argument);
void StartTask_TASK_UART1(void *argument);
void StartTask_TASK_USB_VCOM_H(void *argument);
void StartTask_TASK_USB_VCOM_L(void *argument);/* USER CODE BEGIN PFP *//* USER CODE END PFP *//* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint8_t USB_CONN_STATUS(void);
uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len);
void usbprintstring(char * data)
{if(CDC_Transmit_FS((uint8_t *)data, strlen(data))USBD_BUSY){PY_Delay_us_t(1000000);CDC_Transmit_FS((uint8_t *)data, strlen(data));}
}void usbprintarray(uint8_t * data, uint16_t len)
{if(CDC_Transmit_FS(data, len)USBD_BUSY){PY_Delay_us_t(1000000);CDC_Transmit_FS(data, len);}
}BaseType_t USB_VCOM_pxHigherPriorityTaskWaken;
TickType_t USB_VCOM_xBlockTime 0;
/* USER CODE END 0 *//*** brief The application entry point.* retval int*/
int main(void)
{/* USER CODE BEGIN 1 *//* USER CODE END 1 *//* MCU Configuration--------------------------------------------------------*//* Reset of all peripherals, Initializes the Flash interface and the Systick. */HAL_Init();/* USER CODE BEGIN Init *//* USER CODE END Init *//* Configure the system clock */SystemClock_Config();/* USER CODE BEGIN SysInit *//* USER CODE END SysInit *//* Initialize all configured peripherals */MX_GPIO_Init();MX_DMA_Init();MX_USART1_UART_Init();/* USER CODE BEGIN 2 *//* USER CODE END 2 *//* Init scheduler */osKernelInitialize();/* Create the mutex(es) *//* creation of USB_VCOM_Mutex01 */USB_VCOM_Mutex01Handle osMutexNew(USB_VCOM_Mutex01_attributes);/* 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);/* creation of TASK_LED_FLASH */TASK_LED_FLASHHandle osThreadNew(StartTask_TASK_LED_FLASH, NULL, TASK_LED_FLASH_attributes);/* creation of TASK_UART1 */TASK_UART1Handle osThreadNew(StartTask_TASK_UART1, NULL, TASK_UART1_attributes);/* creation of TASK_USB_VCOM_H */TASK_USB_VCOM_HHandle osThreadNew(StartTask_TASK_USB_VCOM_H, NULL, TASK_USB_VCOM_H_attributes);/* creation of TASK_USB_VCOM_L */TASK_USB_VCOM_LHandle osThreadNew(StartTask_TASK_USB_VCOM_L, NULL, TASK_USB_VCOM_L_attributes);/* USER CODE BEGIN RTOS_THREADS *//* add threads, ... *//* USER CODE END RTOS_THREADS *//* USER CODE BEGIN RTOS_EVENTS *//* add events, ... *//* USER CODE END RTOS_EVENTS *//* Start scheduler */osKernelStart();/* We should never get here as control is now taken by the scheduler *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}/* USER CODE END 3 */
}/*** brief System Clock Configuration* retval None*/
void SystemClock_Config(void)
{RCC_OscInitTypeDef RCC_OscInitStruct {0};RCC_ClkInitTypeDef RCC_ClkInitStruct {0};/** Configure the main internal regulator output voltage*/__HAL_RCC_PWR_CLK_ENABLE();__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);/** Initializes the RCC Oscillators according to the specified parameters* in the RCC_OscInitTypeDef structure.*/RCC_OscInitStruct.OscillatorType RCC_OSCILLATORTYPE_HSE;RCC_OscInitStruct.HSEState RCC_HSE_ON;RCC_OscInitStruct.PLL.PLLState RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource RCC_PLLSOURCE_HSE;RCC_OscInitStruct.PLL.PLLM 25;RCC_OscInitStruct.PLL.PLLN 336;RCC_OscInitStruct.PLL.PLLP RCC_PLLP_DIV4;RCC_OscInitStruct.PLL.PLLQ 7;if (HAL_RCC_OscConfig(RCC_OscInitStruct) ! HAL_OK){Error_Handler();}/** Initializes the CPU, AHB and APB buses clocks*/RCC_ClkInitStruct.ClockType RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;RCC_ClkInitStruct.SYSCLKSource RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.AHBCLKDivider RCC_SYSCLK_DIV1;RCC_ClkInitStruct.APB1CLKDivider RCC_HCLK_DIV2;RCC_ClkInitStruct.APB2CLKDivider RCC_HCLK_DIV1;if (HAL_RCC_ClockConfig(RCC_ClkInitStruct, FLASH_LATENCY_2) ! HAL_OK){Error_Handler();}
}/*** brief USART1 Initialization Function* param None* retval None*/
static void MX_USART1_UART_Init(void)
{/* USER CODE BEGIN USART1_Init 0 *//* USER CODE END USART1_Init 0 *//* USER CODE BEGIN USART1_Init 1 *//* USER CODE END USART1_Init 1 */huart1.Instance USART1;huart1.Init.BaudRate 115200;huart1.Init.WordLength UART_WORDLENGTH_8B;huart1.Init.StopBits UART_STOPBITS_1;huart1.Init.Parity UART_PARITY_NONE;huart1.Init.Mode UART_MODE_TX_RX;huart1.Init.HwFlowCtl UART_HWCONTROL_NONE;huart1.Init.OverSampling UART_OVERSAMPLING_16;if (HAL_UART_Init(huart1) ! HAL_OK){Error_Handler();}/* USER CODE BEGIN USART1_Init 2 *//* USER CODE END USART1_Init 2 */}/*** Enable DMA controller clock*/
static void MX_DMA_Init(void)
{/* DMA controller clock enable */__HAL_RCC_DMA2_CLK_ENABLE();/* DMA interrupt init *//* DMA2_Stream2_IRQn interrupt configuration */HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0);HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);}/*** brief GPIO Initialization Function* param None* retval None*/
static void MX_GPIO_Init(void)
{GPIO_InitTypeDef GPIO_InitStruct {0};
/* USER CODE BEGIN MX_GPIO_Init_1 */
/* USER CODE END MX_GPIO_Init_1 *//* GPIO Ports Clock Enable */__HAL_RCC_GPIOC_CLK_ENABLE();__HAL_RCC_GPIOH_CLK_ENABLE();__HAL_RCC_GPIOA_CLK_ENABLE();/*Configure GPIO pin Output Level */HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);/*Configure GPIO pin : LED_Pin */GPIO_InitStruct.Pin LED_Pin;GPIO_InitStruct.Mode GPIO_MODE_OUTPUT_PP;GPIO_InitStruct.Pull GPIO_NOPULL;GPIO_InitStruct.Speed GPIO_SPEED_FREQ_LOW;HAL_GPIO_Init(LED_GPIO_Port, GPIO_InitStruct);/* USER CODE BEGIN MX_GPIO_Init_2 */
/* USER CODE END MX_GPIO_Init_2 */
}/* USER CODE BEGIN 4 *//* USER CODE END 4 *//* 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)
{/* init code for USB_DEVICE */MX_USB_DEVICE_Init();/* USER CODE BEGIN 5 *//* Infinite loop */for(;;){osDelay(1);}/* USER CODE END 5 */
}/* USER CODE BEGIN Header_StartTask_TASK_LED_FLASH */
/**
* brief Function implementing the TASK_LED_FLASH thread.
* param argument: Not used
* retval None
*/
/* USER CODE END Header_StartTask_TASK_LED_FLASH */
void StartTask_TASK_LED_FLASH(void *argument)
{/* USER CODE BEGIN StartTask_TASK_LED_FLASH *//* Infinite loop */for(;;){osDelay(1000);HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);}/* USER CODE END StartTask_TASK_LED_FLASH */
}/* USER CODE BEGIN Header_StartTask_TASK_UART1 */
/**
* brief Function implementing the TASK_UART1 thread.
* param argument: Not used
* retval None
*/
/* USER CODE END Header_StartTask_TASK_UART1 */
void StartTask_TASK_UART1(void *argument)
{/* USER CODE BEGIN StartTask_TASK_UART1 *//* Infinite loop */for(;;){osDelay(1);}/* USER CODE END StartTask_TASK_UART1 */
}/* USER CODE BEGIN Header_StartTask_TASK_USB_VCOM_H */
/**
* brief Function implementing the TASK_USB_VCOM_H thread.
* param argument: Not used
* retval None
*/
/* USER CODE END Header_StartTask_TASK_USB_VCOM_H */
void StartTask_TASK_USB_VCOM_H(void *argument)
{/* USER CODE BEGIN StartTask_TASK_USB_VCOM_H */BaseType_t err_stu pdFALSE;/* Infinite loop */for(;;){osDelay(8);err_stu xSemaphoreTake(USB_VCOM_Mutex01Handle, USB_VCOM_xBlockTime);if(err_stupdTRUE){if(USB_CONN_STATUS()){usbprintstring(Task 1 Outputting\r\n);}xSemaphoreGive(USB_VCOM_Mutex01Handle);}}/* USER CODE END StartTask_TASK_USB_VCOM_H */
}/* USER CODE BEGIN Header_StartTask_TASK_USB_VCOM_L */
/**
* brief Function implementing the TASK_USB_VCOM_L thread.
* param argument: Not used
* retval None
*/
/* USER CODE END Header_StartTask_TASK_USB_VCOM_L */
void StartTask_TASK_USB_VCOM_L(void *argument)
{/* USER CODE BEGIN StartTask_TASK_USB_VCOM_L */BaseType_t err_stu pdFALSE;/* Infinite loop */for(;;){osDelay(5);err_stu xSemaphoreTake(USB_VCOM_Mutex01Handle, USB_VCOM_xBlockTime);if(err_stupdTRUE){if(USB_CONN_STATUS()){usbprintstring(Task 2 Outputting\r\n);}osDelay(10);xSemaphoreGive(USB_VCOM_Mutex01Handle);}}/* USER CODE END StartTask_TASK_USB_VCOM_L */
}/*** brief Period elapsed callback in non blocking mode* note This function is called when TIM1 interrupt took place, inside* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment* a global variable uwTick used as application time base.* param htim : TIM handle* retval None*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{/* USER CODE BEGIN Callback 0 *//* USER CODE END Callback 0 */if (htim-Instance TIM1) {HAL_IncTick();}/* USER CODE BEGIN Callback 1 *//* USER CODE END Callback 1 */
}/*** brief This function is executed in case of error occurrence.* retval None*/
void Error_Handler(void)
{/* USER CODE BEGIN Error_Handler_Debug *//* User can add his own implementation to report the HAL error return state */__disable_irq();while (1){}/* USER CODE END Error_Handler_Debug */
}#ifdef USE_FULL_ASSERT
/*** brief Reports the name of the source file and the source line number* where the assert_param error has occurred.* param file: pointer to the source file name* param line: assert_param error line source number* retval None*/
void assert_failed(uint8_t *file, uint32_t line)
{/* USER CODE BEGIN 6 *//* User can add his own implementation to report the file name and line number,ex: printf(Wrong parameters value: file %s on line %d\r\n, file, line) *//* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
例程下载
STM32 STM32CUBEIDE FreeRTOS操作教程五mutex互斥信号量 例程
例程测试
例程测试效果如下
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