FreeTROS队列（3.29）

什么是队列？

队列特点：

队列相关 API 函数：

实操：

实验需求：创建一个队列，按下 KEY1 向队列发送数据，按下 KEY2 向队列读取数据。

cubeMX配置：

任务和队列：

USART1也打开，不用开串口中断：

在usart.c中插入本代码，记得加上头文件“stdio.h”，才能使用printf函数，并且打开MicorLIB库。

int fputc(int ch, FILE *f)
{      
	unsigned char temp[1]={ch};
	HAL_UART_Transmit(&huart1,temp,1,0xffff);  
	return ch;
}

freertos.c

/* USER CODE END Header */

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

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "stdio.h"
/* 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 */

/* USER CODE END Variables */
osThreadId taskReceiveHandle;
osThreadId taskSendHandle;
osMessageQId myQueue01Handle;

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

/* USER CODE END FunctionPrototypes */

void StartTaskReceive(void const * argument);
void StartTasksend(void const * argument);

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

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{
  *ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
  *ppxIdleTaskStackBuffer = &xIdleStack[0];
  *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  /* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* 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 */

  /* Create the queue(s) */
  /* definition and creation of myQueue01 */
  osMessageQDef(myQueue01, 16, uint16_t);
  myQueue01Handle = osMessageCreate(osMessageQ(myQueue01), NULL);

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

  /* Create the thread(s) */
  /* definition and creation of taskReceive */
  osThreadDef(taskReceive, StartTaskReceive, osPriorityNormal, 0, 128);
  taskReceiveHandle = osThreadCreate(osThread(taskReceive), NULL);

  /* definition and creation of taskSend */
  osThreadDef(taskSend, StartTasksend, osPriorityNormal, 0, 128);
  taskSendHandle = osThreadCreate(osThread(taskSend), NULL);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_StartTaskReceive */
/**
  * @brief  Function implementing the taskReceive thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartTaskReceive */
void StartTaskReceive(void const * argument)
{
  /* USER CODE BEGIN StartTaskReceive */
	uint16_t buf;
	BaseType_t status;
  /* Infinite loop */
  for(;;)
  {
   	if(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_1) == GPIO_PIN_RESET)
		{
			osDelay(20);		
			if(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_1) == GPIO_PIN_RESET)
			{
				while(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_1) == GPIO_PIN_RESET);	//防止按键一直按下，然后一直执行if语句
				status = xQueueReceive(myQueue01Handle,&buf,0);
				if(status == pdTRUE)
					printf("队列读取成功，值为%d\r\n",buf);
				else
					printf("队列读取失败\r\n");
			}
		}
    osDelay(10);		//每隔10ms轮询检查一次按键是否按下

  }
  /* USER CODE END StartTaskReceive */
}

/* USER CODE BEGIN Header_StartTasksend */
/**
* @brief Function implementing the taskSend thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTasksend */
void StartTasksend(void const * argument)
{
  /* USER CODE BEGIN StartTasksend */
	uint16_t buf = 100;
	BaseType_t status;
  /* Infinite loop */
  for(;;)
  {
   if(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_0) == GPIO_PIN_RESET)
		{
			osDelay(20);		
			if(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_0) == GPIO_PIN_RESET)
			{
				while(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_0) == GPIO_PIN_RESET);	//防止按键一直按下，然后一直执行if语句
				status = xQueueSend(myQueue01Handle,&buf,0);
				if(status == pdTRUE)
					printf("队列写入成功，值为%d\r\n",buf);
				else
					printf("队列写入失败\r\n");
			}
		}
    osDelay(10);		//每隔10ms轮询检查一次按键是否按下
  }
  /* USER CODE END StartTasksend */
}

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

/* USER CODE END Application */