FreeRTOS互斥量（3.30）

最新推荐文章于 2024-09-27 12:44:35 发布

As_.

最新推荐文章于 2024-09-27 12:44:35 发布

阅读量137

点赞数 5

文章标签：单片机

本文链接：https://blog.csdn.net/2401_82552612/article/details/137158430

版权

文章详细描述了在FreeRTOS环境下，如何使用互斥量和优先级继承来优化任务调度，避免高优先级任务被低优先级任务抢占资源，以提升任务执行效率。

摘要由CSDN通过智能技术生成

互斥量：

上图意思是Task L抢占了Task H的资源（获得二值信号量，高优先级任务被阻塞无法执行），我们想要Take H能够尽快运行起来，就要让Task L尽快执行完任务，释放信号量，让Task H获取信号量然后运行，但如果Task M来了，但它不需要信号量就能执行，这时候Task L就停下了，Task M运行起来了，就会延长Task L的运行时间，从而延长Task H获取信号量的时间，这是我们不希望看见的，所以就要用到互斥量，让Task L继承Task H的优先级。

优先级继承：

实操

实验需求 1. 演示优先级翻转

2. 使用互斥量优化优先级翻转问题

实验1：

cubeMX配置:


/* 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 TaskHHandle;
osThreadId TaskMHandle;
osThreadId TaskLHandle;
osMutexId myMutex01Handle;
osSemaphoreId myBinarySem01Handle;

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

/* USER CODE END FunctionPrototypes */

void StartTaskH(void const * argument);
void StartTaskM(void const * argument);
void StartTaskL(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 */
  /* Create the mutex(es) */
  /* definition and creation of myMutex01 */
  osMutexDef(myMutex01);
  myMutex01Handle = osMutexCreate(osMutex(myMutex01));

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

  /* Create the semaphores(s) */
  /* definition and creation of myBinarySem01 */
  osSemaphoreDef(myBinarySem01);
  myBinarySem01Handle = osSemaphoreCreate(osSemaphore(myBinarySem01), 1);

  /* 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) */
  /* definition and creation of TaskH */
  osThreadDef(TaskH, StartTaskH, osPriorityAboveNormal, 0, 128);
  TaskHHandle = osThreadCreate(osThread(TaskH), NULL);

  /* definition and creation of TaskM */
  osThreadDef(TaskM, StartTaskM, osPriorityNormal, 0, 128);
  TaskMHandle = osThreadCreate(osThread(TaskM), NULL);

  /* definition and creation of TaskL */
  osThreadDef(TaskL, StartTaskL, osPriorityBelowNormal, 0, 128);
  TaskLHandle = osThreadCreate(osThread(TaskL), NULL);

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

}

/* USER CODE BEGIN Header_StartTaskH */
/**
  * @brief  Function implementing the TaskH thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartTaskH */
void StartTaskH(void const * argument)
{
  /* USER CODE BEGIN StartTaskH */
  /* Infinite loop */
  for(;;)
  {
    xSemaphoreTake(myBinarySem01Handle,portMAX_DELAY);
		printf("TaskH:获取到二值信号量，开始运行！\r\n");
		HAL_Delay(1000);
		printf("TaskH:释放二值信号量量，运行完毕！\r\n");
		xSemaphoreGive(myBinarySem01Handle);
		
    osDelay(1000);
  }
  /* USER CODE END StartTaskH */
}

/* USER CODE BEGIN Header_StartTaskM */
/**
* @brief Function implementing the TaskM thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskM */
void StartTaskM(void const * argument)
{
  /* USER CODE BEGIN StartTaskM */
  /* Infinite loop */
  for(;;)
  {
		printf("TaskM:开始运行，抢占cpu资源！\r\n");
    osDelay(1000);
  }
  /* USER CODE END StartTaskM */
}

/* USER CODE BEGIN Header_StartTaskL */
/**
* @brief Function implementing the TaskL thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskL */
void StartTaskL(void const * argument)
{
  /* USER CODE BEGIN StartTaskL */
  /* Infinite loop */
  for(;;)
  {
		xSemaphoreTake(myBinarySem01Handle,portMAX_DELAY);
		printf("TaskL:获取二值信号量，开始运行！\r\n");
		HAL_Delay(3000);
		printf("TaskL:释放二值信号量，运行完毕！\r\n");
		xSemaphoreGive(myBinarySem01Handle);
		
    osDelay(1000);
  }
  /* USER CODE END StartTaskL */
}

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

/* USER CODE END Application */

运行结果

我们发现TaskL在运行时，被TaskM抢占cpu资源，延长了TaskH开始运行是时间。

实验2：

freertos.c



/* 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 TaskHHandle;
osThreadId TaskMHandle;
osThreadId TaskLHandle;
osMutexId myMutex01Handle;

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

/* USER CODE END FunctionPrototypes */

void StartTaskH(void const * argument);
void StartTaskM(void const * argument);
void StartTaskL(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 */
  /* Create the mutex(es) */
  /* definition and creation of myMutex01 */
  osMutexDef(myMutex01);
  myMutex01Handle = osMutexCreate(osMutex(myMutex01));

  /* 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) */
  /* definition and creation of TaskH */
  osThreadDef(TaskH, StartTaskH, osPriorityAboveNormal, 0, 128);
  TaskHHandle = osThreadCreate(osThread(TaskH), NULL);

  /* definition and creation of TaskM */
  osThreadDef(TaskM, StartTaskM, osPriorityNormal, 0, 128);
  TaskMHandle = osThreadCreate(osThread(TaskM), NULL);

  /* definition and creation of TaskL */
  osThreadDef(TaskL, StartTaskL, osPriorityBelowNormal, 0, 128);
  TaskLHandle = osThreadCreate(osThread(TaskL), NULL);

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

}

/* USER CODE BEGIN Header_StartTaskH */
/**
  * @brief  Function implementing the TaskH thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartTaskH */
void StartTaskH(void const * argument)
{
  /* USER CODE BEGIN StartTaskH */
  /* Infinite loop */
  for(;;)
  {
    xSemaphoreTake(myMutex01Handle,portMAX_DELAY);
		printf("TaskH:获取到互斥量，开始运行！\r\n");
		HAL_Delay(1000);
		printf("TaskH:释放互斥量，运行完毕！\r\n");
		xSemaphoreGive(myMutex01Handle);
		
    osDelay(1000);
  }
  /* USER CODE END StartTaskH */
}

/* USER CODE BEGIN Header_StartTaskM */
/**
* @brief Function implementing the TaskM thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskM */
void StartTaskM(void const * argument)
{
  /* USER CODE BEGIN StartTaskM */
  /* Infinite loop */
  for(;;)
  {
		printf("TaskM:开始运行，抢占cpu资源！\r\n");
    osDelay(1000);
  }
  /* USER CODE END StartTaskM */
}

/* USER CODE BEGIN Header_StartTaskL */
/**
* @brief Function implementing the TaskL thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskL */
void StartTaskL(void const * argument)
{
  /* USER CODE BEGIN StartTaskL */
  /* Infinite loop */
  for(;;)
  {
		xSemaphoreTake(myMutex01Handle,portMAX_DELAY);
		printf("TaskL:获取互斥量，开始运行！\r\n");
		HAL_Delay(3000);
		printf("TaskL:释放互斥量，运行完毕！\r\n");
		xSemaphoreGive(myMutex01Handle);
		
    osDelay(1000);
  }
  /* USER CODE END StartTaskL */
}

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

/* USER CODE END Application */

运行结果