任务通知:
任务通知的优势和劣势:
等待通知的API函数只能用于任务,不能用于中断。
xTaskNotifiywait()函数第一个参数:0表示函数执行前不清零某些位,1表示清零某些位(通常函数执行前不清零),第二个参数0表示函数退出前不清零某些位,1表示清零某些位(通常全部清零,设置为0xFFFFFFFF)。
实操
1. 模拟二值信号量
按键1按下,释放型号量,按键2按下,接收信号量
/* 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 TaskSendHandle;
osThreadId TaskReceiveHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartTaskSend(void const * argument);
void StartTaskReceive(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 */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* definition and creation of TaskSend */
osThreadDef(TaskSend, StartTaskSend, osPriorityNormal, 0, 128);
TaskSendHandle = osThreadCreate(osThread(TaskSend), NULL);
/* definition and creation of TaskReceive */
osThreadDef(TaskReceive, StartTaskReceive, osPriorityNormal, 0, 128);
TaskReceiveHandle = osThreadCreate(osThread(TaskReceive), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* 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 */
/* Infinite loop */
for(;;)
{
//按键检测
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
xTaskNotifyGive(TaskReceiveHandle); //发送通知,不带通知值
printf("任务通知:模拟二值信号量发送成功!\r\n");
}
}
osDelay(10);
}
/* USER CODE END StartTaskSend */
}
/* 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 */
uint32_t rev = 0;
/* Infinite loop */
for(;;)
{
//按键检测
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
rev = ulTaskNotifyTake(pdTRUE,portMAX_DELAY); //把通知值清零(二值信号量)
if(rev != 0) //非零接收成功
{
printf("任务通知:模拟二值信号量接收成功!\r\n");
}
}
}
osDelay(10);
}
/* USER CODE END StartTaskReceive */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
2. 模拟计数型信号量
按键1按下,释放型号量,按键2按下,接收信号量
/* 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 TaskSendHandle;
osThreadId TaskReceiveHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartTaskSend(void const * argument);
void StartTaskReceive(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 */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* definition and creation of TaskSend */
osThreadDef(TaskSend, StartTaskSend, osPriorityNormal, 0, 128);
TaskSendHandle = osThreadCreate(osThread(TaskSend), NULL);
/* definition and creation of TaskReceive */
osThreadDef(TaskReceive, StartTaskReceive, osPriorityNormal, 0, 128);
TaskReceiveHandle = osThreadCreate(osThread(TaskReceive), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* 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 */
/* Infinite loop */
for(;;)
{
//按键检测
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
xTaskNotifyGive(TaskReceiveHandle); //发送通知,不带通知值
printf("任务通知:模拟计数信号量发送成功!\r\n");
}
}
osDelay(10);
}
/* USER CODE END StartTaskSend */
}
/* 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 */
uint32_t rev = 0;
/* Infinite loop */
for(;;)
{
//按键检测
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
rev = ulTaskNotifyTake(pdFALSE,portMAX_DELAY); //把通知值减一(计数型信号量)
if(rev != 0) //非零接收成功
{
printf("任务通知:模拟计数信号量接收成功!rev=%d\r\n",rev);
}
}
}
osDelay(10);
}
/* USER CODE END StartTaskReceive */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
3. 模拟事件标志组
按键1按下将bit0置一,按键2按下将bit1置一
/* 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 TaskSendHandle;
osThreadId TaskReceiveHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartTaskSend(void const * argument);
void StartTaskReceive(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 */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* definition and creation of TaskSend */
osThreadDef(TaskSend, StartTaskSend, osPriorityNormal, 0, 128);
TaskSendHandle = osThreadCreate(osThread(TaskSend), NULL);
/* definition and creation of TaskReceive */
osThreadDef(TaskReceive, StartTaskReceive, osPriorityNormal, 0, 128);
TaskReceiveHandle = osThreadCreate(osThread(TaskReceive), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* 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 */
/* Infinite loop */
for(;;)
{
//按键检测
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
printf("将bit0位置1!\r\n");
xTaskNotify(TaskReceiveHandle,0x01,eSetBits);
}
}
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
printf("将bit1位置1!\r\n");
xTaskNotify(TaskReceiveHandle,0x02,eSetBits);
}
}
osDelay(10);
}
/* USER CODE END StartTaskSend */
}
/* 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 */
uint32_t notifiy_tmp = 0,event_bit = 0;
/* Infinite loop */
for(;;)
{
xTaskNotifyWait(0,0xFFFFFFFF,¬ifiy_tmp,portMAX_DELAY);
if(notifiy_tmp == 0x01)
event_bit |= 0x01; //event_bit作用是暂存notifiy_tmp,而notifiy_tmp又用来暂存发送过来的通知值(0x01或者0x02)
if(notifiy_tmp == 0x02)
event_bit |= 0x02;
if(event_bit == (0x01 | 0x02))
{
printf("任务通知:模拟事件标志组接收成功!\r\n");
event_bit = 0;
}
osDelay(1);
}
/* USER CODE END StartTaskReceive */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
4. 模拟邮箱(邮箱就是长度为1的队列)
按下按键1,覆盖队列内容,通知值为1,按下按键2,覆盖队列内容,通知值为2.
/* 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 TaskSendHandle;
osThreadId TaskReceiveHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartTaskSend(void const * argument);
void StartTaskReceive(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 */
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
/* Create the thread(s) */
/* definition and creation of TaskSend */
osThreadDef(TaskSend, StartTaskSend, osPriorityNormal, 0, 128);
TaskSendHandle = osThreadCreate(osThread(TaskSend), NULL);
/* definition and creation of TaskReceive */
osThreadDef(TaskReceive, StartTaskReceive, osPriorityNormal, 0, 128);
TaskReceiveHandle = osThreadCreate(osThread(TaskReceive), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* 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 */
/* Infinite loop */
for(;;)
{
//按键检测
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
printf("将按键1按下!\r\n");
xTaskNotify(TaskReceiveHandle,0x01,eSetValueWithOverwrite); //将被通知任务的通知值覆盖为0x01,用于队列长度为1
}
}
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
printf("将按键2按下!\r\n");
xTaskNotify(TaskReceiveHandle,0x02,eSetValueWithOverwrite); //将被通知任务的通知值覆盖为0x02,用于队列长度为1
}
}
osDelay(10);
}
/* USER CODE END StartTaskSend */
}
/* 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 */
uint32_t notifiy_tmp = 0;
/* Infinite loop */
for(;;)
{
xTaskNotifyWait(0,0xFFFFFFFF,¬ifiy_tmp,portMAX_DELAY);
printf("任务通知:接收到的通知值为%d!\r\n",notifiy_tmp);
osDelay(1);
}
/* USER CODE END StartTaskReceive */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */