06_FreeRTOS队列（结构体队列）

06_FreeRTOS队列（结构体队列）

如果要发送不同的数据类型，则必须使用结构体队列。
xQueueHandle St_Queue_Handler;

定义结构体：

typedef struct {
	char *str;
	int counter;
	uint16_t large_value;
} my_struct;

创造队列：

  /***** create QUEUE *****/
  osMessageQDef(Queue01, 1, my_struct);
  Queue01Handle = osMessageCreate(osMessageQ(Queue01), NULL);

  if (Queue01Handle == 0)  // Queue not created
  {
	  printf("Unable to create Integer Queue\n");
  }else{
	  printf("Integer Queue Created successfully\n");
  }

线程的优先级：

  /* definition and creation of Task1 */
  osThreadDef(Task1, Task1_init, 2, 0, 512);
  Task1Handle = osThreadCreate(osThread(Task1), NULL);

  /* definition and creation of Task2 */
  osThreadDef(Task2, Task2_init, 2, 0, 512);
  Task2Handle = osThreadCreate(osThread(Task2), NULL);

  /* definition and creation of Task3 */
  osThreadDef(Task3, Task3_init, 1, 0, 512);
  Task3Handle = osThreadCreate(osThread(Task3), NULL);

然后通过这个Task把数据传输到队列中去：

void Task1_init(void const * argument)
{
  /* USER CODE BEGIN 5 */
	my_struct *ptrtostruct;
	uint32_t TickDelay = pdMS_TO_TICKS(2000);
  /* Infinite loop */

  for(;;)
  {

		printf("Entered Task1\n");
		/****** 给结构体指针分配内存 ********/
		ptrtostruct = pvPortMalloc(sizeof (my_struct));

		/********** 向结构体中填充数据 ***********/
		ptrtostruct->counter = 1+indx1;
		ptrtostruct->large_value = 1000 + indx1*100;
		ptrtostruct->str = "Task1 entered ";

		/***** 把数据发送到队列 ****/
		if (xQueueSend(Queue01Handle, &ptrtostruct, portMAX_DELAY) == pdPASS)
		{
			printf("Successfully sent from Task1\n");
		}

		indx1 = indx1+1;

		vTaskDelay(TickDelay);
  }
  /* USER CODE END 5 */ 
}

void Task2_init(void const * argument)
{
  /* USER CODE BEGIN Task2_init */
	my_struct *ptrtostruct;
	uint32_t TickDelay = pdMS_TO_TICKS(2000);
  /* Infinite loop */
  for(;;)
  {
	  	printf("Entered task2\n");

		/**** 为结构体指针分配内存****/
		ptrtostruct = pvPortMalloc(sizeof(my_struct));

		/**** 把结构体中填充数据 ****/
		ptrtostruct->str = "Task2 entered!!!";
		ptrtostruct->large_value = 2000 + 200*indx2;
		ptrtostruct->counter = 1+indx2;
		if (xQueueSend(Queue01Handle,&ptrtostruct,portMAX_DELAY) == pdPASS)
		{
			printf(" Successfully sent from Task2 \n");
		}

		indx2 = indx2+1;

		vTaskDelay(TickDelay);
  }
  /* USER CODE END Task2_init */
}

在将数据发送到队列之前，我们必须将内存分配给该结构。为此，我们使用函数pvPortMALLOC
分配内存后，将数据加载到指向该结构的指针中。
接下来，我们将通过在参数中传递其地址，将该数据发送到Queue。

我们将在Task3函数中创建另一个指向struct的指针，以存储接收到的数据。接收到数据后，我们将使用vPortFREE功能释放发送方Task分配的内存。

void Task3_init(void const * argument)
{
  /* USER CODE BEGIN Task3_init */
	my_struct *Rptrtostruct;
	uint32_t TickDelay = pdMS_TO_TICKS(1000);
  /* Infinite loop */
  for(;;)
  {
		printf("Enter task3\n-----------\n");
		/**** 接收队列数据 *****/
		if (xQueueReceive(Queue01Handle, &Rptrtostruct, portMAX_DELAY) == pdPASS)
		{
			printf ("Received from QUEUE:\n COUNTER = %d  LARGE VALUE = %u  STRING = %s\n",Rptrtostruct->counter,Rptrtostruct->large_value, Rptrtostruct->str);
		}

		vPortFree(Rptrtostruct);  //使用vPortFree 释放结构体内存

		vTaskDelay(TickDelay);
  }
  /* USER CODE END Task3_init */
}

结果：

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