目录
一、单片机中常见的几种模式介绍
在MCU的设计与开发中有以下常见的程序结构设计:
- 裸机:功能单一,简单的顺序执行
- 时间片轮询:多任务、内存占用较少
- RTOS:多任务、系统复杂性高,有较高的实时性要求和可靠性要求
其实一般情况下能上RTOS一般就上RTOS,根本不需要考虑时间片轮询的情况,斟酌使用时间片轮询的情况主要的考虑有以下几点:
- MCU的RAM和ROM资源问题,引入RTOS会带来额外的内存开销
- 业务功能的拆解与多任务的设计,有时候使用时间片轮询可以让整个结构更加简单易懂,方便设计
- 调试更为简单方便
使用时间片轮询时要注意的点:
- 功能任务划分的合理性,多任务的情况下,每个任务的执行都尽量设计成短小精悍。(例如:执行1个任务需要10ms,你不能只给它分配5ms的时间片)
- 任务数量与MCU主频的简单关系估算:任务数量 = MCU主频 / (时间片大小 × 任务平均处理时间) ;例如:在一个系统中有10个任务,并且每个任务需要相同的时间片大小为10ms,那么每个任务将获得1/10的CPU时间,也就是10%的CPU时间。如果我们希望系统总体运行效率高达80%,那么MCU的主频应该是所有任务的最小执行时间的8倍,即主频应该为1/(10毫秒* 8) = 1250 Hz
二、简易时间片轮询结构设计
1、任务调度表的设计
(1)任务调度表的结构体设计
其中,任务调度表中包含了任务编号(或者可以设计成表中的索引)、回调的任务函数、任务类型(周期或者事件类型)、任务开关、任务状态(包括执行后的状态)、任务时间片计数、任务时间片初始值
/******************************************
* OS Task No
******************************************/
#define OS_TASK_NO1 0
#define OS_TASK_NO2 1
#define OS_TASK_NO3 2
#define OS_TASK_NO4 3
#define OS_TASK_NO5 4
#define OS_TASK_NO6 5
#define OS_TASK_NO7 6
#define OS_TASK_NO8 7
#define OS_TASK_MAX_NO 8
/******************************************
* OS Task switch
******************************************/
#define OS_TASK_OFF 0
#define OS_TASK_ON 1
/******************************************
* OS Task Type
******************************************/
#define OS_TASK_EVENT 0
#define OS_TASK_CYCLC 1
/******************************************
* OS Task Status
******************************************/
#define OS_TASK_OK 0
#define OS_TASK_READY 1
#define OS_TASK_ERROR 2
/******************************************
* Struct and Enum
******************************************/
typedef struct
{
uint8_t os_task_number;
uint8_t (*taskFunc)(void);
uint8_t os_task_type;
uint8_t os_task_switch;
uint8_t os_task_status;
uint8_t os_task_tickCnt;
uint8_t os_task_tickInit;
}OS_TASK_SCHEDULE_t;
(2)时间片的处理与任务的启停
- 时间片的处理:放置在定时器或者Systick定时器的中断中,对所有任务的时间片计数进行处理,当计数值减少到0时,把对应任务的状态赋为Ready态,并对时间片赋初始计数值
void OS_TmrIsrTask(void)
{
uint8_t indx = 0;
OS_DISABLE_INTERRUPT();
for(indx = 0; indx < osTaskScheduleCfgSize; indx++)
{
if(osTaskScheduleCfg[indx].os_task_switch == OS_TASK_ON &&\
osTaskScheduleCfg[indx].os_task_status != OS_TASK_READY)
{
if(osTaskScheduleCfg[indx].os_task_tickCnt > 0)
{
osTaskScheduleCfg[indx].os_task_tickCnt--;
}
if(osTaskScheduleCfg[indx].os_task_tickCnt == 0)
{
osTaskScheduleCfg[indx].os_task_status = OS_TASK_READY;
switch(osTaskScheduleCfg[indx].os_task_type)
{
case OS_TASK_CYCLC:
{
osTaskScheduleCfg[indx].os_task_tickCnt = osTaskScheduleCfg[indx].os_task_tickInit;
break;
}
case OS_TASK_EVENT:
{
break;
}
}
}
}
}
OS_ENABLE_INTERRUPT();
}
-
任务的启停:
void OS_TaskTmrEventStart(uint8_t task_number)
{
uint8_t indx = 0;
OS_DISABLE_INTERRUPT();
for(indx = 0; indx <= osTaskScheduleCfgSize; indx++)
{
if(task_number == osTaskScheduleCfg[indx].os_task_number)
{
osTaskScheduleCfg[indx].os_task_switch = OS_TASK_ON;
osTaskScheduleCfg[indx].os_task_tickCnt = osTaskScheduleCfg[indx].os_task_tickInit;
break;
}
}
OS_ENABLE_INTERRUPT();
}
void OS_TaskTmrEventStop(uint8_t task_number)
{
uint8_t indx = 0;
OS_DISABLE_INTERRUPT();
for(indx = 0; indx <= osTaskScheduleCfgSize; indx++)
{
if(task_number == osTaskScheduleCfg[indx].os_task_number)
{
osTaskScheduleCfg[indx].os_task_switch = OS_TASK_OFF;
osTaskScheduleCfg[indx].os_task_tickCnt = 0;
break;
}
}
OS_ENABLE_INTERRUPT();
}
(3)任务调度表的实现
- 任务调度表的实现:循环遍历任务调度表中每个任务的状态,当有处于Ready状态的任务时,则去执行。
void OS_StartSchedule(void)
{
uint8_t indx;
for(;;)
{
for(indx = 0; indx < osTaskScheduleCfgSize; indx++)
{
switch(osTaskScheduleCfg[indx].os_task_status)
{
case OS_TASK_OK:
{
break;
}
case OS_TASK_ERROR:
{
break;
}
case OS_TASK_READY:
{
OS_DISABLE_INTERRUPT();
if(osTaskScheduleCfg[indx].taskFunc != NULL)
{
osTaskScheduleCfg[indx].os_task_status = osTaskScheduleCfg[indx].taskFunc();
if(osTaskScheduleCfg[indx].os_task_type == OS_TASK_EVENT)
{
osTaskScheduleCfg[indx].os_task_switch = OS_TASK_OFF;
}
}
OS_ENABLE_INTERRUPT();
break;
}
}
}
}
}
- 任务调度表与任务的配置:其中还可以根据对初始化tickCnt的值的差异,来控制先后执行任务的顺序
/*********************************************
* OS Task Schedule Config
*********************************************/
OS_TASK_SCHEDULE_t osTaskScheduleCfg[] =
{
/* level taskFunc task_type task_switch os_task_status task_tickCnt task_tickInit */
{OS_TASK_NO1, os_task1, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 0, 100 },
{OS_TASK_NO2, os_task2, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 1, 100 },
{OS_TASK_NO3, os_task3, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 2, 100 },
{OS_TASK_NO4, os_task4, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 3, 100 },
{OS_TASK_NO5, os_task5, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 4, 100 },
{OS_TASK_NO6, os_task6, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 5, 100 },
{OS_TASK_NO7, os_task7, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 6, 100 },
{OS_TASK_NO8, os_task8, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 7, 100 },
};
uint8_t osTaskScheduleCfgSize = sizeof(osTaskScheduleCfg) / sizeof(OS_TASK_SCHEDULE_t);
/******************************************
* User Task Function
******************************************/
uint8_t os_task1(void)
{
/* do something */
return OS_TASK_OK
}
uint8_t os_task2(void)
{
/* do something */
return OS_TASK_OK
}
uint8_t os_task3(void)
{
/* do something */
return OS_TASK_OK
}
uint8_t os_task4(void)
{
/* do something */
return OS_TASK_OK
}
uint8_t os_task5(void)
{
/* do something */
return OS_TASK_OK
}
uint8_t os_task6(void)
{
/* do something */
return OS_TASK_OK
}
uint8_t os_task7(void)
{
/* do something */
return OS_TASK_OK
}
uint8_t os_task8(void)
{
/* do something */
return OS_TASK_OK
}
三、关于上述时间片轮询结构设计的一些补充
1、任务调度表的优先级调度设计
上述设计中,当两个任务同时Ready的时候,仅会按照顺序进行处理。当一些业务功能有优先级功能区分的时候,就无法满足这样的需求,这时候就要对上述设计进行改进。
(1)任务调度表优先级与优先级计算的设计
- 任务调度表优先级的设计与就绪任务队列的设计
在原来任务调度表的基础上再新增一个优先级调度表结构体,设计如下:包含优先级(索引)、任务调度表、任务调度表长度、就绪任务的编号FIFO。
(注:就绪任务队列中存放着已经准备就绪的任务编号)
typedef struct
{
uint8_t head;
uint8_t tail;
uint8_t buf[OS_READY_FIFO_MAX];
}OS_RdyNoFifo_t;
typedef struct
{
uint8_t os_task_number;
uint8_t (*taskFunc)(void);
uint8_t os_task_type;
uint8_t os_task_switch;
uint8_t os_task_status;
uint8_t os_task_tickCnt;
uint8_t os_task_tickInit;
}OS_TASK_SCHEDULE_t;
typedef struct
{
uint8_t prio_number;
OS_TASK_SCHEDULE_t *osTaskScheduleCfg;
uint8_t *osTaskScheduleCfgSize;
OS_RdyNoFifo_t *osRdyNofifoBuf;
}OS_PRIO_SCHEDULE_t;
- 优先级计算的设计
假如我们需要8层的优先级,我们可以以1个字节中的每一位来充当1级优先级。数值越大,则优先级越高。设计如下:
/*******************************************************************
* OS Priority Schedule Number(Index)
*******************************************************************/
#define OS_PRIO_LEVEL_1 0
#define OS_PRIO_LEVEL_2 1
#define OS_PRIO_LEVEL_3 2
#define OS_PRIO_LEVEL_4 3
#define OS_PRIO_LEVEL_5 4
#define OS_PRIO_LEVEL_6 5
#define OS_PRIO_LEVEL_7 6
#define OS_PRIO_LEVEL_8 7
#define OS_PRIO_LEVEL_MAX 8
#define OS_PRIO_VAL_LEVEL(x) (1 << (7 - x))
#define OS_PRIO_VAL_LEVEL_1 (1 << (7 - OS_PRIO_LEVEL_1))
#define OS_PRIO_VAL_LEVEL_2 (1 << (7 - OS_PRIO_LEVEL_2))
#define OS_PRIO_VAL_LEVEL_3 (1 << (7 - OS_PRIO_LEVEL_3))
#define OS_PRIO_VAL_LEVEL_4 (1 << (7 - OS_PRIO_LEVEL_4))
#define OS_PRIO_VAL_LEVEL_5 (1 << (7 - OS_PRIO_LEVEL_5))
#define OS_PRIO_VAL_LEVEL_6 (1 << (7 - OS_PRIO_LEVEL_6))
#define OS_PRIO_VAL_LEVEL_7 (1 << (7 - OS_PRIO_LEVEL_7))
#define OS_PRIO_VAL_LEVEL_8 (1 << (7 - OS_PRIO_LEVEL_8))
以2层优先级为例,LEVEL_1与LEVEL_2,则有以下几种情况:
// 仅LEVEL1 任务产生
priority = 0x80;
// 仅LEVEL2 任务产生
priority = 0x40;
// LEVEL1和LEVEL2任务同时产生,此时要先执行LEVEL1的任务
priority = 0xC0;
优先级计算函数:
static bool OS_isScheduleExistTask(OS_RdyNoFifo_t *osRdyNofifoBuf)
{
bool ret = false;
if(osRdyNofifoBuf->head != osRdyNofifoBuf->tail)
{
ret = true;
}
return ret;
}
static uint8_t OS_SchedulePrioCal(void)
{
uint8_t indx = 0;
uint8_t prio_number = 0;
uint8_t priority = 0;
OS_RdyNoFifo_t *osRdyNofifoBuf;
for(indx = 0; indx < osTaskPrioScheduleCfgSize; indx++)
{
osRdyNofifoBuf = osTaskPrioScheduleCfg[indx].osRdyNofifoBuf;
prio_number = osTaskPrioScheduleCfg[indx].prio_number;
if(OS_isScheduleExistTask(osRdyNofifoBuf))
{
priority += OS_PRIO_VAL_LEVEL(prio_number);
}
}
return priority;
}
-
任务调度表与优先级调度表的配置
/*********************************************
* OS Task Ready FIFO Config
*********************************************/
OS_RdyNoFifo_t OsRdyFifoLv1 = {0};
OS_RdyNoFifo_t OsRdyFifoLv2 = {0};
/***********************************************************************
* OS Task Schedule Config (include priority level)
***********************************************************************/
OS_TASK_SCHEDULE_t osTaskScheduCfg_Lv1[] =
{
/* number taskFunc task_type task_switch os_task_status task_tickCnt task_tickInit */
{OS_TASK_NO1, os_task1, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 0, 100 },
{OS_TASK_NO2, os_task2, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 1, 100 },
{OS_TASK_NO3, os_task3, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 2, 100 },
};
OS_TASK_SCHEDULE_t osTaskScheduCfg_Lv2[] =
{
/* number taskFunc task_type task_switch os_task_status task_tickCnt task_tickInit */
{OS_TASK_NO1, os_task4, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 0, 100 },
{OS_TASK_NO2, os_task5, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 1, 100 },
{OS_TASK_NO3, os_task6, OS_TASK_CYCLC, OS_TASK_ON, OS_TASK_OK, 2, 100 },
};
uint8_t osTaskScheduleCfgSize_Lv1 = sizeof(osTaskScheduCfg_Lv1) / sizeof(OS_TASK_SCHEDULE_t);
uint8_t osTaskScheduleCfgSize_Lv2 = sizeof(osTaskScheduCfg_Lv2) / sizeof(OS_TASK_SCHEDULE_t);
/***********************************************************************
* OS Task Priority Schedule
***********************************************************************/
OS_PRIO_SCHEDULE_t osTaskPrioScheduleCfg[] =
{
/* prio_number osTaskScheduleCfg osTaskScheduleCfgSize osRdyNofifoBuf */
{OS_PRIO_LEVEL_1, &osTaskScheduCfg_Lv1, &osTaskScheduleCfgSize_Lv1, &OsRdyFifoLv1},
{OS_PRIO_LEVEL_2, &osTaskScheduCfg_Lv2, &osTaskScheduleCfgSize_Lv2, &OsRdyFifoLv2},
};
uint8_t osTaskPrioScheduleCfgSize = sizeof(osTaskPrioScheduleCfg) / sizeof(OS_PRIO_SCHEDULE_t);
(2)时间片轮询处理函数的修改
时间片轮询处理函仅做少数改动,遍历整张优先级表的同时,将Ready的任务Push到任务就绪队列中。
void OS_TmrIsrTask(void)
{
uint8_t indx, taskCfgSize, task_i;
OS_TASK_SCHEDULE_t * osTaskScheduleCfg;
OS_RdyNoFifo_t * osRdyFifo;
OS_DISABLE_INTERRUPT();
for(indx = 0; indx < osTaskPrioScheduleCfgSize; indx++)
{
osTaskScheduleCfg = osTaskPrioScheduleCfg[indx].osTaskScheduleCfg;
taskCfgSize = *osTaskPrioScheduleCfg[indx].osTaskScheduleCfgSize;
osRdyFifo = osTaskPrioScheduleCfg[indx].osRdyNofifoBuf;
for(task_i = 0; task_i < taskCfgSize; task_i++)
{
if(osTaskScheduleCfg[task_i].os_task_switch == OS_TASK_ON &&\
osTaskScheduleCfg[task_i].os_task_status != OS_TASK_READY)
{
if(osTaskScheduleCfg[task_i].os_task_tickCnt > 0)
{
osTaskScheduleCfg[task_i].os_task_tickCnt--;
}
if(osTaskScheduleCfg[task_i].os_task_tickCnt == 0)
{
osTaskScheduleCfg[task_i].os_task_status = OS_TASK_READY;
if(OS_PushRdyTask(osRdyFifo, osTaskScheduleCfg[task_i].os_task_number) != OS_FIFO_OK)
{
/* push error dispose */
}
switch(osTaskScheduleCfg[task_i].os_task_type)
{
case OS_TASK_CYCLC:
{
osTaskScheduleCfg[task_i].os_task_tickCnt = osTaskScheduleCfg[task_i].os_task_tickInit;
break;
}
case OS_TASK_EVENT:
{
break;
}
}
}
}
}
}
OS_ENABLE_INTERRUPT();
}
(3)任务调度函数的修改
任务调度函数则需要先计算优先级,看优先处理哪一张任务调度表,再去从对应优先级的任务就绪队列中Pop出任务编号,然后执行对应任务。
static void OS_StartPrioSchedule(uint8_t prio_number)
{
uint8_t prio_i, task_i;
uint8_t task_number, osTaskScheduleCfgSize;
OS_TASK_SCHEDULE_t * osTaskScheduleCfg;
OS_RdyNoFifo_t * osRdyFifo;
OS_DISABLE_INTERRUPT();
osTaskScheduleCfg = osTaskPrioScheduleCfg[prio_number].osTaskScheduleCfg;
osTaskScheduleCfgSize = *osTaskPrioScheduleCfg[prio_number].osTaskScheduleCfgSize;
osRdyFifo = osTaskPrioScheduleCfg[prio_number].osRdyNofifoBuf;
if(OS_PopRdyTask(osRdyFifo, &task_number) == OS_FIFO_OK)
{
switch(osTaskScheduleCfg[task_number].os_task_status)
{
case OS_TASK_OK:
{
break;
}
case OS_TASK_ERROR:
{
break;
}
case OS_TASK_READY:
{
osTaskScheduleCfg[task_number].os_task_status = osTaskScheduleCfg[task_number].taskFunc();
if(osTaskScheduleCfg[task_number].os_task_type == OS_TASK_EVENT)
{
osTaskScheduleCfg[task_number].os_task_switch = OS_TASK_OFF;
}
break;
}
}
}
OS_ENABLE_INTERRUPT();
}
void OS_StartSchedule(void)
{
uint8_t indx;
uint8_t priority;
uint8_t task_number;
for(;;)
{
/* Calculate the Schedule Priority */
priority = OS_SchedulePrioCal();
if(priority >= OS_PRIO_VAL_LEVEL_1)
{
OS_StartPrioSchedule(OS_PRIO_LEVEL_1);
}
else if(priority >= OS_PRIO_VAL_LEVEL_2)
{
OS_StartPrioSchedule(OS_PRIO_LEVEL_2);
}
}
}