定义:
队列是任务与任务、中断与任务直接通信二准备的。队列用于消息传递,又叫做消息队列。需要交流的数据保存在队列中,叫做队列项目。队列所能保存的队列项数量叫队列长度。
typedef struct QueueDefinition
{
int8_t *pcHead; //头
int8_t *pcTail; //尾
int8_t *pcWriteTo; //下一个空闲区域
union //联合体
{
int8_t *pcReadFrom; //当用作队列指向最后一个出兑的队列项首地址
UBaseType_t uxRecursiveCallCount;//当用作递归互斥量的时候用来记录互斥量被调用的次数
} u;
List_t xTasksWaitingToSend; //等待发送任务列表,因队满导致无法入队,进入阻塞态的任务会挂载到此列表
List_t xTasksWaitingToReceive; //等待接收任务列表,因队空导致无法出队,进入阻塞态的任务会挂载到此列表
volatile UBaseType_t uxMessagesWaiting;//当前队列项的数量,即消息数
UBaseType_t uxLength; //创建指定的队列的长度
UBaseType_t uxItemSize; //队列项的长度
volatile int8_t cRxLock; //接收锁
volatile int8_t cTxLock; //发送锁
#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( conf
uint8_t ucStaticallyAllocated; //
#endif
#if ( configUSE_QUEUE_SETS == 1 )
struct QueueDefinition *pxQueueSetContainer;
#endif
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxQueueNumber;
uint8_t ucQueueType;
#endif
} xQUEUE;
队列操作函数
入队函数
函数 | 描述 |
---|---|
xQueueSend() | 发送消息到队列尾部(与下面的一致) |
xQueueSendToBack() | 发送消息到队列尾部 |
xQueueSendToFront() | 发送消息到队列头部 |
xQueueOverwrite() | 发送消息到队列,可以覆写掉旧的消息 |
xQueueSendFromISR() | 中断中:发送消息到队列尾部(与下面的一致) |
xQueueSendToBackFromISR() | 中断中:发送消息到队列尾部 |
xQueueSendToFrontFromISR() | 中断中:发送消息到队列头部 |
xQueueOverwriteFromISR() | 中断中:发送消息到队列,可以覆写掉旧的消息 |
出队函数
函数 | 名称 |
---|---|
xQueueReceive() | 从队列中读取消息,读取后删除 |
xQueuePeek() | 从队列中读取消息,读取后不会删除 |
xQueueReceiveFromISR() | 中断中:从队列中读取消息,读取后删除 |
xQueuePeekFromISR() | 中断中:从队列中读取消息,读取后不会删除 |
应用举例:
使用非中断方式:
定义全局消息队列
QueueHandle_t KeyMsg_Queue; // 按键队列
#define KeyMsg_Q_NUM 1
在开始任务创建队列:
KeyMsg_Queue = xQueueCreate( KeyMsg_Q_NUM, sizeof(u8));
发送:创建按键任务,按下按键,发送对应按键键值:
//task1任务函数
void task1_task(void *pvParameters)
{
u8 key_val = 0;
BaseType_t err;
while(1)
{
key_val = KEY_Scan(0);
if(Msg_Queue&&key_val)
{
//err = xQueueSend( Msg_Queue, &key_val, portMAX_DELAY );
err = xQueueOverwrite( Msg_Queue, &key_val);
if(err == pdTRUE)
LED0=~LED0;
}
vTaskDelay(10); //延时1s,也就是1000个时钟节拍
}
}
接收:
void KeyProcess_task(void *pvParameters)
{
u8 key_val = 0;
BaseType_t err;
while(1)
{
err = xQueueReceive( Msg_Queue, &key_val, portMAX_DELAY );
if(err == pdTRUE)
{
printf("key_val = %d\r\n",key_val);
}
else
{
printf("xQueueReceive Erro\r\n");
}
}
}
使用中断方式
定义全局消息队列
QueueHandle_t Msg_Queue; // 消息队列
#define MSG_Q_NUM 4
创建队列:
Msg_Queue = xQueueCreate( KEYMSG_Q_NUM, USART_REC_LEN);
串口接收中断里面收到数据,使用消息队列发送。
注意中断优先级: NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=7 ;//中断分组为4
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
void uart_init(u32 bound)
{
//GPIO端口设置
GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure;
NVIC_InitTypeDef NVIC_InitStructure;
RCC_APB2PeriphClockCmd(RCC_APB2Periph_USART1|RCC_APB2Periph_GPIOA, ENABLE); //使能USART1,GPIOA时钟
//USART1_TX GPIOA.9
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9; //PA.9
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP; //复用推挽输出
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.9
//USART1_RX GPIOA.10初始化
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;//PA10
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;//浮空输入
GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化GPIOA.10
//Usart1 NVIC 配置
NVIC_InitStructure.NVIC_IRQChannel = USART1_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=7 ;//抢占优先级3
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //子优先级3
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道使能
NVIC_Init(&NVIC_InitStructure); //根据指定的参数初始化VIC寄存器
//USART 初始化设置
USART_InitStructure.USART_BaudRate = bound;//串口波特率
USART_InitStructure.USART_WordLength = USART_WordLength_8b;//字长为8位数据格式
USART_InitStructure.USART_StopBits = USART_StopBits_1;//一个停止位
USART_InitStructure.USART_Parity = USART_Parity_No;//无奇偶校验位
USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;//无硬件数据流控制
USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx; //收发模式
USART_Init(USART1, &USART_InitStructure); //初始化串口1
USART_ITConfig(USART1, USART_IT_RXNE, ENABLE);//开启串口接受中断
USART_Cmd(USART1, ENABLE); //使能串口1
}
extern QueueHandle_t Msg_Queue; // 队列 void USART1_IRQHandler(void) //串口1中断服务程序{ u8 Res; BaseType_t xHigherPriorityTaskWoken; if(USART_GetITStatus(USART1, USART_IT_RXNE) != RESET) //接收中断(接收到的数据必须是0x0d 0x0a结尾) { Res =USART_ReceiveData(USART1); //读取接收到的数据 if((USART_RX_STA&0x8000)==0)//接收未完成 { if(USART_RX_STA&0x4000)//接收到了0x0d { if(Res!=0x0a)USART_RX_STA=0;//接收错误,重新开始 else USART_RX_STA|=0x8000; //接收完成了 } else //还没收到0X0D { if(Res==0x0d)USART_RX_STA|=0x4000; else { USART_RX_BUF[USART_RX_STA&0X3FFF]=Res ; USART_RX_STA++; if(USART_RX_STA>(USART_REC_LEN-1))USART_RX_STA=0;//接收数据错误,重新开始接收 } } } } if((Msg_Queue != NULL)&&(USART_RX_STA&0x8000)) { xQueueSendFromISR(Msg_Queue,USART_RX_BUF,&xHigherPriorityTaskWoken); USART_RX_STA = 0; memset(USART_RX_BUF,0,USART_REC_LEN); // 如果激活的任务比当前任务优先级高,切换任务 portYIELD_FROM_ISR(xHigherPriorityTaskWoken); } }
开启定时器,定时500ms取接收消息队列数据:
中断优先级:NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 8;NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
//通用定时器2中断初始化//这里时钟选择为APB1的2倍,而APB1为36M//arr:自动重装值。//psc:时钟预分频数//这里使用的是定时器2!void TIM2_Int_Init(u16 arr,u16 psc){ TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; NVIC_InitTypeDef NVIC_InitStructure; RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); //时钟使能 //定时器TIM2初始化 TIM_TimeBaseStructure.TIM_Period = arr; //设置在下一个更新事件装入活动的自动重装载寄存器周期的值 TIM_TimeBaseStructure.TIM_Prescaler =psc; //设置用来作为TIMx时钟频率除数的预分频值 TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //设置时钟分割:TDTS = Tck_tim TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; //TIM向上计数模式 TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure); //根据指定的参数初始化TIMx的时间基数单位 TIM_ITConfig(TIM2,TIM_IT_Update,ENABLE ); //使能指定的TIM2中断,允许更新中断 //中断优先级NVIC设置 NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn; //TIM2中断 NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 8; //先占优先级4级 NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0; //从优先级0级 NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ通道被使能 NVIC_Init(&NVIC_InitStructure); //初始化NVIC寄存器 TIM_Cmd(TIM2, ENABLE); //使能TIM2 }
500ms定时器的初始化
TIM2_Int_Init(5000-1,7200-1);
定时器中断的接收:
extern QueueHandle_t Msg_Queue; //信息队列句柄char ReceiveBuf[USART_REC_LEN];//定时器2中断服务函数void TIM2_IRQHandler(void){ BaseType_t pxHigherPriorityTaskWoken; BaseType_t err = pdFALSE; if(TIM_GetITStatus(TIM2,TIM_IT_Update)==SET) //溢出中断 { if(Msg_Queue) { err = xQueueReceiveFromISR( Msg_Queue,ReceiveBuf,&pxHigherPriorityTaskWoken ); if(err == pdTRUE) { printf("Receive:%s\r\n",ReceiveBuf); memset(ReceiveBuf,0,USART_REC_LEN); } else { printf("Receive Failed!\r\n"); } } portYIELD_FROM_ISR(pxHigherPriorityTaskWoken); } TIM_ClearITPendingBit(TIM2,TIM_IT_Update); //清除中断标志位}
实验现象:
Receive:asdfghjklReceive Failed!Receive Failed!Receive Failed!Receive Failed!Receive:1234Receive Failed!Receive Failed!Receive Failed!Receive Failed!Receive Failed!Receive:12432sdReceive Failed!Receive Failed!Receive Failed!Receive Failed!Receive:1111Receive Failed!