一、为什么要学习freeRTOS?
搞嵌入式的为啥要一定要学习RTOS? - 知乎 (zhihu.com)
2、FreeRTOS处理多任务的原理
严格来说 FreeRTOS 并不是实时操作系统,因为它是分时复用的。
系统将时间分割成很多时间片,然后轮流执行各个任务。
每个任务都是独立运行的,互不影响,由于切换的频率很快,就感觉像是同时运行的一样。
二、什么是任务?
任务可以理解为进程/线程,创建一个任务,就会在内存开辟一个空间。
比如: 玩游戏、陪女朋友,都可以视为任务 Windows 系统中的 MarkText 、谷歌浏览器、记事本,都是任务。 任务通常都含有 while(1) 死循环。
三、任务创建和删除的函数
1、动态创建任务函数:xTaskCreate()
动态创建任务的堆栈由系统分配,而静态创建任务的堆栈由用户自己传递。 通常情况下使用动态方式创建任务。
函数原型:
1. pvTaskCode:指向任务函数的指针,任务必须实现为永不返回(即连续循环);
2. pcName:任务的名字,主要是用来调试,默认情况下最大长度是16;
3. pvParameters:指定的任务栈的大小;
4. uxPriority:任务优先级,数值越大,优先级越大;
5. pxCreatedTask:用于返回已创建任务的句柄可以被引用。
2、静态创建任务函数:xTaskCreateStatic()
3、任务删除函数:vTaskDelete()
函数原型:
void vTaskDelete(TaskHandle_t xTaskToDelete);
/* xTaskToDelete为要删除的任务句柄 */
只需将待删除的任务句柄传入该函数,即可将该任务删除。
当传入的参数为NULL,则代表删除任务自身(当前正在运行的任务)。
4、官方案例
/* Task to be created. */
void vTaskCode( void * pvParameters ) /*任务函数*/
{
/* The parameter value is expected to be 1 as 1 is passed in the
pvParameters value in the call to xTaskCreate() below.
configASSERT( ( ( uint32_t ) pvParameters ) == 1 );
for( ;; )
{
/* Task code goes here. */
}
}
/* Function that creates a task. */
void vOtherFunction( void )
{
BaseType_t xReturned; /*任务创建的返回值*/
TaskHandle_t xHandle = NULL; /*定义一个任务句柄*/
/* Create the task, storing the handle. */
xReturned = xTaskCreate( /*动态创建一个任务,创建成功返回pdPASS*/
vTaskCode, /* Function that implements the task. */
"NAME", /* Text name for the task. */
STACK_SIZE, /* Stack size in words, not bytes. */
( void * ) 1, /* Parameter passed into the task. */
tskIDLE_PRIORITY,/* Priority at which the task is created. */
&xHandle ); /* Used to pass out the created task's handle.*/
if( xReturned == pdPASS )
{
/* The task was created. Use the task's handle to delete the task. */
vTaskDelete( xHandle ); /*删除任务*/
}
}
四、实操
1、要求:
创建两个任务,实现两个LED灯不同频率闪烁。
2、使用CubeMx代码实现
freertos.c
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2024 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* 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 TaskLED1Handle; /* 创建任务句柄 */
osThreadId TaskLED2Handle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartTaskLED1(void const * argument);
void StartTaskLED2(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 TaskLED1 */
osThreadDef(TaskLED1, StartTaskLED1, osPriorityNormal, 0, 128);
TaskLED1Handle = osThreadCreate(osThread(TaskLED1), NULL); /*创建任务,返回任务句柄*/
/* definition and creation of TaskLED2 */
osThreadDef(TaskLED2, StartTaskLED2, osPriorityNormal, 0, 128);
TaskLED2Handle = osThreadCreate(osThread(TaskLED2), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* USER CODE BEGIN Header_StartTaskLED1 */
/**
* @brief Function implementing the TaskLED1 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskLED1 */
void StartTaskLED1(void const * argument)
{
/* USER CODE BEGIN StartTaskLED1 */
/* Infinite loop */
for(;;)
{
HAL_GPIO_TogglePin(GPIOB ,GPIO_PIN_8);
osDelay(500);
}
/* USER CODE END StartTaskLED1 */
}
/* USER CODE BEGIN Header_StartTaskLED2 */
/**
* @brief Function implementing the TaskLED2 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskLED2 */
void StartTaskLED2(void const * argument)
{
/* USER CODE BEGIN StartTaskLED2 */
/* Infinite loop */
for(;;)
{
HAL_GPIO_TogglePin(GPIOB ,GPIO_PIN_9);
osDelay(1000);
}
/* USER CODE END StartTaskLED2 */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */