stm32 freeRTOS 消息队列实验（HAL版本）

Miseñor

已于 2022-08-19 13:29:23 修改

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分类专栏： freeROTS 文章标签： stm32 单片机 c语言 freertos

于 2022-08-18 22:17:08 首次发布

本文链接：https://blog.csdn.net/qq_52465629/article/details/126414841

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stm32 freeRTOS 消息队列实验（HAL版)

消息队列实验是在 FreeRTOS 中创建了两个任务，一个是发送消息任务，一个是获取消息任务，两个任务独立运行，发送消息任务是通过检测按键的按下情况来发送消息，假如发送消息不成功，就把返回的错误情代码在串口打印出来，另一个任务是获取消息任务，在消息队列没有消息之前一直等待消息，一旦获取到消息就把消息打印在串口调试助手里。
实验过程：
首先配置HAL
在这里插入图片描述
首先创建一个发送消息的任务

然后还有创建一个接收消息的任务

同时还需要创建一个消息队列用来存放消息。
注：需要自己配置GPIO和USART，同时最好重定向printf。
**

主要需要调用的API

**
出队：
**
在这里插入图片描述
入队：

注：需要加入头文件#include “queue.h”

freertos.c 代码：

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "usart.h"
#include "queue.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 */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .priority = (osPriority_t) osPriorityNormal,
  .stack_size = 128 * 4
};
/* Definitions for myTask_Send */
osThreadId_t myTask_SendHandle;
const osThreadAttr_t myTask_Send_attributes = {
  .name = "myTask_Send",
  .priority = (osPriority_t) osPriorityNormal,
  .stack_size = 128 * 4
};
/* Definitions for myTask_Receive */
osThreadId_t myTask_ReceiveHandle;
const osThreadAttr_t myTask_Receive_attributes = {
  .name = "myTask_Receive",
  .priority = (osPriority_t) osPriorityNormal1,
  .stack_size = 128 * 4
};
/* Definitions for myQueue_Test */
osMessageQueueId_t myQueue_TestHandle;
const osMessageQueueAttr_t myQueue_Test_attributes = {
  .name = "myQueue_Test"
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);
void StartTask_Send(void *argument);
void StartTask_Receive(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @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 */

  /* Create the queue(s) */
  /* creation of myQueue_Test */
  myQueue_TestHandle = osMessageQueueNew (16, sizeof(uint16_t), &myQueue_Test_attributes);

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* creation of myTask_Send */
  myTask_SendHandle = osThreadNew(StartTask_Send, NULL, &myTask_Send_attributes);

  /* creation of myTask_Receive */
  myTask_ReceiveHandle = osThreadNew(StartTask_Receive, NULL, &myTask_Receive_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
  for(;;)
  {
    osDelay(1);
  }
  /* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_StartTask_Send */
/**
* @brief Function implementing the myTask_Send thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTask_Send */
void StartTask_Send(void *argument)
{
  /* USER CODE BEGIN StartTask_Send */
	uint16_t key1=1;
	uint16_t key2=2;
  /* Infinite loop */
  for(;;)
  {
		if(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_0)==1)
		{
			printf("按键1按下\r\n");
			xQueueSend(myQueue_TestHandle,&key1,0);
			while(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_0)==1);
		}
		if(HAL_GPIO_ReadPin(GPIOC,GPIO_PIN_13)==1)
		{
			HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_0);
			printf("按键2按下\r\n");
			xQueueSend(myQueue_TestHandle,&key2,0);
			while(HAL_GPIO_ReadPin(GPIOC,GPIO_PIN_13)==1);
		}
    osDelay(1);
  }
  /* USER CODE END StartTask_Send */
}

/* USER CODE BEGIN Header_StartTask_Receive */
/**
* @brief Function implementing the myTask_Receive thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTask_Receive */
void StartTask_Receive(void *argument)
{
  /* USER CODE BEGIN StartTask_Receive */
	uint16_t temp;
	BaseType_t xReturn;
  /* Infinite loop */
  for(;;)
  {
		xReturn=xQueueReceive(myQueue_TestHandle,&temp,portMAX_DELAY);
		if(xReturn==pdTRUE)
		{
			printf("%d\r\n",temp);
		}
		else
		{
			printf("error");
		}
    osDelay(1);
  }
  /* USER CODE END StartTask_Receive */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

关键代码部分：

void StartTask_Send(void *argument)
{
  /* USER CODE BEGIN StartTask_Send */
	uint16_t key1=1;
	uint16_t key2=2;
  /* Infinite loop */
  for(;;)
  {
		if(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_0)==1)
		{
			printf("按键1按下\r\n");
			xQueueSend(myQueue_TestHandle,&key1,0);
			while(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_0)==1);
		}
		if(HAL_GPIO_ReadPin(GPIOC,GPIO_PIN_13)==1)
		{
			HAL_GPIO_TogglePin(GPIOB,GPIO_PIN_0);
			printf("按键2按下\r\n");
			xQueueSend(myQueue_TestHandle,&key2,0);
			while(HAL_GPIO_ReadPin(GPIOC,GPIO_PIN_13)==1);
		}
    osDelay(1);
  }
  /* USER CODE END StartTask_Send */
}

/* USER CODE BEGIN Header_StartTask_Receive */
/**
* @brief Function implementing the myTask_Receive thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTask_Receive */
void StartTask_Receive(void *argument)
{
  /* USER CODE BEGIN StartTask_Receive */
	uint16_t temp;
	BaseType_t xReturn;
  /* Infinite loop */
  for(;;)
  {
		xReturn=xQueueReceive(myQueue_TestHandle,&temp,portMAX_DELAY);
		if(xReturn==pdTRUE)
		{
			printf("%d\r\n",temp);
		}
		else
		{
			printf("error");
		}
    osDelay(1);
  }
  /* USER CODE END StartTask_Receive */
}