【UCOS-III】自我学习笔记→第27讲→优先级翻转

前言

无，仅作记录，不具有参考价值，所用开发板为STM32F411RET6nucleo开发板。

实验步骤

1.复制二值信号量工程，添加task2和task3，修改任务服务函数名称

2.修改开始任务，任务1以及任务2、3的内容

3.查看串口现象

测试代码

us-os3_demo.c:

/**
 ****************************************************************************************************
 * @file        uc-os3_demo.c
 * @author      ÕýµãÔ­×ÓÍŶÓ(ALIENTEK)
 * @version     V1.0
 * @date        2022-04-13
 * @brief       uC/OS-III ÒÆֲʵÑé
 * @license     Copyright (c) 2020-2032, ¹ãÖÝÊÐÐÇÒíµç×ӿƼ¼ÓÐÏÞ¹«Ë¾
 ****************************************************************************************************
 * @attention
 *
 * ʵÑéƽ̨:ÕýµãÔ­×Ó Ì½Ë÷Õß F407¿ª·¢°å
 * ÔÚÏßÊÓƵ:www.yuanzige.com
 * ¼¼ÊõÂÛ̳:www.openedv.com
 * ¹«Ë¾ÍøÖ·:www.alientek.com
 * ¹ºÂòµØÖ·:openedv.taobao.com
 *
 ****************************************************************************************************
 */

#include "uc-os3_demo.h"
#include "./MALLOC/malloc.h"
/*uC/OS-III*********************************************************************************************/
#include "os.h"
#include "cpu.h"
#include "main.h"
#include "key.h"
#include "stdio.h"
#include "interrupt.h"
#include "./SYSTEM/delay/delay.h"
extern struct keys key[4];
/******************************************************************************************************/
/*uC/OS-IIIÅäÖÃ*/

/* START_TASK ÈÎÎñ ÅäÖÃ
 * °üÀ¨: ÈÎÎñÓÅÏȼ¶ ÈÎÎñÕ»´óС ÈÎÎñ¿ØÖÆ¿é ÈÎÎñÕ» ÈÎÎñº¯Êý
 */
#define START_TASK_PRIO				5
#define START_TASK_STACK_SIZE 256
CPU_STK start_task_stack[START_TASK_STACK_SIZE];
OS_TCB start_task_tcb;

void start_task(void * p_arg);

/* TASK1 ÈÎÎñ ÅäÖÃ
 * °üÀ¨: ÈÎÎñÓÅÏȼ¶ ÈÎÎñÕ»´óС ÈÎÎñ¿ØÖÆ¿é ÈÎÎñÕ» ÈÎÎñº¯Êý
 */
#define TASK1_PRIO				4
#define TASK1_STACK_SIZE 256
CPU_STK * task1_stack;
OS_TCB task1_tcb;

void low_task(void * p_arg);


/* TASK2 ÈÎÎñ ÅäÖÃ
 * °üÀ¨: ÈÎÎñÓÅÏȼ¶ ÈÎÎñÕ»´óС ÈÎÎñ¿ØÖÆ¿é ÈÎÎñÕ» ÈÎÎñº¯Êý
 */
#define TASK2_PRIO				3
#define TASK2_STACK_SIZE 256
CPU_STK * task2_stack;
OS_TCB task2_tcb;

void middle_task(void * p_arg);


/* TASK3 ÈÎÎñ ÅäÖÃ
 * °üÀ¨: ÈÎÎñÓÅÏȼ¶ ÈÎÎñÕ»´óС ÈÎÎñ¿ØÖÆ¿é ÈÎÎñÕ» ÈÎÎñº¯Êý
 */
#define TASK3_PRIO				2
#define TASK3_STACK_SIZE 256
CPU_STK * task3_stack;
OS_TCB task3_tcb;

void high_task(void * p_arg);

OS_SEM binary_sem;

/**
 * @brief       uC/OS-IIIÀý³ÌÈë¿Úº¯Êý
 * @param       ÎÞ
 * @retval      ÎÞ
 */
void uc_os3_demo(void)
{
    OS_ERR err;
    
    /* ³õʼ»¯uC/OS-III */
    OSInit(&err);
    OSTaskCreate (  (OS_TCB        *) &start_task_tcb,
                    (CPU_CHAR      *) "start_task",
                    (OS_TASK_PTR    ) start_task,
                    (void          *) 0,
                    (OS_PRIO        ) START_TASK_PRIO,
                    (CPU_STK       *) start_task_stack,
                    (CPU_STK_SIZE   ) START_TASK_STACK_SIZE / 10,
                    (CPU_STK_SIZE   ) START_TASK_STACK_SIZE,
                    (OS_MSG_QTY     ) 0,
                    (OS_TICK        ) 0,
                    (void          *) 0,
                    (OS_OPT         ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
                    (OS_ERR        *) &err);
    /* ¿ªÊ¼ÈÎÎñµ÷¶È */
    OSStart(&err);
}

void start_task(void * p_arg)
{
	OS_ERR err;
	CPU_INT32U cnts = 0;
	CPU_Init();
	CPU_SR_ALLOC();
	

	cnts = HAL_RCC_GetSysClockFreq() / OS_CFG_TICK_RATE_HZ;
	OS_CPU_SysTickInit(cnts);
	
	/* ´´½¨¶þÖµÐźÅÁ¿ */
	OSSemCreate (&binary_sem, "binary_sem", 1, &err);
	
	CPU_CRITICAL_ENTER(); /* ½øÈëÁÙ½çÇø */
	task1_stack = mymalloc(SRAMIN, TASK1_STACK_SIZE * sizeof(CPU_STK));
	task2_stack = mymalloc(SRAMIN, TASK2_STACK_SIZE * sizeof(CPU_STK));
	task3_stack = mymalloc(SRAMIN, TASK3_STACK_SIZE * sizeof(CPU_STK));
	/* ´´½¨µÍÓÅÏȼ¶ÈÎÎñ */
	OSTaskCreate ((OS_TCB        *) &task1_tcb,
								(CPU_CHAR      *) "low_task",
								(OS_TASK_PTR    ) low_task,
								(void          *) 0,
								(OS_PRIO        ) TASK1_PRIO,
								(CPU_STK       *) task1_stack,
								(CPU_STK_SIZE   ) TASK1_STACK_SIZE / 10,
								(CPU_STK_SIZE   ) TASK1_STACK_SIZE,
								(OS_MSG_QTY     ) 0,
								(OS_TICK        ) 0,
								(void          *) 0,
								(OS_OPT         ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
								(OS_ERR        *) &err);
								
	/* ´´½¨ÖеÈÓÅÏȼ¶ÈÎÎñ */
	OSTaskCreate ((OS_TCB        *) &task2_tcb,
								(CPU_CHAR      *) "middle_task",
								(OS_TASK_PTR    ) middle_task,
								(void          *) 0,
								(OS_PRIO        ) TASK2_PRIO,
								(CPU_STK       *) task2_stack,
								(CPU_STK_SIZE   ) TASK2_STACK_SIZE / 10,
								(CPU_STK_SIZE   ) TASK2_STACK_SIZE,
								(OS_MSG_QTY     ) 0,
								(OS_TICK        ) 0,
								(void          *) 0,
								(OS_OPT         ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
								(OS_ERR        *) &err);
								
	/* ´´½¨¸ßÓÅÏȼ¶ÈÎÎñ */
	OSTaskCreate ((OS_TCB        *) &task3_tcb,
								(CPU_CHAR      *) "high_task",
								(OS_TASK_PTR    ) high_task,
								(void          *) 0,
								(OS_PRIO        ) TASK3_PRIO,
								(CPU_STK       *) task3_stack,
								(CPU_STK_SIZE   ) TASK3_STACK_SIZE / 10,
								(CPU_STK_SIZE   ) TASK3_STACK_SIZE,
								(OS_MSG_QTY     ) 0,
								(OS_TICK        ) 0,
								(void          *) 0,
								(OS_OPT         ) (OS_OPT_TASK_STK_CHK | OS_OPT_TASK_STK_CLR),
								(OS_ERR        *) &err);
		

		CPU_CRITICAL_EXIT(); /* Í˳öÁÙ½çÇø */
		printf("ÕýÔÚ´´½¨ÖÐ\r\n");
		OSTaskDel((OS_TCB*)0, &err); //±ðÍüÁËɾ³ýÈÎÎñStart
}

/* µÍÓÅÏȼ¶ÈÎÎñ */
void low_task(void * p_arg)
{
	OS_ERR err;
	while(1)
	{
		printf("low_task»ñÈ¡¶þÖµÐźÅÁ¿!!\r\n");
		OSSemPend(&binary_sem, 0, OS_OPT_PEND_BLOCKING, 0, &err);
		printf("low_taskÕýÔÚÔËÐÐ!!\r\n");
		delay_ms(3000);
		printf("low_taskÊͷŶþÖµÐźÅÁ¿!!\r\n");
		OSSemPost(&binary_sem, OS_OPT_PEND_ABORT_1, &err);
		OSTimeDly(1000, OS_OPT_TIME_DLY, &err);
	}
}

/* ÖеÈÓÅÏȼ¶ÈÎÎñ */
void middle_task(void * p_arg)
{
	OS_ERR err;
	while(1)
	{
		printf("middle_taskÕýÔÚÔËÐÐ!!!\r\n");
		OSTimeDly(1000, OS_OPT_TIME_DLY, &err);
	}
}

/* ¸ßÓÅÏȼ¶ÈÎÎñ */
void high_task(void * p_arg)
{
	OS_ERR err;
	while(1)
	{
		printf("high_task»ñÈ¡¶þÖµÐźÅÁ¿!!\r\n");
		OSSemPend(&binary_sem, 0, OS_OPT_PEND_BLOCKING, 0, &err);
		printf("high_taskÕýÔÚÔËÐÐ!!\r\n");
		delay_ms(1000);
		printf("high_taskÊͷŶþÖµÐźÅÁ¿!!\r\n");
		OSSemPost(&binary_sem, OS_OPT_PEND_ABORT_1, &err);
		OSTimeDly(1000, OS_OPT_TIME_DLY, &err);
	}
}

工程文件

优先级翻转实验

总结

【正点原子】手把手教你学UCOS-III实时操作系统第27讲优先级翻转