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前言
今天很充实,晚上去吃席。
一、什么是信号量?
信号量就是用来管理资源和同步任务的,并且信号量可以分为二值式信号量,计数型信号量、互斥信号量,递归互斥信号量。
本编博客主要说二值式和计数型信号量。
二、二值式信号量
2.1 什么是二值式信号量
二值式信号量:就是只有两个状态,0或1。有数据和没有数据。主要用于任务同步。
其实质就是一个包含一个项的队列,这个你可以看下semaphore的相关源码就能清楚明了了。
2.2 相关API介绍
使用信号量的API时要主函数要添加semphr.h库
创建二值信号量
其中第一个是老版的创建二值信号量(已经淘汰),动态创建二值信号量使用xSemaphoreCreateBinary()函数。这里只讲一下动态创建API,其他自己看源码哈。
/*
动态创建二值信号量 打开configSUPPORT_DYNAMIC_ALLOCATION宏
BaseType_t的返回值函数。
成功:其他值
失败:NULL
*/
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
#define xSemaphoreCreateBinary() xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
#endif
释放二值信号量
/*
释放信号量(像队列中添加消息)
xSemaphore:semaphore的句柄
成功:pdTRUE
失败:pdFALSE
*/
#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
获取二值信号量
/*
获取二值式信号量数据
xSemaphore:semaphore的句柄
xBlockTime:阻塞时间
成功:pdTRUE
失败:pdFALSE
*/
#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueSemaphoreTake( ( xSemaphore ), ( xBlockTime ) )
实战
main.c
任务一获取信号量的数据然后判断在通过串口打印“Semaphore->True”
任务二使用一个变量来实现二值信号量的释放
#include "main.h"
#include "usart.h"
#include "gpio.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#include "stdio.h"
#ifdef __GNUC__ //printf重定向
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1, (uint8_t*)&ch,1,HAL_MAX_DELAY);
return ch;
}
TaskHandle_t HandlerTask1;
TaskHandle_t Task_Name4;
BaseType_t xReturn;
SemaphoreHandle_t Task1semaphore;
void SystemClock_Config(void);
StackType_t xTask3Static[128];
StaticTask_t xTaskTCB;
StackType_t xIdle3Static[128];
StaticTask_t xIdleTCB;
void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,StackType_t ** ppxIdleTaskStackBuffer,uint32_t * pulIdleTaskStackSize ){
*ppxIdleTaskTCBBuffer=&xIdleTCB;
*ppxIdleTaskStackBuffer=xIdle3Static;
*pulIdleTaskStackSize=128;
}
void Task1Function( void * param){
BaseType_t err;
for(;;){
if(Task1semaphore!=NULL){
err=xSemaphoreTake(Task1semaphore,portMAX_DELAY);
if(err==pdTRUE){
printf("Semaphore->True\r\n");
}
}
vTaskDelay(100);
}
}
void Task2Function(void* param){
uint8_t num;
for(;;)
{
num++;
if(num==2){
xSemaphoreGive(Task1semaphore);
}else if(num==8){
xSemaphoreGive(Task1semaphore);
}
printf("Task%d\r\n",num);
vTaskDelay(100);
}
}
void Task3Funtion(void* param){
TickType_t st_time=xTaskGetTickCount();
while(1){
uint32_t num =1;
xTaskDelayUntil(&st_time,30);
}
}
void Task4Funtion(void* param){
taskENTER_CRITICAL();
Task1semaphore=xSemaphoreCreateBinary();
xReturn=xTaskCreate(Task1Function,"Task1",128,NULL,2,&HandlerTask1);
xTaskCreate(Task2Function,"Task2",128,NULL,2,NULL);
xTaskCreateStatic(Task3Funtion,"Task3",128,NULL,2,xTask3Static,&xTaskTCB);
if(xReturn == pdPASS){
uint8_t buffS[20]="Task1 Create OK..\r\n";
HAL_UART_Transmit(&huart1,(uint8_t*)buffS,strlen(buffS)*sizeof(char),HAL_MAX_DELAY);
}
vTaskDelete(Task_Name4);
taskEXIT_CRITICAL();
}
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_USART1_UART_Init();
xTaskCreate(Task4Funtion,"Task4",600,NULL,1,&Task_Name4);
vTaskStartScheduler();
while (1)
{
}
}
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
void Error_Handler(void)
{
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
void assert_failed(uint8_t *file, uint32_t line)
{
}
#endif /* USE_FULL_ASSERT */
效果展示:
三、计数型信号量
3.1 什么是计数型信号量
计数型信号量就是有多个队列,并且你可以读取现在队列里使用了多少的队列项,其主要用于事件计数和资源管理
3.2 相关API介绍
主要介绍一下计数型信号量的创建函数
/*
动态创建计数型信号量
uxMaxCount:队列项的数量
uxInitialCount:队列项的初始开始位
成功:返回其他
失败:NULL
*/
#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
#define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) )
#endif
/*
获取计数型信号量的队列值
SemaphoreHandle_t:信号量句柄
成功:pdTRUE
失败:pdFALSE
注意使用uxSemaphoreGetCount()函数时不要使用xSemaphoreTake();,不然获取的数一直为初始化的值
*/
UBaseType_t uxSemaphoreGetCount( SemaphoreHandle_t xSemaphore );
案例代码
main.c
#include "main.h"
#include "usart.h"
#include "gpio.h"
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"
#include "stdio.h"
#ifdef __GNUC__ //printf重定向
#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
#else
#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
#endif
PUTCHAR_PROTOTYPE
{
HAL_UART_Transmit(&huart1, (uint8_t*)&ch,1,HAL_MAX_DELAY);
return ch;
}
TaskHandle_t HandlerTask1;
TaskHandle_t Task_Name4;
BaseType_t xReturn;
SemaphoreHandle_t Task1semaphore;
void SystemClock_Config(void);
StackType_t xTask3Static[128];
StaticTask_t xTaskTCB;
StackType_t xIdle3Static[128];
StaticTask_t xIdleTCB;
void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,StackType_t ** ppxIdleTaskStackBuffer,uint32_t * pulIdleTaskStackSize ){
*ppxIdleTaskTCBBuffer=&xIdleTCB;
*ppxIdleTaskStackBuffer=xIdle3Static;
*pulIdleTaskStackSize=128;
}
void Task1Function( void * param){
BaseType_t err;
UBaseType_t Semaphore_num;
for(;;){
if(Task1semaphore!=NULL){
//xSemaphoreTake(Task1semaphore,portMAX_DELAY);
//if(err==pdTRUE){
Semaphore_num=uxSemaphoreGetCount(Task1semaphore);
printf("Semaphore->Number:%d\r\n",Semaphore_num);
//}
}
vTaskDelay(100);
}
}
void Task2Function(void* param){
uint8_t num;
for(;;)
{
num++;
xSemaphoreGive(Task1semaphore);
printf("Task%d\r\n",num);
vTaskDelay(100);
}
}
void Task3Funtion(void* param){
TickType_t st_time=xTaskGetTickCount();
while(1){
uint32_t num =1;
xTaskDelayUntil(&st_time,30);
}
}
void Task4Funtion(void* param){
taskENTER_CRITICAL();
Task1semaphore=xSemaphoreCreateCounting(255,0);
//Task1semaphore=xSemaphoreCreateBinary();
xReturn=xTaskCreate(Task1Function,"Task1",128,NULL,2,&HandlerTask1);
xTaskCreate(Task2Function,"Task2",128,NULL,2,NULL);
xTaskCreateStatic(Task3Funtion,"Task3",128,NULL,2,xTask3Static,&xTaskTCB);
if(xReturn == pdPASS){
uint8_t buffS[20]="Task1 Create OK..\r\n";
HAL_UART_Transmit(&huart1,(uint8_t*)buffS,strlen(buffS)*sizeof(char),HAL_MAX_DELAY);
}
vTaskDelete(Task_Name4);
taskEXIT_CRITICAL();
}
int main(void)
{
HAL_Init();
SystemClock_Config();
MX_GPIO_Init();
MX_USART1_UART_Init();
xTaskCreate(Task4Funtion,"Task4",600,NULL,1,&Task_Name4);
vTaskStartScheduler();
while (1)
{
}
}
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
RCC_OscInitStruct.HSEState = RCC_HSE_ON;
RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
}
void Error_Handler(void)
{
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
void assert_failed(uint8_t *file, uint32_t line)
{
}
#endif /* USE_FULL_ASSERT */
效果展示
总结
二值式信号量和计数型信号量区别就是二值式只有一个队列,计数型的队列是很多。
少壮不努力,老大徒伤悲。