STM32CUBEIDE FreeRTOS操作教程（六）：recursive mutexes互斥信号量
STM32CUBE开辟情况集成了STM32 HAL库进行FreeRTOS配置和开辟的组件，不需要用户自己进行FreeRTOS的移植。这里介绍最简化的用户操作类应用教程。以STM32F401RCT6开辟板为例，只用到USB，USART1少少的接口，体现FreeRTOS的各种操作过程。
操作教程（六）配置FreeRTOS及相干情况，实现LED闪灯功能及基于recursive mutex递归互斥信号量的USB假造串口双任务打印输出。两个任务轮流获取和开释互斥信号量，在得到信号量时向外打印输出，其中任务会在获取两次信号量后向外打印输出，然后开释两次信号量。
递归互斥信号量是可以对单个信号量进行多次获取和开释的信号量，对于一个任务而言当然获取了多少次后就应该开释多少次，然后别的任务才能去获取改信号量。因为中断服务步伐中不能应用阻塞时间，所以递归信号量不能用在中断服务步伐中，也就是重要用在任务过程中。
FreeRTOS的教程较多，保举参考正点原子所出的《STM32F407 FreeRTOS开辟手册》相知趣干知识。
STM32CUBEIDE工程配置
选择TIM1(也可以是别的TIM)作为FreeRTOS操作系统占用的时钟源：
配置时钟树包括USB的48MHz时钟：
配置PC13为低电平点灯的管脚：
配置USB串口:
配置UART1串口（但本例中不消到UART1):
FreeRTOS配置
任务实现
基于前述的配置，main.c代码里会加载Free-RTOS的配置，并启动几个任务的调理，当然，此时的任务都是什么也不干。实现LED闪灯，就在LED闪灯任务里参加代码即可：
- void StartTask_TASK_LED_FLASH(void *argument)
- {
- /* USER CODE BEGIN StartTask_TASK_LED_FLASH */
- /* Infinite loop */
- for(;;)
- {
- osDelay(1000);
- HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
- }
- /* USER CODE END StartTask_TASK_LED_FLASH */
- }
main.c文件里两个任务分别通过获取递归互斥信号量权柄，再发送信息：
- void StartTask_TASK_USB_VCOM_H(void *argument)
- {
- /* USER CODE BEGIN StartTask_TASK_USB_VCOM_H */
- BaseType_t err_stu = pdFALSE;
- /* Infinite loop */
- for(;;)
- {
- osDelay(8);
- err_stu = xSemaphoreTake(USB_VCOM_RcsMutex01Handle, USB_VCOM_xBlockTime);
- if(err_stu==pdTRUE)
- {
- if(USB_CONN_STATUS())
- {
- usbprintstring("High Priority Task Outputting\r\n");
- }
- xSemaphoreGive(USB_VCOM_RcsMutex01Handle);
- }
- }
- /* USER CODE END StartTask_TASK_USB_VCOM_H */
- }
- void StartTask_TASK_USB_VCOM_L(void *argument)
- {
- /* USER CODE BEGIN StartTask_TASK_USB_VCOM_L */
- BaseType_t err_stu = pdFALSE;
- /* Infinite loop */
- for(;;)
- {
- osDelay(5);
- err_stu = xSemaphoreTake(USB_VCOM_RcsMutex01Handle, USB_VCOM_xBlockTime); //First get
- if(err_stu==pdTRUE)
- {
- xSemaphoreTakeRecursive(USB_VCOM_RcsMutex01Handle, USB_VCOM_xBlockTime);//Second get
- if(USB_CONN_STATUS())
- {
- usbprintstring("Low Priority Task Outputting\r\n");
- }
- xSemaphoreGive(USB_VCOM_RcsMutex01Handle); //First release
- xSemaphoreGiveRecursive(USB_VCOM_RcsMutex01Handle); //Second release
- osDelay(10);
- }
- }
- /* USER CODE END StartTask_TASK_USB_VCOM_L */
- }
- /* USER CODE BEGIN Header *//** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2023 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. * ****************************************************************************** *///Example 6: LED flash + Recursive Mutex.//Written by Pegasus Yu/* USER CODE END Header *//* Includes ------------------------------------------------------------------*/#include "main.h"#include "cmsis_os.h"#include "usb_device.h"/* Private includes ----------------------------------------------------------*//* USER CODE BEGIN Includes */#include "semphr.h"/* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*//* USER CODE BEGIN PTD */__IO float usDelayBase = 7.63238716; //For STM32F401RCT6 working in 84MHz main clockvoid PY_Delay_us_t(uint32_t Delay){ __IO uint32_t delayReg; __IO uint32_t usNum = (uint32_t)(Delay*usDelayBase); delayReg = 0; while(delayReg!=usNum) delayReg++;}/* 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 ---------------------------------------------------------*/UART_HandleTypeDef huart1;DMA_HandleTypeDef hdma_usart1_rx;/* Definitions for defaultTask */osThreadId_t defaultTaskHandle;const osThreadAttr_t defaultTask_attributes = { .name = "defaultTask", .stack_size = 128 * 4, .priority = (osPriority_t) osPriorityNormal,};/* Definitions for TASK_LED_FLASH */osThreadId_t TASK_LED_FLASHHandle;const osThreadAttr_t TASK_LED_FLASH_attributes = { .name = "TASK_LED_FLASH", .stack_size = 128 * 4, .priority = (osPriority_t) osPriorityLow,};/* Definitions for TASK_UART1 */osThreadId_t TASK_UART1Handle;const osThreadAttr_t TASK_UART1_attributes = { .name = "TASK_UART1", .stack_size = 128 * 4, .priority = (osPriority_t) osPriorityLow,};/* Definitions for TASK_USB_VCOM_H */osThreadId_t TASK_USB_VCOM_HHandle;const osThreadAttr_t TASK_USB_VCOM_H_attributes = { .name = "TASK_USB_VCOM_H", .stack_size = 128 * 4, .priority = (osPriority_t) osPriorityHigh,};/* Definitions for TASK_USB_VCOM_L */osThreadId_t TASK_USB_VCOM_LHandle;const osThreadAttr_t TASK_USB_VCOM_L_attributes = { .name = "TASK_USB_VCOM_L", .stack_size = 128 * 4, .priority = (osPriority_t) osPriorityLow,};/* Definitions for USB_VCOM_RcsMutex01 */osMutexId_t USB_VCOM_RcsMutex01Handle;const osMutexAttr_t USB_VCOM_RcsMutex01_attributes = { .name = "USB_VCOM_RcsMutex01", .attr_bits = osMutexRecursive,};/* USER CODE BEGIN PV *//* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/void SystemClock_Config(void);static void MX_GPIO_Init(void);static void MX_DMA_Init(void);static void MX_USART1_UART_Init(void);void StartDefaultTask(void *argument);void StartTask_TASK_LED_FLASH(void *argument);void StartTask_TASK_UART1(void *argument);void StartTask_TASK_USB_VCOM_H(void *argument);void StartTask_TASK_USB_VCOM_L(void *argument);/* USER CODE BEGIN PFP *//* USER CODE END PFP *//* Private user code ---------------------------------------------------------*//* USER CODE BEGIN 0 */uint8_t USB_CONN_STATUS(void);uint8_t CDC_Transmit_FS(uint8_t* Buf, uint16_t Len);void usbprintstring(char * data){ if(CDC_Transmit_FS((uint8_t *)data, strlen(data))==USBD_BUSY) { PY_Delay_us_t(1000000); CDC_Transmit_FS((uint8_t *)data, strlen(data)); }}void usbprintarray(uint8_t * data, uint16_t len){ if(CDC_Transmit_FS(data, len)==USBD_BUSY) { PY_Delay_us_t(1000000); CDC_Transmit_FS(data, len); }}BaseType_t USB_VCOM_pxHigherPriorityTaskWaken;TickType_t USB_VCOM_xBlockTime = 0;/* USER CODE END 0 *//** * @brief The application entry point. * @retval int */int main(void){ /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_DMA_Init(); MX_USART1_UART_Init(); /* USER CODE BEGIN 2 */ PY_Delay_us_t(1000000); /* USER CODE END 2 */ /* Init scheduler */ osKernelInitialize(); /* Create the recursive mutex(es) */ /* creation of USB_VCOM_RcsMutex01 */ USB_VCOM_RcsMutex01Handle = osMutexNew(&USB_VCOM_RcsMutex01_attributes); /* USER CODE BEGIN RTOS_MUTEX */ /* add mutexes, ... */ USB_VCOM_RcsMutex01Handle = xSemaphoreCreateRecursiveMutex(); //"USB_VCOM_RcsMutex01Handle = osMutexNew(&USB_VCOM_RcsMutex01_attributes);" is bad code. Redefine here. /* 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) */ /* creation of defaultTask */ defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes); /* creation of TASK_LED_FLASH */ TASK_LED_FLASHHandle = osThreadNew(StartTask_TASK_LED_FLASH, NULL, &TASK_LED_FLASH_attributes); /* creation of TASK_UART1 */ TASK_UART1Handle = osThreadNew(StartTask_TASK_UART1, NULL, &TASK_UART1_attributes); /* creation of TASK_USB_VCOM_H */ TASK_USB_VCOM_HHandle = osThreadNew(StartTask_TASK_USB_VCOM_H, NULL, &TASK_USB_VCOM_H_attributes); /* creation of TASK_USB_VCOM_L */ TASK_USB_VCOM_LHandle = osThreadNew(StartTask_TASK_USB_VCOM_L, NULL, &TASK_USB_VCOM_L_attributes); /* USER CODE BEGIN RTOS_THREADS */ /* add threads, ... */ /* USER CODE END RTOS_THREADS */ /* USER CODE BEGIN RTOS_EVENTS */ /* add events, ... */ /* USER CODE END RTOS_EVENTS */ /* Start scheduler */ osKernelStart(); /* We should never get here as control is now taken by the scheduler */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */}/** * @brief System Clock Configuration * @retval None */void SystemClock_Config(void){ RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2); /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = 25; RCC_OscInitStruct.PLL.PLLN = 336; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV4; RCC_OscInitStruct.PLL.PLLQ = 7; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ 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(); }}/** * @brief USART1 Initialization Function * @param None * @retval None */static void MX_USART1_UART_Init(void){ /* USER CODE BEGIN USART1_Init 0 */ /* USER CODE END USART1_Init 0 */ /* USER CODE BEGIN USART1_Init 1 */ /* USER CODE END USART1_Init 1 */ huart1.Instance = USART1; huart1.Init.BaudRate = 115200; huart1.Init.WordLength = UART_WORDLENGTH_8B; huart1.Init.StopBits = UART_STOPBITS_1; huart1.Init.Parity = UART_PARITY_NONE; huart1.Init.Mode = UART_MODE_TX_RX; huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; huart1.Init.OverSampling = UART_OVERSAMPLING_16; if (HAL_UART_Init(&huart1) != HAL_OK) { Error_Handler(); } /* USER CODE BEGIN USART1_Init 2 */ /* USER CODE END USART1_Init 2 */}/** * Enable DMA controller clock */static void MX_DMA_Init(void){ /* DMA controller clock enable */ __HAL_RCC_DMA2_CLK_ENABLE(); /* DMA interrupt init */ /* DMA2_Stream2_IRQn interrupt configuration */ HAL_NVIC_SetPriority(DMA2_Stream2_IRQn, 5, 0); HAL_NVIC_EnableIRQ(DMA2_Stream2_IRQn);}/** * @brief GPIO Initialization Function * @param None * @retval None */static void MX_GPIO_Init(void){ GPIO_InitTypeDef GPIO_InitStruct = {0};/* USER CODE BEGIN MX_GPIO_Init_1 *//* USER CODE END MX_GPIO_Init_1 */ /* GPIO Ports Clock Enable */ __HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOH_CLK_ENABLE(); __HAL_RCC_GPIOA_CLK_ENABLE(); /*Configure GPIO pin Output Level */ HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET); /*Configure GPIO pin : LED_Pin */ GPIO_InitStruct.Pin = LED_Pin; GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP; GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);/* USER CODE BEGIN MX_GPIO_Init_2 *//* USER CODE END MX_GPIO_Init_2 */}/* USER CODE BEGIN 4 *//* USER CODE END 4 *//* 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){ /* init code for USB_DEVICE */ MX_USB_DEVICE_Init(); /* USER CODE BEGIN 5 */ /* Infinite loop */ for(;;) { osDelay(1); } /* USER CODE END 5 */}/* USER CODE BEGIN Header_StartTask_TASK_LED_FLASH *//*** @brief Function implementing the TASK_LED_FLASH thread.* @param argument: Not used* @retval None*//* USER CODE END Header_StartTask_TASK_LED_FLASH */void StartTask_TASK_LED_FLASH(void *argument)
- {
- /* USER CODE BEGIN StartTask_TASK_LED_FLASH */
- /* Infinite loop */
- for(;;)
- {
- osDelay(1000);
- HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
- }
- /* USER CODE END StartTask_TASK_LED_FLASH */
- }
- /* USER CODE BEGIN Header_StartTask_TASK_UART1 *//*** @brief Function implementing the TASK_UART1 thread.* @param argument: Not used* @retval None*//* USER CODE END Header_StartTask_TASK_UART1 */void StartTask_TASK_UART1(void *argument){ /* USER CODE BEGIN StartTask_TASK_UART1 */ /* Infinite loop */ for(;;) { osDelay(1); } /* USER CODE END StartTask_TASK_UART1 */}/* USER CODE BEGIN Header_StartTask_TASK_USB_VCOM_H *//*** @brief Function implementing the TASK_USB_VCOM_H thread.* @param argument: Not used* @retval None*//* USER CODE END Header_StartTask_TASK_USB_VCOM_H */void StartTask_TASK_USB_VCOM_H(void *argument){ /* USER CODE BEGIN StartTask_TASK_USB_VCOM_H */ BaseType_t err_stu = pdFALSE; /* Infinite loop */ for(;;) { osDelay(8); err_stu = xSemaphoreTake(USB_VCOM_RcsMutex01Handle, USB_VCOM_xBlockTime); if(err_stu==pdTRUE) { if(USB_CONN_STATUS()) { usbprintstring("Task 1 Outputting\r\n"); } xSemaphoreGive(USB_VCOM_RcsMutex01Handle); } } /* USER CODE END StartTask_TASK_USB_VCOM_H */}/* USER CODE BEGIN Header_StartTask_TASK_USB_VCOM_L *//*** @brief Function implementing the TASK_USB_VCOM_L thread.* @param argument: Not used* @retval None*//* USER CODE END Header_StartTask_TASK_USB_VCOM_L */void StartTask_TASK_USB_VCOM_L(void *argument){ /* USER CODE BEGIN StartTask_TASK_USB_VCOM_L */ BaseType_t err_stu = pdFALSE; /* Infinite loop */ for(;;) { osDelay(5); err_stu = xSemaphoreTake(USB_VCOM_RcsMutex01Handle, USB_VCOM_xBlockTime); //First get if(err_stu==pdTRUE) { xSemaphoreTakeRecursive(USB_VCOM_RcsMutex01Handle, USB_VCOM_xBlockTime);//Second get if(USB_CONN_STATUS()) { usbprintstring("Task 2 Outputting\r\n"); } xSemaphoreGive(USB_VCOM_RcsMutex01Handle); //First release xSemaphoreGiveRecursive(USB_VCOM_RcsMutex01Handle); //Second release osDelay(10); } } /* USER CODE END StartTask_TASK_USB_VCOM_L */}/** * @brief Period elapsed callback in non blocking mode * @note This function is called when TIM1 interrupt took place, inside * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment * a global variable "uwTick" used as application time base. * @param htim : TIM handle * @retval None */void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){ /* USER CODE BEGIN Callback 0 */ /* USER CODE END Callback 0 */ if (htim->Instance == TIM1) { HAL_IncTick(); } /* USER CODE BEGIN Callback 1 */ /* USER CODE END Callback 1 */}/** * @brief This function is executed in case of error occurrence. * @retval None */void Error_Handler(void){ /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */}#ifdef USE_FULL_ASSERT/** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */void assert_failed(uint8_t *file, uint32_t line){ /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */}#endif /* USE_FULL_ASSERT */
STM32 STM32CUBEIDE FreeRTOS操作教程（六）：recursive mutexes递归互斥信号量 例程
例程测试
例程测试结果如下：
–End–
免责声明：如果侵犯了您的权益，请联系站长，我们会及时删除侵权内容，谢谢合作！更多信息从访问主页：qidao123.com:ToB企服之家，中国第一个企服评测及商务社交产业平台。 |
