STM32与Freertos入门（五）任务案例

1、实现功能

通过两个按键任务分别控制不同的点灯案例

创建 4 个任务：在点灯任务的基础上在创建两个按键任务：
Task_led：间隔 500ms 闪烁 LE1；
Task_led2：间隔 1000ms 闪烁 LED2；
Task_key：如果 Task_led存在，则按下 KEY 后删除 Task_led，否则创建 Task_led；
Task_key2：如果 Task_led2正常运行，则按下 KEY2 后挂起 Task_led2，否则恢复 Task_led2

2、CubeMX配置

2.1 GPIO初始化

2.2 任务建立

?3、KEIL 5代码编写

3.1 main.h初始化

#define LED_ON   HAL_GPIO_WritePin(LED_GPIO_Port,LED_Pin,GPIO_PIN_SET)
#define LED_OFF	 HAL_GPIO_WritePin(LED_GPIO_Port,LED_Pin,GPIO_PIN_RESET)
#define LED2_ON	 HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin,GPIO_PIN_RESET)
#define LED2_OFF HAL_GPIO_WritePin(LED2_GPIO_Port,LED2_Pin,GPIO_PIN_SET)
#define key      HAL_GPIO_ReadPin(key_GPIO_Port,key_Pin)
#define key2     HAL_GPIO_ReadPin(key2_GPIO_Port,key2_Pin)

?3.2 功能实现

?任务1:

void StartTask_led(void const * argument)
{
  /* USER CODE BEGIN StartTask_led */
  /* Infinite loop */
  for(;;)
  {
		LED_ON;
    osDelay(500);
		LED_OFF;
		osDelay(500);
  }
  /* USER CODE END StartTask_led */
}

?任务2:

void StartTask_led2(void const * argument)
{
  /* USER CODE BEGIN StartTask_led2 */
  /* Infinite loop */
  for(;;)
  {
		LED2_ON;
    osDelay(1000);
		LED2_OFF;
		osDelay(1000);
  }
  /* USER CODE END StartTask_led2 */
}

?任务3：

void StartTask_key(void const * argument)
{
  /* USER CODE BEGIN StartTask_key */
  /* Infinite loop */
  for(;;)
  {
		if(key==0){ 
			osDelay(20);
			if(key==0){
				printf("key按下\r\n");
				if(Task_ledHandle == NULL){
					osThreadDef(Task_led, StartTask_led, osPriorityNormal, 0, 128);
          Task_ledHandle = osThreadCreate(osThread(Task_led), NULL);
					if(Task_ledHandle != NULL){
						printf("task_1成功\r\n");
					}
				}
				else{
					printf("detele\r\n");
					osThreadTerminate(Task_ledHandle);
					Task_ledHandle = NULL;
				}
				 
			}
			while(key==0);
		}
    osDelay(10);
  }
  /* USER CODE END StartTask_key */
}

?任务4：

void StartTask_key2(void const * argument)
{
  /* USER CODE BEGIN StartTask_key2 */
	static int flag = 0;
  /* Infinite loop */
  for(;;)
  {
   if(key2==0){ 
			osDelay(20);
			if(key2==0){
				printf("key2按下\r\n");
				if(flag == 0){
						osThreadSuspend(Task_led2Handle);
						printf("任务2以暂停\r\n");
						flag=1;
				}
				else{
						osThreadResume(Task_led2Handle);
						printf("任务2恢复\r\n");
						flag=0;
				}
			}
			while(key2==0);
		}
    osDelay(10);
	}	
  /* USER CODE END StartTask_key2 */
}

?整个freertos.c代码如下：

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @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.
  *
  ******************************************************************************
  */
/* 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 Task_ledHandle;
osThreadId Task_led2Handle;
osThreadId Task_keyHandle;
osThreadId Task_key2Handle;

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

/* USER CODE END FunctionPrototypes */

void StartTask_led(void const * argument);
void StartTask_led2(void const * argument);
void StartTask_key(void const * argument);
void StartTask_key2(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 Task_led */
  osThreadDef(Task_led, StartTask_led, osPriorityNormal, 0, 128);
  Task_ledHandle = osThreadCreate(osThread(Task_led), NULL);

  /* definition and creation of Task_led2 */
  osThreadDef(Task_led2, StartTask_led2, osPriorityBelowNormal, 0, 128);
  Task_led2Handle = osThreadCreate(osThread(Task_led2), NULL);

  /* definition and creation of Task_key */
  osThreadDef(Task_key, StartTask_key, osPriorityNormal, 0, 128);
  Task_keyHandle = osThreadCreate(osThread(Task_key), NULL);

  /* definition and creation of Task_key2 */
  osThreadDef(Task_key2, StartTask_key2, osPriorityNormal, 0, 128);
  Task_key2Handle = osThreadCreate(osThread(Task_key2), NULL);

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

}

/* USER CODE BEGIN Header_StartTask_led */
/**
  * @brief  Function implementing the Task_led thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartTask_led */
void StartTask_led(void const * argument)
{
  /* USER CODE BEGIN StartTask_led */
  /* Infinite loop */
  for(;;)
  {
		LED_ON;
    osDelay(500);
		LED_OFF;
		osDelay(500);
  }
  /* USER CODE END StartTask_led */
}

/* USER CODE BEGIN Header_StartTask_led2 */
/**
* @brief Function implementing the Task_led2 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTask_led2 */
void StartTask_led2(void const * argument)
{
  /* USER CODE BEGIN StartTask_led2 */
  /* Infinite loop */
  for(;;)
  {
		LED2_ON;
    osDelay(1000);
		LED2_OFF;
		osDelay(1000);
  }
  /* USER CODE END StartTask_led2 */
}

/* USER CODE BEGIN Header_StartTask_key */
/**
* @brief Function implementing the Task_key thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTask_key */
void StartTask_key(void const * argument)
{
  /* USER CODE BEGIN StartTask_key */
  /* Infinite loop */
  for(;;)
  {
		if(key==0){ 
			osDelay(20);
			if(key==0){
				printf("key按下\r\n");
				if(Task_ledHandle == NULL){
					osThreadDef(Task_led, StartTask_led, osPriorityNormal, 0, 128);
          Task_ledHandle = osThreadCreate(osThread(Task_led), NULL);
					if(Task_ledHandle != NULL){
						printf("task_1成功\r\n");
					}
				}
				else{
					printf("detele\r\n");
					osThreadTerminate(Task_ledHandle);
					Task_ledHandle = NULL;
				}
				 
			}
			while(key==0);
		}
    osDelay(10);
  }
  /* USER CODE END StartTask_key */
}

/* USER CODE BEGIN Header_StartTask_key2 */
/**
* @brief Function implementing the Task_key2 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTask_key2 */
void StartTask_key2(void const * argument)
{
  /* USER CODE BEGIN StartTask_key2 */
	static int flag = 0;
  /* Infinite loop */
  for(;;)
  {
   if(key2==0){ 
			osDelay(20);
			if(key2==0){
				printf("key2按下\r\n");
				if(flag == 0){
						osThreadSuspend(Task_led2Handle);
						printf("任务2以暂停\r\n");
						flag=1;
				}
				else{
						osThreadResume(Task_led2Handle);
						printf("任务2恢复\r\n");
						flag=0;
				}
			}
			while(key2==0);
		}
    osDelay(10);
	}	
  /* USER CODE END StartTask_key2 */
}

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

/* USER CODE END Application */

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