FreeRTOS学习——任务通知
发布时间：2024年01月10日
一、什么是任务通知
????????FreeRTOS 从版本 V8.2.0 开始提供任务通知这个功能，每个任务都有一个 32 位的通知值。按照 FreeRTOS 官方的说法，使用消息通知比通过二进制信号量方式解除阻塞任务快 45%， 并且更加省内存（无需创建队 列）。
在大多数情况下，任务通知可以替代二值信号量、计数信号量、事件标志组，可以替代长度为 1 的队列（可 以保存一个 32 位整数或指针值），并且任务通知速度更快、使用的RAM更少！
二、任务通知的更新方式
FreeRTOS 提供以下几种方式发送通知给任务 ：
????????发送消息给任务，如果有通知未读， 不覆盖通知值
????????发送消息给任务，直接覆盖通知值
????????发送消息给任务，设置通知值的一个或者多个位
????????发送消息给任务，递增通知值
通过对以上方式的合理使用，可以在一定场合下替代原本的队列、信号量、事件标志组等。
三、任务通知的优势和劣势
3.1、任务通知的优势
1. 使用任务通知向任务发送事件或数据，比使用队列、事件标志组或信号量快得多。
2. 使用其他方法时都要先创建对应的结构体，使用任务通知时无需额外创建结构体。
3.2、任务通知的劣势?
1. 只有任务可以等待通知，中断服务函数中不可以，因为中断没有 TCB 。
2. 通知只能一对一，因为通知必须指定任务。
3. 等待通知的任务可以被阻塞， 但是发送消息的任务，任何情况下都不会被阻塞等待。
4. 任务通知是通过更新任务通知值来发送数据的，任务结构体中只有一个任务通知值，只能保持一个数据。
四、相关函数
4.1、发送通知
BaseType_t xTaskNotify(
TaskHandle_t xTaskToNotify,
uint32_t ulValue,
eNotifyAction eAction
);
参数：
xTaskToNotify：需要接收通知的任务句柄；
ulValue：用于更新接收任务通知值， 具体如何更新由形参 eAction 决定；
eAction：一个枚举，代表如何使用任务通知的值；
返回值：
如果被通知任务还没取走上一个通知，又接收了一个通知，则这次通知值未能更新并返回 pdFALSE， 而其他情况均返回pdPASS。
BaseType_t xTaskNotifyAndQuery(
TaskHandle_t xTaskToNotify,
uint32_t ulValue,
eNotifyAction eAction,
uint32_t * pulPreviousNotifyValue
);
参数：
xTaskToNotify：需要接收通知的任务句柄；
ulValue：用于更新接收任务通知值， 具体如何更新由形参 eAction 决定；
eAction：一个枚举，代表如何使用任务通知的值；
pulPreviousNotifyValue：对象任务的上一个任务通知值，如果为 NULL， 则不需要回传， 这个时候就等价于函数 xTaskNotify()。
返回值：
如果被通知任务还没取走上一个通知，又接收了一个通知，则这次通知值未能更新并返回 pdFALSE， 而其他 情况均返回pdPASS。
BaseType_t xTaskNotifyGive( TaskHandle_t xTaskToNotify );
参数：
xTaskToNotify：接收通知的任务句柄， 并让其自身的任务通知值加 1。
返回值：
总是返回 pdPASS。
4.2、等待通知
????????注意：等待通知API函数只能用在任务，不可应用于中断中！
uint32_t ulTaskNotifyTake(
BaseType_t xClearCountOnExit,
TickType_t xTicksToWait
);
?参数：
xClearCountOnExit：指定在成功接收通知后，将通知值清零或减 1，pdTRUE：把通知值清零（二值信号量）；pdFALSE：把通知值减一（计数型信号量）；
xTicksToWait：阻塞等待任务通知值的最大时间；
返回值：
0：接收失败
非0：接收成功，返回任务通知的通知值
BaseType_t xTaskNotifyWait(
uint32_t ulBitsToClearOnEntry,
uint32_t ulBitsToClearOnExit,
uint32_t * pulNotificationValue,
TickType_t xTicksToWait
);
ulBitsToClearOnEntry：函数执行前清零任务通知值那些位 。
ulBitsToClearOnExit：表示在函数退出前，清零任务通知值那些位(最大值：0xFFFFFFFF)，在清 0 前，接收到的任务通知值会先被 保存到形参*pulNotificationValue 中。
pulNotificationValue：用于保存接收到的任务通知值。 如果不需要使用，则设置为 NULL 即可 。 xTicksToWait：等待消息通知的最大等待时间。
五、实操
5.1、模拟二值信号量
????????按下 KEY1 则释放信号量，按下 KEY2 获取信号量。
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 */
#include "stdio.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 */
osThreadId TaskKEY1Handle;
osThreadId TaskKEY2Handle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartTaskKEY1(void const * argument);
void StartTaskKEY2(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 TaskKEY1 */
osThreadDef(TaskKEY1, StartTaskKEY1, osPriorityNormal, 0, 128);
TaskKEY1Handle = osThreadCreate(osThread(TaskKEY1), NULL);
/* definition and creation of TaskKEY2 */
osThreadDef(TaskKEY2, StartTaskKEY2, osPriorityNormal, 0, 128);
TaskKEY2Handle = osThreadCreate(osThread(TaskKEY2), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* USER CODE BEGIN Header_StartTaskKEY1 */
/**
* @brief Function implementing the TaskKEY1 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskKEY1 */
void StartTaskKEY1(void const * argument)
{
/* USER CODE BEGIN StartTaskKEY1 */
BaseType_t mark = 0;
/* Infinite loop */
for(;;)
{
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET)
{
osDelay(20);
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET)
{
mark = xTaskNotifyGive( TaskKEY2Handle );
if(mark == pdPASS)
printf("任务通知模拟二值信号量发送成功！\r\n");
else
printf("任务通知模拟二值信号量发送失败！\r\n");
}
while(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET);
}
osDelay(10);
}
/* USER CODE END StartTaskKEY1 */
}
/* USER CODE BEGIN Header_StartTaskKEY2 */
/**
* @brief Function implementing the TaskKEY2 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskKEY2 */
void StartTaskKEY2(void const * argument)
{
/* USER CODE BEGIN StartTaskKEY2 */
uint32_t flag = 0;
/* Infinite loop */
for(;;)
{
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET)
{
osDelay(20);
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET)
{
flag = ulTaskNotifyTake(pdTRUE ,0);
if(flag != 0)
printf("接收成功！任务的通知值为：%d\r\n",flag);
else
printf("接收失败！\r\n");
}
while(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET);
}
osDelay(10);
}
/* USER CODE END StartTaskKEY2 */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
?5.2、模拟计数型信号量
????????按下 KEY1 则释放信号量，按下 KEY2 获取信号量。
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 */
#include "stdio.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 */
osThreadId TaskKEY1Handle;
osThreadId TaskKEY2Handle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartTaskKEY1(void const * argument);
void StartTaskKEY2(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 TaskKEY1 */
osThreadDef(TaskKEY1, StartTaskKEY1, osPriorityNormal, 0, 128);
TaskKEY1Handle = osThreadCreate(osThread(TaskKEY1), NULL);
/* definition and creation of TaskKEY2 */
osThreadDef(TaskKEY2, StartTaskKEY2, osPriorityNormal, 0, 128);
TaskKEY2Handle = osThreadCreate(osThread(TaskKEY2), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* USER CODE BEGIN Header_StartTaskKEY1 */
/**
* @brief Function implementing the TaskKEY1 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskKEY1 */
void StartTaskKEY1(void const * argument)
{
/* USER CODE BEGIN StartTaskKEY1 */
BaseType_t mark = 0;
/* Infinite loop */
for(;;)
{
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET)
{
osDelay(20);
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET)
{
mark = xTaskNotifyGive( TaskKEY2Handle );
if(mark == pdPASS)
printf("任务通知模拟计数型信号量发送成功！\r\n");
else
printf("任务通知模拟计数型信号量发送失败！\r\n");
}
while(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET);
}
osDelay(10);
}
/* USER CODE END StartTaskKEY1 */
}
/* USER CODE BEGIN Header_StartTaskKEY2 */
/**
* @brief Function implementing the TaskKEY2 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskKEY2 */
void StartTaskKEY2(void const * argument)
{
/* USER CODE BEGIN StartTaskKEY2 */
uint32_t flag = 0;
/* Infinite loop */
for(;;)
{
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET)
{
osDelay(20);
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET)
{
flag = ulTaskNotifyTake(pdFALSE ,0);
if(flag != 0)
printf("接收成功！任务的通知值为：%d\r\n",flag);
else
printf("接收失败！\r\n");
}
while(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET);
}
osDelay(10);
}
/* USER CODE END StartTaskKEY2 */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
5.3、模拟事件标志组
????????两个任务（ task1 和 task2），task1 检测按键，如果检测到 KEY1 和 KEY2 都按过， 则执行 task2 。
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 */
#include "stdio.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 */
osThreadId Task1Handle;
osThreadId Task2Handle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartTask1(void const * argument);
void StartTask2(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 Task1 */
osThreadDef(Task1, StartTask1, osPriorityNormal, 0, 128);
Task1Handle = osThreadCreate(osThread(Task1), NULL);
/* definition and creation of Task2 */
osThreadDef(Task2, StartTask2, osPriorityNormal, 0, 128);
Task2Handle = osThreadCreate(osThread(Task2), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* USER CODE BEGIN Header_StartTask1 */
/**
* @brief Function implementing the Task1 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTask1 */
void StartTask1(void const * argument)
{
/* USER CODE BEGIN StartTask1 */
/* Infinite loop */
for(;;)
{
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET)
{
osDelay(20);
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET)
{
printf("bit23位置1\r\n");
xTaskNotifyAndQuery(Task2Handle ,0x800000 ,eSetBits ,NULL);
}
while(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET);
}
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET)
{
osDelay(20);
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET)
{
printf("bit1与bit0位置1\r\n");
xTaskNotifyAndQuery(Task2Handle ,0x3 ,eSetBits ,NULL); /*0011*/
}
while(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET);
}
osDelay(10);
}
/* USER CODE END StartTask1 */
}
/* USER CODE BEGIN Header_StartTask2 */
/**
* @brief Function implementing the Task2 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTask2 */
void StartTask2(void const * argument)
{
/* USER CODE BEGIN StartTask2 */
uint32_t events = 0,result_bit = 0;
/* Infinite loop */
for(;;)
{
xTaskNotifyWait(0 ,0xFFFFFFFF ,&events ,portMAX_DELAY);
if(events & 0x800000)
result_bit |= 0x800000;
if(events & 0x3)
result_bit |= 0x3;
if(result_bit == (0x800000 | 0x3))
{
printf("请假成功，任务通知模拟事件标志组成功！\r\n");
result_bit = 0;
}
osDelay(10);
}
/* USER CODE END StartTask2 */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
5.4、模拟邮箱
? ? ? ? 邮箱是长度为1的队列
5.4.1、覆盖
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 */
#include "stdio.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 */
osThreadId TaskSendHandle;
osThreadId TaskReceiveHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartTaskSend(void const * argument);
void StartTaskReceive(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 TaskSend */
osThreadDef(TaskSend, StartTaskSend, osPriorityNormal, 0, 128);
TaskSendHandle = osThreadCreate(osThread(TaskSend), NULL);
/* definition and creation of TaskReceive */
osThreadDef(TaskReceive, StartTaskReceive, osPriorityNormal, 0, 128);
TaskReceiveHandle = osThreadCreate(osThread(TaskReceive), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* USER CODE BEGIN Header_StartTaskSend */
/**
* @brief Function implementing the TaskSend thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskSend */
void StartTaskSend(void const * argument)
{
/* USER CODE BEGIN StartTaskSend */
static uint32_t cnt = 0;
/* Infinite loop */
for(;;)
{
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET)
{
osDelay(20);
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET)
{
if(cnt == 0)
{
xTaskNotify(TaskReceiveHandle ,1 ,eSetValueWithOverwrite); /*覆盖*/
cnt++;
printf("任务通知模拟邮箱（长度为1的队列）写入值：1\r\n");
}
else
{
xTaskNotify(TaskReceiveHandle ,5 ,eSetValueWithOverwrite);
printf("任务通知模拟邮箱（长度为1的队列）写入值：5\r\n");
cnt = 0;
}
}
while(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET);
}
osDelay(10);
}
/* USER CODE END StartTaskSend */
}
/* USER CODE BEGIN Header_StartTaskReceive */
/**
* @brief Function implementing the TaskReceive thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskReceive */
void StartTaskReceive(void const * argument)
{
/* USER CODE BEGIN StartTaskReceive */
uint32_t notify_queue = 0;
/* Infinite loop */
for(;;)
{
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET)
{
osDelay(20);
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET)
{
xTaskNotifyWait(0 ,0xFFFFFF ,¬ify_queue ,portMAX_DELAY);
printf("任务通知模拟邮箱接收值为：%d\r\n",notify_queue);
}
while(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET);
}
osDelay(10);
}
/* USER CODE END StartTaskReceive */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
结果：
?
5.4.2、不覆盖
/* USER CODE BEGIN Header */
/**
******************************************************************************
* File Name : freertos.c
* Description : Code for freertos applications
******************************************************************************
* @attention
*
* Copyright (c) 2024 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 */
#include "stdio.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 */
osThreadId TaskSendHandle;
osThreadId TaskReceiveHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */
void StartTaskSend(void const * argument);
void StartTaskReceive(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 TaskSend */
osThreadDef(TaskSend, StartTaskSend, osPriorityNormal, 0, 128);
TaskSendHandle = osThreadCreate(osThread(TaskSend), NULL);
/* definition and creation of TaskReceive */
osThreadDef(TaskReceive, StartTaskReceive, osPriorityNormal, 0, 128);
TaskReceiveHandle = osThreadCreate(osThread(TaskReceive), NULL);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
}
/* USER CODE BEGIN Header_StartTaskSend */
/**
* @brief Function implementing the TaskSend thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskSend */
void StartTaskSend(void const * argument)
{
/* USER CODE BEGIN StartTaskSend */
static uint32_t cnt = 0;
/* Infinite loop */
for(;;)
{
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET)
{
osDelay(20);
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET)
{
if(cnt == 0)
{
xTaskNotify(TaskReceiveHandle ,1 ,eSetValueWithoutOverwrite); /*不覆盖*/
cnt++;
printf("任务通知模拟邮箱（长度为1的队列）写入值：1\r\n");
}
else
{
xTaskNotify(TaskReceiveHandle ,5 ,eSetValueWithoutOverwrite);
printf("任务通知模拟邮箱（长度为1的队列）写入值：5\r\n");
cnt = 0;
}
}
while(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_0) == GPIO_PIN_RESET);
}
osDelay(10);
}
/* USER CODE END StartTaskSend */
}
/* USER CODE BEGIN Header_StartTaskReceive */
/**
* @brief Function implementing the TaskReceive thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskReceive */
void StartTaskReceive(void const * argument)
{
/* USER CODE BEGIN StartTaskReceive */
uint32_t notify_queue = 0;
/* Infinite loop */
for(;;)
{
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET)
{
osDelay(20);
if(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET)
{
xTaskNotifyWait(0 ,0xFFFFFF ,¬ify_queue ,portMAX_DELAY);
printf("任务通知模拟邮箱接收值为：%d\r\n",notify_queue);
}
while(HAL_GPIO_ReadPin(GPIOA ,GPIO_PIN_1) == GPIO_PIN_RESET);
}
osDelay(10);
}
/* USER CODE END StartTaskReceive */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
结果：
文章来源:https://blog.csdn.net/qq_47172243/article/details/135489989
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本文来自互联网用户投稿，该文观点仅代表作者本人，不代表本站立场。本站仅提供信息存储空间服务，不拥有所有权，不承担相关法律责任。 如若内容造成侵权/违法违规/事实不符，请联系我的编程经验分享网邮箱：chenni525@qq.com进行投诉反馈，一经查实，立即删除！
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