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/*
* Definition of the queue used by the scheduler.
* Items are queued by copy, not reference. See the following link for the
* rationale: https://www.freertos.org/Embedded-RTOS-Queues.html
*/
typedef struct QueueDefinition /* The old naming convention is used to prevent breaking kernel aware debuggers. */
{
int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
union
{
QueuePointers_t xQueue; /*< Data required exclusively when this structure is used as a queue. */
SemaphoreData_t xSemaphore; /*< Data required exclusively when this structure is used as a semaphore. */
} u;
List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
UBaseType_t uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
volatile int8_t cRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
volatile int8_t cTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
#endif
#if ( configUSE_QUEUE_SETS == 1 )
struct QueueDefinition *pxQueueSetContainer;
#endif
#if ( configUSE_TRACE_FACILITY == 1 )
UBaseType_t uxQueueNumber;
uint8_t ucQueueType;
#endif
} xQUEUE;
pcHeadpcTailpcWriteToxQueuexSemaphorexTasksWaitingToSendxTasksWaitingToReceiveuxMessagesWaitinguxLengthuxItemSizecRxLockcTxLockQueueHandle_t xQueueCreate(UBaseType_t uxQueueLength,UBaseType_t uxItemSize)BaseType_t xQueueGenericSend(QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition)BaseType_t xQueueGenericSendFromISR(QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition)BaseType_t xQueueSend(QueueHandle_t xQueue,const void * pvItemToQueue,TickType_t xTicksToWait)BaseType_t xQueueSendFromISR(QueueHandle_t xQueue,const void * pvItemToQueue,BaseType_t * pxHigherPriorityTaskWoken)BaseType_t xQueueSendToFront(QueueHandle_t xQueue,const void * pvItemToQueue,TickType_t xTicksToWait);BaseType_t xQueueSendToFrontFromISR(QueueHandle_t xQueue,const void *pvItemToQueue,BaseType_t *pxHigherPriorityTaskWoken)BaseType_t xQueueReceive(QueueHandle_t xQueue,void *pvBuffer,TickType_t xTicksToWait)BaseType_t xQueuePeek(QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait)BaseType_t xQueueReceiveFromISR(QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken)BaseType_t xQueuePeekFromISR(QueueHandle_t xQueue, void * const pvBuffer)void vQueueDelete(QueueHandle_t xQueue)main.c1
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#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "my_gpio.h"
#include "my_usart.h"
/* 任务句柄 */
static TaskHandle_t AppTaskCreate_Handle = NULL;/* 创建任务句柄 */
static TaskHandle_t Receive_Task_Handle = NULL;/* 接收任务句柄 */
static TaskHandle_t Send_Task_Handle = NULL;/* 发送任务句柄 */
/* 消息队列句柄 */
QueueHandle_t Test_Queue =NULL;
#define QUEUE_LEN 4 /* 队列的长度，最大可包含多少个消息 */
#define QUEUE_SIZE 4 /* 队列中每个消息大小（字节） */
static void AppTaskCreate(void);/* 用于创建任务 */
static void Receive_Task(void* pvParameters);/* Receive_Task任务实现 */
static void Send_Task(void* pvParameters);/* Send_Task任务实现 */
static void BSP_Init(void);/* 用于初始化板载相关资源 */
int main(void)
{
BSP_Init();
printf("FreeRTOS-QUEUE!\r\n");
BaseType_t xReturn = pdPASS;/* 定义一个创建信息返回值，默认为pdPASS */
/* 创建 AppTaskCreate 任务 */
xReturn = xTaskCreate((TaskFunction_t )AppTaskCreate, //任务函数
(const char* )"AppTaskCreate", //任务名称
(uint32_t )128, //任务堆栈大小
(void* )NULL, //传递给任务函数的参数
(UBaseType_t )1, //任务优先级
(TaskHandle_t* )&AppTaskCreate_Handle); //任务控制块
if (pdPASS == xReturn)/* 创建成功 */
vTaskStartScheduler(); /* 启动任务，开启调度 */
else
return -1;
while(1); /* 正常不会执行到这里 */
}
/**
* @brief 为了方便管理，所有的任务创建函数都放在这个函数里面
* @param 无
* @retval 无
*/
static void AppTaskCreate(void)
{
taskENTER_CRITICAL(); //进入临界区
BaseType_t xReturn = pdPASS;/* 定义一个创建信息返回值，默认为pdPASS */
Test_Queue = xQueueCreate((UBaseType_t ) QUEUE_LEN,/* 消息队列的长度 */
(UBaseType_t ) QUEUE_SIZE);/* 消息的大小 */
if(NULL != Test_Queue)
printf("QUEUE SUCCESS!\n");
/* 创建LED_Task任务 */
xReturn = xTaskCreate((TaskFunction_t )Receive_Task, //任务函数
(const char* )"Receive_Task", //任务名称
(uint32_t )128, //任务堆栈大小
(void* )NULL, //传递给任务函数的参数
(UBaseType_t )2, //任务优先级
(TaskHandle_t* )&Receive_Task_Handle);/* 任务控制块指针 */
if (pdPASS == xReturn)/* 创建成功 */
printf("Receive_Task SUCCESS!\n");
/* 创建LED_Task任务 */
xReturn = xTaskCreate((TaskFunction_t )Send_Task, //任务函数
(const char* )"Send_Task", //任务名称
(uint32_t )128, //任务堆栈大小
(void* )NULL, //传递给任务函数的参数
(UBaseType_t )3, //任务优先级
(TaskHandle_t* )&Send_Task_Handle);/* 任务控制块指针 */
if (pdPASS == xReturn)/* 创建成功 */
printf("Send_Task SUCCESS!\n");
vTaskDelete(AppTaskCreate_Handle); //删除AppTaskCreate任务
taskEXIT_CRITICAL(); //退出临界区
}
/**
* @brief Receive_Task任务主体
* @param parameter 参数
* @retval 无
*/
static void Receive_Task(void* parameter)
{
BaseType_t xReturn = pdTRUE;/* 定义一个创建信息返回值，默认为pdTRUE */
uint32_t r_queue; /* 定义一个接收消息的变量 */
while (1)
{
xReturn = xQueueReceive( Test_Queue, /* 消息队列的句柄 */
&r_queue, /* 发送的消息内容 */
portMAX_DELAY); /* 等待时间 一直等 */
if(pdTRUE == xReturn)
printf("receive data is:%d\n\n",r_queue);
else
printf("receive data err,err code:0x%lx\n",xReturn);
}
}
/**
* @brief Send_Task任务主体
* @param parameter 参数
* @retval 无
*/
static void Send_Task(void* parameter)
{
BaseType_t xReturn = pdTRUE;/* 定义一个创建信息返回值，默认为pdTRUE */
uint32_t send_data1 = 1;
uint32_t send_data2 = 2;
while (1)
{
if( Key_Scan(KEY1_GPIO_PORT,KEY1_GPIO_PIN) == KEY_ON )
{ /* K1 被按下 */
printf("send_data1!\n");
xReturn = xQueueSend( Test_Queue, /* 消息队列的句柄 */
&send_data1,/* 发送的消息内容 */
0 ); /* 等待时间 0 */
if(pdPASS == xReturn)
printf("send_data1 success!\n\n");
}
if( Key_Scan(KEY2_GPIO_PORT,KEY2_GPIO_PIN) == KEY_ON )
{ /* K2 被按下 */
printf("send_data2!\n");
xReturn = xQueueSend( Test_Queue, /* 消息队列的句柄 */
&send_data2,/* 发送的消息内容 */
0 ); /* 等待时间 0 */
if(pdPASS == xReturn)
printf("send_data2 success!\n\n");
}
vTaskDelay(20);/* 延时20个tick */
}
}
/**
* @brief 板级外设初始化，所有板子上的初始化均可放在这个函数里面
* @param 无
* @retval 无
*/
static void BSP_Init(void)
{
/*
* STM32中断优先级分组为4，即4bit都用来表示抢占优先级，范围为：0~15
* 优先级分组只需要分组一次即可，以后如果有其他的任务需要用到中断，
* 都统一用这个优先级分组，千万不要再分组，切忌。
*/
NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
/* LED 初始化 */
LED_GPIO_Config();
/* 串口初始化 */
USART_Config();
/* 按键初始化 */
Key_GPIO_Config();
}