【FreeRTOS】小白进阶之如何在产品中同时使用FreeRTOS队列和中断

简析队列和中断的综合运用。

1、头文件声明

  

   

    

     

    
    

     

      #include "FreeRTOS.h"
     
    
   

    

     

    
    

     

      #include "task.h"
     
    
   

    

     

    
    

     

      #include "queue.h"
     
    
   

    

     

    
    

     

      #include "supporting_functions.h"
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      // 模拟中断号，中断号 0 和 2 已经被 FreeRTOS Windows port 占用
     
    
   

    

     

    
    

     

      #define mainINTERRUPT_NUMBER 3
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      // 任务
     
    
   

    

     

    
    

     

      static void vIntegerGenerator( void *pvParameters );
     
    
   

    

     

    
    

     

      static void vStringPrinter( void *pvParameters );
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      // 中断函数
     
    
   

    

     

    
    

     

      static uint32_t ulExampleInterruptHandler( void );
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      // 队列
     
    
   

    

     

    
    

     

      QueueHandle_t xIntegerQueue, xStringQueue;
     
    
  
 

2、启动任务

  

   

    

     

    
    

     

      int main( void )
     
    
   

    

     

    
    

     

      {
     
    
   

    

     

    
    

     
    // 创建队列
     
    
   

    

     

    
    

     

          xIntegerQueue = xQueueCreate( 10, sizeof( uint32_t ) );
     
    
   

    

     

    
    

     

      	xStringQueue = xQueueCreate( 10, sizeof( char * ) );
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
	// 创建任务：传递整形数据到中断
     
    
   

    

     

    
    

     

      	xTaskCreate( vIntegerGenerator, "IntGen", 1000, NULL, 1, NULL );
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
	// 创建任务：处理字符串
     
    
   

    

     

    
    

     

      	xTaskCreate( vStringPrinter, "String", 1000, NULL, 2, NULL );
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
	// 注册中断处理函数
     
    
   

    

     

    
    

     

      	vPortSetInterruptHandler( mainINTERRUPT_NUMBER, ulExampleInterruptHandler );
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
	// 启动任务调度
     
    
   

    

     

    
    

     

      	vTaskStartScheduler();
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
	for( ;; );
     
    
   

    

     

    
    

     
	return 0;
     
    
   

    

     

    
    

     

      }
     
    
  
 

 3、任务

  

   

    

     

    
    

     

      static void vIntegerGenerator( void *pvParameters )
     
    
   

    

     

    
    

     

      {
     
    
   

    

     

    
    

     
	TickType_t xLastExecutionTime;
     
    
   

    

     

    
    

     

      	const TickType_t xDelay200ms = pdMS_TO_TICKS( 200UL ), xDontBlock = 0;
     
    
   

    

     

    
    

     

      	uint32_t ulValueToSend = 0;
     
    
   

    

     

    
    

     
	BaseType_t i;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
	// 获取当前 tick
     
    
   

    

     

    
    

     

      	xLastExecutionTime = xTaskGetTickCount();
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
	for( ;; )
     
    
   

    

     

    
    

     

      	{
     
    
   

    

     

    
    

     
		// 延时 200ms 并更新时间 tick
     
    
   

    

     

    
    

     

      		vTaskDelayUntil( &xLastExecutionTime, xDelay200ms );
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
		// 写数据到队列
     
    
   

    

     

    
    

     
		for( i = 0; i < 5; i++ )
     
    
   

    

     

    
    

     

      		{
     
    
   

    

     

    
    

     

      			xQueueSendToBack( xIntegerQueue, &ulValueToSend, xDontBlock );
     
    
   

    

     

    
    

     

      			ulValueToSend++;
     
    
   

    

     

    
    

     

      		}
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
		// 启动模拟中断
     
    
   

    

     

    
    

     

      		vPrintString( "Generator task - About to generate an interrupt.\r\n" );
     
    
   

    

     

    
    

     

      		vPortGenerateSimulatedInterrupt( mainINTERRUPT_NUMBER );
     
    
   

    

     

    
    

     

      		vPrintString( "Generator task - Interrupt generated.\r\n\r\n\r\n" );
     
    
   

    

     

    
    

     

      	}
     
    
   

    

     

    
    

     

      }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      static void vStringPrinter( void *pvParameters )
     
    
   

    

     

    
    

     

      {
     
    
   

    

     

    
    

     

      	char *pcString;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
	for( ;; )
     
    
   

    

     

    
    

     

      	{
     
    
   

    

     

    
    

     
		// block 等待数据
     
    
   

    

     

    
    

     

      		xQueueReceive( xStringQueue, &pcString, portMAX_DELAY );
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      		vPrintString( pcString );
     
    
   

    

     

    
    

     

      	}
     
    
   

    

     

    
    

     

      }
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      // 中断处理函数
     
    
   

    

     

    
    

     

      static uint32_t ulExampleInterruptHandler( void )
     
    
   

    

     

    
    

     

      {
     
    
   

    

     

    
    

     
	BaseType_t xHigherPriorityTaskWoken;
     
    
   

    

     

    
    

     

      	uint32_t ulReceivedNumber;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
	static const char *pcStrings[] =
     
    
   

    

     

    
    

     

      	{
     
    
   

    

     

    
    

     
		"String 0\r\n",
     
    
   

    

     

    
    

     
		"String 1\r\n",
     
    
   

    

     

    
    

     
		"String 2\r\n",
     
    
   

    

     

    
    

     
		"String 3\r\n"
     
    
   

    

     

    
    

     

      	};
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      	xHigherPriorityTaskWoken = pdFALSE;
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     
	// 读取队列数据
     
    
   

    

     

    
    

     
	while( xQueueReceiveFromISR( xIntegerQueue, &ulReceivedNumber, &xHigherPriorityTaskWoken ) != errQUEUE_EMPTY )
     
    
   

    

     

    
    

     

      	{
     
    
   

    

     

    
    

     

      		ulReceivedNumber &= 0x03;
     
    
   

    

     

    
    

     

      		xQueueSendToBackFromISR( xStringQueue, &pcStrings[ ulReceivedNumber ], &xHigherPriorityTaskWoken );
     
    
   

    

     

    
    

     

      	}
     
    
   

    

     

    
    

     
 
     
    
   

    

     

    
    

     

      	portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
     
    
   

    

     

    
    

     

      }
     
    
  
 

文章来源: blog.csdn.net，作者：简一商业，版权归原作者所有，如需转载，请联系作者。

原文链接：blog.csdn.net/liwei16611/article/details/82593987