网站跟信息推广有哪些信息化建设,品牌营销公司,产品网站推广方案,规划设计公司业务管理流程STM32CUBEIDE FreeRTOS操作教程#xff08;七#xff09;#xff1a;queue队列
STM32CUBE开发环境集成了STM32 HAL库进行FreeRTOS配置和开发的组件#xff0c;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开发板为例#xff…STM32CUBEIDE FreeRTOS操作教程七queue队列
STM32CUBE开发环境集成了STM32 HAL库进行FreeRTOS配置和开发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开发板为例只用到USBUSART1极少的接口体现FreeRTOS的各种操作过程。 操作教程七配置FreeRTOS及相关环境实现LED闪灯功能及基于queue队列的USB虚拟串口收发环回。从电脑端连接USB虚拟串口后发送出去的串口数据会从STM32返回。
FreeRTOS的教程较多推荐参考正点原子所出的《STM32F407 FreeRTOS开发手册》了解相关知识。
STM32CUBEIDE工程配置
选择TIM1(也可以是其它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串口但本例中不用到UART1): FreeRTOS配置 保存并生成初始工程代码 在生成代码的这个部分可以看到FreeRTOS代码部分 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度当然此时的任务都是什么也不干。实现LED闪灯就在LED闪灯任务里加入代码即可
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 */
}也就实现了LED闪灯功能其中osDelay(1000);实现1秒时间的操作系统调度延时也就是1秒执行一次LED灯的亮灭。osDelay(1是最小的调度延时为1毫秒。要实现更小的延时则可以用微秒延时函数实现参考《STM32 HAL us delay微秒延时的指令延时实现方式及优化》。
在USB的接收中断里向队列里入数据在任务里检测到队列非空则将队列里的数据向USB虚拟串口输出。
USB接收部分的代码
static int8_t CDC_Receive_FS(uint8_t* Buf, uint32_t *Len)
{/* USER CODE BEGIN 6 */extern osMessageQueueId_t USB_VCOM_Queue01Handle;extern BaseType_t USB_VCOM_pxHigherPriorityTaskWaken;for(uint32_t i0; i*Len; i){xQueueSendFromISR(USB_VCOM_Queue01Handle, Buf[i], USB_VCOM_pxHigherPriorityTaskWaken);}USBD_CDC_SetRxBuffer(hUsbDeviceFS, Buf[0]);USBD_CDC_ReceivePacket(hUsbDeviceFS);return (USBD_OK);/* USER CODE END 6 */
}main.c文件里任务处理
void StartTask_TASK_USB_VCOM(void *argument)
{/* USER CODE BEGIN StartTask_TASK_USB_VCOM */BaseType_t err_stu pdFALSE;uint8_t TD 0;/* Infinite loop */for(;;){osDelay(10);while(xQueueReceive(USB_VCOM_Queue01Handle, TD, USB_VCOM_pxHigherPriorityTaskWaken)!err_stu){usbprintarray(TD, 1);}}/* USER CODE END StartTask_TASK_USB_VCOM */
}完整的main.c文件
/* 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 7: LED flash USB VCOM loop back with Queue
//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 queue.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 */
osThreadId_t TASK_USB_VCOMHandle;
const osThreadAttr_t TASK_USB_VCOM_attributes {.name TASK_USB_VCOM,.stack_size 128 * 4,.priority (osPriority_t) osPriorityLow,
};
/* Definitions for USB_VCOM_Queue01 */
osMessageQueueId_t USB_VCOM_Queue01Handle;
const osMessageQueueAttr_t USB_VCOM_Queue01_attributes {.name USB_VCOM_Queue01
};
/* 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(void *argument);/* USER CODE BEGIN PFP *//* USER CODE END PFP *//* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
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 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 *//* USER CODE END 2 *//* Init scheduler */osKernelInitialize();/* 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 *//* Create the queue(s) *//* creation of USB_VCOM_Queue01 */USB_VCOM_Queue01Handle osMessageQueueNew (1024, sizeof(uint8_t), USB_VCOM_Queue01_attributes);/* 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 */TASK_USB_VCOMHandle osThreadNew(StartTask_TASK_USB_VCOM, NULL, TASK_USB_VCOM_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 */
/**
* brief Function implementing the TASK_USB_VCOM thread.
* param argument: Not used
* retval None
*/
/* USER CODE END Header_StartTask_TASK_USB_VCOM */
void StartTask_TASK_USB_VCOM(void *argument)
{/* USER CODE BEGIN StartTask_TASK_USB_VCOM */BaseType_t err_stu pdFALSE;uint8_t TD 0;/* Infinite loop */for(;;){osDelay(10);while(xQueueReceive(USB_VCOM_Queue01Handle, TD, USB_VCOM_pxHigherPriorityTaskWaken)!err_stu){usbprintarray(TD, 1);}}/* USER CODE END StartTask_TASK_USB_VCOM */
}/*** 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 */
例程下载
STM32 STM32CUBEIDE FreeRTOS操作教程七queue队列 例程
例程测试
例程测试效果如下 –End–
