freereos.zip 4.41KB

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资源文件列表:

freereos.zip 大约有4个文件

freereos/Encoder.c 6.46KB
freereos/Encoder.h 199B
freereos/freertos_demo.c 6.94KB
freereos/freertos_demo.h 465B

资源介绍:

freereos.zip

#include "freertos_demo.h" #include "stm32f10x.h" /*FreeRTOS*********************************************************************************************/ //#include "FreeRTOS.h" //#include "task.h" //#include "timers.h" #include "OLED.h" #include "Encoder.h" #include "event_groups.h" #include "task.h" unsigned char okay,flg; unsigned char flag=1; int16_t Num; //定义待被旋转编码器调节的变量 unsigned char hour,min,second; unsigned char tim_arv=0; EventBits_t bits1; EventGroupHandle_t eventGroup; BaseType_t xHigherPriorityTaskWoken=pdFALSE; #define START_TASK_PRIO 1 #define START_TASK_STACK_SIZE 128 TaskHandle_t start_task_handler; void start_task( void * pvParameters ); #define TASK1_PRIO 1 #define TASK1_STACK_SIZE 800 TaskHandle_t task1_handler; void task1( void * pvParameters ); #define TASK2_PRIO 2 #define TASK2_STACK_SIZE 128 TaskHandle_t task2_handler; void task2( void * pvParameters ); #define TASK3_PRIO 1 #define TASK3_STACK_SIZE 800 TaskHandle_t task3_handler; void task3( void * pvParameters ); #define TASK4_PRIO 2 #define TASK4_STACK_SIZE 800 TaskHandle_t task4_handler; //void task4( void * pvParameters ); #define TaskTimer_PRIO 2 #define TaskTimer_STACK_SIZE 128 TaskHandle_t TaskTimer_handler; //#define a_handler TaskTimer_handler void TaskTimer( void * pvParameters ); TimerHandle_t xTimer; void vTimerCallback(TimerHandle_t xTimer); void freertos_demo(void) { xTaskCreate((TaskFunction_t ) start_task, (char * ) "start_task", (configSTACK_DEPTH_TYPE ) START_TASK_STACK_SIZE, (void * ) NULL, (UBaseType_t ) START_TASK_PRIO, (TaskHandle_t * ) &start_task_handler ); vTaskStartScheduler(); } void start_task( void * pvParameters ) { taskENTER_CRITICAL(); // TimerHandle_t xTimer; // if(xTimer!=NULL){ // // if(xTimerStart(xTimer,0)!=pdPASS){print("Failed to start timer\n");} // else{print("Failed to create timer\n");} // // } eventGroup=xEventGroupCreate(); xTaskCreate((TaskFunction_t ) TaskTimer, (char * ) "TaskTimer", (configSTACK_DEPTH_TYPE ) TaskTimer_STACK_SIZE, (void * ) NULL, (UBaseType_t ) TaskTimer_PRIO, (TaskHandle_t * ) &TaskTimer_handler ); xTaskCreate((TaskFunction_t ) task1, (char * ) "task1", (configSTACK_DEPTH_TYPE ) TASK1_STACK_SIZE, (void * ) NULL, (UBaseType_t ) TASK1_PRIO, (TaskHandle_t * ) &task1_handler ); xTaskCreate((TaskFunction_t ) task2, (char * ) "task2", (configSTACK_DEPTH_TYPE ) TASK2_STACK_SIZE, (void * ) NULL, (UBaseType_t ) TASK2_PRIO, (TaskHandle_t * ) &task2_handler ); xTaskCreate((TaskFunction_t ) task3, (char * ) "task3", (configSTACK_DEPTH_TYPE ) TASK3_STACK_SIZE, (void * ) NULL, (UBaseType_t ) TASK3_PRIO, (TaskHandle_t * ) &task3_handler ); xTaskCreate((TaskFunction_t ) task4, (char * ) "task4", (configSTACK_DEPTH_TYPE ) TASK4_STACK_SIZE, (void * ) NULL, (UBaseType_t ) TASK4_PRIO, (TaskHandle_t * ) &task4_handler ); vTaskDelete(NULL); taskEXIT_CRITICAL(); } void TaskTimer( void * pvParameters ) { while(1){ // EventBits_t bits1; bits1=xEventGroupWaitBits(eventGroup,BIT1,pdTRUE,pdTRUE,portMAX_DELAY); if(bits1)OLED_ShowString(4,7, "YE"); OLED_ShowString(4,11, "ok"); break; } } void vTimerCallback(TimerHandle_t xTimer) { tim_arv=1; // vTaskDelay(pdMS_TO_TICKS(1000)); // vTaskDelete(NULL); // Num += Encoder_Get(); //获取自上此调用此函数后，旋转编码器的增量值，并将增量值加到Num上 // okay=ok1(); TaskHandle_t xTask3Handle=(TaskHandle_t)pvTimerGetTimerID(xTimer); xTaskNotifyGive(xTask3Handle); } void task1( void * pvParameters ) { uint32_t task1_num = 0; // unsigned char ok_task2=0; // OLED_ShowString(2, 1, "V:"); // OLED_ShowString(3, 1, "R:"); // OLED_ShowString(4, 1, "H:"); // // Num += Encoder_Get(); //获取自上此调用此函数后，旋转编码器的增量值，并将增量值加到Num上 // okay=ok1(); OLED_ShowSignedNum(1, 5, Num, 2); //显示Num OLED_ShowString(2, 1, "V:"); OLED_ShowString(3, 1, "R:"); OLED_ShowString(4, 1, "H:"); // if(Num==1&&okay==1)task1(task1); // if(Num==2&&okay==1)task2(task2); // if(Num==3&&okay==1)task3(task3); task1_num=1; vTaskDelay(5000); OLED_ShowString( 2, 11, "put"); vTaskDelay(2000); // while(1) // { // ok_task2=ok1(); // if(ok_task2==1)break; // } OLED_ShowString(2, 10, "c"); task1_num=0; vTaskDelay(3000); OLED_ShowString(2, 10, "ok "); vTaskDelete(NULL); } void task2( void * pvParameters ) { uint32_t task2_num = 0; task2_num=1; vTaskDelay(10000); OLED_ShowString(3, 10, "ok"); vTaskDelete(NULL); } void task3( void * pvParameters ) { // vTaskDelay(pdMS_TO_TICKS(2000)); xTimer=xTimerCreate("Timer",pdMS_TO_TICKS(1000),pdTRUE, (void*)xTaskGetCurrentTaskHandle(), vTimerCallback); if(xTimer!=NULL){ xTimerStart(xTimer,0);} flg=1; while(1){ ulTaskNotifyTake(pdTRUE,portMAX_DELAY); if(tim_arv==1) { tim_arv=0; second++; if(second>60){min++;second=0;} if(min>60){hour++;min=0;} if(hour>24){hour=0;} OLED_ShowString(1, 9, "TIM: "); OLED_ShowSignedNum(1, 14,second, 2); //显示Num // vTaskDelay(pdMS_TO_TICKS(10)); } } } void task4( void * pvParameters ) { EventBits_t bits; // BaseType_t xHigherPriorityTaskWoken=pdFALSE; while(1) { bits=xEventGroupWaitBits(eventGroup,BIT0|BIT2,pdTRUE,pdFALSE,portMAX_DELAY); if(bits&&flag) { Num += Encoder_Get(); //获取自上此调用此函数后，旋转编码器的增量值，并将增量值加到Num上 okay=ok1(); OLED_ShowSignedNum(1, 5, Num, 2); //显示Num flag=0; } // portYIELD_FROM_ISR(xHigherPriorityTaskWoken); } // portYIELD_FROM_ISR(xHigherPriorityTaskWoken); // xEventGroupSetBitsFromISR(eventGroup,BIT1,NULL); }

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