STM32CubeMX学习笔记（31）——FreeRTOS实时操作系统使用(互斥量)

    printf('The default value of parking space is 5, Press key1 to apply for parking space, and press key2 to release parking space!nn');

  /* USER CODE END 2 */

  /* Create the mutex(es) */

  /* definition and creation of MuxSem */

  osMutexDef(MuxSem);

  MuxSemHandle = osMutexCreate(osMutex(MuxSem));

  /* 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 defaultTask */

  osThreadDef(defaultTask, StartDefaultTask, osPriorityNormal, 0, 128);

  defaultTaskHandle = osThreadCreate(osThread(defaultTask), NULL);

  /* definition and creation of LowPriority */

  osThreadDef(LowPriority, LowPriorityTask, osPriorityIdle, 0, 128);

  LowPriorityHandle = osThreadCreate(osThread(LowPriority), NULL);

  /* definition and creation of MidPriority */

  osThreadDef(MidPriority, MidPriorityTask, osPriorityIdle, 0, 128);

  MidPriorityHandle = osThreadCreate(osThread(MidPriority), NULL);

  /* definition and creation of HighPriority */

  osThreadDef(HighPriority, HighPriorityTask, osPriorityIdle, 0, 128);

  HighPriorityHandle = osThreadCreate(osThread(HighPriority), NULL);

  /* USER CODE BEGIN RTOS_THREADS */

  /* add threads, ... */

  /* USER CODE END RTOS_THREADS */

  /* 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};

  /** 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.HSEPredivValue = RCC_HSE_PREDIV_DIV1;

  RCC_OscInitStruct.HSIState = RCC_HSI_ON;

  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;

  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;

  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;

  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_DMA1_CLK_ENABLE();

  /* DMA interrupt init */

  /* DMA1_Channel4_IRQn interrupt configuration */

  HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 5, 0);

  HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);

  /* DMA1_Channel5_IRQn interrupt configuration */

  HAL_NVIC_SetPriority(DMA1_Channel5_IRQn, 5, 0);

  HAL_NVIC_EnableIRQ(DMA1_Channel5_IRQn);

}

/**

  * @brief GPIO Initialization Function

  * @param None

  * @retval None

  */

static void MX_GPIO_Init(void)

{

  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */

  __HAL_RCC_GPIOC_CLK_ENABLE();

  __HAL_RCC_GPIOA_CLK_ENABLE();

  __HAL_RCC_GPIOB_CLK_ENABLE();

  /*Configure GPIO pin Output Level */

  HAL_GPIO_WritePin(GPIOB, LED_G_Pin|LED_B_Pin|LED_R_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin : KEY2_Pin */

  GPIO_InitStruct.Pin = KEY2_Pin;

  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;

  GPIO_InitStruct.Pull = GPIO_NOPULL;

  HAL_GPIO_Init(KEY2_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pin : KEY1_Pin */

  GPIO_InitStruct.Pin = KEY1_Pin;

  GPIO_InitStruct.Mode = GPIO_MODE_INPUT;

  GPIO_InitStruct.Pull = GPIO_NOPULL;

  HAL_GPIO_Init(KEY1_GPIO_Port, &GPIO_InitStruct);

  /*Configure GPIO pins : LED_G_Pin LED_B_Pin LED_R_Pin */

  GPIO_InitStruct.Pin = LED_G_Pin|LED_B_Pin|LED_R_Pin;

  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;

  GPIO_InitStruct.Pull = GPIO_NOPULL;

  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;

  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);

}

/* USER CODE BEGIN 4 */

/**

  * @brief 重定向c库函数printf到USARTx

  * @retval None

  */

int fputc(int ch, FILE *f)

{

  HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xffff);

  return ch;

}

/**

  * @brief 重定向c库函数getchar,scanf到USARTx

  * @retval None

  */

int fgetc(FILE *f)

{

  uint8_t ch = 0;

  HAL_UART_Receive(&huart1, &ch, 1, 0xffff);

  return ch;

}

/* 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 const * argument)

{

  /* USER CODE BEGIN 5 */

  /* Infinite loop */

  for(;;)

  {

    osDelay(1);

  }

  /* USER CODE END 5 */

}

/* USER CODE BEGIN Header_LowPriorityTask */

/**

* @brief Function implementing the LowPriority thread.

* @param argument: Not used

* @retval None

*/

/* USER CODE END Header_LowPriorityTask */

void LowPriorityTask(void const * argument)

{

  /* USER CODE BEGIN LowPriorityTask */

  static uint32_t i; 

  osStatus xReturn;

  /* Infinite loop */

  for(;;)

  {

    printf('LowPriority_Task Get Mutexn');

    //获取互斥量 MuxSem,没获取到则一直等待 

    xReturn = osMutexWait(MuxSemHandle,     /* 互斥量句柄 */ 

                          osWaitForever);   /* 等待时间 */

    if(osOK == xReturn) 

    {

        printf('LowPriority_Task Runingnn'); 

    }

    for(i = 0; i < 2000000; i++) 

    { //模拟低优先级任务占用互斥量 

        taskYIELD();//发起任务调度 

    } 

    printf('LowPriority_Task Release Mutexrn'); 

    xReturn = osMutexRelease(MuxSemHandle);//给出互斥量 

    osDelay(1000);

  }

  /* USER CODE END LowPriorityTask */

}

/* USER CODE BEGIN Header_MidPriorityTask */

/**

* @brief Function implementing the MidPriority thread.

* @param argument: Not used

* @retval None

*/

/* USER CODE END Header_MidPriorityTask */

void MidPriorityTask(void const * argument)

{

  /* USER CODE BEGIN MidPriorityTask */

  /* Infinite loop */

  for(;;)

  {

    printf('MidPriority_Task Runingn'); 

    osDelay(1000);

  }

  /* USER CODE END MidPriorityTask */

}

/* USER CODE BEGIN Header_HighPriorityTask */

/**

* @brief Function implementing the HighPriority thread.

* @param argument: Not used

* @retval None

*/

/* USER CODE END Header_HighPriorityTask */

void HighPriorityTask(void const * argument)

{

  /* USER CODE BEGIN HighPriorityTask */

  osStatus xReturn;

  /* Infinite loop */

  for(;;)

  {

    printf('HighPriority_Task Get Mutexn'); 

    //获取互斥量 MuxSem,没获取到则一直等待 

    xReturn = osMutexWait(MuxSemHandle,     /* 互斥量句柄 */ 

                          osWaitForever);   /* 等待时间 */

    if(osOK == xReturn) 

    {

        printf('HighPriority_Task Runingn'); 

    }

    printf('HighPriority_Task Release Mutexrn'); 

    xReturn = osMutexRelease(MuxSemHandle);//给出互斥量

    osDelay(1000);

  }

  /* USER CODE END HighPriorityTask */

}

/**

  * @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