38 freertos任务通知-任务间通信综合实验

#include 
#include //标准C库文件，定义了各种类型的范围
#include "board.h"
#include "led.h"
#include "key.h"
#include "uart.h"
//#include "tim_mrt.h"



const uint32_t OscRateIn = MAIN_OSC_XTAL_FREQ_HZ;		 
const uint32_t ExtRateIn = EXT_CLOCK_IN_FREQ_HZ;		 
 //系统复位
#define	System_restart	(LPC_SWM->PINENABLE0 = 0xffffffffUL) 


//static void TIM_CallBack1(void);
//static void TIM_CallBack2(void);


#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
#include "task.h"
#include "event_groups.h"//事件头文件
#include "queue.h"//队列头文件
#include "semphr.h"//信号量头文件
#include "timers.h"//软件定时器头文件




static xTaskHandle LED_TaskHandle=NULL;
static xTaskHandle KEY_TaskHandle=NULL;
	

#define TASK_STACK_SIZE 32//每个任务的栈大小

#define SEMAPHORE	1//任务计数信号量
//#define SEMAPHORE	2//任务二值信号量
//#define SEMAPHORE	3//任务事件标志组
#define BIT_0	(1 << 0)
#define BIT_1	(1 << 1)
//#define SEMAPHORE	4//任务消息邮箱(实现长度固定为 1的消息队列)


static void prvSetupHardware(void)
{

	SystemCoreClockUpdate();

	DEBUGINIT();
	led_Init() ;	
	Key_INIT();
//	MRT_Init();
	DEBUGOUT("%u MHzn",SystemCoreClock/1000000);
	Board_UARTPutSTR("build date: " __DATE__ " build time: " __TIME__ "n");

}


static void LED_Task(void* parameter)
{
	uint32_t ulNotifiedValue;
	const TickType_t xMaxBlockTime = pdMS_TO_TICKS(500); 

#if ( (3==SEMAPHORE)||(4==SEMAPHORE) )
	uint32_t ulValue;	
#endif	
	
	while(1)
	{

		
				
#if (SEMAPHORE ==1) //任务计数信号量

		ulNotifiedValue=ulTaskNotifyTake(pdFALSE,// 
										xMaxBlockTime);
		
		if(ulNotifiedValue > 1)
		{
			
			printf("任务 LED_Task 接收到消息， ulNotifiedValue = %drn", ulNotifiedValue);
		}
		else if(ulNotifiedValue == 1)
		{
			printf("任务 LED_Task 接收到消息， ulNotifiedValue = %drn", ulNotifiedValue);
			printf("计数信号量释放完,请用按键重新计数。");
		}
		else
			Board_LED_Toggle(1);
		
		vTaskDelay(2000);//2秒释放一次
		
		
#elif (SEMAPHORE ==2) //任务二值信号量

		(void )ulNotifiedValue;
		(void )xMaxBlockTime;
		ulTaskNotifyTake(pdTRUE,// 
							portMAX_DELAY);

			
		printf("任务 LED_Task 接收到消息n");
		Board_LED_Toggle(1);
		
#elif ( (3==SEMAPHORE)||(4==SEMAPHORE) )

		(void )ulNotifiedValue;
		(void )xMaxBlockTime;
		
		u32 xReturn = xTaskNotifyWait(0x00000000,
									0xFFFFFFFF,
									&ulValue, 
									xMaxBlockTime); 
		if( xReturn == pdPASS )
		{
#if(3 ==SEMAPHORE)
			
			if((ulValue & BIT_0) != 0)
			{
				printf("接收到 K1 按键按下消息, ulNotifiedValue = 0x%08xrn", ulValue);
			}
			if((ulValue & BIT_1) != 0)
			{
				printf("接收到 K2 按键按下消息, ulNotifiedValue = 0x%08xrn", ulValue);
			}
#elif(4 ==SEMAPHORE)
				printf("接收到消息邮箱数据 ulValue = %drn", ulValue);
#endif
		}
		else 
			Board_LED_Toggle(1);
		

		
#endif		
		
		
		
		
	}
}



static void KEY_Task(void* parameter)
{
//	baseType_t xReturn =pdPASS;
#if (SEMAPHORE ==4)	
	u8 ucCount=0;	
#endif
	
	u8 key2=0;
	while(1)
	{
		u8 key=0;
		if(Scan_Key())
			vTaskDelay(20);
		else continue;
		if(!Scan_Key())continue;
		else
		{
			key=Scan_Key();
			key2=key;
		}
		while(Scan_Key()){};//等按键抬起
		
		if(key2)
		{

			switch(key2)
			{
				case 1:
				{
					
//					printf ( "KEY1 被按下n" );
					Board_LED_Toggle(6);
					
#if ( (1==SEMAPHORE)||(2==SEMAPHOER) )
					
					printf("K1 键按下，直接发送消息给任务 LED_Task rn");
					xTaskNotifyGive(LED_TaskHandle);
					
#elif (3==SEMAPHORE)//任务事件标志组
					printf("K1 键按下，任务 LED_Task 事件标志位 bit0 被置位 rn");
					xTaskNotify(LED_TaskHandle, 
								BIT_0, 
								eSetBits); 		
#elif (4==SEMAPHORE)//任务消息邮箱

					printf("K1 键按下，发送消息邮箱数据给任务 LED_Task，覆盖方式rn");
					xTaskNotify(LED_TaskHandle, 
								ucCount++, 
								eSetValueWithOverwrite);
					
#endif			

				}break;
				case 2:
				{
					 
//					printf ( "KEY2 被按下n" );
					Board_LED_Toggle(5);
#if (3==SEMAPHORE)			
					printf("K2 键按下，任务 LED_Task 事件标志位 bit1 被置位 rn");
					xTaskNotify(LED_TaskHandle, 
								BIT_1, 
								eSetBits); 		

					
#elif (4==SEMAPHORE)//任务消息邮箱
					printf("K2 键按下，发送消息邮箱数据给任务 LED_Task，非覆盖方式rn");
					
					if(xTaskNotify(LED_TaskHandle, ucCount++, eSetValueWithoutOverwrite) == pdPASS)
					{
						
						printf("任务 LED_Task 的消息邮箱被更新rn");
					}
					else
					{
						
						printf("任务 LED_Task 的消息邮箱数据未被更新rn");
					}
							
#endif					 
					
					
				}break;
				case 3:
				{
					 
					 
 					
				}break;
				default:break;
			}
			key2=0;
		}
			
	}
}


static void AppTaskCreate(void)
{
	baseType_t xReturn = pdPASS;
	taskENTER_CRITICAL();//进入临界区，禁止中断打断
	
	xReturn = xTaskCreate(	 LED_Task,
							"LED_Task",
							TASK_STACK_SIZE*2,
							NULL,
							2,
							&LED_TaskHandle);
	if (pdPASS == xReturn)
		printf("创建 Receive1_Task 任务成功!rn");
	

	xReturn = xTaskCreate(	 KEY_Task,
							"KEY_Task",
							TASK_STACK_SIZE*2,
							NULL,
							1,
							&KEY_TaskHandle);
	if (pdPASS == xReturn)
		printf("创建 Send_Task 任务成功!rn");

	taskEXIT_CRITICAL(); //退出临界区	

}


int main(void)
{
	
	prvSetupHardware();
	Board_UARTPutSTR("LPC824 FreeRTOS 任务通知任务间通信 n");
	DEBUGSTR("任务通知n");
	DEBUGSTR("任务1用发送通知，任务2接收通知 n");
	

	AppTaskCreate();

	vTaskStartScheduler();//任务调度

	
	while (1) {
			printf("FreeRTOS 运行失败nr");
 	}
	
	
}


void HardFault_Handler(void)
{
	printf("硬件错误中断n");
	while(1)
	{

	}
}

//#define SEMAPHORE	1//任务计数信号量

	xTaskNotifyGive
	vTaskNotifyGiveFromISR
	ulTaskNotifyTake

//#define SEMAPHORE	2//任务二值信号量
	xTaskNotifyGive
	vTaskNotifyGiveFromISR
	ulTaskNotifyTake

//#define SEMAPHORE	3//任务事件标志组

	xTaskNotify
	xTaskNotifyFromISR
	xTaskNotifyWait
	
#define SEMAPHORE	4//任务消息邮箱

	xTaskNotify
	xTaskNotifyFromISR
	xTaskNotifyWait