目錄

修改FreeRTOS代碼

創建任務

?編寫任務函數

添加定時器模塊

配置定時器模塊?初始化，并注冊中斷函數

?編寫中斷函數

打印下系統信息

打印FreeRTOS系統信息現象

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Freertos---SDK修改(和修改代碼一個效果)

?

修改FreeRTOS代碼

main.c中添加 uint8_t CPU_RunInfo[400]; volatile uint32_t CPU_RunTime;FreeRTOSconfig.h中修改 /* Run time and task stats gathering related definitions. */ #define configGENERATE_RUN_TIME_STATS 0 #define configUSE_TRACE_FACILITY 0 #define configUSE_STATS_FORMATTING_FUNCTIONS 0///修改為 /* Run time and task stats gathering related definitions. */ #define configGENERATE_RUN_TIME_STATS 1 #define configUSE_TRACE_FACILITY 1 #define configUSE_STATS_FORMATTING_FUNCTIONS 1extern volatile uint32_t CPU_RunTime; #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() (CPU_RunTime = 0ul) #define portGET_RUN_TIME_COUNTER_VALUE() CPU_RunTime

創建任務

/*創建任務*/ void rtos_start(void) {xTaskCreate( (TaskFunction_t ) LED1_Task,( char * ) "LED1_Task",(const configSTACK_DEPTH_TYPE) configMINIMAL_STACK_SIZE ,(void * ) NULL,(UBaseType_t ) 14,(TaskHandle_t *) NULL ) ;xTaskCreate( (TaskFunction_t ) LED2_Task,( char * ) "LED2_Task",(const configSTACK_DEPTH_TYPE) configMINIMAL_STACK_SIZE ,(void * ) NULL,(UBaseType_t ) 14,(TaskHandle_t *) NULL ) ;xTaskCreate( (TaskFunction_t ) LED3_Task,( char * ) "LED3_Task",(const configSTACK_DEPTH_TYPE) configMINIMAL_STACK_SIZE ,(void * ) NULL,(UBaseType_t ) 14,(TaskHandle_t *) NULL ) ;xTaskCreate( (TaskFunction_t ) LED4_Task,( char * ) "LED4_Task",(const configSTACK_DEPTH_TYPE) configMINIMAL_STACK_SIZE ,(void * ) NULL,(UBaseType_t ) 14,(TaskHandle_t *) NULL ) ;xTaskCreate( (TaskFunction_t ) main_Task,( char * ) "main_Task",(const configSTACK_DEPTH_TYPE) configMINIMAL_STACK_SIZE ,(void * ) NULL,(UBaseType_t ) 14,(TaskHandle_t *) NULL ) ;vTaskStartScheduler();}

?編寫任務函數

void LED1_Task( void *pvParameters ) {(void) pvParameters;uint8_t count = 0;while(1){count++;if(20 == count){count = 0;u1_printf("LED1_Task running & !\r\n");}PINS_DRV_TogglePins(PTD, 1 << 0);vTaskDelay(800);} }void LED2_Task( void *pvParameters ) {(void) pvParameters;uint8_t count = 0;while(1){count++;if(20 == count){count = 0;u1_printf("LED2_Task running & !\r\n");}PINS_DRV_TogglePins(PTD, 1 << 1);vTaskDelay(400);} }void LED3_Task( void *pvParameters ) {(void) pvParameters;uint8_t count = 0;while(1){count++;if(20 == count){count = 0;u1_printf("LED3_Task running & !\r\n");}PINS_DRV_TogglePins(PTD, 1 << 15);vTaskDelay(200);} }void LED4_Task( void *pvParameters ) {(void) pvParameters;uint8_t count = 0;while(1){count++;if(20 == count){count = 0;u1_printf("LED4_Task running & !\r\n");}PINS_DRV_TogglePins(PTD, 1 << 16);vTaskDelay(100);} }TaskHandle_t TEST_task_handler;/*創建一個任務并刪除自身*/ void TEST_Task( void *pvParameters ) {(void) pvParameters;taskENTER_CRITICAL();u1_printf("test Task running & delete!\r\n");vTaskDelete(TEST_task_handler);taskEXIT_CRITICAL(); }/*主循環*/ void main_Task( void *pvParameters ) {(void) pvParameters;uint32_t pinstate;ftm_state_t ftmStateStruct;/* 初始化FTM模塊 */FTM_DRV_Init(INST_FLEXTIMER_MC1, &flexTimer_mc1_InitConfig,&ftmStateStruct);/* 配置并使定時器能溢出中斷 */INT_SYS_InstallHandler(FTM0_Ovf_Reload_IRQn,&ftmTimerISR,(isr_t*) 0U);INT_SYS_EnableIRQ(FTM0_Ovf_Reload_IRQn);/* 初始化計數器 */FTM_DRV_InitCounter(INST_FLEXTIMER_MC1, &flexTimer_mc1_TimerConfig);FTM_DRV_CounterStart(INST_FLEXTIMER_MC1);while(1){pinstate = KEY_Proc (0);if(pinstate ==BTN1_PRES ){xTaskCreate( (TaskFunction_t ) TEST_Task,( char * ) "TEST_Task",(const configSTACK_DEPTH_TYPE) configMINIMAL_STACK_SIZE ,(void * ) NULL,(UBaseType_t ) 1,(TaskHandle_t *) TEST_task_handler ) ;taskENTER_CRITICAL();Printf_CPU_RunInfo();taskEXIT_CRITICAL();}vTaskDelay(20);} }

添加定時器模塊

配置定時器模塊初始化，并注冊中斷函數

ftm_state_t ftmStateStruct;/* 初始化FTM模塊 */FTM_DRV_Init(INST_FLEXTIMER_MC1, &flexTimer_mc1_InitConfig,&ftmStateStruct);/* 配置并使定時器能溢出中斷 */INT_SYS_InstallHandler(FTM0_Ovf_Reload_IRQn,&ftmTimerISR,(isr_t*) 0U);INT_SYS_EnableIRQ(FTM0_Ovf_Reload_IRQn);/* 初始化計數器 */FTM_DRV_InitCounter(INST_FLEXTIMER_MC1, &flexTimer_mc1_TimerConfig);FTM_DRV_CounterStart(INST_FLEXTIMER_MC1);

?編寫中斷函數

void ftmTimerISR(void) {//ftm周期中斷 50us進來一此CPU_RunTime++;FTM_DRV_ClearStatusFlags(INST_FLEXTIMER_MC1, (uint32_t)FTM_TIME_OVER_FLOW_FLAG); //清除FTM狀態標志位 }

打印下系統信息

//打印CPU信息 void Printf_CPU_RunInfo() {uint32_t GetFrequency ;uint32_t ConvertFreqToPeriodTicks ;memset(CPU_RunInfo,0,400); //信息緩沖區清零vTaskList((char *)&CPU_RunInfo); //獲取任務運行時間信息u1_printf("------------------------------------------------\r\n");u1_printf("Name Status Priority Residue Number\r\n");u1_printf("%s", CPU_RunInfo);u1_printf("------------------------------------------------\r\n\n");memset(CPU_RunInfo,0,400); //信息緩沖區清零vTaskGetRunTimeStats((char *)&CPU_RunInfo);u1_printf("Task name Run count usage\r\n");u1_printf("%s", CPU_RunInfo);u1_printf("------------------------------------------------\r\n\n");GetFrequency = FTM_DRV_GetFrequency(INST_FLEXTIMER_MC1);ConvertFreqToPeriodTicks = FTM_DRV_ConvertFreqToPeriodTicks(INST_FLEXTIMER_MC1,20000);u1_printf("GetFrequency = %d\r\n\n",GetFrequency);u1_printf("ConvertFreqToPeriodTicks = %d\r\n\n",ConvertFreqToPeriodTicks); }

打印FreeRTOS系統信息現象

?參考資料14. CPU使用率統計 — FreeRTOS內核實現與應用開發實戰指南—基于STM32 文檔 (embedfire.com)

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