[转]基于时间触发的裸机任务调度 - M&D - 博客园
/**/
1 #define TASK_NUM (3) 2 3 typedef struct _TASK_COMPONETS_ 4 { 5 uint8_t Run; //运行状态 6 uint16_t Timer; //任务启动延时,设置此值防止任务重叠 7 uint16_t lvtTime; //任务运行周期间隔 8 void (*TaskHook)(void); //任务函数指针 9 10 }TASK_COMPONENTS;11 12 13 typedef enum _TASK_LIST_14 {15 TASK_1,16 TASK_2,17 TASK_3,18 TASK_MAX19 }TASK_LIST;20 21 TASK_COMPONENTS TaskComps[TASK_NUM] =22 {23 {0, 1, 35, Task1},24 {0, 3, 40, Task2},25 {0, 5, 45, Task3},26 };27 28 void TaskRemaks(void)29 {30 uint8_t i;31 for(i = 0; i < TASK_MAX; i++)32 {33 if(TaskComps[i].Timer)34 {35 TaskComps[i].Timer--;36 if(TaskComps[i].Timer == 0)37 {38 TaskComps[i].Timer = TaskComps[i].lvtTime;39 TaskComps[i].Run = 1;40 }41 }42 }43 44 }45 46 void TaskProcess(void)47 {48 uint8_t i;49 for(i = 0; i < TASK_MAX; i++)50 {51 if(TaskComps[i].Run)52 {53 TaskComps[i].TaskHook();54 TaskComps[i].Run = 0;55 }56 }57 }58 59 void Task1 (void)60 {61 printf("[%ldms]T1 \r\n",HAL_GetTick());62 }63 64 void Task2 (void)65 {66 printf("[%ldms]T2 \r\n",HAL_GetTick());67 }68 69 void Task3 (void)70 {71 printf("[%ldms]T3 \r\n",HAL_GetTick());72 }
1ms定时器中断：
1 void MX_TIM1_Init(void) 2 { 3 TIM_ClockConfigTypeDef sClockSourceConfig; 4 TIM_MasterConfigTypeDef sMasterConfig; 5 6 htim1.Instance = TIM1; 7 htim1.Init.Prescaler = 71; 8 htim1.Init.CounterMode = TIM_COUNTERMODE_UP; 9 htim1.Init.Period = 999;10 htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;11 htim1.Init.RepetitionCounter = 0;12 htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;13 if (HAL_TIM_Base_Init(&htim1) != HAL_OK)14 {15 _Error_Handler(__FILE__, __LINE__);16 }17 18 sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;19 if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)20 {21 _Error_Handler(__FILE__, __LINE__);22 }23 24 sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;25 sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;26 if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)27 {28 _Error_Handler(__FILE__, __LINE__);29 }30 31 }32 33 34 void TIM1_UP_IRQHandler(void)35 {36 /* USER CODE BEGIN TIM1_UP_IRQn 0 */37 38 /* USER CODE END TIM1_UP_IRQn 0 */39 HAL_TIM_IRQHandler(&htim1);40 /* USER CODE BEGIN TIM1_UP_IRQn 1 */41 42 /* USER CODE END TIM1_UP_IRQn 1 */43 }44 45 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)46 {47 if(htim->Instance == TIM1)48 {49 TaskRemaks();50 }51 }
1 int main(void) 2 { 3 /* USER CODE BEGIN 1 */ 4 5 /* USER CODE END 1 */ 6 7 /* MCU Configuration----------------------------------------------------------*/ 8 9 /* Reset of all peripherals, Initializes the Flash interface and the Systick. */10 HAL_Init();11 12 /* USER CODE BEGIN Init */13 14 /* USER CODE END Init */15 16 /* Configure the system clock */17 SystemClock_Config();18 19 /* USER CODE BEGIN SysInit */20 21 /* USER CODE END SysInit *22 23 /* Initialize all configured peripherals */24 MX_GPIO_Init();25 MX_USART1_UART_Init();26 MX_TIM1_Init();27 /* USER CODE BEGIN 2 */28 HAL_TIM_Base_Start_IT(&htim1);29 30 /* Infinite loop */31 /* USER CODE BEGIN WHILE */32 while (1)33 {34 35 /* USER CODE END WHILE */36 37 /* USER CODE BEGIN 3 */38 TaskProcess();39 }40 /* USER CODE END 3 */41 42 }43 /* USER CODE END 2 */
测试如下图：TASK1 间隔 35ms执行一次， TASK 2间隔40ms，TASK 3间隔45。
一开始启动TASK1, 2ms后启动TASK2, 4ms后启动TASK3，防止任务重叠。
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作者：M&D
来源：CNBLOGS
原文：https://www.cnblogs.com/mickey-double/p/14647717.html
版权声明：本文为作者原创文章，转载请附上博文链接！
内容解析By：CSDN,CNBLOG博客文章一键转载插件
