{"id":89968,"date":"2026-08-04T11:24:38","date_gmt":"2026-08-04T03:24:38","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/89968.html"},"modified":"2026-08-04T11:24:38","modified_gmt":"2026-08-04T03:24:38","slug":"freertos%ef%bc%8812%ef%bc%89%ef%bc%9a%e4%ba%8b%e4%bb%b6%e6%a0%87%e5%bf%97%e7%bb%84%e5%ae%9e%e9%aa%8c","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/89968.html","title":{"rendered":"FreeRTOS\uff0812\uff09\uff1a\u4e8b\u4ef6\u6807\u5fd7\u7ec4\u5b9e\u9a8c"},"content":{"rendered":"

\u5b9e\u9a8c\u73b0\u8c61<\/h2>\n

\u5b9e\u9a8c\u6b65\u9aa4：<\/p>\n

\"\"<\/p>\n

\u5b9e\u9a8c\u73b0\u8c61：<\/p>\n

\"\"<\/p>\n

\u9879\u76ee\u521b\u5efa<\/h2>\n

\u590d\u5236Freertos_\u4e8c\u503c\u4fe1\u53f7\u91cf\u5b9e\u9a8c\u6587\u4ef6，\u7c98\u8d34\u5e76\u4e14\u91cd\u547d\u540d\u4e3aFreertos_\u4e8b\u4ef6\u6807\u5fd7\u7ec4\u5b9e\u9a8c，\u8fdb\u5165keil，\u5220\u9664\u65e0\u5173\u9879，\u5305\u62ec\u4e8c\u503c\u4fe1\u53f7\u91cf\u7684\u521b\u5efa，task1\u548ctask2\u4e2d\u7684\u64cd\u4f5c，\u5728\u6587\u4ef6\u5934\u4e0a\u52a0\u4e0a#include "event_groups.h"，\u5c06task1\u4e0etask2\u7684\u4efb\u52a1\u4f18\u5148\u7ea7\u4e92\u6362，\u4e0b\u65b9\u662f\u5220\u9664\u5b8c\u540e\u7684\u4ee3\u7801：<\/p>\n

#include "stm32f10x.h"
\n#include "FreeRTOS.h"
\n#include "task.h"
\n#include "queue.h"
\n#include "led.h"
\n#include "key.h"
\n#include "serial.h"
\n#include "semphr.h"
\n#include "event_groups.h"<\/p>\n

\/* \u4efb\u52a1\u53c2\u6570 *\/
\n#define START_TASK_SIZE 128
\n#define START_TASK_PRIO 1
\n#define TASK1_SIZE 256
\n#define TASK1_PRIO 3
\n#define TASK2_SIZE 256
\n#define TASK2_PRIO 2<\/p>\n

TaskHandle_t start_task_handle;
\nTaskHandle_t task1_handle;
\nTaskHandle_t task2_handle;<\/p>\n

void Start_task(void *pvParameters);
\nvoid task_1(void *pvParameters);
\nvoid task_2(void *pvParameters);<\/p>\n

void FreeRTOS_Task(void)
\n{
\n NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
\n Key_Init();
\n LED_Init();
\n Serial_Init();<\/p>\n

xTaskCreate((TaskFunction_t)Start_task, "Start_task", START_TASK_SIZE, NULL, START_TASK_PRIO, &start_task_handle);
\n vTaskStartScheduler();
\n}<\/p>\n

void Start_task(void *pvParameters)
\n{
\n taskENTER_CRITICAL(); \/\/ \u8fdb\u5165\u4e34\u754c\u533a，\u786e\u4fdd\u4efb\u52a1\u521b\u5efa\u8fc7\u7a0b\u4e0d\u88ab\u4e2d\u65ad
\n xTaskCreate((TaskFunction_t)task_1, "task_1", TASK1_SIZE, NULL, TASK1_PRIO, &task1_handle);
\n xTaskCreate((TaskFunction_t)task_2, "task_2", TASK2_SIZE, NULL, TASK2_PRIO, &task2_handle);
\n taskEXIT_CRITICAL();
\n vTaskDelete(NULL); \/\/ \u5220\u9664\u542f\u52a8\u4efb\u52a1\u81ea\u8eab
\n}<\/p>\n

void task_1(void *pvParameters)
\n{<\/p>\n

while(1)
\n {<\/p>\n

}
\n}<\/p>\n

void task_2(void *pvParameters)
\n{
\n while(1)
\n {<\/p>\n

}
\n}<\/p>\n

\u6765\u5230start_task\u51fd\u6570，\u5728\u8fd9\u4e2a\u51fd\u6570\u8fd9\u91cc\u521b\u5efa\u4e8b\u4ef6\u6807\u5fd7\u7ec4，\u5728\u521b\u5efa\u4e4b\u524d\u5e94\u8be5\u5728\u6587\u4ef6\u5934\u5b9a\u4e49\u4e8b\u4ef6\u6807\u5fd7\u7ec4\u7684\u53e5\u67c4：EventGroupHandle_t eventgroup_handle，\u968f\u540e\u5728start_task\u51fd\u6570\u8fd9\u91cc\u521b\u5efa\u4e8b\u4ef6\u6807\u5fd7\u7ec4，\u5177\u4f53\u4ee3\u7801\u5982\u4e0b：<\/p>\n

\/**
\n * @brief \u542f\u52a8\u4efb\u52a1：\u521b\u5efa\u4e8b\u4ef6\u7ec4\u548c\u4e24\u4e2a\u5e94\u7528\u4efb\u52a1，\u7136\u540e\u5220\u9664\u81ea\u8eab
\n *\/
\nvoid Start_task(void *pvParameters)
\n{
\n taskENTER_CRITICAL();<\/p>\n

\/* \u521b\u5efa\u4e8b\u4ef6\u7ec4 *\/
\n eventgroup_handle = xEventGroupCreate();
\n if (eventgroup_handle == NULL)
\n {
\n Serial_Sendstring("event group create failed\\\\r\\\\n");
\n }
\n else
\n {
\n Serial_Sendstring("event group create successful\\\\r\\\\n");
\n }<\/p>\n

xTaskCreate((TaskFunction_t)task_1, "task_1",
\n TASK1_SIZE, NULL, TASK1_PRIO, &task1_handle);
\n xTaskCreate((TaskFunction_t)task_2, "task_2",
\n TASK2_SIZE, NULL, TASK2_PRIO, &task2_handle);<\/p>\n

taskEXIT_CRITICAL();
\n vTaskDelete(NULL);
\n}<\/p>\n

\u968f\u540e\u6765\u5230task1，\u5728task1\u4e2d\u5e94\u8be5\u5b8c\u6210\u6309\u952e\u626b\u63cf，\u6d88\u6296\u540e\u5c06\u6309\u952e\u4e8b\u4ef6\u901a\u77e5\u7ed9\u4e8b\u4ef6\u7ec4，KEY1 (keynum == 1) \u8bbe\u7f6e\u4f4d0 (0x01)，KEY2 (keynum == 2) \u8bbe\u7f6e\u4f4d1 (0x02)，\u4e0b\u65b9\u662f\u5177\u4f53\u4ee3\u7801：<\/p>\n

\/**
\n * @brief \u4efb\u52a11：\u6309\u952e\u626b\u63cf，\u6d88\u6296\u540e\u5c06\u6309\u952e\u4e8b\u4ef6\u901a\u77e5\u7ed9\u4e8b\u4ef6\u7ec4
\n * – KEY1 (keynum == 1) \u8bbe\u7f6e\u4f4d0 (0x01)
\n * – KEY2 (keynum == 2) \u8bbe\u7f6e\u4f4d1 (0x02)
\n * \u5305\u542b\u5b8c\u6574\u7684\u4e0a\u5347\u6cbf\u6d88\u6296\u903b\u8f91，\u786e\u4fdd\u5355\u6b21\u6309\u952e\u53ea\u54cd\u5e94\u4e00\u6b21
\n *\/
\nvoid task_1(void *pvParameters)
\n{
\n uint8_t keynum;
\n uint8_t last_key = 0; \/\/ \u8bb0\u5f55\u4e0a\u4e00\u6b21\u7684\u6309\u952e\u72b6\u6001，\u68c0\u6d4b\u4e0a\u5347\u6cbf<\/p>\n

while (1)
\n {
\n keynum = Key_GetNum(); \/\/ \u8bfb\u53d6\u5f53\u524d\u6309\u952e\u503c<\/p>\n

\/* \u6309\u952e\u6d88\u6296：\u4ec5\u5f53\u6309\u952e\u4ece\u672a\u6309\u4e0b\u53d8\u4e3a\u6309\u4e0b\u65f6（\u4e0a\u5347\u6cbf）\u624d\u5904\u7406 *\/
\n if (keynum != 0 && last_key == 0)
\n {
\n vTaskDelay(30); \/\/ \u6d88\u6296\u5ef6\u65f6 30 ms
\n if (Key_GetNum() == keynum) \/\/ \u518d\u6b21\u8bfb\u53d6\u786e\u8ba4\u6309\u952e\u4ecd\u6309\u4e0b
\n {
\n if (keynum == 1) \/\/ PB1 \u6309\u4e0b
\n {
\n xEventGroupSetBits(eventgroup_handle, 0x01);
\n Serial_Sendstring("PB1 pressed, set bit 0\\\\r\\\\n");
\n }
\n else if (keynum == 2) \/\/ PB2 \u6309\u4e0b
\n {
\n xEventGroupSetBits(eventgroup_handle, 0x02);
\n Serial_Sendstring("PB2 pressed, set bit 1\\\\r\\\\n");
\n }
\n }
\n }<\/p>\n

last_key = keynum; \/\/ \u66f4\u65b0\u4e0a\u4e00\u6b21\u72b6\u6001
\n vTaskDelay(10); \/\/ 10 ms \u626b\u63cf\u4e00\u6b21，\u964d\u4f4e CPU \u5360\u7528
\n }
\n}<\/p>\n

\u968f\u540e\u6765\u5230task2，\u7b49\u5f85\u4e8b\u4ef6\u7ec4\u4e2d\u7684\u6240\u6709\u4e8b\u4ef6\u4f4d\u88ab\u8bbe\u7f6e，\u8bfb\u53d6\u540e\u6e05\u9664\u8be5\u4f4d，\u5e76\u6253\u5370\u5f53\u524d\u89e6\u53d1\u7684\u4e8b\u4ef6\u4f4d，\u4e0b\u65b9\u662ftask2\u7684\u4ee3\u7801：<\/p>\n

\/**
\n * @brief \u4efb\u52a12：\u7b49\u5f85\u4e8b\u4ef6\u7ec4\u4e2d\u7684\u6240\u6709\u4e8b\u4ef6\u4f4d\u88ab\u8bbe\u7f6e，
\n * \u8bfb\u53d6\u540e\u6e05\u9664\u8be5\u4f4d，\u5e76\u6253\u5370\u5f53\u524d\u89e6\u53d1\u7684\u4e8b\u4ef6\u4f4d
\n *\/
\nvoid task_2(void *pvParameters)
\n{
\n EventBits_t event_bit = 0;<\/p>\n

while (1)
\n {
\n \/*
\n * \u7b49\u5f85\u4e8b\u4ef6\u4f4d 0x01 \u548c 0x02 \u90fd\u88ab\u7f6e\u4e00
\n * \u53c2\u6570\u8bf4\u660e：
\n * – \u7b2c\u4e09\u53c2\u6570 pdTRUE：\u51fd\u6570\u9000\u51fa\u65f6\u4f1a\u6e05\u9664\u89e6\u53d1\u7b49\u5f85\u7684\u90a3\u4e9b\u4f4d（\u8fd9\u91cc\u662f0x01\u62160x02）
\n * – \u7b2c\u56db\u53c2\u6570 pdTRUE：\u7b49\u5f85\u6240\u6709\u4f4d\u7f6e\u4e00
\n *\/
\n event_bit = xEventGroupWaitBits(eventgroup_handle,
\n 0x01 | 0x02, \/* \u611f\u5174\u8da3\u7684\u4e8b\u4ef6\u4f4d *\/
\n pdTRUE, \/* \u9000\u51fa\u65f6\u6e05\u9664\u8fd9\u4e9b\u4f4d *\/
\n pdTRUE, \/* \u7b49\u5f85\u6240\u6709\u4f4d *\/
\n portMAX_DELAY);\/* \u6c38\u4e45\u963b\u585e\u7b49\u5f85 *\/
\n \/*
\n * event_bit \u8fd4\u56de\u503c\u662f\u6210\u529f\u8bfb\u53d6\u65f6\u6574\u4e2a\u4e8b\u4ef6\u7ec4\u7684\u5f53\u524d\u503c（\u6e05\u9664\u524d），
\n * \u4e0e\u7b49\u5f85\u6761\u4ef6\u5339\u914d\u7684\u4f4d\u4f1a\u88ab\u7f6e\u4f4d\u3002
\n *\/
\n Serial_Sendstring("Event triggered: ");
\n Serial_SendHex(event_bit);
\n Serial_Sendstring("\\\\r\\\\n");
\n }
\n}<\/p>\n

\u4e0b\u65b9\u662f\u5b8c\u6574\u7684\u4ee3\u7801：<\/p>\n

#include "stm32f10x.h"
\n#include "FreeRTOS.h"
\n#include "task.h"
\n#include "queue.h"
\n#include "led.h"
\n#include "key.h"
\n#include "serial.h"
\n#include "semphr.h"
\n#include "event_groups.h"<\/p>\n

\/* \u4efb\u52a1\u53c2\u6570 *\/
\n#define START_TASK_SIZE 128
\n#define START_TASK_PRIO 1
\n#define TASK1_SIZE 256
\n#define TASK1_PRIO 3
\n#define TASK2_SIZE 256
\n#define TASK2_PRIO 2<\/p>\n

\/* \u4efb\u52a1\u53e5\u67c4 *\/
\nTaskHandle_t start_task_handle;
\nTaskHandle_t task1_handle;
\nTaskHandle_t task2_handle;<\/p>\n

\/* \u4e8b\u4ef6\u7ec4\u53e5\u67c4 *\/
\nEventGroupHandle_t eventgroup_handle;<\/p>\n

void Start_task(void *pvParameters);
\nvoid task_1(void *pvParameters);
\nvoid task_2(void *pvParameters);<\/p>\n

\/**
\n * @brief \u7cfb\u7edf\u5165\u53e3，\u521b\u5efa\u542f\u52a8\u4efb\u52a1\u5e76\u5f00\u542f\u8c03\u5ea6\u5668
\n *\/
\nvoid FreeRTOS_Task(void)
\n{
\n NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
\n Key_Init();
\n LED_Init();
\n Serial_Init();<\/p>\n

xTaskCreate((TaskFunction_t)Start_task, "Start_task",
\n START_TASK_SIZE, NULL, START_TASK_PRIO, &start_task_handle);
\n vTaskStartScheduler();
\n}<\/p>\n

\/**
\n * @brief \u542f\u52a8\u4efb\u52a1：\u521b\u5efa\u4e8b\u4ef6\u7ec4\u548c\u4e24\u4e2a\u5e94\u7528\u4efb\u52a1，\u7136\u540e\u5220\u9664\u81ea\u8eab
\n *\/
\nvoid Start_task(void *pvParameters)
\n{
\n taskENTER_CRITICAL();<\/p>\n

\/* \u521b\u5efa\u4e8b\u4ef6\u7ec4 *\/
\n eventgroup_handle = xEventGroupCreate();
\n if (eventgroup_handle == NULL)
\n {
\n Serial_Sendstring("event group create failed\\\\r\\\\n");
\n }
\n else
\n {
\n Serial_Sendstring("event group create successful\\\\r\\\\n");
\n }<\/p>\n

xTaskCreate((TaskFunction_t)task_1, "task_1",
\n TASK1_SIZE, NULL, TASK1_PRIO, &task1_handle);
\n xTaskCreate((TaskFunction_t)task_2, "task_2",
\n TASK2_SIZE, NULL, TASK2_PRIO, &task2_handle);<\/p>\n

taskEXIT_CRITICAL();
\n vTaskDelete(NULL);
\n}<\/p>\n

\/**
\n * @brief \u4efb\u52a11：\u6309\u952e\u626b\u63cf，\u6d88\u6296\u540e\u5c06\u6309\u952e\u4e8b\u4ef6\u901a\u77e5\u7ed9\u4e8b\u4ef6\u7ec4
\n * – KEY1 (keynum == 1) \u8bbe\u7f6e\u4f4d0 (0x01)
\n * – KEY2 (keynum == 2) \u8bbe\u7f6e\u4f4d1 (0x02)
\n * \u5305\u542b\u5b8c\u6574\u7684\u4e0a\u5347\u6cbf\u6d88\u6296\u903b\u8f91，\u786e\u4fdd\u5355\u6b21\u6309\u952e\u53ea\u54cd\u5e94\u4e00\u6b21
\n *\/
\nvoid task_1(void *pvParameters)
\n{
\n uint8_t keynum;
\n uint8_t last_key = 0; \/\/ \u8bb0\u5f55\u4e0a\u4e00\u6b21\u7684\u6309\u952e\u72b6\u6001，\u68c0\u6d4b\u4e0a\u5347\u6cbf<\/p>\n

while (1)
\n {
\n keynum = Key_GetNum(); \/\/ \u8bfb\u53d6\u5f53\u524d\u6309\u952e\u503c<\/p>\n

\/* \u6309\u952e\u6d88\u6296：\u4ec5\u5f53\u6309\u952e\u4ece\u672a\u6309\u4e0b\u53d8\u4e3a\u6309\u4e0b\u65f6（\u4e0a\u5347\u6cbf）\u624d\u5904\u7406 *\/
\n if (keynum != 0 && last_key == 0)
\n {
\n vTaskDelay(30); \/\/ \u6d88\u6296\u5ef6\u65f6 30 ms
\n if (Key_GetNum() == keynum) \/\/ \u518d\u6b21\u8bfb\u53d6\u786e\u8ba4\u6309\u952e\u4ecd\u6309\u4e0b
\n {
\n if (keynum == 1) \/\/ PB1 \u6309\u4e0b
\n {
\n xEventGroupSetBits(eventgroup_handle, 0x01);
\n Serial_Sendstring("PB1 pressed, set bit 0\\\\r\\\\n");
\n }
\n else if (keynum == 2) \/\/ PB2 \u6309\u4e0b
\n {
\n xEventGroupSetBits(eventgroup_handle, 0x02);
\n Serial_Sendstring("PB2 pressed, set bit 1\\\\r\\\\n");
\n }
\n }
\n }<\/p>\n

last_key = keynum; \/\/ \u66f4\u65b0\u4e0a\u4e00\u6b21\u72b6\u6001
\n vTaskDelay(10); \/\/ 10 ms \u626b\u63cf\u4e00\u6b21，\u964d\u4f4e CPU \u5360\u7528
\n }
\n}<\/p>\n

\/**
\n * @brief \u4efb\u52a12：\u7b49\u5f85\u4e8b\u4ef6\u7ec4\u4e2d\u7684\u6240\u6709\u4e8b\u4ef6\u4f4d\u88ab\u8bbe\u7f6e，
\n * \u8bfb\u53d6\u540e\u6e05\u9664\u8be5\u4f4d，\u5e76\u6253\u5370\u5f53\u524d\u89e6\u53d1\u7684\u4e8b\u4ef6\u4f4d
\n *\/
\nvoid task_2(void *pvParameters)
\n{
\n EventBits_t event_bit = 0;<\/p>\n

while (1)
\n {
\n \/*
\n * \u7b49\u5f85\u4e8b\u4ef6\u4f4d 0x01 \u548c 0x02 \u90fd\u88ab\u7f6e\u4e00
\n * \u53c2\u6570\u8bf4\u660e：
\n * – \u7b2c\u4e09\u53c2\u6570 pdTRUE：\u51fd\u6570\u9000\u51fa\u65f6\u4f1a\u6e05\u9664\u89e6\u53d1\u7b49\u5f85\u7684\u90a3\u4e9b\u4f4d（\u8fd9\u91cc\u662f0x01\u62160x02）
\n * – \u7b2c\u56db\u53c2\u6570 pdTRUE：\u7b49\u5f85\u6240\u6709\u4f4d\u7f6e\u4e00
\n *\/
\n event_bit = xEventGroupWaitBits(eventgroup_handle,
\n 0x01 | 0x02, \/* \u611f\u5174\u8da3\u7684\u4e8b\u4ef6\u4f4d *\/
\n pdTRUE, \/* \u9000\u51fa\u65f6\u6e05\u9664\u8fd9\u4e9b\u4f4d *\/
\n pdTRUE, \/* \u7b49\u5f85\u6240\u6709\u4f4d *\/
\n portMAX_DELAY);\/* \u6c38\u4e45\u963b\u585e\u7b49\u5f85 *\/
\n \/*
\n * event_bit \u8fd4\u56de\u503c\u662f\u6210\u529f\u8bfb\u53d6\u65f6\u6574\u4e2a\u4e8b\u4ef6\u7ec4\u7684\u5f53\u524d\u503c（\u6e05\u9664\u524d），
\n * \u4e0e\u7b49\u5f85\u6761\u4ef6\u5339\u914d\u7684\u4f4d\u4f1a\u88ab\u7f6e\u4f4d\u3002
\n *\/
\n Serial_Sendstring("Event triggered: ");
\n Serial_SendHex(event_bit);
\n Serial_Sendstring("\\\\r\\\\n");
\n }
\n}<\/p>\n

\u82e5\u6709\u9519\u8bef，\u8fd8\u671b\u6d77\u6db5\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

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