STM32中断接收数据|FreeRTOS任务数据处理

1.main.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file : main.c
 * @brief : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "cmsis_os.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
#include <string.h>
#include "pid.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
uint8_t RxBuffer[5];
double motor1 = 25;
double motor2 = 35;
extern xQueueHandle UartRxQueue;
volatile uint8_t flag = 0;
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) {
	// �???查是否是预期的UART接口
	if (huart == &huart2) {
		// 判断帧头
		if (RxBuffer[0] == 0x2C && RxBuffer[1] == 0x12 && RxBuffer[4] == 0x5B) {
			// 数据有效，放入队列
			BaseType_t xHigherPriorityTaskWoken = pdFALSE;
			xQueueSendFromISR(UartRxQueue, RxBuffer, &xHigherPriorityTaskWoken);
			portYIELD_FROM_ISR(xHigherPriorityTaskWoken); // 如果需要，从ISR让出
			flag = 1;
		}
		// 清空接收缓冲�???
		memset(RxBuffer, 0x00, sizeof(RxBuffer));
		// 再次启动UART接收中断
		HAL_UART_Receive_IT(&huart2, RxBuffer, 5);
	}
}
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void) {

	/* USER CODE BEGIN 1 */

	/* USER CODE END 1 */

	/* MCU Configuration--------------------------------------------------------*/

	/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
	HAL_Init();

	/* USER CODE BEGIN Init */

	/* USER CODE END Init */

	/* Configure the system clock */
	SystemClock_Config();

	/* USER CODE BEGIN SysInit */

	/* USER CODE END SysInit */

	/* Initialize all configured peripherals */
	MX_GPIO_Init();
	MX_USART1_UART_Init();
	MX_USART2_UART_Init();
	MX_TIM3_Init();
	MX_TIM4_Init();
	/* USER CODE BEGIN 2 */
	HAL_UART_Receive_IT(&huart2, RxBuffer, 5);
	PID_init();
	HAL_Delay(100);
	HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1); //�???启PWM�???
	HAL_TIM_PWM_Start(&htim4, TIM_CHANNEL_1);
	__HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_1, motor1); //占空比初始化，为25\1000=2.5%
	__HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_1, motor2);
	/* USER CODE END 2 */

	/* Call init function for freertos objects (in cmsis_os2.c) */
	MX_FREERTOS_Init();

	/* Start scheduler */
	osKernelStart(); //osKernelStart(); 被用作启动实时操作系统（RTOS）调度器的调用

	/* 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();
	}
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
 * @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
 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
	/* USER CODE BEGIN Callback 0 */

	/* USER CODE END Callback 0 */
	if (htim->Instance == TIM1) {
		HAL_IncTick();
	}
	/* USER CODE BEGIN Callback 1 */

	/* USER CODE END Callback 1 */
}

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void) {
	/* USER CODE BEGIN Error_Handler_Debug */
	/* User can add his own implementation to report the HAL error return state */
	__disable_irq();
	while (1) {
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);
		HAL_Delay(1000);
		HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_SET);
		HAL_Delay(1000);
	}
	/* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

2.freertos.c

/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * File Name          : freertos.c
 * Description        : Code for freertos applications
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2024 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "queue.h"
#include "pid.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
uint8_t x = 0, y = 0;
extern uint8_t flag;
extern int motor1;
extern int motor2;
xQueueHandle UartRxQueue;
extern uint8_t RxBuffer[5];
/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
osThreadId defaultTaskHandle;
osThreadId myTask02Handle;
osThreadId myTask03Handle;

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void const *argument);
void StartTask02(void const *argument);
void StartTask03(void const *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
		StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize);

/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];

void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
		StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize) {
	*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;
	*ppxIdleTaskStackBuffer = &xIdleStack[0];
	*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
	/* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY */

/**
 * @brief  FreeRTOS initialization
 * @param  None
 * @retval None
 */
void MX_FREERTOS_Init(void) {
	/* USER CODE BEGIN Init */
	/* USER CODE END Init */

	/* 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 myTask02 */
	osThreadDef(myTask02, StartTask02, osPriorityIdle, 0, 128);
	myTask02Handle = osThreadCreate(osThread(myTask02), NULL);

	/* definition and creation of myTask03 */
	osThreadDef(myTask03, StartTask03, osPriorityIdle, 0, 128);
	myTask03Handle = osThreadCreate(osThread(myTask03), NULL);

	/* USER CODE BEGIN RTOS_THREADS */
	/* add threads, ... */
	/* USER CODE END RTOS_THREADS */

}

/* 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 StartDefaultTask */
	/* Infinite loop */
	for (;;) {
		if (xQueueReceive(UartRxQueue, RxBuffer, portMAX_DELAY)) {
			// 处理数据
			// 这里可以调用您的数据处理函数，例如 PID_ProcessData(RxBuffer);
			x=RxBuffer[2];
			motor1 = motor1 + PIDx_realize(x, 100); //第一参数为实际坐标，第二个参数为设定坐标
			if (motor1 < 30)
				motor1 = 30;				//防止超过舵机的工作范围内的占空比
			if (motor1 > 250)
				motor1 = 250;
			TIM3->CCR1 = motor1;
		}
	}
	/* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_StartTask02 */
/**
 * @brief Function implementing the myTask02 thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_StartTask02 */
void StartTask02(void const *argument) {
	/* USER CODE BEGIN StartTask02 */
	/* Infinite loop */
	while (1) {
		if (flag) {
			if (x <= 100) {
				HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
				HAL_Delay(1000);
				HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
				HAL_Delay(1000);
			}
			if (x >= 100) {
				HAL_Delay(1000);
				HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_RESET);
				HAL_Delay(1000);
				HAL_GPIO_WritePin(GPIOA, GPIO_PIN_0, GPIO_PIN_SET);
			}
			// 处理接收到的数据
			flag = 0; // 重置标志�?????
		}
		/* USER CODE END WHILE */

		/* USER CODE BEGIN 3 */
	}
	/* USER CODE END StartTask02 */
}

/* USER CODE BEGIN Header_StartTask03 */
/**
 * @brief Function implementing the myTask03 thread.
 * @param argument: Not used
 * @retval None
 */
/* USER CODE END Header_StartTask03 */
void StartTask03(void const *argument) {
	/* USER CODE BEGIN StartTask03 */
	/* Infinite loop */
	for (;;) {
		if (xQueueReceive(UartRxQueue, RxBuffer, portMAX_DELAY)) {
			//对上面对应纵坐标的舵机进行控�???
			y=RxBuffer[3];
			motor2 = motor2 + PIDy_realize(y, 105);
			if (motor2 < 30)
				motor2 = 30;
			if (motor2 > 250)
				motor2 = 250;
			TIM4->CCR1 = motor2;
			// 这里可以更新motor1和motor2，并通过TIM_SET_COMPARE设置PWM占空比
			// 但请注意，直接操作硬件寄存器可能不是线程安全的，最好通过某种形式的互斥机制来保护
		}

	}
	/* USER CODE END StartTask03 */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

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