基于时间触发的裸机任务调度

 /**/
 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_MAX
19 }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 
",HAL_GetTick());
62 }
63 
64 void Task2 (void)
65 {
66     printf("[%ldms]T2 
",HAL_GetTick());
67 }
68 
69 void Task3 (void)
70 {
71     printf("[%ldms]T3 
",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。