/**/
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。
