STM32WB55入门教程(二)

概要

        本篇主要介绍如何使用HAL库自带的定时器和任务的使用；在最后会补充一些在开发当中容易踩坑的地方。

        在使用STM32CubeMX导出工程之后，已经默认使用了一套伪操作系统，因此我们应该使用操作系统的开发方式来开发，其中最为主要是定时器和任务的创建。

定时器

...

任务

/**
  * @brief This function registers a task in the sequencer.
  *
  * @param TaskId_bm The Id of the task
  * @param Flags Flags are reserved param for future use
  * @param Task Reference of the function to be executed
  *
  * @note  It may be called from an ISR.
  *
  */
void UTIL_SEQ_RegTask( UTIL_SEQ_bm_t TaskId_bm, uint32_t Flags, void (*Task)( void ) );

/**
  * @brief This function requests a task to be executed
  *
  * @param TaskId_bm The Id of the task
  *        It shall be (1<<task_id) where task_id is the number assigned when the task has been registered
  * @param Task_Prio The priority of the task
  *        It shall a number from  0 (high priority) to 31 (low priority)
  *        The priority is checked each time the sequencer needs to select a new task to execute
  *        It does not permit to preempt a running task with lower priority
  *
  * @note   It may be called from an ISR
  *
  */
void UTIL_SEQ_SetTask( UTIL_SEQ_bm_t TaskId_bm, uint32_t Task_Prio );

使用步骤：

首先使用 UTIL_SEQ_RegTask 创建任务

• 第一个参数是任务的ID，这个需要在app_conf.h中的结构体CFG_Task_Id_With_HCI_Cmd_t定义中添加，例如：

/**
 * These are the lists of task id registered to the scheduler
 * Each task id shall be in the range [0:31]
 * This mechanism allows to implement a generic code in the API TL_BLE_HCI_StatusNot() to comply with
 * the requirement that a HCI/ACI command shall never be sent if there is already one pending
 */

/**< Add in that list all tasks that may send a ACI/HCI command */
typedef enum
{
  CFG_TASK_ADV_UPDATE_ID,
  CFG_TASK_MEAS_REQ_ID,
  CFG_TASK_HCI_ASYNCH_EVT_ID,
  /* USER CODE BEGIN CFG_Task_Id_With_HCI_Cmd_t */
  CFG_TASK_MY_ID,   /*自行在此添加即可*/
  /* USER CODE END CFG_Task_Id_With_HCI_Cmd_t */
  CFG_LAST_TASK_ID_WITH_HCICMD,                                               /**< Shall be LAST in the list */
} CFG_Task_Id_With_HCI_Cmd_t;

• 第二个参数是保留的参数直接填UTIL_SEQ_RFU即可，可以看到它的值是0
• 
• 第三个参数是任务的实现，无需多言。

启动任务

使用 UTIL_SEQ_SetTask即可，例如；

UTIL_SEQ_SetTask( 1<<CFG_TASK_MY_ID, CFG_SCH_PRIO_0);

其他的函数可以在，stm32_seq.h中可以找到。

其他资料汇总

https://zhuanlan.zhihu.com/p/401022982https://zhuanlan.zhihu.com/p/401022982

https://wiki.stmicroelectronics.cn/stm32mcu/wiki/Category:STM32WB_Serieshttps://wiki.stmicroelectronics.cn/stm32mcu/wiki/Category:STM32WB_Series