FreeRTOS学习笔记 - API规范记录

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void task_arduino(void* ptParam) {
    setup()
    for (;;) {
        loop()
    }
}

void app_main() {
    xTaskCreatePinnedToCore(task_arduino,"arduino",1024*128,NULL,1,NULL,1)
    // 以上一条代码不需要管
}

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void setup() {
    ...
}
void loop() {
    ...
}

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BaseType_t xTaskCreate( 
        TaskFunction_t pvTaskCode,
        const char * const pcName,
        configSTACK_DEPTH_TYPE usStackDepth,
        void *pvParameters,
        UBaseType_t uxPriority,
        TaskHandle_t *pxCreatedTask
        );

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BaseType_t xTaskCreatePinnedToCore( 
        TaskFunction_t pvTaskCode,
        const char * const pcName,
        configSTACK_DEPTH_TYPE usStackDepth,
        void *pvParameters,
        UBaseType_t uxPriority,
        TaskHandle_t *pxCreatedTask,
        const BaseType_t xCoreID
        );

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void vTaskDelete( TaskHandle_t pxTaskToDelete );
void vTaskDelete( NULL );

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void vTaskDelay( TickType_t xTicksToDelay );

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void vTaskDelayUntil(
        TickType_t *pxPreviousWakeTime, 
        TickType_t xTimeIncrement 
        );

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// 任务将会每10ticks运行一次。
void vTaskFunction( void * pvParameters )
{
    TickType_t xLastWakeTime;
    const TickType_t xFrequency = 10;
    // 用当前时间初始化 xLastWakeTime 变量。
    xLastWakeTime = xTaskGetTickCount(); // 这个函数会返回当前总共从开机经过的tick数
    for( ;; )
    {
        // 等待下一次循环.
        vTaskDelayUntil( &xLastWakeTime, xFrequency );
        // 代码....
    }
}

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void vTaskSuspend( TaskHandle_t xTaskToSuspend );

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void vTaskResume( TaskHandle_t xTaskToResume );

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void vTaskSuspendAll();

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BaseType_t xTaskResumeAll();

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UBaseType_t uxTaskPriorityGet( TaskHandle_t xTask );
UBaseType_t uxTaskPriorityGet(NULL);

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void vTaskPrioritySet(  
        TaskHandle_t xTask,
        UBaseType_t uxNewPriority 
        );

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taskYIELD();
yield();

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ESP.getHeapSize() //本程序Heap最大尺寸
ESP.getFreeHeap() //当前Free Heap最大尺寸

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UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask );
UBaseType_t uxTaskGetStackHighWaterMark( NULL );

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TimerHandle_t xTimerCreate(
        const char * const pcTimerName,
        const TickType_t xTimerPeriodInTicks,
        const UBaseType_t uxAutoReload,
        void * const pvTimerID,
        TimerCallbackFunction_t pxCallbackFunction
        );

void CallbackFunction(TimerHandle_t xTimer); // 回调函数的定义

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BaseType_t xTimerStart(
        TimerHandle_t xTimer,
        TickType_t xToclsToWait
        );

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BaseType_t xTimerReset(
        TimerHandle_t xTimer,
        TickType_t xToclsToWait
        );

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void* pvTimerGetTimerID(TimerHandle_t xTimer);

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BaseType_t xTimerChangePeriod(
        TimerHandle_t xTimer,
        TickType_t xNewPeriod,
        TickType_t xToclsToWait
        );

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#include "esp_task_wdt.h"

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esp_err_t esp_task_wdt_add(TaskHandle_t task_handle);

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esp_err_t esp_task_wdt_delete(TaskHandle_t task_handle);

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esp_err_t esp_task_wdt_reset(void);

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#include "soc/timer_group_struct.h"
#include "soc/timer_group_reg.h"
void feedTheDogInAllTasks() { //通过寄存器给所有任务的狗喂时
  // feed dog 0
  TIMERG0.wdt_wprotect = TIMG_WDT_WKEY_VALUE; // write enable
  TIMERG0.wdt_feed = 1;                     // feed dog
  TIMERG0.wdt_wprotect = 0;                 // write protect
  // feed dog 1
  TIMERG1.wdt_wprotect = TIMG_WDT_WKEY_VALUE; // write enable
  TIMERG1.wdt_feed = 1;                     // feed dog
  TIMERG1.wdt_wprotect = 0;                 // write protect
}

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//手动关闭CPU上的TWDT - 慎重操作
disableCore0WDT();
disableCore1WDT();

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volatile int i=10;
uint32_t j = 12;

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SemaphoreHandle_t  xSemaphoreCreateBinary( void );

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SemaphoreHandle_t xSemaphoreCreateCounting ( 
        UBaseType_t uxMaxCount,
        UBaseType_t uxInitialCount )

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SemaphoreHandle_t xSemaphoreCreateMutex( void );

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SemaphoreHandle_t xSemaphoreCreateRecursiveMutex( void );

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BaseType_t xSemaphoreTake(
        SemaphoreHandle_t xSemaphore, 
        TickType_t xTicksToWait
        );

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BaseType_t xSemaphoreGive(SemaphoreHandle_t xSemaphore)

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BaseType_t xSemaphoreTakeFromISR(
        SemaphoreHandle_t xSemaphore,
        signedBaseType_t *pxHigherPriorityTaskWoken
        );

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BaseType_t xSemaphoreGiveFromISR(
        SemaphoreHandle_t xSemaphore,
        signed BaseType_t *pxHigherPriorityTaskWoken 
        );

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BaseType_t xSemaphoreTakeRecursive(
        SemaphoreHandle_t xMutex, 
        TickType_t xTicksToWait 
        );

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BaseType_t xSemaphoreGiveRecursive(SemaphoreHandle_t xMutex );

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void vSemaphoreDelete( SemaphoreHandle_t xSemaphore );

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QueueHandle_t xQueueCreate( 
        UBaseType_t uxQueueLength,
        UBaseType_t uxItemSize 
        );

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BaseType_t xQueueSend(
        QueueHandle_t xQueue,
        const void * pvItemToQueue,
        TickType_t xTicksToWait
        );

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BaseType_t xQueueReceive(
        QueueHandle_t xQueue,
        void *pvBuffer,
        TickType_t xTicksToWait
        );

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StreamBufferHandle_t xStreamBufferCreate( 
        size_t xBufferSizeBytes,
        size_t xTriggerLevelBytes
        );

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size_t xStreamBufferSend(
        StreamBufferHandle_t xStreamBuffer,
        const void * pvTxData,
        size_t xDataLengthBytes,
        TickType_t xTicksToWait
        );

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size_t xStreamBufferReceive(
        StreamBufferHandle_t xStreamBuffer,
        void * pvRxData,
        size_t xBufferLengthBytes,
        TickType_t xTicksToWait
        );

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BaseType_t xStreamBufferIsFull(StreamBufferHandle_t xStreamBuffer);

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size_t xStreamBufferBytesAvailable(StreamBufferHandle_t xStreamBuffer);

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size_t xStreamBufferSpacesAvailable(StreamBufferHandle_t xStreamBuffer);

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MessageBufferHandle_t xMessageBufferCreate(size_t xBufferSizeBytes);

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size_t xMessageBufferSend(
        MessageBufferHandle_t xMessageBuffer,
        const void * pvTxData,
        size_t xDataLengthBytes,
        TickType_t xTicksToWait);

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size_t xMessageBufferReceive(
        MessageBufferHandle_t xMessageBuffer,
        void * pvRxData,
        size_t xMessageSizeMax,
        TickType_t xTicksToWait
        );

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BaseType_t xMessageBufferIsFull(MessageBufferHandle_t xMessageBuffer);

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BaseType_t xTaskNotify( 
        TaskHandle_t xTaskToNotify,
        uint32_t ulValue，
        eNotifyAction eAction 
        );

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BaseType_t xTaskNotifyWait( 
        uint32_t ulBitsToClearOnEntry,
        uint32_t ulBitsToClearOnExit,
        uint32_t *pulNotificationValue,
        TickType_t xTicksToWait 
        );