• STM32HAL-完全解耦面向对象思维的架构-时间轮片法使用（timeslice）

    目录

    概述 

    一、开发环境

    二、STM32CubeMx配置

    三、编码 

    四、运行结果

    五、代码解释

    六、总结

    概述 

            timeslice是一个时间片轮询框架，完全解耦的时间片轮询框架，非常适合裸机单片机引用。接下来将该框架移植到stm32单片机运行，单片机只需用1个定时器作为时钟即可。
    友情链接（项目示例）：https://download.csdn.net/download/qq_36075612/88498232

    一、开发环境

    1、硬件平台
         STM32F401CEU6
         内部Flash : 512Kbytes，SARM : 96 Kbytes

    二、STM32CubeMx配置

     2.1、系统时钟配置

    2.2、下载调试配置

    2.3、TIM配置（1ms中断）

    2.4、usart1配置

    2.5、生成代码

    2.6、编译工程

    三、编码 

    1、usart.c添加打印

    1. /* USER CODE BEGIN 1 */
    2. #include "stdio.h"
    3. #ifdef __GNUC__
    4.   /* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf
    5.      set to 'Yes') calls __io_putchar() */
    6.   #define PUTCHAR_PROTOTYPE int __io_putchar(int ch)
    7. #else
    8.   #define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)
    9. #endif /* __GNUC__ */
    10. /**
    11.   * @brief  Retargets the C library printf function to the USART.
    12.   * @param  None
    13.   * @retval None
    14.   */
    15. PUTCHAR_PROTOTYPE
    16. {
    17.   /* Place your implementation of fputc here */
    18.   /* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */
    19.   HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF);
    20.  
    21.   return ch;
    22. }
    23.  
    24. int fgetc(FILE * f)
    25. {
    26.   uint8_t ch = 0;
    27.   HAL_UART_Receive(&huart1, (uint8_t *)&ch, 1, 0xffff);
    28.   return ch;
    29. }
    30.  
    31. /* USER CODE END 1 */

    2、tim1.c

    1. /* USER CODE BEGIN Header */
    2. /**
    3.   ******************************************************************************
    4.   * @file    tim.c
    5.   * @brief   This file provides code for the configuration
    6.   *          of the TIM instances.
    7.   ******************************************************************************
    8.   * @attention
    9.   *
    10.   * Copyright (c) 2023 STMicroelectronics.
    11.   * All rights reserved.
    12.   *
    13.   * This software is licensed under terms that can be found in the LICENSE file
    14.   * in the root directory of this software component.
    15.   * If no LICENSE file comes with this software, it is provided AS-IS.
    16.   *
    17.   ******************************************************************************
    18.   */
    19. /* USER CODE END Header */
    20. /* Includes ------------------------------------------------------------------*/
    21. #include "tim.h"
    22.  
    23. /* USER CODE BEGIN 0 */
    24.  
    25. /* USER CODE END 0 */
    26.  
    27. TIM_HandleTypeDef htim1;
    28.  
    29. /* TIM1 init function */
    30. void MX_TIM1_Init(void)
    31. {
    32.  
    33.   /* USER CODE BEGIN TIM1_Init 0 */
    34.  
    35.   /* USER CODE END TIM1_Init 0 */
    36.  
    37.   TIM_ClockConfigTypeDef sClockSourceConfig = {0};
    38.   TIM_MasterConfigTypeDef sMasterConfig = {0};
    39.  
    40.   /* USER CODE BEGIN TIM1_Init 1 */
    41.  
    42.   /* USER CODE END TIM1_Init 1 */
    43.   htim1.Instance = TIM1;
    44.   htim1.Init.Prescaler = 84-1;
    45.   htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
    46.   htim1.Init.Period = 1000-1;
    47.   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
    48.   htim1.Init.RepetitionCounter = 0;
    49.   htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
    50.   if (HAL_TIM_Base_Init(&htim1) != HAL_OK)
    51.   {
    52.     Error_Handler();
    53.   }
    54.   sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
    55.   if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK)
    56.   {
    57.     Error_Handler();
    58.   }
    59.   sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
    60.   sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
    61.   if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK)
    62.   {
    63.     Error_Handler();
    64.   }
    65.   /* USER CODE BEGIN TIM1_Init 2 */
    66.  
    67.   /* USER CODE END TIM1_Init 2 */
    68.  
    69. }
    70.  
    71. void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
    72. {
    73.  
    74.   if(tim_baseHandle->Instance==TIM1)
    75.   {
    76.   /* USER CODE BEGIN TIM1_MspInit 0 */
    77.  
    78.   /* USER CODE END TIM1_MspInit 0 */
    79.     /* TIM1 clock enable */
    80.     __HAL_RCC_TIM1_CLK_ENABLE();
    81.  
    82.     /* TIM1 interrupt Init */
    83.     HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0, 0);
    84.     HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);
    85.   /* USER CODE BEGIN TIM1_MspInit 1 */
    86.  
    87.   /* USER CODE END TIM1_MspInit 1 */
    88.   }
    89. }
    90.  
    91. void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
    92. {
    93.  
    94.   if(tim_baseHandle->Instance==TIM1)
    95.   {
    96.   /* USER CODE BEGIN TIM1_MspDeInit 0 */
    97.  
    98.   /* USER CODE END TIM1_MspDeInit 0 */
    99.     /* Peripheral clock disable */
    100.     __HAL_RCC_TIM1_CLK_DISABLE();
    101.  
    102.     /* TIM1 interrupt Deinit */
    103.     HAL_NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);
    104.   /* USER CODE BEGIN TIM1_MspDeInit 1 */
    105.  
    106.   /* USER CODE END TIM1_MspDeInit 1 */
    107.   }
    108. }
    109.  
    110. /* USER CODE BEGIN 1 */
    111. #include "stdio.h"
    112. int timeCount = 0;
    113. void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){
    114. 	if(htim->Instance == TIM1){
    115. 		timeCount++;
    116. 		if(timeCount==1000){
    117. 			timeCount = 0;
    118. 			printf("time + 1s\n");
    119. 		}
    120. 	}
    121. }
    122.  
    123. /* USER CODE END 1 */

    3、在根目录创建timeslice文件夹，分别有list.c、list.h、thread_demo.c、thread_demo.h、timeslice.c、timeslice.h文件组成

    1）、list.c

    1. #include "list.h"
    2.  
    3. void list_init(ListObj* list)
    4. {
    5.     list->next = list->prev = list;
    6. }
    7.  
    8. void list_insert_after(ListObj* list, ListObj* node)
    9. {
    10.     list->next->prev = node;
    11.     node->next = list->next;
    12.  
    13.     list->next = node;
    14.     node->prev = list;
    15. }
    16.  
    17. void list_insert_before(ListObj* list, ListObj* node)
    18. {
    19.     list->prev->next = node;
    20.     node->prev = list->prev;
    21.  
    22.     list->prev = node;
    23.     node->next = list;
    24. }
    25.  
    26. void list_remove(ListObj* node)
    27. {
    28.     node->next->prev = node->prev;
    29.     node->prev->next = node->next;
    30.  
    31.     node->next = node->prev = node;
    32. }
    33.  
    34. int list_isempty(const ListObj* list)
    35. {
    36.     return list->next == list;
    37. }
    38.  
    39. unsigned int list_len(const ListObj* list)
    40. {
    41.     unsigned int len = 0;
    42.     const ListObj* p = list;
    43.     while (p->next != list)
    44.     {
    45.         p = p->next;
    46.         len++;
    47.     }
    48.  
    49.     return len;
    50. }

    2）、list.h

    1. #ifndef _LIST_H
    2. #define _LIST_H
    3.  
    4. #define offset_of(type, member)             (unsigned long) &((type*)0)->member
    5. #define container_of(ptr, type, member)     ((type *)((char *)(ptr) - offset_of(type, member)))
    6.  
    7. typedef struct list_structure
    8. {
    9.     struct list_structure* next;
    10.     struct list_structure* prev;
    11. } ListObj;
    12.  
    13. #define LIST_HEAD_INIT(name)    {&(name), &(name)}
    14. #define LIST_HEAD(name)         ListObj name = LIST_HEAD_INIT(name)
    15.  
    16. void list_init(ListObj* list);
    17. void list_insert_after(ListObj* list, ListObj* node);
    18. void list_insert_before(ListObj* list, ListObj* node);
    19. void list_remove(ListObj* node);
    20. int list_isempty(const ListObj* list);
    21. unsigned int list_len(const ListObj* list);
    22.  
    23. #define list_entry(node, type, member) \
    24.     container_of(node, type, member)
    25.  
    26. #define list_for_each(pos, head) \
    27.     for (pos = (head)->next; pos != (head); pos = pos->next)
    28.  
    29. #define list_for_each_safe(pos, n, head) \
    30.   for (pos = (head)->next, n = pos->next; pos != (head); \
    31.     pos = n, n = pos->next)
    32.  
    33. #endif

    3）、timeslice.c

    1. #include "timeslice.h"
    2.  
    3. static LIST_HEAD(timeslice_task_list);
    4.  
    5. void timeslice_exec(void)
    6. {
    7.     ListObj* node;
    8.     TimesilceTaskObj* task;
    9.  
    10.     list_for_each(node, ×lice_task_list)
    11.     {
    12.  
    13.         task = list_entry(node, TimesilceTaskObj, timeslice_task_list);
    14.         if (task->is_run == TASK_RUN)
    15.         {
    16.             task->task_hdl();
    17.             task->is_run = TASK_STOP;
    18.         }
    19.     }
    20. }
    21.  
    22. void timeslice_tick(void)
    23. {
    24.     ListObj* node;
    25.     TimesilceTaskObj* task;
    26.  
    27.     list_for_each(node, ×lice_task_list)
    28.     {
    29.         task = list_entry(node, TimesilceTaskObj, timeslice_task_list);
    30.         if (task->timer != 0)
    31.         {
    32.             task->timer--;
    33.             if (task->timer == 0)
    34.             {
    35.                 task->is_run = TASK_RUN;
    36.                 task->timer = task->timeslice_len;
    37.             }
    38.         }
    39.     }
    40. }
    41.  
    42. unsigned int timeslice_get_task_num(void)
    43. {
    44.     return list_len(×lice_task_list);
    45. }
    46.  
    47. void timeslice_task_init(TimesilceTaskObj* obj, void (*task_hdl)(void), unsigned int id, unsigned int timeslice_len)
    48. {
    49.     obj->id = id;
    50.     obj->is_run = TASK_STOP;
    51.     obj->task_hdl = task_hdl;
    52.     obj->timer = timeslice_len;
    53.     obj->timeslice_len = timeslice_len;
    54. }
    55.  
    56. void timeslice_task_add(TimesilceTaskObj* obj)
    57. {
    58.     list_insert_before(×lice_task_list, &obj->timeslice_task_list);
    59. }
    60.  
    61. void timeslice_task_del(TimesilceTaskObj* obj)
    62. {
    63.     if (timeslice_task_isexist(obj))
    64.         list_remove(&obj->timeslice_task_list);
    65.     else
    66.         return;
    67. }
    68.  
    69.  
    70. unsigned char timeslice_task_isexist(TimesilceTaskObj* obj)
    71. {
    72.     unsigned char isexist = 0;
    73.     ListObj* node;
    74.     TimesilceTaskObj* task;
    75.  
    76.     list_for_each(node, ×lice_task_list)
    77.     {
    78.         task = list_entry(node, TimesilceTaskObj, timeslice_task_list);
    79.         if (obj->id == task->id)
    80.             isexist = 1;
    81.     }
    82.  
    83.     return isexist;
    84. }
    85.  
    86. unsigned int timeslice_get_task_timeslice_len(TimesilceTaskObj* obj)
    87. {
    88.     return obj->timeslice_len;
    89. }

    4）、timeslice.h

    1. #ifndef _TIMESLICE_H
    2. #define _TIMESLICE_H
    3.  
    4. #include "list.h"
    5.  
    6. typedef enum {
    7.     TASK_STOP,
    8.     TASK_RUN
    9. } IsTaskRun;
    10.  
    11. typedef struct timesilce
    12. {
    13.     unsigned int id;
    14.     void (*task_hdl)(void);
    15.     IsTaskRun is_run;
    16.     unsigned int timer;
    17.     unsigned int timeslice_len;
    18.     ListObj timeslice_task_list;
    19. } TimesilceTaskObj;
    20.  
    21. void timeslice_exec(void);
    22. void timeslice_tick(void);
    23. void timeslice_task_init(TimesilceTaskObj* obj, void (*task_hdl)(void), unsigned int id, unsigned int timeslice_len);
    24. void timeslice_task_add(TimesilceTaskObj* obj);
    25. void timeslice_task_del(TimesilceTaskObj* obj);
    26. unsigned int timeslice_get_task_timeslice_len(TimesilceTaskObj* obj);
    27. unsigned int timeslice_get_task_num(void);
    28. unsigned char timeslice_task_isexist(TimesilceTaskObj* obj);
    29.  
    30. #endif

    5）、task_demo.c

    1. #include 
    2. #include "timeslice.h"
    3. #include "gpio.h"
    4.  
    5.  
    6. // 创建5个任务对象
    7. TimesilceTaskObj task_1, task_2, task_3, task_4, task_5, task_led;
    8.  
    9.  
    10. // 具体的任务函数
    11. void task1_hdl(void)
    12. {
    13.     printf(">> task 1 is running ...\n");
    14. }
    15.  
    16.  
    17. void task2_hdl(void)
    18. {
    19.     printf(">> task 2 is running ...\n");
    20. }
    21.  
    22.  
    23. void task3_hdl(void)
    24. {
    25.     printf(">> task 3 is running ...\n");
    26. }
    27.  
    28.  
    29. void task4_hdl(void)
    30. {
    31.     printf(">> task 4 is running ...\n");
    32. }
    33.  
    34.  
    35. void task5_hdl(void)
    36. {
    37.     printf(">> task 5 is running ...\n");
    38. }
    39.  
    40. void led_hd1(void)
    41. {
    42. 	HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
    43. }
    44.  
    45.  
    46. // 初始化任务对象，并且将任务添加到时间片轮询调度中
    47. void task_init(void)
    48. {
    49.     timeslice_task_init(&task_1, task1_hdl, 1, 10);
    50.     timeslice_task_init(&task_2, task2_hdl, 2, 20);
    51.     timeslice_task_init(&task_3, task3_hdl, 3, 30);
    52.     timeslice_task_init(&task_4, task4_hdl, 4, 40);
    53.     timeslice_task_init(&task_5, task5_hdl, 5, 50);
    54. 	timeslice_task_init(&task_led, led_hd1, 6, 1000);
    55. 	
    56.     timeslice_task_add(&task_1);
    57.     timeslice_task_add(&task_2);
    58.     timeslice_task_add(&task_3);
    59.     timeslice_task_add(&task_4);
    60.     timeslice_task_add(&task_5);
    61. 	timeslice_task_add(&task_led);
    62. }
    63.  
    64. void task_run(void)
    65. {
    66.     task_init();
    67.  
    68.  
    69.     printf(">> task num: %d\n", timeslice_get_task_num());
    70.     printf(">> task len: %d\n", timeslice_get_task_timeslice_len(&task_3));
    71.  
    72.  
    73.     timeslice_task_del(&task_2);
    74.     printf(">> delet task 2\n");
    75.     printf(">> task 2 is exist: %d\n", timeslice_task_isexist(&task_2));
    76.  
    77.  
    78.     printf(">> task num: %d\n", timeslice_get_task_num());
    79.  
    80.  
    81.     timeslice_task_del(&task_5);
    82.     printf(">> delet task 5\n");
    83.  
    84.  
    85.     printf(">> task num: %d\n", timeslice_get_task_num());
    86.  
    87.  
    88.     printf(">> task 3 is exist: %d\n", timeslice_task_isexist(&task_3));
    89.     timeslice_task_add(&task_2);
    90.     printf(">> add task 2\n");
    91.     printf(">> task 2 is exist: %d\n", timeslice_task_isexist(&task_2));
    92.  
    93.  
    94.     timeslice_task_add(&task_5);
    95.     printf(">> add task 5\n");
    96.  
    97.  
    98.     printf(">> task num: %d\n", timeslice_get_task_num());
    99.  
    100.  
    101.     printf("\n\n========timeslice running===========\n");
    102. 	
    103. 	while(1)
    104. 	{
    105. 		timeslice_exec();
    106. 	}
    107.  
    108. }

    6）、task_demo.h

    1. #ifndef _TASK_DEMO_H
    2. #define _TASK_DEMO_H
    3.  
    4.  
    5.  
    6. void task_run(void);
    7.  
    8.  
    9. #endif
    10.

    4、main.c

    1. /* USER CODE BEGIN Header */
    2. /**
    3.   ******************************************************************************
    4.   * @file           : main.c
    5.   * @brief          : Main program body
    6.   ******************************************************************************
    7.   * @attention
    8.   *
    9.   * Copyright (c) 2023 STMicroelectronics.
    10.   * All rights reserved.
    11.   *
    12.   * This software is licensed under terms that can be found in the LICENSE file
    13.   * in the root directory of this software component.
    14.   * If no LICENSE file comes with this software, it is provided AS-IS.
    15.   *
    16.   ******************************************************************************
    17.   */
    18. /* USER CODE END Header */
    19. /* Includes ------------------------------------------------------------------*/
    20. #include "main.h"
    21. #include "tim.h"
    22. #include "usart.h"
    23. #include "gpio.h"
    24.  
    25. /* Private includes ----------------------------------------------------------*/
    26. /* USER CODE BEGIN Includes */
    27. #include "stdio.h"
    28. #include "task_demo.h"
    29. /* USER CODE END Includes */
    30.  
    31. /* Private typedef -----------------------------------------------------------*/
    32. /* USER CODE BEGIN PTD */
    33.  
    34. /* USER CODE END PTD */
    35.  
    36. /* Private define ------------------------------------------------------------*/
    37. /* USER CODE BEGIN PD */
    38.  
    39. /* USER CODE END PD */
    40.  
    41. /* Private macro -------------------------------------------------------------*/
    42. /* USER CODE BEGIN PM */
    43.  
    44. /* USER CODE END PM */
    45.  
    46. /* Private variables ---------------------------------------------------------*/
    47.  
    48. /* USER CODE BEGIN PV */
    49.  
    50. /* USER CODE END PV */
    51.  
    52. /* Private function prototypes -----------------------------------------------*/
    53. void SystemClock_Config(void);
    54. /* USER CODE BEGIN PFP */
    55.  
    56. /* USER CODE END PFP */
    57.  
    58. /* Private user code ---------------------------------------------------------*/
    59. /* USER CODE BEGIN 0 */
    60.  
    61. /* USER CODE END 0 */
    62.  
    63. /**
    64.   * @brief  The application entry point.
    65.   * @retval int
    66.   */
    67. int main(void)
    68. {
    69.   /* USER CODE BEGIN 1 */
    70.  
    71.   /* USER CODE END 1 */
    72.  
    73.   /* MCU Configuration--------------------------------------------------------*/
    74.  
    75.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    76.   HAL_Init();
    77.  
    78.   /* USER CODE BEGIN Init */
    79.  
    80.   /* USER CODE END Init */
    81.  
    82.   /* Configure the system clock */
    83.   SystemClock_Config();
    84.  
    85.   /* USER CODE BEGIN SysInit */
    86.  
    87.   /* USER CODE END SysInit */
    88.  
    89.   /* Initialize all configured peripherals */
    90.   MX_GPIO_Init();
    91.   MX_USART1_UART_Init();
    92.   MX_TIM1_Init();
    93.   /* USER CODE BEGIN 2 */
    94. 	HAL_TIM_Base_Start_IT(&htim1);
    95. 	printf("heihei\r\n");
    96. 	task_run();
    97.   /* USER CODE END 2 */
    98.  
    99.   /* Infinite loop */
    100.   /* USER CODE BEGIN WHILE */
    101.   while (1)
    102.   {
    103.     /* USER CODE END WHILE */
    104.  
    105.     /* USER CODE BEGIN 3 */
    106.   }
    107.   /* USER CODE END 3 */
    108. }
    109.  
    110. /**
    111.   * @brief System Clock Configuration
    112.   * @retval None
    113.   */
    114. void SystemClock_Config(void)
    115. {
    116.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    117.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    118.  
    119.   /** Configure the main internal regulator output voltage
    120.   */
    121.   __HAL_RCC_PWR_CLK_ENABLE();
    122.   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE2);
    123.  
    124.   /** Initializes the RCC Oscillators according to the specified parameters
    125.   * in the RCC_OscInitTypeDef structure.
    126.   */
    127.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    128.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    129.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    130.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    131.   RCC_OscInitStruct.PLL.PLLM = 25;
    132.   RCC_OscInitStruct.PLL.PLLN = 168;
    133.   RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
    134.   RCC_OscInitStruct.PLL.PLLQ = 4;
    135.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    136.   {
    137.     Error_Handler();
    138.   }
    139.  
    140.   /** Initializes the CPU, AHB and APB buses clocks
    141.   */
    142.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
    143.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
    144.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    145.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    146.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    147.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
    148.  
    149.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
    150.   {
    151.     Error_Handler();
    152.   }
    153. }
    154.  
    155. /* USER CODE BEGIN 4 */
    156.  
    157. /* USER CODE END 4 */
    158.  
    159. /**
    160.   * @brief  This function is executed in case of error occurrence.
    161.   * @retval None
    162.   */
    163. void Error_Handler(void)
    164. {
    165.   /* USER CODE BEGIN Error_Handler_Debug */
    166.   /* User can add his own implementation to report the HAL error return state */
    167.   __disable_irq();
    168.   while (1)
    169.   {
    170.   }
    171.   /* USER CODE END Error_Handler_Debug */
    172. }
    173.  
    174. #ifdef  USE_FULL_ASSERT
    175. /**
    176.   * @brief  Reports the name of the source file and the source line number
    177.   *         where the assert_param error has occurred.
    178.   * @param  file: pointer to the source file name
    179.   * @param  line: assert_param error line source number
    180.   * @retval None
    181.   */
    182. void assert_failed(uint8_t *file, uint32_t line)
    183. {
    184.   /* USER CODE BEGIN 6 */
    185.   /* User can add his own implementation to report the file name and line number,
    186.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    187.   /* USER CODE END 6 */
    188. }
    189. #endif /* USE_FULL_ASSERT */

    分别添加以下6个文件：list.c、list.h、task_demo.c、task_demo.h、timeslice.c、timeslice.h。同时，把timslice目录下的.h文件包含进项目中来，如下所示：

    注意：keil上需要勾选Use MicroLIB，否则CubeMX生成的串口工程无法打印问题

    四、运行结果

    五、代码解释

    时间片轮询架构

    其实该部分主要使用了面向对象的思维，使用结构体作为对象，并使用结构体指针作为参数传递，这样作可以节省资源，并且有着极高的运行效率。

    其中最难的部分是侵入式链表的使用，这种链表在一些操作系统内核中使用十分广泛，这里是参考RT-Thread实时操作系统中的侵入式链表实现。

    底层侵入式双向链表

    该链表是linux内核中使用十分广泛，也十分经典，其原理具体可以参考文章：

    https://www.cnblogs.com/skywang12345/p/3562146.html

    六、总结

            好了，终于介绍完毕，以后裸机开发，有了此时间片论法，如虎添翼。感谢各位同仁参阅。

    参考文章：

    1、单片机面向对象思维的架构：时间轮片法_strongerHuang的博客-CSDN博客 

    2、【嵌入式开源库】timeslice的使用，完全解耦的时间片轮询框架构-CSDN博客

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  • 原文地址：https://blog.csdn.net/qq_36075612/article/details/134192847