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【嵌入式开源库】timeslice的使用，完全解耦的时间片轮询框架构
完全解耦的时间片轮询框架构
简介
timeslice是一个时间片轮询框架，他是一个完全解耦的时间片轮询框架，他的使用非常方便，该项目一共有四个文件分别是tieslice的头文件和源文件以及list的头文件和源文件，tieslice是负责轮询任务，list是一个双向链表负责任务的管理，在Linux内核中使用非常广泛也很经典，该框架是参考rtt实时操作系统的侵入式链表实现的，本章文章是将该框架移植到stm32单片机上实验，使用也非常容易，单片机只需要启用一个定时器作为时钟即可；
本章使用环境：
stm32f407vet6
代码工程使用cubemx创建项目代码
该项目的代码是我在微信公众号上看到的一个文章，代码并没有上传在github上，这里直接贴上源代码；
timeslice.h
#ifndef _TIMESLICE_H #define _TIMESLICE_H #include "list.h" typedef enum { TASK_STOP, TASK_RUN } IsTaskRun; typedef struct timesilce { unsigned int id; void (*task_hdl)(void); IsTaskRun is_run; unsigned int timer; unsigned int timeslice_len; ListObj timeslice_task_list; } TimesilceTaskObj; void timeslice_exec(void); void timeslice_tick(void); void timeslice_task_init(TimesilceTaskObj* obj, void (*task_hdl)(void), unsigned int id, unsigned int timeslice_len); void timeslice_task_add(TimesilceTaskObj* obj); void timeslice_task_del(TimesilceTaskObj* obj); unsigned int timeslice_get_task_timeslice_len(TimesilceTaskObj* obj); unsigned int timeslice_get_task_num(void); unsigned char timeslice_task_isexist(TimesilceTaskObj* obj); #endif- 1
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timeslice.c
#include "timeslice.h" static LIST_HEAD(timeslice_task_list); void timeslice_exec() { ListObj* node; TimesilceTaskObj* task; list_for_each(node, ×lice_task_list) { task = list_entry(node, TimesilceTaskObj, timeslice_task_list); if (task->is_run == TASK_RUN) { task->task_hdl(); task->is_run = TASK_STOP; } } } void timeslice_tick() { ListObj* node; TimesilceTaskObj* task; list_for_each(node, ×lice_task_list) { task = list_entry(node, TimesilceTaskObj, timeslice_task_list); if (task->timer != 0) { task->timer--; if (task->timer == 0) { task->is_run = TASK_RUN; task->timer = task->timeslice_len; } } } } unsigned int timeslice_get_task_num() { return list_len(×lice_task_list); } void timeslice_task_init(TimesilceTaskObj* obj, void (*task_hdl)(void), unsigned int id, unsigned int timeslice_len) { obj->id = id; obj->is_run = TASK_STOP; obj->task_hdl = task_hdl; obj->timer = timeslice_len; obj->timeslice_len = timeslice_len; } void timeslice_task_add(TimesilceTaskObj* obj) { list_insert_before(×lice_task_list, &obj->timeslice_task_list); } void timeslice_task_del(TimesilceTaskObj* obj) { if (timeslice_task_isexist(obj)) list_remove(&obj->timeslice_task_list); else return; } unsigned char timeslice_task_isexist(TimesilceTaskObj* obj) { unsigned char isexist = 0; ListObj* node; TimesilceTaskObj* task; list_for_each(node, ×lice_task_list) { task = list_entry(node, TimesilceTaskObj, timeslice_task_list); if (obj->id == task->id) isexist = 1; } return isexist; } unsigned int timeslice_get_task_timeslice_len(TimesilceTaskObj* obj) { return obj->timeslice_len; }- 1
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list.h
#ifndef _LIST_H #define _LIST_H #define offset_of(type, member) (unsigned long) &((type*)0)->member #define container_of(ptr, type, member) ((type *)((char *)(ptr) - offset_of(type, member))) typedef struct list_structure { struct list_structure* next; struct list_structure* prev; } ListObj; #define LIST_HEAD_INIT(name) {&(name), &(name)} #define LIST_HEAD(name) ListObj name = LIST_HEAD_INIT(name) void list_init(ListObj* list); void list_insert_after(ListObj* list, ListObj* node); void list_insert_before(ListObj* list, ListObj* node); void list_remove(ListObj* node); int list_isempty(const ListObj* list); unsigned int list_len(const ListObj* list); #define list_entry(node, type, member) \ container_of(node, type, member) #define list_for_each(pos, head) \ for (pos = (head)->next; pos != (head); pos = pos->next) #define list_for_each_safe(pos, n, head) \ for (pos = (head)->next, n = pos->next; pos != (head); \ pos = n, n = pos->next) #endif- 1
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list.c
#include "list.h" void list_init(ListObj* list) { list->next = list->prev = list; } void list_insert_after(ListObj* list, ListObj* node) { list->next->prev = node; node->next = list->next; list->next = node; node->prev = list; } void list_insert_before(ListObj* list, ListObj* node) { list->prev->next = node; node->prev = list->prev; list->prev = node; node->next = list; } void list_remove(ListObj* node) { node->next->prev = node->prev; node->prev->next = node->next; node->next = node->prev = node; } int list_isempty(const ListObj* list) { return list->next == list; } unsigned int list_len(const ListObj* list) { unsigned int len = 0; const ListObj* p = list; while (p->next != list) { p = p->next; len++; } return len; }- 1
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创建工程
配置高速时钟和低速时钟为外部晶振提供
配置调试模式为sw调试模式
配置时钟频率
配置led，这里我的板子是这三个io接入的是led
配置一个10ms的定时器（1000000hz / 1000ms == 1ms = 1khz 就得到10ms需要计数10000重载）记得打开中断
配置工程并生成，工程名设置，单独生成.c.h文件拷贝库文件
下面开始代码的移植工作；移植代码
首先我们需要将该开源项目的代码添加到工程中
在定时器中断服务函数中添加timeslice轮询函数
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { if(htim->Instance == TIM3) { timeslice_tick(); } }- 1
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然后我们需要在main函数中启动定时器并在while1中调用exec函数调度时间片
HAL_TIM_Base_Start_IT(&htim3); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ timeslice_exec(); }- 1
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到这里我们的移植工作就做完了，该项目的解耦效果真的非常好，移植相当简单，然后我们创建几个任务实验一下效果；
实验
/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2023 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "tim.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "timeslice.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { if(htim->Instance == TIM3) { timeslice_tick(); } } // 创建3个任务对象 TimesilceTaskObj task_1, task_2, task_3; // 具体的任务函数 void task1_hdl() { HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_13); } void task2_hdl() { HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_14 ); } void task3_hdl() { HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_15); } // 初始化任务对象，并且将任务添加到时间片轮询调度中 void task_init() { timeslice_task_init(&task_1, task1_hdl, 1, 1); timeslice_task_init(&task_2, task2_hdl, 2, 1); timeslice_task_init(&task_3, task3_hdl, 3, 1); timeslice_task_add(&task_1); timeslice_task_add(&task_2); timeslice_task_add(&task_3); } /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_TIM3_Init(); /* USER CODE BEGIN 2 */ HAL_TIM_Base_Start_IT(&htim3); task_init(); /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ timeslice_exec(); } /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = 25; RCC_OscInitStruct.PLL.PLLN = 336; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 4; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { Error_Handler(); } } /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */- 1
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核心部分
// 创建3个任务对象 TimesilceTaskObj task_1, task_2, task_3; // 具体的任务函数 void task1_hdl() { HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_13); } void task2_hdl() { HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_14 ); } void task3_hdl() { HAL_GPIO_TogglePin(GPIOE, GPIO_PIN_15); } // 初始化任务对象，并且将任务添加到时间片轮询调度中 void task_init() { timeslice_task_init(&task_1, task1_hdl, 1, 1); timeslice_task_init(&task_2, task2_hdl, 2, 2); timeslice_task_init(&task_3, task3_hdl, 3, 3); timeslice_task_add(&task_1); timeslice_task_add(&task_2); timeslice_task_add(&task_3); }- 1
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需要注意的是必须要有一个任务是需要在exec前创建，这样才能保证运行，其他的任务可以在这个任务中再创建，上面的实验是实现三个任务，三个任务分别为一个中断触发一次，第二个任务是每隔两个中断触发一次，第三个任务是每隔三个中断触发一次任务；
函数说明
timeslice_task_init
初始化任务函数
void timeslice_task_init(TimesilceTaskObj* obj, void (*task_hdl)(void), unsigned int id, unsigned int timeslice_len) { obj->id = id; obj->is_run = TASK_STOP; obj->task_hdl = task_hdl; obj->timer = timeslice_len; obj->timeslice_len = timeslice_len; }- 1
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在这个函数中将任务结构体参数初始化，id类似于任务名称用于区分任务，is_run是一个标志位用于判断该任务在该次中断是否需要执行，task_hd1表示函数指针也就是我们的任务函数，timer表示每多少次中断触发一次计数，timeslice_len 表示没多少次中断触发一次计数初始值，在timeslice_tick中当timer的值减到0任务将触发并会重新复位timer的值为 timeslice_len ；
timeslice_task_add
添加任务到双向链表中
void timeslice_task_add(TimesilceTaskObj* obj) { list_insert_before(×lice_task_list, &obj->timeslice_task_list); } void list_insert_before(ListObj* list, ListObj* node) { list->prev->next = node; node->prev = list->prev; list->prev = node; node->next = list; }- 1
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该链表（timeslice_task_list）在timeslice_tick中会轮询进行遍历
timeslice_tak_del
删除正在运行的任务链表
void timeslice_task_del(TimesilceTaskObj* obj) { if (timeslice_task_isexist(obj)) list_remove(&obj->timeslice_task_list); else return; }- 1
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在该函数中会通过timeslice_task_isexist函数去判断链表中是否存在该任务的id，如果存在将返回退出允许，这里涉及到一个Linux中的函数list_entry->container_of,该函数是通过结构体的某个变量获取整个结构体的指针位置，有兴趣可以去学习一下该项目代码的实现；
timeslice_get_task_num
获取当前任务数量，也就是链表的长度
unsigned int timeslice_get_task_num() { return list_len(×lice_task_list); } unsigned int list_len(const ListObj* list) { unsigned int len = 0; const ListObj* p = list; while (p->next != list) { p = p->next; len++; } return len; }- 1
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结尾
整体的代码不算复杂但是是值得学习的一个项目，我是凉开水白菜祝各位程序员们节日快乐~ 咱们下文见~
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- 原文地址：https://blog.csdn.net/qq_43581670/article/details/134020633