FreeRTOS任务状态

内容来源于b站韦东山-FreeRTOS教程。阻塞blocked（等待某些event）全部代码freertos.c。suspended（暂停）

每当星星挂起

53人浏览 · 2026-01-24 10:08:57

每当星星挂起 · 2026-01-24 10:08:57 发布

内容来源于b站韦东山-FreeRTOS教程

Ready/Running

阻塞blocked（等待某些event）

suspended（暂停）

核心代码：

else
{
    /* 要么suspend，要么resume */
    if(brunning == 1)
    {
        vTaskSuspend(xSoundTaskHandle);//暂停
        brunning = 0;
    }
	else
	{
		vTaskResume(xSoundTaskHandle);//恢复
		brunning = 1;
	}
}

全部代码freertos.c

/* USER CODE BEGIN Header */
#include "driver_led.h"
#include "driver_lcd.h"
#include "driver_mpu6050.h"
#include "driver_timer.h"
#include "driver_ds18b20.h"
#include "driver_dht11.h"
#include "driver_active_buzzer.h"
#include "driver_passive_buzzer.h"
#include "driver_color_led.h"
#include "driver_ir_receiver.h"
#include "driver_ir_sender.h"
#include "driver_light_sensor.h"
#include "driver_ir_obstacle.h"
#include "driver_ultrasonic_sr04.h"
#include "driver_spiflash_w25q64.h"
#include "driver_rotary_encoder.h"
#include "driver_motor.h"
#include "driver_key.h"
#include "driver_uart.h"

/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @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 "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* 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 Variables */
static StackType_t g_pucStackOfLightTask[128];
static StaticTask_t g_TCBofLightTask;
static TaskHandle_t xLightTaskHandle;

static StackType_t g_pucStackOfColorTask[128];
static StaticTask_t g_TCBofColorTask;
static TaskHandle_t xColorTaskHandle;

/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */
  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* 创建任务：声 */
  //extern void PlayMusic(void *params);
  //ret = xTaskCreate(PlayMusic,"SoundTask",128,NULL,osPriorityNormal,&xSoundTaskHandle);
  
  /* 创建任务：光 */
  xLightTaskHandle = xTaskCreateStatic(Led_Test,"LightTask",128,NULL,osPriorityNormal,g_pucStackOfLightTask,&g_TCBofLightTask);
  
  /* 创建任务：色 */
  xColorTaskHandle = xTaskCreateStatic(ColorLED_Test,"ColorTask",128,NULL,osPriorityNormal,g_pucStackOfColorTask,&g_TCBofColorTask);
  
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_StartDefaultTask */

/**
  * @brief  Function implementing the defaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
	uint8_t dev, data;
    int len;
	int status;
	int brunning;
	
	TaskHandle_t xSoundTaskHandle = NULL;
	BaseType_t ret;
	
	LCD_Init();
	LCD_Clear();
    	
	
    IRReceiver_Init();
	LCD_PrintString(0,0,"waiting control");
	
    while (1)
    {
		/* 读取红外遥控器 */
		if(IRReceiver_Read(&dev,&data)==0)
		{
			
			if(data == 0xa8)/* play */
			{
				/* 创建播放音乐的任务 */
				extern void PlayMusic(void *params);
				if(xSoundTaskHandle == NULL)
				{
					LCD_ClearLine(0,0);
					LCD_PrintString(0,0,"create task");
					ret = xTaskCreate(PlayMusic,"SoundTask",128,NULL,osPriorityNormal+1,&xSoundTaskHandle);
					brunning = 1;
				}
				else
				{
					/* 要么suspend，要么resume */
					if(brunning == 1)
					{
						vTaskSuspend(xSoundTaskHandle);//暂停
						LCD_ClearLine(0,0);
						LCD_PrintString(0,0,"suspend task");
						PassiveBuzzer_Control(0);/* 停止蜂鸣器 */
						brunning = 0;
					}
					else
					{
						LCD_ClearLine(0,0);
						LCD_PrintString(0,0,"resume task");
						vTaskResume(xSoundTaskHandle);//恢复
						brunning = 1;
					}
				}
			}
			else if(data == 0xa2)/* power */
			{
				/* 删除播放音乐的任务 */
				if(xSoundTaskHandle != NULL)
				{
					LCD_ClearLine(0,0);
					LCD_PrintString(0,0,"delete task");
					vTaskDelete(xSoundTaskHandle);
					PassiveBuzzer_Control(0);
					xSoundTaskHandle = NULL;
				}
				
			}
			
		}
		
    }


  /* USER CODE END StartDefaultTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */