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问题如题。
CPU使用率正常的代码如下
- /主函数
- int main(void)
- {
- OS_ERR err;
- CPU_SR_ALLOC();
-
- delay_init(); //时钟初始化
- NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);//中断分组配置
- uart_init(115200); //串口初始化
- LED_Init(); //LED初始化
- LCD_Init(); //LCD初始化
-
- POINT_COLOR = RED;
- LCD_ShowString(30,10,200,16,16,"ALIENTEK STM32F1");
- LCD_ShowString(30,30,200,16,16,"UCOSIII Examp 6-2");
- LCD_ShowString(30,50,200,16,16,"Task Suspend and Resume");
- LCD_ShowString(30,70,200,16,16,"ATOM@ALIENTEK");
- LCD_ShowString(30,90,200,16,16,"2015/3/19");
-
- OSInit(&err); //初始化UCOSIII
- OS_CRITICAL_ENTER(); //进入临界区
- //创建开始任务
- OSTaskCreate((OS_TCB * )&StartTaskTCB, //任务控制块
- (CPU_CHAR * )"start task", //任务名字
- (OS_TASK_PTR )start_task, //任务函数
- (void * )0, //传递给任务函数的参数
- (OS_PRIO )START_TASK_PRIO, //任务优先级
- (CPU_STK * )&START_TASK_STK[0], //任务堆栈基地址
- (CPU_STK_SIZE)START_STK_SIZE/10, //任务堆栈深度限位
- (CPU_STK_SIZE)START_STK_SIZE, //任务堆栈大小
- (OS_MSG_QTY )0, //任务内部消息队列能够接收的最大消息数目,为0时禁止接收消息
- (OS_TICK )0, //当使能时间片轮转时的时间片长度,为0时为默认长度,
- (void * )0, //用户补充的存储区
- (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, //任务选项
- (OS_ERR * )&err); //存放该函数错误时的返回值
- OS_CRITICAL_EXIT(); //退出临界区
- OSStart(&err); //开启UCOSIII
- }
- //开始任务任务函数
- void start_task(void *p_arg)
- {
- OS_ERR err;
- CPU_SR_ALLOC();
- p_arg = p_arg;
-
- CPU_Init();
- #if OS_CFG_STAT_TASK_EN > 0u
- OSStatTaskCPUUsageInit(&err); //统计任务
- #endif
-
- #ifdef CPU_CFG_INT_DIS_MEAS_EN //如果使能了测量中断关闭时间
- CPU_IntDisMeasMaxCurReset();
- #endif
-
- #if OS_CFG_SCHED_ROUND_ROBIN_EN //当使用时间片轮转的时候
- //使能时间片轮转调度功能,时间片长度为1个系统时钟节拍,既1*5=5ms
- OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
- #endif
-
- OS_CRITICAL_ENTER(); //进入临界区
- //创建TASK1任务
- OSTaskCreate((OS_TCB * )&Task1_TaskTCB,
- (CPU_CHAR * )"Task1 task",
- (OS_TASK_PTR )task1_task,
- (void * )0,
- (OS_PRIO )TASK1_TASK_PRIO,
- (CPU_STK * )&TASK1_TASK_STK[0],
- (CPU_STK_SIZE)TASK1_STK_SIZE/10,
- (CPU_STK_SIZE)TASK1_STK_SIZE,
- (OS_MSG_QTY )0,
- (OS_TICK )0,
- (void * )0,
- (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
- (OS_ERR * )&err);
-
- //创建TASK2任务
- OSTaskCreate((OS_TCB * )&Task2_TaskTCB,
- (CPU_CHAR * )"task2 task",
- (OS_TASK_PTR )task2_task,
- (void * )0,
- (OS_PRIO )TASK2_TASK_PRIO,
- (CPU_STK * )&TASK2_TASK_STK[0],
- (CPU_STK_SIZE)TASK2_STK_SIZE/10,
- (CPU_STK_SIZE)TASK2_STK_SIZE,
- (OS_MSG_QTY )0,
- (OS_TICK )0,
- (void * )0,
- (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
- (OS_ERR * )&err);
- OS_TaskSuspend((OS_TCB*)&StartTaskTCB,&err);
- OS_CRITICAL_EXIT(); //退出临界区
- // OSTaskDel((OS_TCB*)0,&err); //删除start_task任务自身
- }
- //task1任务函数
- void task1_task(void *p_arg)
- {
- u8 task1_num=0;
- OS_ERR err;
- CPU_SR_ALLOC();
- p_arg = p_arg;
-
- POINT_COLOR = BLACK;
- OS_CRITICAL_ENTER();
- LCD_DrawRectangle(5,110,115,314); //画一个矩形
- LCD_DrawLine(5,130,115,130); //画线
- POINT_COLOR = BLUE;
- LCD_ShowString(6,111,110,16,16,"Task1 Run:000");
- OS_CRITICAL_EXIT();
- while(1)
- {
- task1_num++; //任务1执行次数加1 注意task1_num1加到255的时候会清零!!
- LED0= ~LED0;
- printf("任务1已经执行:%d次\r\n",task1_num);
- if(task1_num==5)
- {
- OSTaskSuspend((OS_TCB*)&Task2_TaskTCB,&err);//任务1执行5次后挂起任务2
- printf("任务1挂起了任务2!\r\n");
- }
- if(task1_num==10)
- {
- OSTaskResume((OS_TCB*)&Task2_TaskTCB,&err); //任务1运行10次后恢复任务2
- printf("任务1恢复了任务2!\r\n");
- }
- printf("%d\r\n",OSStatTaskCPUUsage);
- LCD_Fill(6,131,114,313,lcd_discolor[task1_num%14]); //填充区域
- LCD_ShowxNum(86,111,task1_num,3,16,0x80); //显示任务执行次数
- OSTimeDlyHMSM(0,0,1,0,OS_OPT_TIME_HMSM_STRICT,&err); //延时1s
-
- }
- }
- //task2任务函数
- void task2_task(void *p_arg)
- {
- u8 task2_num=0;
- OS_ERR err;
- CPU_SR_ALLOC();
- p_arg = p_arg;
-
- POINT_COLOR = BLACK;
- OS_CRITICAL_ENTER();
- LCD_DrawRectangle(125,110,234,314); //画一个矩形
- LCD_DrawLine(125,130,234,130); //画线
- POINT_COLOR = BLUE;
- LCD_ShowString(126,111,110,16,16,"Task2 Run:000");
- OS_CRITICAL_EXIT();
- while(1)
- {
- task2_num++; //任务2执行次数加1 注意task1_num2加到255的时候会清零!!
- LED1=~LED1;
- printf("任务2已经执行:%d次\r\n",task2_num);
- LCD_ShowxNum(206,111,task2_num,3,16,0x80); //显示任务执行次数
- LCD_Fill(126,131,233,313,lcd_discolor[13-task2_num%14]); //填充区域
- OSTimeDlyHMSM(0,0,1,0,OS_OPT_TIME_HMSM_STRICT,&err); //延时1s
- }
- }
复制代码
类似地,在下面这段代码中显示异常,一直显示为0。请问是为什么?
- int main(void)
- {
- OS_ERR err;
- CPU_SR_ALLOC();
-
- NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
- delay_init(); //延时函数初始化
- uart_init(500000); //串口初始化为
- usmart_dev.init(72); //初始化USMART
- LED_Init(); //初始化与LED连接的硬件接口
- KEY_Init(); //初始化按键
- MPU_Init(); //初始化MPU6050
- TIM3_Int_Init(999,7199);//10Khz的计数频率,计数到1000为100ms
- TIM5_Int_Init(4999,7199);
- WWDG_Init(0X7F,0X5F,WWDG_Prescaler_8);
-
- OSInit(&err); //初始化UCOSIII
- OS_CRITICAL_ENTER(); //进入临界区
- //创建开始任务
- OSTaskCreate ((OS_TCB *)&StartTaskTCB,
- (CPU_CHAR *)"start task",
- (OS_TASK_PTR )start_task,
- (void *)0,
- (OS_PRIO )START_TASK_PRIO, //优先级
- (CPU_STK *)&START_TASK_STK[0], //堆栈基地址
- (CPU_STK_SIZE )START_STK_SIZE/10, //堆栈深度限位
- (CPU_STK_SIZE )START_STK_SIZE,
- (OS_MSG_QTY )0, //任务背部消息队列能够接收的最大消息数目,为0时禁止接收消息
- (OS_TICK )0, //当使能时间片轮转时的时间片长度,为0时为默认长度
- (void *)0,
- (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR, //任务选项
- (OS_ERR *)&err);
- OS_CRITICAL_EXIT(); //退出临界区
- OSStart(&err); //开启UCOSIII
- }
-
- //开始任务
- void start_task(void *p_arg)
- {
- OS_ERR err;
- CPU_SR_ALLOC();
- p_arg=p_arg;
-
- CPU_Init();
- #if OS_CFG_STAT_TASK_EN > 0u
- OSStatTaskCPUUsageInit(&err); //统计任务
- #endif
-
- #ifdef CPU_CFG_INT_DIS_MEAS_EN //如果使能了测量中断关闭时间
- CPU_IntDisMeasMaxCurReset();
- #endif
-
- #if OS_CFG_SCHED_ROUND_ROBIN_EN //当使用时间片轮转的时候
- //使能时间片轮转调度功能,时间片长度为1个系统时钟节拍,既1*5=5ms
- OSSchedRoundRobinCfg(DEF_ENABLED,1,&err);
- #endif
-
- OS_CRITICAL_ENTER(); //进入临界区
- //创建TASK1任务
- OSTaskCreate((OS_TCB * )&Task1_TaskTCB,
- (CPU_CHAR * )"Task1 task",
- (OS_TASK_PTR )task1_task,
- (void * )0,
- (OS_PRIO )TASK1_TASK_PRIO,
- (CPU_STK * )&TASK1_TASK_STK[0],
- (CPU_STK_SIZE)TASK1_STK_SIZE/10,
- (CPU_STK_SIZE)TASK1_STK_SIZE,
- (OS_MSG_QTY )0,
- (OS_TICK )0,
- (void * )0,
- (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
- (OS_ERR * )&err);
- //创建TASK2任务
- OSTaskCreate((OS_TCB * )&Task2_TaskTCB,
- (CPU_CHAR * )"task2 task",
- (OS_TASK_PTR )task2_task,
- (void * )0,
- (OS_PRIO )TASK2_TASK_PRIO,
- (CPU_STK * )&TASK2_TASK_STK[0],
- (CPU_STK_SIZE)TASK2_STK_SIZE/10,
- (CPU_STK_SIZE)TASK2_STK_SIZE,
- (OS_MSG_QTY )0,
- (OS_TICK )0,
- (void * )0,
- (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
- (OS_ERR * )&err);
- //创建WWDG任务
- OSTaskCreate((OS_TCB * )&WWDGTaskTCB,
- (CPU_CHAR * )"WWDG task",
- (OS_TASK_PTR )wwdg_task,
- (void * )0,
- (OS_PRIO )WWDG_TASK_PRIO,
- (CPU_STK * )&WWDG_TASK_STK[0],
- (CPU_STK_SIZE)WWDG_TASK_SIZE/10,
- (CPU_STK_SIZE)WWDG_TASK_SIZE,
- (OS_MSG_QTY )0,
- (OS_TICK )0,
- (void * )0,
- (OS_OPT )OS_OPT_TASK_STK_CHK|OS_OPT_TASK_STK_CLR,
- (OS_ERR * )&err);
- OS_TaskSuspend((OS_TCB*)&StartTaskTCB,&err); //挂起开始任务
- OS_CRITICAL_EXIT(); //退出临界区
- // OSTaskDel((OS_TCB*)0,&err); // 删除start任务自身
- }
- //wwdg任务函数
- void wwdg_task(void *p_arg)
- {
- OS_ERR err;
- CPU_SR_ALLOC();
- p_arg=p_arg;
- while(1)
- {
- OSTimeDlyHMSM(0,0,1,0,OS_OPT_TIME_HMSM_STRICT,&err); //延时1s
- }
- }
- //task1任务函数
- void task1_task(void *p_arg)
- {
- u8 t=0, report=1; //默认开启上报
- u8 k1=0, k2=0;
- u8 key;
- short aacx_filter;
- OS_ERR err;
- CPU_SR_ALLOC();
- p_arg=p_arg;
-
- while(mpu_dmp_init())
- {
- printf("系统初始化中...\r\n");
- }
- while(1)
- {
- key=KEY_Scan(0);
- if(key==KEY0_PRES)
- {
- report=!report;
- }
- if(mpu_dmp_get_data(&pitch,&roll,&yaw)==0)
- {
- Kalman_filter();
- aacx_filter= Amplitude_limit(9000,-7000,aacx);
- gyroz_filter=Amplitude_limit(1000,0,gyroz);
- aacx_filter=Sliding_average_x(aacx_filter);
- gyroz_filter=Sliding_average_zgry(gyroz_filter);
- x[k1++]=aacx_filter; z_G[k2++]=gyroz_filter;
- if(k1==3) k1=0; if(k2==3) k2=0;
- min=Min_value(aacx_filter);
- max=Max_value(gyroz_filter);
- // usart1_report_imu(aacx_filter,aacy,aacz,gyrox,gyroy,gyroz,(int)(roll*100),(int)(pitch*100),(int)(yaw*10));
- if((t%10)==0)
- {
- t=0;
- LED0=!LED0;//LED闪烁
- }
- }
- t++;
- printf("%d\r\n",OSStatTaskCPUUsage);
- OSTaskSuspend((OS_TCB*)&Task1_TaskTCB,&err); //将Task1挂起
- OSTimeDlyHMSM(0,0,0,1,OS_OPT_TIME_HMSM_STRICT,&err); //延时1ms
- }
- }
- void task2_task(void *p_arg)
- {
- OS_ERR err;
- CPU_SR_ALLOC();
- p_arg = p_arg;
-
- while(1)
- {
- Moni();
- if(allow_nod==1)
- {
- allow_nod=0;
- nod();
- }
- OSTaskResume((OS_TCB*)&Task1_TaskTCB,&err); //恢复Task1
- }
-
- }
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