ESP32 和 Freertos：如何正确使用 Freertos 的任务和队列
ESP32 and Freertos: how to use properly the tasks and the queues from Freertos
我有一个使用 ESP32 和 Freertos 的程序，它从操纵杆读取某些值并根据这些值将其发送到多个任务。问题是队列给我一些错误，我找不到以下信息：
这只是一个启动任务，没有队列。另一张图片在队列中：
现在，这是代码的一部分，我的意思是：
这些是已启动的任务：
adc1_config_width(ADC_WIDTH_BIT_12);
adc1_config_channel_atten(ADC1_CHANNEL_6,ADC_ATTEN_DB_11);
adc1_config_channel_atten(ADC1_CHANNEL_7,ADC_ATTEN_DB_11);
xTaskCreatePinnedToCore(S, "stop", 100000, NULL, 1, NULL,0);
xTaskCreatePinnedToCore(queues, "queues", 100000, NULL, 4, NULL,0);
这些是任务：
void S(void* pvParam)
{Serial.print("se ejecuta el STOP");
for(;;) {
if (sS != 1){
xQueueReceive(xQueueS, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "STOP") == 0){
snprintf(msg_bt, sizeof msg_bt, "S");
//SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sS = 0;
}
}
vTaskDelete(NULL);
}
void queues(void* pvParam){
for(;;) {
valx = adc1_get_raw(ADC1_CHANNEL_6);
valy = adc1_get_raw(ADC1_CHANNEL_7);
Serial.print("The X and Y coordinates are:");
Serial.print(valx, DEC);
Serial.print(",");
Serial.println(valy, DEC);
Serial.println(" ");
delay(100);
if (valx <= 2623 && valx >= 823 && valy <= 2500 && valy >= 923 ){
xSemaphoreTake( xMutexSendCommand, 1000/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "STOP");
Serial.print("Se envia un sTOP");
xQueueSend(xQueueS, & (xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sS = 1;
}
}
}
}
还有其他任务，程序更大，但我将程序缩减到这部分，我在此处注释 Queue 以查看会发生什么。
这是完整的代码，以备不时之需：
#include <Arduino.h>
#include <WiFi.h>
#include <HTTPClient.h>
#include <PubSubClient.h>
#include <driver/dac.h>
#include <driver/adc.h>
#include <math.h>
#include <string>
#include <stdlib.h>
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "freertos/semphr.h"
#include "BluetoothSerial.h"
using namespace std;
const int xpin = 34, ypin = 35;
int valx, valy;
int sF = 0, sB = 0, sL = 0, sR = 0, sG = 0, sI = 0, sH = 0, sJ = 0, sS = 0;
BluetoothSerial SerialBT;
SemaphoreHandle_t xMutex, xMutexSendCommand;
QueueHandle_t xQueueSendCoordinates;
QueueHandle_t xQueueF, xQueueB, xQueueL, xQueueR, xQueueG, xQueueI, xQueueH, xQueueJ, xQueueS;
char xMessageReceive[64];
char xMessageSend[64];
char msg_bt[64];
void t_F(void* pvParam)
{
Serial.print("Se ejecuta la tarea FORWARD");
for(;;) {
if (sF != 1){
xQueueReceive(xQueueF, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );{
if (strcmp(xMessageReceive, "FORWARD") == 0)
{
snprintf(msg_bt, sizeof msg_bt, "F");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sF = 0;
}
}
vTaskDelete(NULL);
}
void B(void* pvParam)
{Serial.print("Se ejecuta la tarea BACKWARD");
for(;;) {
if (sB != 1){
xQueueReceive(xQueueB, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "BACKWARD") == 0){
snprintf(msg_bt, sizeof msg_bt, "B");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sB = 0;
}
}
vTaskDelete(NULL);
}
void L(void* pvParam)
{
for(;;) {
if (sL != 1){
xQueueReceive(xQueueL, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "LEFT") == 0){
snprintf(msg_bt, sizeof msg_bt, "L");
SerialBT.write((uint8_t*)&msg_bt,1);;
}
}
xSemaphoreGive(xMutex);
sL = 0;
}
}
vTaskDelete(NULL);
}
void R(void* pvParam)
{
for(;;) {
if (sR != 1){
xQueueReceive(xQueueR, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "RIGHT") == 0){
snprintf(msg_bt, sizeof msg_bt, "R");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sR = 0;
}
}
vTaskDelete(NULL);
}
void G(void* pvParam)
{
for(;;) {
if (sG != 1){
xQueueReceive(xQueueG, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "RF") == 0){
snprintf(msg_bt, sizeof msg_bt, "G");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sG = 0;
}
}
vTaskDelete(NULL);
}
void I(void* pvParam)
{
for(;;) {
if (sI != 1){
xQueueReceive(xQueueI, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "LF") == 0){
snprintf(msg_bt, sizeof msg_bt, "I");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sI = 0;
}
}
vTaskDelete(NULL);
}
void H(void* pvParam)
{
for(;;) {
if (sH != 1){
xQueueReceive(xQueueH, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "RB") == 0){
snprintf(msg_bt, sizeof msg_bt, "H");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sH = 0;
}
}
vTaskDelete(NULL);
}
void J(void* pvParam)
{
for(;;) {
if (sJ != 1){
xQueueReceive(xQueueJ, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "RL") == 0){
snprintf(msg_bt, sizeof msg_bt, "J");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sJ = 0;
}
}
vTaskDelete(NULL);
}
void S(void* pvParam)
{Serial.print("se ejecuta el STOP");
for(;;) {
if (sS != 1){
xQueueReceive(xQueueS, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "STOP") == 0){
snprintf(msg_bt, sizeof msg_bt, "S");
//SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sS = 0;
}
}
vTaskDelete(NULL);
}
void queues(void* pvParam){
for(;;) {
valx = adc1_get_raw(ADC1_CHANNEL_6);
valy = adc1_get_raw(ADC1_CHANNEL_7);
Serial.print("The X and Y coordinates are:");
Serial.print(valx, DEC);
Serial.print(",");
Serial.println(valy, DEC);
Serial.println(" ");
delay(100);
if (valx <= 2623 && valx >= 823 && valy == 0 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "FORWARD");
xQueueSend(xQueueF, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sF = 1;
}
}
if (valx <= 2623 && valx >= 823 && valy == 4095 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend,"BACKWARD");
xQueueSend(xQueueB, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sB = 1;
}
}
if (valx == 0 && valy <= 2500 && valy >= 923 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "LEFT");
xQueueSend(xQueueL, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sL = 1;
}
}
if (valx == 4095 && valy <= 2500 && valy >= 923 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "RIGHT");
xQueueSend(xQueueR, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sR = 1;
}
}
if (valx <= 4095 && valx >= 2623 && valy <= 823 && valy > 0 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "RF");
xQueueSend(xQueueG, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sG = 1;
}
}
if (valx <= 823 && valx >= 0 && valy <= 923 && valy > 0 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "LF");
xQueueSend(xQueueI, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sI = 1;
}
}
if (valx <= 4095 && valx >= 2623 && valy < 4095 && valy >= 2500 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "RB");
xQueueSend(xQueueH, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sH = 1;
}
}
if (valx <= 823 && valx >= 0 && valy < 4095 && valy >= 2500 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "LB");
xQueueSend(xQueueJ, & (xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sJ = 1;
}
}
if (valx <= 2623 && valx >= 823 && valy <= 2500 && valy >= 923 ){
xSemaphoreTake( xMutexSendCommand, 1000/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "STOP");
Serial.print("Se envia un sTOP");
xQueueSend(xQueueS, & (xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sS = 1;
}
}
}
}
void setup()
{
Serial.begin(115200);
SerialBT.begin("bt_esp32"); //Bluetooth device name
SerialBT.setPin("1234");
Serial.println("The device started, now you can pair it with bluetooth!");
/*pinMode(34, ANALOG);
pinMode(35, ANALOG);
*/
adc1_config_width(ADC_WIDTH_BIT_12);
adc1_config_channel_atten(ADC1_CHANNEL_6,ADC_ATTEN_DB_11);
adc1_config_channel_atten(ADC1_CHANNEL_7,ADC_ATTEN_DB_11);
//Lanzamiento de tareas para enviar información
xTaskCreatePinnedToCore(t_F, "forward", 4000, NULL, 4, NULL,0);
xTaskCreatePinnedToCore(B, "backward", 4000, NULL, 3, NULL,0);
xTaskCreatePinnedToCore(L, "left", 4000, NULL, 3, NULL,0);
xTaskCreatePinnedToCore(R, "right", 4000, NULL, 3, NULL,0);
xTaskCreatePinnedToCore(G, "right-forward", 4000, NULL, 2, NULL,0);
xTaskCreatePinnedToCore(I, "left-forward", 4000, NULL, 2, NULL,0);
xTaskCreatePinnedToCore(H, "right-backward", 4000, NULL, 2, NULL,0);
xTaskCreatePinnedToCore(J, "left-backward", 4000, NULL, 2, NULL,0);
xTaskCreatePinnedToCore(S, "stop", 100000, NULL, 1, NULL,0);
/*
pinMode(xpin, INPUT_PULLUP);
pinMode(ypin, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(xpin), blink, CHANGE);
attachInterrupt(digitalPinToInterrupt(ypin), blink, CHANGE);
*/
//Lanzamiento de la tarea que envÃa la info del joystick a las otras tareas a través de una cola
xTaskCreatePinnedToCore(queues, "queues", 100000, NULL, 4, NULL,0);
}
void loop()
{
}
这段代码中有很多问题，但在启动任何使用它们的任务之前，您实际上必须 create the mutexes (and create the queues) 解决最紧迫的问题。
const size_t QUEUE_F_LEN = 10;
const size_t QUEUE_B_LEN = 10;
void setup()
{
...
// Create the mutexes
xMutex = xSemaphoreCreateMutex();
assert(xMutex);
xMutexSendCommand = xSemaphoreCreateMutex();
assert(xMutexSendCommand);
// Create the queues
xQueueF = xQueueCreate(QUEUE_F_LEN, sizeof(xMessageReceive));
assert(xQueueF);
xQueueB = xQueueCreate(QUEUE_B_LEN, sizeof(xMessageReceive));
assert(xQueueB);
// ... etc
// Create tasks that use mutexes and queues
xTaskCreatePinnedToCore(t_F, "forward", 4000, NULL, 4, NULL,0);
...
我建议阅读 Mastering the FreeRTOS Real Time Kernel - a Hands On Tutorial Guide 中的相关章节（它很好地解释了主题，而没有涉及不必要的细节）。
我有一个使用 ESP32 和 Freertos 的程序，它从操纵杆读取某些值并根据这些值将其发送到多个任务。问题是队列给我一些错误，我找不到以下信息：
这只是一个启动任务，没有队列。另一张图片在队列中：
现在，这是代码的一部分，我的意思是：
这些是已启动的任务：
adc1_config_width(ADC_WIDTH_BIT_12);
adc1_config_channel_atten(ADC1_CHANNEL_6,ADC_ATTEN_DB_11);
adc1_config_channel_atten(ADC1_CHANNEL_7,ADC_ATTEN_DB_11);
xTaskCreatePinnedToCore(S, "stop", 100000, NULL, 1, NULL,0);
xTaskCreatePinnedToCore(queues, "queues", 100000, NULL, 4, NULL,0);
这些是任务：
void S(void* pvParam)
{Serial.print("se ejecuta el STOP");
for(;;) {
if (sS != 1){
xQueueReceive(xQueueS, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "STOP") == 0){
snprintf(msg_bt, sizeof msg_bt, "S");
//SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sS = 0;
}
}
vTaskDelete(NULL);
}
void queues(void* pvParam){
for(;;) {
valx = adc1_get_raw(ADC1_CHANNEL_6);
valy = adc1_get_raw(ADC1_CHANNEL_7);
Serial.print("The X and Y coordinates are:");
Serial.print(valx, DEC);
Serial.print(",");
Serial.println(valy, DEC);
Serial.println(" ");
delay(100);
if (valx <= 2623 && valx >= 823 && valy <= 2500 && valy >= 923 ){
xSemaphoreTake( xMutexSendCommand, 1000/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "STOP");
Serial.print("Se envia un sTOP");
xQueueSend(xQueueS, & (xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sS = 1;
}
}
}
}
还有其他任务，程序更大，但我将程序缩减到这部分，我在此处注释 Queue 以查看会发生什么。
这是完整的代码，以备不时之需：
#include <Arduino.h>
#include <WiFi.h>
#include <HTTPClient.h>
#include <PubSubClient.h>
#include <driver/dac.h>
#include <driver/adc.h>
#include <math.h>
#include <string>
#include <stdlib.h>
#include <stdio.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/queue.h"
#include "freertos/semphr.h"
#include "BluetoothSerial.h"
using namespace std;
const int xpin = 34, ypin = 35;
int valx, valy;
int sF = 0, sB = 0, sL = 0, sR = 0, sG = 0, sI = 0, sH = 0, sJ = 0, sS = 0;
BluetoothSerial SerialBT;
SemaphoreHandle_t xMutex, xMutexSendCommand;
QueueHandle_t xQueueSendCoordinates;
QueueHandle_t xQueueF, xQueueB, xQueueL, xQueueR, xQueueG, xQueueI, xQueueH, xQueueJ, xQueueS;
char xMessageReceive[64];
char xMessageSend[64];
char msg_bt[64];
void t_F(void* pvParam)
{
Serial.print("Se ejecuta la tarea FORWARD");
for(;;) {
if (sF != 1){
xQueueReceive(xQueueF, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );{
if (strcmp(xMessageReceive, "FORWARD") == 0)
{
snprintf(msg_bt, sizeof msg_bt, "F");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sF = 0;
}
}
vTaskDelete(NULL);
}
void B(void* pvParam)
{Serial.print("Se ejecuta la tarea BACKWARD");
for(;;) {
if (sB != 1){
xQueueReceive(xQueueB, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "BACKWARD") == 0){
snprintf(msg_bt, sizeof msg_bt, "B");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sB = 0;
}
}
vTaskDelete(NULL);
}
void L(void* pvParam)
{
for(;;) {
if (sL != 1){
xQueueReceive(xQueueL, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "LEFT") == 0){
snprintf(msg_bt, sizeof msg_bt, "L");
SerialBT.write((uint8_t*)&msg_bt,1);;
}
}
xSemaphoreGive(xMutex);
sL = 0;
}
}
vTaskDelete(NULL);
}
void R(void* pvParam)
{
for(;;) {
if (sR != 1){
xQueueReceive(xQueueR, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "RIGHT") == 0){
snprintf(msg_bt, sizeof msg_bt, "R");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sR = 0;
}
}
vTaskDelete(NULL);
}
void G(void* pvParam)
{
for(;;) {
if (sG != 1){
xQueueReceive(xQueueG, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "RF") == 0){
snprintf(msg_bt, sizeof msg_bt, "G");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sG = 0;
}
}
vTaskDelete(NULL);
}
void I(void* pvParam)
{
for(;;) {
if (sI != 1){
xQueueReceive(xQueueI, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "LF") == 0){
snprintf(msg_bt, sizeof msg_bt, "I");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sI = 0;
}
}
vTaskDelete(NULL);
}
void H(void* pvParam)
{
for(;;) {
if (sH != 1){
xQueueReceive(xQueueH, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "RB") == 0){
snprintf(msg_bt, sizeof msg_bt, "H");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sH = 0;
}
}
vTaskDelete(NULL);
}
void J(void* pvParam)
{
for(;;) {
if (sJ != 1){
xQueueReceive(xQueueJ, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "RL") == 0){
snprintf(msg_bt, sizeof msg_bt, "J");
SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sJ = 0;
}
}
vTaskDelete(NULL);
}
void S(void* pvParam)
{Serial.print("se ejecuta el STOP");
for(;;) {
if (sS != 1){
xQueueReceive(xQueueS, &( xMessageReceive ), (( TickType_t ) 10 ) != pdPASS );
xSemaphoreTake( xMutex, 200/portTICK_PERIOD_MS );
{
if (strcmp(xMessageReceive, "STOP") == 0){
snprintf(msg_bt, sizeof msg_bt, "S");
//SerialBT.write((uint8_t*)&msg_bt,1);
}
}
xSemaphoreGive(xMutex);
sS = 0;
}
}
vTaskDelete(NULL);
}
void queues(void* pvParam){
for(;;) {
valx = adc1_get_raw(ADC1_CHANNEL_6);
valy = adc1_get_raw(ADC1_CHANNEL_7);
Serial.print("The X and Y coordinates are:");
Serial.print(valx, DEC);
Serial.print(",");
Serial.println(valy, DEC);
Serial.println(" ");
delay(100);
if (valx <= 2623 && valx >= 823 && valy == 0 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "FORWARD");
xQueueSend(xQueueF, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sF = 1;
}
}
if (valx <= 2623 && valx >= 823 && valy == 4095 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend,"BACKWARD");
xQueueSend(xQueueB, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sB = 1;
}
}
if (valx == 0 && valy <= 2500 && valy >= 923 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "LEFT");
xQueueSend(xQueueL, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sL = 1;
}
}
if (valx == 4095 && valy <= 2500 && valy >= 923 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "RIGHT");
xQueueSend(xQueueR, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sR = 1;
}
}
if (valx <= 4095 && valx >= 2623 && valy <= 823 && valy > 0 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "RF");
xQueueSend(xQueueG, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sG = 1;
}
}
if (valx <= 823 && valx >= 0 && valy <= 923 && valy > 0 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "LF");
xQueueSend(xQueueI, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sI = 1;
}
}
if (valx <= 4095 && valx >= 2623 && valy < 4095 && valy >= 2500 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "RB");
xQueueSend(xQueueH, (void *) &(xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sH = 1;
}
}
if (valx <= 823 && valx >= 0 && valy < 4095 && valy >= 2500 ){
xSemaphoreTake( xMutexSendCommand, 200/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "LB");
xQueueSend(xQueueJ, & (xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sJ = 1;
}
}
if (valx <= 2623 && valx >= 823 && valy <= 2500 && valy >= 923 ){
xSemaphoreTake( xMutexSendCommand, 1000/portTICK_PERIOD_MS );
{
strcpy(xMessageSend, "STOP");
Serial.print("Se envia un sTOP");
xQueueSend(xQueueS, & (xMessageSend), (( TickType_t ) 10 ) != pdPASS );
sS = 1;
}
}
}
}
void setup()
{
Serial.begin(115200);
SerialBT.begin("bt_esp32"); //Bluetooth device name
SerialBT.setPin("1234");
Serial.println("The device started, now you can pair it with bluetooth!");
/*pinMode(34, ANALOG);
pinMode(35, ANALOG);
*/
adc1_config_width(ADC_WIDTH_BIT_12);
adc1_config_channel_atten(ADC1_CHANNEL_6,ADC_ATTEN_DB_11);
adc1_config_channel_atten(ADC1_CHANNEL_7,ADC_ATTEN_DB_11);
//Lanzamiento de tareas para enviar información
xTaskCreatePinnedToCore(t_F, "forward", 4000, NULL, 4, NULL,0);
xTaskCreatePinnedToCore(B, "backward", 4000, NULL, 3, NULL,0);
xTaskCreatePinnedToCore(L, "left", 4000, NULL, 3, NULL,0);
xTaskCreatePinnedToCore(R, "right", 4000, NULL, 3, NULL,0);
xTaskCreatePinnedToCore(G, "right-forward", 4000, NULL, 2, NULL,0);
xTaskCreatePinnedToCore(I, "left-forward", 4000, NULL, 2, NULL,0);
xTaskCreatePinnedToCore(H, "right-backward", 4000, NULL, 2, NULL,0);
xTaskCreatePinnedToCore(J, "left-backward", 4000, NULL, 2, NULL,0);
xTaskCreatePinnedToCore(S, "stop", 100000, NULL, 1, NULL,0);
/*
pinMode(xpin, INPUT_PULLUP);
pinMode(ypin, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(xpin), blink, CHANGE);
attachInterrupt(digitalPinToInterrupt(ypin), blink, CHANGE);
*/
//Lanzamiento de la tarea que envÃa la info del joystick a las otras tareas a través de una cola
xTaskCreatePinnedToCore(queues, "queues", 100000, NULL, 4, NULL,0);
}
void loop()
{
}
这段代码中有很多问题，但在启动任何使用它们的任务之前，您实际上必须 create the mutexes (and create the queues) 解决最紧迫的问题。
const size_t QUEUE_F_LEN = 10;
const size_t QUEUE_B_LEN = 10;
void setup()
{
...
// Create the mutexes
xMutex = xSemaphoreCreateMutex();
assert(xMutex);
xMutexSendCommand = xSemaphoreCreateMutex();
assert(xMutexSendCommand);
// Create the queues
xQueueF = xQueueCreate(QUEUE_F_LEN, sizeof(xMessageReceive));
assert(xQueueF);
xQueueB = xQueueCreate(QUEUE_B_LEN, sizeof(xMessageReceive));
assert(xQueueB);
// ... etc
// Create tasks that use mutexes and queues
xTaskCreatePinnedToCore(t_F, "forward", 4000, NULL, 4, NULL,0);
...
我建议阅读 Mastering the FreeRTOS Real Time Kernel - a Hands On Tutorial Guide 中的相关章节（它很好地解释了主题，而没有涉及不必要的细节）。