Other
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int main(void)
{       
    GPIO_InitTypeDef  GPIO_InitStructure;
                     
    Stm32_Clock_Init(9); //系统时钟设置
    delay_init(72);      //延时初始化 
    uart_init(72,9600);  //串口初始化为9600
    LED_Init();          //初始化与LED连接的硬件接口  
    SysTick_Configuration();
    OSInit();
    OSTaskCreate( TaskStart,    //task pointer
                    (void *)0,  //parameter
                    (OS_STK *)&TASK_START_STK[START_STK_SIZE-1],    //task stack top pointer
                    START_TASK_Prio );  //task priority
                         
    OSStart();
    return 0;      
}
//开始任务
void TaskStart(void * pdata)
{
    pdata = pdata; 
    OS_ENTER_CRITICAL();   
    OSTaskCreate(TaskLed, (void * )0, (OS_STK *)&TASK_LED_STK[LED_STK_SIZE-1], LED_TASK_Prio);
    OSTaskCreate(TaskLed1, (void * )0, (OS_STK *)&TASK_LED1_STK[LED1_STK_SIZE-1], LED1_TASK_Prio);
    OSTaskSuspend(START_TASK_Prio); //suspend but not delete
    OS_EXIT_CRITICAL();
}
//任务1
//控制DS0的亮灭.
void TaskLed(void *pdata)
{
    while(1)
    {
        LED0 = !LED0;
        OSTimeDlyHMSM(0,0,1,100);   
    }
}
//任务2
//控制DS1的亮灭.
void TaskLed1(void *pdata)
{
    while(1)
    {
        LED1 = !LED1;
        OSTimeDlyHMSM(0,0,1,300);   
    }
}

Other
开启自动换行复制
TIM3_IRQHandler PROC
        PUSH     {r4,lr}
        MRS      r4,MSP
        MOV      r0,r4
        ADD      r0,r0,#8
        MOV      r4,r0
        LDR      r0,|L0.640|
        STR      r4,[r0,#0]
        BL       IRQHandler
        POP      {r4,pc}
        ENDP

Other
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#include "../h/main.h"
                
extern Task *task;
int main(void)
{
                
    task = new Task(); //创建任务管理对象 这是一个C++类对象
                    
    Init();//初始化 时钟 串口 GPIO
    Timerx_Init(20,7199);//初始化TIM3,开中断,每2ms进一次中断
    TIM3->CNT = 0x01;//意义不明 不要也行
    __asm  //內联汇编
    {
        bl Task0 //跳转到任务1 
    }
//  while (true);
//  delete task;
}
int temp = 0;
void Task0(void) //任务1
{
    while (true)
    {
        LED0 = !LED0;
    }
}
                
void Task1(void) //任务2
{
    while (true)
    {
        LED1 = !LED1;
    }
}

Other
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class Task //任务管理类
{
public:Task(void) //构造函数,初始化时会自动调用
    {
        Reg_Buff[0][6]=((unsigned int)&Task0) ; //初始化任务0的指针
        Reg_Buff[1][6]=((unsigned int)&Task1) ; //初始化任务1的指针
        Reg_Buff[0][6]=Reg_Buff[1][7]=0x61000000 ; //初始化xRSP
                
        Current = 0; 
        Next = 1;
    }
    public: static const unsigned char Count = Task_Count;
    public: unsigned char Current; //当前任务
    public: unsigned char Next ;    //下一个任务
    public: volatile unsigned int Reg_Buff[Task_Count][8];
    public: void    Start_Next() //更新至下一个任务
    {
        (Current + 1 < Count) ? Current++ : Current = 0;
        (Next + 1 < Count) ? Next++ : Next = 0;
                
//      if (Next != 0 && (Next - Current) != 1)
//      {
//          while (true)
//          {
                
//          }
//      }
    }
                
};

Other
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Task *task ;
unsigned int Address_BASE = 0;
                
void IRQHandler(void) 
{
                    
    if(TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //检查指定的TIM中断发生与否:TIM 中断源 
    {
        TIM_ClearITPendingBit(TIM3, TIM_IT_Update);  //清除TIMx的中断待处理位:TIM 中断源
        __asm
        {
            ldr r5, [Address_BASE]  
            str r5, [&task->Reg_Buff[task->Current][0]]//R0
                
            ldr r5, [Address_BASE , 0x4] 
            str r5, [&task->Reg_Buff[task->Current][1]]//R1
                
            ldr r5, [Address_BASE , 0x8] 
            str r5, [&task->Reg_Buff[task->Current][2]]//R2
                
            ldr r5, [Address_BASE , 0xc] 
            str r5, [&task->Reg_Buff[task->Current][3]]//R3
                
            ldr r5, [Address_BASE , 0x10]
            str r5, [&task->Reg_Buff[task->Current][4]]//R12
                
//          ldr r5, [Address_BASE , 0x14]
//          str r5, [&task->Reg_Buff[task->Current][5]]//R13 LR
                
            ldr r5, [Address_BASE , 0x18]
                
            str r5, [&task->Reg_Buff[task->Current][6]]//R14 PC
                
            ldr r5, [Address_BASE , 0x1c]
            str r5, [&task->Reg_Buff[task->Current][7]]//R15 xRSP
                            
            /*↑↑↑保存当然运行中的任务现场↑↑↑*/
                
            ldr r5, [&task->Reg_Buff[task->Next][0]]//R0
            str r5, [Address_BASE]
                
            ldr r5, [&task->Reg_Buff[task->Next][1]]//R1
            str r5, [Address_BASE, 0x4]
                
            ldr r5, [&task->Reg_Buff[task->Next][2]]//R2
            str r5, [Address_BASE, 0x8]
                
            ldr r5, [&task->Reg_Buff[task->Next][3]]//R3
            str r5, [Address_BASE, 0xc]
                
            ldr r5, [&task->Reg_Buff[task->Next][4]]//R12
            str r5, [Address_BASE, 0x10]
                
//          ldr r5, [&task->Reg_Buff[task->Next][5]]//R13 LR
//          str r5, [Address_BASE, 0x14]
                
            ldr r5, [&task->Reg_Buff[task->Next][6]]//R14 PC
            //orr r5, 0x01
            str r5, [Address_BASE, 0x18]
                
            ldr r5, [&task->Reg_Buff[task->Next][7]]//R15 xRSP
            str r5, [Address_BASE, 0x1c]
            /*↑↑↑恢复上一个任务的现场↑↑↑*/
        }
        task->Start_Next(); //下一个任务
    }
}
extern "C"
{
    void TIM3_IRQHandler(void)   //TIM3中断  中断中不能有太多东西,否则进中断时压栈太多 MSP不容易计算
    {
        __ASM
        {
            mrs r4, msp
            add r4, 0x08
            str r4, [&Address_BASE]
            bl    IRQHandler
        }
    }
                
}