目录
概述
一、开发环境
二、STM32CubeMx配置
三、编码
四、运行结果
五、代码解释
六、总结
概述
timeslice是一个时间片轮询框架，完全解耦的时间片轮询框架，非常适合裸机单片机引用。接下来将该框架移植到stm32单片机运行，单片机只需用1个定时器作为时钟即可。
友情链接（项目示例）：https://download.csdn.net/download/qq_36075612/88498232
一、开发环境
1、硬件平台
STM32F401CEU6
内部Flash : 512Kbytes，SARM :96 Kbytes
二、STM32CubeMx配置
2.1、系统时钟配置
2.2、下载调试配置
2.3、TIM配置（1ms中断）
2.4、usart1配置
2.5、生成代码
2.6、编译工程
三、编码
1、usart.c添加打印
/* USER CODE BEGIN 1 */#include "stdio.h"#ifdef __GNUC__/* With GCC/RAISONANCE, small printf (option LD Linker->Libraries->Small printf set to 'Yes') calls __io_putchar() */#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)#else#define PUTCHAR_PROTOTYPE int fputc(int ch, FILE *f)#endif /* __GNUC__ *//*** @briefRetargets the C library printf function to the USART.* @paramNone* @retval None*/PUTCHAR_PROTOTYPE{/* Place your implementation of fputc here *//* e.g. write a character to the EVAL_COM1 and Loop until the end of transmission */HAL_UART_Transmit(&huart1, (uint8_t *)&ch, 1, 0xFFFF); return ch;} int fgetc(FILE * f){uint8_t ch = 0;HAL_UART_Receive(&huart1, (uint8_t *)&ch, 1, 0xffff);return ch;}/* USER CODE END 1 */2、tim1.c
/* USER CODE BEGIN Header *//********************************************************************************* @filetim.c* @brief This file provides code for the configuration*of the TIM instances.******************************************************************************* @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 "tim.h"/* USER CODE BEGIN 0 *//* USER CODE END 0 */TIM_HandleTypeDef htim1;/* TIM1 init function */void MX_TIM1_Init(void){/* USER CODE BEGIN TIM1_Init 0 *//* USER CODE END TIM1_Init 0 */TIM_ClockConfigTypeDef sClockSourceConfig = {0};TIM_MasterConfigTypeDef sMasterConfig = {0};/* USER CODE BEGIN TIM1_Init 1 *//* USER CODE END TIM1_Init 1 */htim1.Instance = TIM1;htim1.Init.Prescaler = 84-1;htim1.Init.CounterMode = TIM_COUNTERMODE_UP;htim1.Init.Period = 1000-1;htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;htim1.Init.RepetitionCounter = 0;htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;if (HAL_TIM_Base_Init(&htim1) != HAL_OK){Error_Handler();}sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;if (HAL_TIM_ConfigClockSource(&htim1, &sClockSourceConfig) != HAL_OK){Error_Handler();}sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;if (HAL_TIMEx_MasterConfigSynchronization(&htim1, &sMasterConfig) != HAL_OK){Error_Handler();}/* USER CODE BEGIN TIM1_Init 2 *//* USER CODE END TIM1_Init 2 */}void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle){if(tim_baseHandle->Instance==TIM1){/* USER CODE BEGIN TIM1_MspInit 0 *//* USER CODE END TIM1_MspInit 0 *//* TIM1 clock enable */__HAL_RCC_TIM1_CLK_ENABLE();/* TIM1 interrupt Init */HAL_NVIC_SetPriority(TIM1_UP_TIM10_IRQn, 0, 0);HAL_NVIC_EnableIRQ(TIM1_UP_TIM10_IRQn);/* USER CODE BEGIN TIM1_MspInit 1 *//* USER CODE END TIM1_MspInit 1 */}}void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle){if(tim_baseHandle->Instance==TIM1){/* USER CODE BEGIN TIM1_MspDeInit 0 *//* USER CODE END TIM1_MspDeInit 0 *//* Peripheral clock disable */__HAL_RCC_TIM1_CLK_DISABLE();/* TIM1 interrupt Deinit */HAL_NVIC_DisableIRQ(TIM1_UP_TIM10_IRQn);/* USER CODE BEGIN TIM1_MspDeInit 1 *//* USER CODE END TIM1_MspDeInit 1 */}}/* USER CODE BEGIN 1 */#include "stdio.h"int timeCount = 0;void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim){if(htim->Instance == TIM1){timeCount++;if(timeCount==1000){timeCount = 0;printf("time + 1s\n");}}}/* USER CODE END 1 */3、在根目录创建timeslice文件夹，分别有list.c、list.h、thread_demo.c、thread_demo.h、timeslice.c、timeslice.h文件组成
1）、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;}2）、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)#endif3）、timeslice.c
#include "timeslice.h"static LIST_HEAD(timeslice_task_list);void timeslice_exec(void){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(void){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(void){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);elsereturn;}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;}4）、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);#endif5）、task_demo.c
#include #include "timeslice.h"#include "gpio.h"// 创建5个任务对象TimesilceTaskObj task_1, task_2, task_3, task_4, task_5, task_led;// 具体的任务函数void task1_hdl(void){printf(">> task 1 is running ...\n");}void task2_hdl(void){printf(">> task 2 is running ...\n");}void task3_hdl(void){printf(">> task 3 is running ...\n");}void task4_hdl(void){printf(">> task 4 is running ...\n");}void task5_hdl(void){printf(">> task 5 is running ...\n");}void led_hd1(void){HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);}// 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(void){timeslice_task_init(&task_1, task1_hdl, 1, 10);timeslice_task_init(&task_2, task2_hdl, 2, 20);timeslice_task_init(&task_3, task3_hdl, 3, 30);timeslice_task_init(&task_4, task4_hdl, 4, 40);timeslice_task_init(&task_5, task5_hdl, 5, 50);timeslice_task_init(&task_led, led_hd1, 6, 1000);timeslice_task_add(&task_1);timeslice_task_add(&task_2);timeslice_task_add(&task_3);timeslice_task_add(&task_4);timeslice_task_add(&task_5);timeslice_task_add(&task_led);} void task_run(void){task_init();printf(">> task num: %d\n", timeslice_get_task_num());printf(">> task len: %d\n", timeslice_get_task_timeslice_len(&task_3));timeslice_task_del(&task_2);printf(">> delet task 2\n");printf(">> task 2 is exist: %d\n", timeslice_task_isexist(&task_2));printf(">> task num: %d\n", timeslice_get_task_num());timeslice_task_del(&task_5);printf(">> delet task 5\n");printf(">> task num: %d\n", timeslice_get_task_num());printf(">> task 3 is exist: %d\n", timeslice_task_isexist(&task_3));timeslice_task_add(&task_2);printf(">> add task 2\n");printf(">> task 2 is exist: %d\n", timeslice_task_isexist(&task_2));timeslice_task_add(&task_5);printf(">> add task 5\n");printf(">> task num: %d\n", timeslice_get_task_num());printf("\n\n========timeslice running===========\n");while(1){timeslice_exec();} }6）、task_demo.h
#ifndef _TASK_DEMO_H#define _TASK_DEMO_Hvoid task_run(void);#endif4、main.c
/* 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 "usart.h"#include "gpio.h"/* Private includes ----------------------------------------------------------*//* USER CODE BEGIN Includes */#include "stdio.h"#include "task_demo.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 *//* 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 *//*** @briefThe 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_USART1_UART_Init();MX_TIM1_Init();/* USER CODE BEGIN 2 */HAL_TIM_Base_Start_IT(&htim1);printf("heihei\r\n");task_run();/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}/* 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_SCALE2);/** 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 = 168;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_DIV2;RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK){Error_Handler();}}/* USER CODE BEGIN 4 *//* USER CODE END 4 *//*** @briefThis 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 */}#ifdefUSE_FULL_ASSERT/*** @briefReports the name of the source file and the source line number* where the assert_param error has occurred.* @paramfile: pointer to the source file name* @paramline: 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 */分别添加以下6个文件：list.c、list.h、task_demo.c、task_demo.h、timeslice.c、timeslice.h。同时，把timslice目录下的.h文件包含进项目中来，如下所示：
注意：keil上需要勾选Use MicroLIB，否则CubeMX生成的串口工程无法打印问题
四、运行结果
五、代码解释
时间片轮询架构
其实该部分主要使用了面向对象的思维，使用结构体作为对象，并使用结构体指针作为参数传递，这样作可以节省资源，并且有着极高的运行效率。
其中最难的部分是侵入式链表的使用，这种链表在一些操作系统内核中使用十分广泛，这里是参考RT-Thread实时操作系统中的侵入式链表实现。
底层侵入式双向链表
该链表是linux内核中使用十分广泛，也十分经典，其原理具体可以参考文章：
https://www.cnblogs.com/skywang12345/p/3562146.html
六、总结
好了，终于介绍完毕，以后裸机开发，有了此时间片论法，如虎添翼。感谢各位同仁参阅。
参考文章：
1、单片机面向对象思维的架构：时间轮片法_strongerHuang的博客-CSDN博客
2、【嵌入式开源库】timeslice的使用，完全解耦的时间片轮询框架构-CSDN博客