【STM32】CubeMX（十一）：FreeRTOS任務掛起與解掛

這篇文章是 STM32 HAL + FreeRTOS 下的任務掛起與恢復機制， 結合 CubeMX 圖示與代碼，構建了一個 FreeRTOS 控制示例。

本篇目標：

創建兩個任務：
一個控制藍燈閃爍（myTask01）
另一個監控按鍵（StartTask），實現對藍燈任務的掛起與解掛功能

一、FreeRTOS 中任務掛起和恢復的機制

操作	函數	說明
掛起任務	`vTaskSuspend(TaskHandle_t xTaskToSuspend)`	將任務狀態置為掛起，調度器不再調度它
恢復任務	`vTaskResume(TaskHandle_t xTaskToResume)`	重新激活任務，使其進入就緒態
自我掛起	`vTaskSuspend(NULL)`	當前任務掛起自身
查詢狀態	可用 `eTaskGetState()` 獲取任務狀態

🧩當前的任務設計邏輯

? 控制任務：StartDefaultTask

使用 GPIO 輸入讀取按鍵（PC1）
實現一次性按鍵觸發檢測（Trg 邊沿檢測）
判斷標志位 TaskState 來控制掛起/恢復
使用 vTaskSuspend() / vTaskResume() 控制藍燈任務

? 被控制任務：myTask01

閃爍藍燈（PC8）
每 500ms 翻轉一次

? 運行效果說明

操作					現象
上電后				藍燈開始閃爍
按下按鍵一次			藍燈停止閃爍，串口輸出 “Suspend”
再次按下按鍵			藍燈繼續閃爍，串口輸出 “Resume”

🛠?二、CubeMX 配置說明

? 1. 啟用 FreeRTOS 軟件包
見圖：通過 Software Packs → X-CUBE-FREERTOS 添加 RTOS 支持。

? 2. 配置任務列表
在 Tasks and Queues 中設置兩個任務 StartTask 和 myTask01

? 3. FreeRTOS 參數配置
啟用 USE_PREEMPTION、堆大小、棧大小等

在這里插入圖片描述

請添加圖片描述

🧩三、代碼邏輯解析

? 1. 按鍵檢測（邊沿觸發）

unsigned char ReadData = HAL_GPIO_ReadPin(GPIOC, GPIO_PIN_1)^0xFF;
Trg = ReadData & (ReadData ^ Cont);  // 上升沿檢測
Cont = ReadData;

Trg：觸發信號，僅在狀態變化的那一拍為 1
Cont：當前電平狀態

? 2. StartTask 任務控制邏輯

if( Trg == 1 ) // 按鍵按下
{TaskState = !TaskState;if ((myTask01Handle != NULL) && (TaskState == 0)){vTaskSuspend(myTask01Handle);printf("myTask01 is Suspend ! \r\n");}else if ((myTask01Handle != NULL) && (TaskState == 1)){vTaskResume(myTask01Handle);printf("myTask01 is Resume ! \r\n");}
}

🔹 說明：

Trg 是按鍵觸發標志，代表邊沿檢測
TaskState 作為狀態標記，記錄當前任務是否處于掛起狀態
vTaskSuspend() 真正將任務掛起
vTaskResume() 將任務恢復

? 3. myTask01 任務內容（藍燈閃爍）（控制 PC8）

void StartTask01(void const * argument)
{for(;;){HAL_GPIO_TogglePin(LED_B_GPIO_Port, LED_B_Pin);osDelay(500);}
}

每 500ms 閃爍一次
被掛起時，FreeRTOS 不再調度此任務，效果就是“藍燈停止閃爍”

完整代碼

📄 main.c

/* USER CODE BEGIN Header */
/********************************************************************************* @file           : main.c* @brief          : Main program body******************************************************************************* @attention** Copyright (c) 2025 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 "cmsis_os.h"
#include "usart.h"
#include "gpio.h"/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "string.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);
void MX_FREERTOS_Init(void);
/* USER CODE BEGIN PFP *//* USER CODE END PFP *//* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 *//* USER CODE END 0 *//*** @brief  The 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();/* USER CODE BEGIN 2 */HAL_UARTEx_ReceiveToIdle_IT(  &huart1 , U1RxData, U1RxDataSize);/* USER CODE END 2 *//* Call init function for freertos objects (in freertos.c) */MX_FREERTOS_Init();/* Start scheduler */osKernelStart();/* We should never get here as control is now taken by the scheduler *//* 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};/** 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.HSEPredivValue = RCC_HSE_PREDIV_DIV1;RCC_OscInitStruct.HSIState = RCC_HSI_ON;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;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 *//*** @brief  Period elapsed callback in non blocking mode* @note   This function is called  when TIM6 interrupt took place, inside* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment* a global variable "uwTick" used as application time base.* @param  htim : TIM handle* @retval None*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{/* USER CODE BEGIN Callback 0 *//* USER CODE END Callback 0 */if (htim->Instance == TIM6) {HAL_IncTick();}/* USER CODE BEGIN Callback 1 *//* USER CODE END Callback 1 */
}/*** @brief  This 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 */
}#ifdef  USE_FULL_ASSERT
/*** @brief  Reports the name of the source file and the source line number*         where the assert_param error has occurred.* @param  file: pointer to the source file name* @param  line: 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 */

📄 freertos.c

/* USER CODE BEGIN Header */
/********************************************************************************* File Name          : freertos.c* Description        : Code for freertos applications******************************************************************************* @attention** Copyright (c) 2025 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 */
#include "usart.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 Variables *//* USER CODE END Variables */
osThreadId StartTaskHandle;
osThreadId myTask01Handle;/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes *//* USER CODE END FunctionPrototypes */void StartDefaultTask(void const * argument);
void StartTask01(void const * argument);void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) *//* GetIdleTaskMemory prototype (linked to static allocation support) */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );/* USER CODE BEGIN GET_IDLE_TASK_MEMORY */
static StaticTask_t xIdleTaskTCBBuffer;
static StackType_t xIdleStack[configMINIMAL_STACK_SIZE];void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
{*ppxIdleTaskTCBBuffer = &xIdleTaskTCBBuffer;*ppxIdleTaskStackBuffer = &xIdleStack[0];*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;/* place for user code */
}
/* USER CODE END GET_IDLE_TASK_MEMORY *//*** @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) *//* definition and creation of StartTask */osThreadDef(StartTask, StartDefaultTask, osPriorityNormal, 0, 128);StartTaskHandle = osThreadCreate(osThread(StartTask), NULL);/* definition and creation of myTask01 */osThreadDef(myTask01, StartTask01, osPriorityIdle, 0, 128);myTask01Handle = osThreadCreate(osThread(myTask01), NULL);/* USER CODE BEGIN RTOS_THREADS *//* add threads, ... *//* USER CODE END RTOS_THREADS */}/* USER CODE BEGIN Header_StartDefaultTask */
/*** @brief  Function implementing the StartTask thread.* @param  argument: Not used* @retval None*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void const * argument)
{/* USER CODE BEGIN StartDefaultTask */
//	static	uint16_t KeyTime  = 0;
//	static	bool KeyFlag  = 0;static	unsigned char Trg = 0,Trg_last = 0;static	unsigned char Cont = 0xFF,Cont_last = 0xFF;bool TaskState = 0;/* Infinite loop */for(;;){unsigned char ReadData = HAL_GPIO_ReadPin( GPIOC, GPIO_PIN_1)^0xff;   // 1Trg = ReadData & (ReadData ^ Cont);      															// 2Cont = ReadData; if(Trg != Trg_last){Trg_last = Trg;printf("Trg = %d \r\n",Trg);}if(Cont != Cont_last){Cont_last = Cont;printf("Cont = %d \r\n",Cont);}if( Trg == 1){TaskState = !TaskState;if((myTask01Handle != NULL) && (TaskState == 0)){vTaskSuspend( myTask01Handle );printf("myTask01 is Suspend ! \r\n");}if((myTask01Handle != NULL) && (TaskState == 1)){vTaskResume( myTask01Handle );printf("myTask01 is Resume ! \r\n");}}osDelay(1);}/* USER CODE END StartDefaultTask */
}/* USER CODE BEGIN Header_StartTask01 */
/**
* @brief Function implementing the myTask01 thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTask01 */
void StartTask01(void const * argument)
{/* USER CODE BEGIN StartTask01 *//* Infinite loop */for(;;){HAL_GPIO_TogglePin(LED_B_GPIO_Port, LED_B_Pin);osDelay(500);}/* USER CODE END StartTask01 */
}/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application *//* USER CODE END Application */

串口調試效果驗證

Cont = 254
Trg = 1
Cont = 255
myTask01 is Resume !Trg = 1
myTask01 is Suspend !Trg = 1
myTask01 is Resume !

在這里插入圖片描述
? 表示按下按鍵 → 藍燈任務切換狀態 → 串口實時反饋。

實驗效果

操作	現象
上電后	藍燈開始閃爍
按一次按鍵	藍燈停止閃爍，串口輸出：Suspend
再按一次	藍燈恢復閃爍，串口輸出：Resume

調試中可能出現的問題

問題					排查點
藍燈不閃				myTask01 沒創建成功？GPIO初始化錯誤？
按鍵無效				檢查引腳是否浮空？是否加了外部上拉？
無串口輸出			UART 是否初始化？是否重定向 printf？
藍燈不停切換狀態		是否做了按鍵消抖？是否誤觸發？

我們還可以在此基礎之上，加入按鍵消抖定時器避免連續觸發；使用中斷 + 信號量控制，提高效率，避免輪詢；增加多任務共享控制，控制多個任務掛起/恢復；還可以新增 OLED 顯示任務狀態，更直觀展示任務運行。

以上。利用 HAL 庫 + FreeRTOS，結合 vTaskSuspend 和 vTaskResume 任務掛起與解掛，可以非常靈活地控制任務運行狀態，實現任務級能耗管理、資源調度和交互控制等高級功能。

以上，歡迎有從事同行業的電子信息工程、互聯網通信、嵌入式開發的朋友共同探討與提問，我可以提供實戰演示或模板庫。希望內容能夠對你產生幫助！