[嵌入式]【STM32】FreeRTOS踩坑

1.在FreeRTOS内核启动前（即osKernelStart()函数前），千万不能使用osDelay（）来延时，否则会发生硬件错误

int main(void)
{
  ...
  /* Init scheduler */
  osKernelInitialize();  /* Call init function for freertos objects (in freertos.c) */
  MX_FREERTOS_Init();
  
  /* Start scheduler */
  osKernelStart();
  while（1）
  {
  
  }
  ...
}

2.使用常用公共资源时，该加锁的加锁，否则直接卡死，尤其像串口打印LOG这种会在多个任务中频繁使用的

（1）串口重定向

/*多任务打印，加互斥锁*/
extern osMutexId_t printMutexHandle;
//重定向
int fputc(int ch, FILE *f)
{
	osSemaphoreAcquire( printMutexHandle, portMAX_DELAY );//加锁
	{
		HAL_UART_Transmit(&huart2,(uint8_t *)&ch,1,0xFFFF);
	}
	osSemaphoreRelease( printMutexHandle );//解锁  			
	return (ch);
}

（2）IIC通信

static HAL_StatusTypeDef I2Cx_ReadMultiple(I2C_HandleTypeDef* I2Cx_HandleStruct,\
                                           uint8_t Addr,\
                                           uint16_t Reg,\
                                           uint16_t MemAddress, \
                                           uint8_t *Buffer,\
                                           uint16_t Length)
{
	osSemaphoreAcquire( eepromMutexHandle, portMAX_DELAY );//加锁

    HAL_StatusTypeDef status = HAL_TIMEOUT;
    
    status = HAL_I2C_Mem_Read(I2Cx_HandleStruct, Addr, (uint16_t)Reg, MemAddress, Buffer, Length, I2C_TIMEOUT);
    
    /* Check the communication status */
    if(status != HAL_OK)
    {
        /* I2C error occured */
        if(I2Cx_HandleStruct->Instance == I2C1)
        {
            I2C1_Error();
        }
        else
        {
            I2C2_Error();
        }
    }
    osSemaphoreRelease( eepromMutexHandle ); //解锁
    return status;    
}