概要本篇主要介绍如何使用HAL库自带的定时器和任务的使用在最后会补充一些在开发当中容易踩坑的地方。在使用STM32CubeMX导出工程之后已经默认使用了一套伪操作系统因此我们应该使用操作系统的开发方式来开发其中最为主要是定时器和任务的创建。定时器...任务/** * brief This function registers a task in the sequencer. * * param TaskId_bm The Id of the task * param Flags Flags are reserved param for future use * param Task Reference of the function to be executed * * note It may be called from an ISR. * */ void UTIL_SEQ_RegTask( UTIL_SEQ_bm_t TaskId_bm, uint32_t Flags, void (*Task)( void ) );/** * brief This function requests a task to be executed * * param TaskId_bm The Id of the task * It shall be (1task_id) where task_id is the number assigned when the task has been registered * param Task_Prio The priority of the task * It shall a number from 0 (high priority) to 31 (low priority) * The priority is checked each time the sequencer needs to select a new task to execute * It does not permit to preempt a running task with lower priority * * note It may be called from an ISR * */ void UTIL_SEQ_SetTask( UTIL_SEQ_bm_t TaskId_bm, uint32_t Task_Prio );使用步骤首先使用UTIL_SEQ_RegTask创建任务第一个参数是任务的ID这个需要在app_conf.h中的结构体CFG_Task_Id_With_HCI_Cmd_t定义中添加例如/** * These are the lists of task id registered to the scheduler * Each task id shall be in the range [0:31] * This mechanism allows to implement a generic code in the API TL_BLE_HCI_StatusNot() to comply with * the requirement that a HCI/ACI command shall never be sent if there is already one pending */ /** Add in that list all tasks that may send a ACI/HCI command */ typedef enum { CFG_TASK_ADV_UPDATE_ID, CFG_TASK_MEAS_REQ_ID, CFG_TASK_HCI_ASYNCH_EVT_ID, /* USER CODE BEGIN CFG_Task_Id_With_HCI_Cmd_t */ CFG_TASK_MY_ID, /*自行在此添加即可*/ /* USER CODE END CFG_Task_Id_With_HCI_Cmd_t */ CFG_LAST_TASK_ID_WITH_HCICMD, /** Shall be LAST in the list */ } CFG_Task_Id_With_HCI_Cmd_t;第二个参数是保留的参数直接填UTIL_SEQ_RFU即可可以看到它的值是0第三个参数是任务的实现无需多言。启动任务使用UTIL_SEQ_SetTask即可例如UTIL_SEQ_SetTask( 1CFG_TASK_MY_ID, CFG_SCH_PRIO_0);其他的函数可以在stm32_seq.h中可以找到。其他资料汇总https://zhuanlan.zhihu.com/p/401022982https://zhuanlan.zhihu.com/p/401022982https://wiki.stmicroelectronics.cn/stm32mcu/wiki/Category:STM32WB_Serieshttps://wiki.stmicroelectronics.cn/stm32mcu/wiki/Category:STM32WB_Series