From e7ad06a60f4d53a6ce66c47745f61d18501b6169 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=9D=BEV=E6=BA=AA?= <12042980+songv-creek@user.noreply.gitee.com> Date: Mon, 17 Aug 2026 16:20:13 +0800 Subject: [PATCH 1/3] =?UTF-8?q?=E6=8F=90=E4=BA=A4=E4=B8=AA=E4=BA=BA?= =?UTF-8?q?=E6=A8=A1=E6=9D=BF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../\351\255\217\346\200\235\346\264\213/readme.md" | 0 1 file changed, 0 insertions(+), 0 deletions(-) create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/readme.md" diff --git "a/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/readme.md" "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/readme.md" new file mode 100644 index 0000000..e69de29 -- Gitee From e04aefc01fcf9d39677bc0a746a93d734f0d01de Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=9D=BEV=E6=BA=AA?= <12042980+songv-creek@user.noreply.gitee.com> Date: Thu, 20 Aug 2026 04:07:42 +0800 Subject: [PATCH 2/3] =?UTF-8?q?feat:=E6=B7=BB=E5=8A=A0=E7=AC=AC=E4=B8=89?= =?UTF-8?q?=E5=A4=A9=E7=9A=84=E4=BD=9C=E4=B8=9A=E5=92=8C=E7=AC=94=E8=AE=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../task01.c" | 237 ++++++++++++++++++ .../task02.c" | 131 ++++++++++ .../task03.c" | 139 ++++++++++ .../task04.c" | 223 ++++++++++++++++ ...43\345\244\251\344\275\234\344\270\232.md" | 233 +++++++++++++++++ ...11\345\244\251\347\254\224\350\256\260.md" | 153 +++++++++++ 6 files changed, 1116 insertions(+) create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task01.c" create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task02.c" create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task03.c" create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task04.c" create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/\347\254\2543\345\244\251\344\275\234\344\270\232.md" create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\347\254\224\350\256\260/\347\254\254\344\270\211\345\244\251\347\254\224\350\256\260.md" diff --git "a/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task01.c" "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task01.c" new file mode 100644 index 0000000..4079065 --- /dev/null +++ "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task01.c" @@ -0,0 +1,237 @@ +/* + * Copyright (c) 2006-2021, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2026-08-19 Vincent the first version + */ + +#include + +#define THREAD_PRIORITY 25 +#define THREAD_STACK_SIZE 1*1024 +#define THREAD_TIMESLICE 5 + +/* 指向信号量的指针 */ +static rt_sem_t dynamic_sem = RT_NULL; +static rt_thread_t tid1, tid2, tid3, tid4, tid5 = RT_NULL; + +/* 当前已用车位数 */ +static volatile rt_uint8_t used_spaces = 0; + +#ifdef rt_align +rt_align(RT_ALIGN_SIZE) +#else +ALIGN(RT_ALIGN_SIZE) +#endif + +static void car1_entry(void *parameter) +{ + rt_uint8_t car_id = 1; + while (1) + { + /* 申请车位，2秒超时 */ + rt_err_t result = rt_sem_take(dynamic_sem, rt_tick_from_millisecond(2000)); + + if (result == RT_EOK) + { + /* 获得车位 */ + used_spaces++; + rt_kprintf("car%d entered, used spaces: %d\n", car_id, used_spaces); + + /* 停留 3~5 秒（模拟） */ + rt_thread_mdelay(3000); + + /* 离开，释放车位 */ + used_spaces--; + rt_kprintf("car%d left\n", car_id); + rt_sem_release(dynamic_sem); + } + else + { + /* 超时 */ + rt_kprintf("car%d waiting for a space\n", car_id); + rt_thread_mdelay(500); // 稍后再申请 + } + } +} + +static void car2_entry(void *parameter) +{ + rt_uint8_t car_id = 2; + while (1) + { + /* 申请车位，2秒超时 */ + rt_err_t result = rt_sem_take(dynamic_sem, rt_tick_from_millisecond(2000)); + + if (result == RT_EOK) + { + /* 获得车位 */ + used_spaces++; + rt_kprintf("car%d entered, used spaces: %d\n", car_id, used_spaces); + + /* 停留 3~5 秒（模拟） */ + rt_thread_mdelay(3000); + + /* 离开，释放车位 */ + used_spaces--; + rt_kprintf("car%d left\n", car_id); + rt_sem_release(dynamic_sem); + } + else + { + /* 超时 */ + rt_kprintf("car%d waiting for a space\n", car_id); + rt_thread_mdelay(500); // 稍后再申请 + } + } +} + +static void car3_entry(void *parameter) +{ + rt_uint8_t car_id = 3; + while (1) + { + /* 申请车位，2秒超时 */ + rt_err_t result = rt_sem_take(dynamic_sem, rt_tick_from_millisecond(2000)); + + if (result == RT_EOK) + { + /* 获得车位 */ + used_spaces++; + rt_kprintf("car%d entered, used spaces: %d\n", car_id, used_spaces); + + /* 停留 3~5 秒（模拟） */ + rt_thread_mdelay(3000); + + /* 离开，释放车位 */ + used_spaces--; + rt_kprintf("car%d left\n", car_id); + rt_sem_release(dynamic_sem); + } + else + { + /* 超时 */ + rt_kprintf("car%d waiting for a space\n", car_id); + rt_thread_mdelay(500); // 稍后再申请 + } + } +} + +static void car4_entry(void *parameter) +{ + rt_uint8_t car_id = 4; + while (1) + { + /* 申请车位，2秒超时 */ + rt_err_t result = rt_sem_take(dynamic_sem, rt_tick_from_millisecond(2000)); + + if (result == RT_EOK) + { + /* 获得车位 */ + used_spaces++; + rt_kprintf("car%d entered, used spaces: %d\n", car_id, used_spaces); + + /* 停留 3~5 秒（模拟） */ + HAL_Delay(3000); + + /* 离开，释放车位 */ + used_spaces--; + rt_kprintf("car%d left\n", car_id); + rt_sem_release(dynamic_sem); + } + else + { + /* 超时 */ + rt_kprintf("car%d waiting for a space\n", car_id); + rt_thread_mdelay(500); // 稍后再申请 + } + } +} + +static void car5_entry(void *parameter) +{ + rt_uint8_t car_id = 5; + while (1) + { + /* 申请车位，2秒超时 */ + rt_err_t result = rt_sem_take(dynamic_sem, rt_tick_from_millisecond(2000)); + + if (result == RT_EOK) + { + /* 获得车位 */ + used_spaces++; + rt_kprintf("car%d entered, used spaces: %d\n", car_id, used_spaces); + + /* 停留 3~5 秒（模拟） */ + rt_thread_mdelay(3000); + + /* 离开，释放车位 */ + used_spaces--; + rt_kprintf("car%d left\n", car_id); + rt_sem_release(dynamic_sem); + } + else + { + /* 超时 */ + rt_kprintf("car%d waiting for a space\n", car_id); + rt_thread_mdelay(500); // 稍后再申请 + } + } +} + +/* 信号量示例的初始化 */ +int parking_demo() +{ + /* 创建一个动态信号量，初始值是0 */ + dynamic_sem = rt_sem_create("car_sem", 3, RT_IPC_FLAG_PRIO); + if (dynamic_sem == RT_NULL) + { + rt_kprintf("create car semaphore failed.\n"); + return -1; + } + else + { + rt_kprintf("create done. used spaces = %d\r\n",used_spaces); + } + /* 动态创建五个线程，用来管理车辆 */ + tid1 = rt_thread_create("car1", + car1_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY, THREAD_TIMESLICE); + tid2 = rt_thread_create("car2", + car2_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY+1, THREAD_TIMESLICE); + tid3 = rt_thread_create("car3", + car3_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY+2, THREAD_TIMESLICE); + tid4 = rt_thread_create("car4", + car4_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY+3, THREAD_TIMESLICE); + tid5 = rt_thread_create("car5", + car5_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY+4, THREAD_TIMESLICE); + + if (tid1 != RT_NULL) + rt_thread_startup(tid1); + if (tid2 != RT_NULL) + rt_thread_startup(tid2); + if (tid3 != RT_NULL) + rt_thread_startup(tid3); + if (tid4 != RT_NULL) + rt_thread_startup(tid4); + if (tid5 != RT_NULL) + rt_thread_startup(tid5); + + return 0; +} + +/* 导出到 msh 命令列表中 */ +MSH_CMD_EXPORT(parking_demo, parking demo); + diff --git "a/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task02.c" "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task02.c" new file mode 100644 index 0000000..fe3c4ce --- /dev/null +++ "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task02.c" @@ -0,0 +1,131 @@ +/* + * Copyright (c) 2006-2021, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2026-08-20 Vincent the first version + */ + +#include + +#define THREAD_PRIORITY 25 +#define THREAD_STACK_SIZE 1*1024 +#define THREAD_TIMESLICE 5 + +/* 指向互斥量的指针 */ +static rt_mutex_t dynamic_mutex = RT_NULL; +static rt_thread_t tid1, tid2 = RT_NULL; + +/* 剩余票数 */ +static volatile rt_uint8_t sold_ticket = 20; +static rt_uint8_t A_ticket[20] = {0}; +static rt_uint8_t B_ticket[20] = {0}; + +#ifdef rt_align +rt_align(RT_ALIGN_SIZE) +#else +ALIGN(RT_ALIGN_SIZE) +#endif + +static void A_entry(void *parameter) +{ + static rt_uint8_t count = 0; + while (1) + { + if (rt_mutex_take(dynamic_mutex, RT_WAITING_FOREVER) == RT_EOK) + { + count++; + if(sold_ticket > 0) + { + /* 记录售出的票号，并将余票-1 */ + A_ticket[count] = sold_ticket; + rt_kprintf("window A sold ticket %d\r\n", sold_ticket); + sold_ticket--; + }else + { + sold_ticket = 0; + rt_kprintf("all tickets sold\r\n remaining tickets: 0\r\n"); + } + rt_mutex_release(dynamic_mutex); + rt_thread_mdelay(100); + }else { + rt_kprintf("take mutex error!\r\n"); + } + } +} + +static void B_entry(void *parameter) +{ + static rt_uint8_t count = 0; + while (1) + { + if (rt_mutex_take(dynamic_mutex, RT_WAITING_FOREVER) == RT_EOK) + { + count++; + if(sold_ticket > 0) + { + /* 记录售出的票号，并将余票-1 */ + B_ticket[count] = sold_ticket; + rt_kprintf("window B sold ticket %d\r\n", sold_ticket); + sold_ticket--; + }else + { + sold_ticket = 0; + rt_kprintf("all tickets sold\r\n remaining tickets: 0\r\n"); + } + rt_mutex_release(dynamic_mutex); + rt_thread_mdelay(100); + }else { + rt_kprintf("take mutex error!\r\n"); + } +// count++; +// if(sold_ticket > 0) +// { +// /* 记录售出的票号，并将余票-1 */ +// A_ticket[count] = sold_ticket; +// rt_kprintf("window B sold ticket %d\r\n", sold_ticket); +// sold_ticket--; +// rt_thread_mdelay(100); +// } +// else +// { +// sold_ticket = 0; +// rt_kprintf("all tickets sold\r\n remaining tickets: 0"); +// rt_thread_mdelay(100); +// } + } +} + +/* 信号量示例的初始化 */ +int ticket_demo() +{ + /* 创建一个动态互斥量 */ + dynamic_mutex = rt_mutex_create("tickets", RT_IPC_FLAG_PRIO); + if (dynamic_mutex == RT_NULL) + { + rt_kprintf("create dynamic tickets failed.\n"); + return -1; + } + + /* 动态创建两个线程，分别代表窗口A和B */ + tid1 = rt_thread_create("A", + A_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY, THREAD_TIMESLICE); + tid2 = rt_thread_create("B", + B_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY+1, THREAD_TIMESLICE); + if (tid1 != RT_NULL) + rt_thread_startup(tid1); + if (tid2 != RT_NULL) + rt_thread_startup(tid2); + rt_kprintf("create OK!\r\n"); + return 0; +} + +/* 导出到 msh 命令列表中 */ +MSH_CMD_EXPORT(ticket_demo, ticket demo); + diff --git "a/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task03.c" "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task03.c" new file mode 100644 index 0000000..ed32702 --- /dev/null +++ "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task03.c" @@ -0,0 +1,139 @@ +/* + * Copyright (c) 2006-2021, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2026-08-20 Vincent the first version + */ +#include + +#define THREAD_PRIORITY 25 +#define THREAD_STACK_SIZE 1*1024 +#define THREAD_TIMESLICE 5 + +/* 定义三个事件位 */ +#define EVENT_NET_READY (1U << 0) +#define EVENT_SENSOR_READY (1U << 1) +#define EVENT_STORAGE_READY (1U << 2) + +/* 事件控制块 */ +static struct rt_event event; +static rt_thread_t tid1, tid2, tid3, tid4 = RT_NULL; + +#ifdef rt_align +rt_align(RT_ALIGN_SIZE) +#else +ALIGN(RT_ALIGN_SIZE) +#endif + +/* 线程 network 入口函数 */ +static void network_entry(void *param) +{ + rt_thread_mdelay(1000); + rt_kprintf("network: send event0\n"); + rt_event_send(&event, EVENT_NET_READY); + rt_thread_mdelay(200); +} + +/* 线程 sensor 入口函数 */ +static void sensor_entry(void *param) +{ + rt_thread_mdelay(2000); + rt_kprintf("sensor: send event1\n"); + rt_event_send(&event, EVENT_SENSOR_READY); + rt_thread_mdelay(200); +} + +/* 线程 storage 入口函数 */ +static void storage_entry(void *param) +{ + rt_thread_mdelay(5000); + rt_kprintf("storage: send event2\n"); + rt_event_send(&event, EVENT_STORAGE_READY); + rt_thread_mdelay(200); +} + +/* 线程 business 入口函数 */ +static void business_entry(void *param) +{ + while(1) + { + rt_uint32_t recv_event; + rt_err_t result = rt_event_recv(&event, (EVENT_NET_READY | EVENT_SENSOR_READY | EVENT_STORAGE_READY), + RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, + rt_tick_from_millisecond(3000), &recv_event) ; + /* 初始化完成 */ + if (result == RT_EOK) + { + rt_kprintf("all modules are ready\r\n"); + rt_kprintf("business task started\r\n"); + rt_event_detach(&event); + rt_kprintf("init event leave.\n"); + } + /* 超时 */ + else if (result == -RT_ETIMEOUT) + { + /* 只打印未就绪的模块 */ + rt_kprintf("wait modules timeout, "); + + if (!(recv_event & EVENT_STORAGE_READY)) + rt_kprintf("STORAGE is not ready\r\n"); + else if (!(recv_event & EVENT_NET_READY)) + rt_kprintf("NET is not ready\r\n"); + else if (!(recv_event & EVENT_SENSOR_READY)) + rt_kprintf("SENSOR is not ready\r\n"); + rt_kprintf("\n"); + /* 继续while循环，再次等待 */ + } + } +} + +int startup_demo(void) +{ + rt_err_t result; + + /* 初始化事件对象 */ + result = rt_event_init(&event, "event", RT_IPC_FLAG_PRIO); + if (result != RT_EOK) + { + rt_kprintf("init event failed.\n"); + return -1; + }else { + rt_kprintf("init event OK.\r\n"); + } + /* 动态创建四个线程,并且启动 */ + tid1 = rt_thread_create("network", + network_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY, THREAD_TIMESLICE); + if (tid1 != RT_NULL) + rt_thread_startup(tid1); + + tid2 = rt_thread_create("sensor", + sensor_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY, THREAD_TIMESLICE); + if (tid2 != RT_NULL) + rt_thread_startup(tid2); + + tid3 = rt_thread_create("storage", + storage_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY, THREAD_TIMESLICE); + if (tid3 != RT_NULL) + rt_thread_startup(tid3); + + tid4 = rt_thread_create("business", + business_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY, THREAD_TIMESLICE); + if (tid4 != RT_NULL) + rt_thread_startup(tid4); + + return 0; +} + +/* 导出到 msh 命令列表中 */ +MSH_CMD_EXPORT(startup_demo, startup demo); diff --git "a/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task04.c" "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task04.c" new file mode 100644 index 0000000..8aa2456 --- /dev/null +++ "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/task04.c" @@ -0,0 +1,223 @@ +/* + * Copyright (c) 2006-2021, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2026-08-20 Vincent the first version + */ +#include + +#define THREAD_PRIORITY 25 +#define THREAD_STACK_SIZE 512 +#define THREAD_TIMESLICE 5 +#define MSG_QUEUE_SIZE 5 + +/* 定义消息结束字段ID */ +#define MSG_TYPE_END 1 + +/* 区域定义 */ +#define REGION_EAST 1 /* 华东 */ +#define REGION_SOUTH 2 /* 华南 */ +#define REGION_NORTH 3 /* 华北 */ + +/* 快递消息结构 */ +struct package_msg +{ + rt_uint32_t id; + rt_uint8_t region; + rt_uint16_t weight; +}; + +/* 统计变量 */ +static volatile rt_uint32_t total_packages = 0; +static volatile rt_uint32_t east_count = 0; +static volatile rt_uint32_t south_count = 0; +static volatile rt_uint32_t north_count = 0; +static volatile rt_uint32_t total_weight = 0; +static volatile rt_uint32_t send_failed = 0; + +/* 快递编号起始值 */ +#define SENDER1_START_ID 1000 +#define SENDER2_START_ID 2000 + +/* 消息队列控制块 */ +static rt_mq_t mq = RT_NULL; + +static rt_thread_t tid1, tid2, tid3 = RT_NULL; + +/* 线程 收件线程1 入口函数 */ +static void rec1_entry(void *parameter) +{ + rt_uint8_t i; + struct package_msg msg; + + /* 产生固定的5条快递消息 */ + for (i = 0; i < 5; i++) + { + msg.id = SENDER1_START_ID + i + 1; /* 1001, 1002, 1003, 1004, 1005 */ + msg.region = (i % 3) + 1; /* 1, 2, 3 循环 */ + msg.weight = 800 + i * 100; /* 800, 900, 1000, 1100, 1200 */ + + /* 发送消息，等待直到队列有空位 */ + if (rt_mq_send_wait(mq, &msg, sizeof(msg), RT_WAITING_FOREVER) != RT_EOK) + { + send_failed++; + rt_kprintf("sender1: send failed, id=%d\n", msg.id); + } + else + { + rt_kprintf("sender1: send package %d, region=%d, weight=%d\n", + msg.id, msg.region, msg.weight); + } + + rt_thread_mdelay(100); /* 模拟产生快递的间隔 */ + } + + /* 发送结束消息 */ + msg.id = MSG_TYPE_END; /* 用 id 字段标记结束消息 */ + rt_mq_send_wait(mq, &msg, sizeof(msg), RT_WAITING_FOREVER); + rt_kprintf("rec1: finished\r\n"); +} + +/* 线程 收件线程2 入口 */ +static void rec2_entry(void *parameter) +{ + rt_uint8_t i; + struct package_msg msg; + + /* 产生固定的5条快递消息 */ + for (i = 0; i < 5; i++) + { + msg.id = SENDER1_START_ID + i + 1; /* 2001, 2002, 2003, 2004, 2005 */ + msg.region = (i % 3) + 1; /* 1, 2, 3 循环 */ + msg.weight = 800 + i * 100; /* 800, 900, 1000, 1100, 1200 */ + + /* 发送消息，等待直到队列有空位 */ + if (rt_mq_send_wait(mq, &msg, sizeof(msg), RT_WAITING_FOREVER) != RT_EOK) + { + send_failed++; + rt_kprintf("sender1: send failed, id=%d\n", msg.id); + } + else + { + rt_kprintf("sender1: send package %d, region=%d, weight=%d\n", + msg.id, msg.region, msg.weight); + } + + rt_thread_mdelay(100); /* 模拟产生快递的间隔 */ + } + + /* 发送结束消息 */ + msg.id = MSG_TYPE_END; /* 用 id 字段标记结束消息 */ + rt_mq_send_wait(mq, &msg, sizeof(msg), RT_WAITING_FOREVER); + rt_kprintf("rec2: finished\r\n"); +} + +/* 线程 3 分拣线程 入口 */ +static void select3_entry(void *parameter) +{ + struct package_msg msg; + rt_uint8_t end_count = 0; + + while (1) + { + /* 接收消息，永久等待 */ + if (rt_mq_recv(mq, &msg, sizeof(msg), RT_WAITING_FOREVER) != RT_EOK) + { + continue; + } + + /* 检查是否是结束消息 */ + if (msg.id == MSG_TYPE_END) + { + end_count++; + rt_kprintf("sorter: received end signal (%d/2)\n", end_count); + + /* 两个发件线程都结束了 */ + if (end_count >= 2) + { + break; + } + continue; + } + + /* 分拣处理 */ + total_packages++; + total_weight += msg.weight; + + switch (msg.region) + { + case REGION_EAST: + east_count++; + rt_kprintf("package %d -> east, weight: %d g\n", msg.id, msg.weight); + break; + case REGION_SOUTH: + south_count++; + rt_kprintf("package %d -> south, weight: %d g\n", msg.id, msg.weight); + break; + case REGION_NORTH: + north_count++; + rt_kprintf("package %d -> north, weight: %d g\n", msg.id, msg.weight); + break; + default: + rt_kprintf("package %d -> unknown region, weight: %d g\n", msg.id, msg.weight); + break; + } + } + + /* 打印统计结果 */ + rt_kprintf("\n========== Sorting Report ==========\n"); + rt_kprintf("total packages: %d\n", total_packages); + rt_kprintf("east: %d, south: %d, north: %d\n", east_count, south_count, north_count); + rt_kprintf("total weight: %d g\n", total_weight); + rt_kprintf("send failed: %d\n", send_failed); +} + +/* 消息队列示例的初始化 */ +int package_demo(void) +{ + /* 初始化消息队列 */ + mq = rt_mq_create("package", sizeof(struct package_msg), MSG_QUEUE_SIZE, RT_IPC_FLAG_FIFO); + if (mq == RT_NULL) + { + rt_kprintf("create mq failed!\n"); + return -1; + } + + /* 重置统计变量 */ + total_packages = 0; + east_count = 0; + south_count = 0; + north_count = 0; + total_weight = 0; + send_failed = 0; + + /* 动态创建两个收件线程,并且启动 */ + tid1 = rt_thread_create("rec1", + rec1_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY, THREAD_TIMESLICE); + if (tid1 != RT_NULL) + rt_thread_startup(tid1); + + tid2 = rt_thread_create("rec2", + rec2_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY, THREAD_TIMESLICE); + if (tid2 != RT_NULL) + rt_thread_startup(tid2); + + tid3 = rt_thread_create("select3", + select3_entry, RT_NULL, + THREAD_STACK_SIZE, + THREAD_PRIORITY, THREAD_TIMESLICE); + if (tid3 != RT_NULL) + rt_thread_startup(tid3); + + return 0; +} + +/* 导出到 msh 命令列表中 */ +MSH_CMD_EXPORT(package_demo, package demo); diff --git "a/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/\347\254\2543\345\244\251\344\275\234\344\270\232.md" "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/\347\254\2543\345\244\251\344\275\234\344\270\232.md" new file mode 100644 index 0000000..a95968c --- /dev/null +++ "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\344\270\211\345\244\251\344\275\234\344\270\232/\347\254\2543\345\244\251\344\275\234\344\270\232.md" @@ -0,0 +1,233 @@ +# RT-Thread 线程间同步与通信课后作业 + +## 一、作业要求 + +要求： + +1. 不得直接复制 `kernel_samples` 示例后只修改变量名和打印内容。 +2. 每个练习至少创建两个线程。 +3. 所有线程和 IPC 对象都要检查创建结果。 +4. 程序需要通过 MSH 命令启动。 +5. 提交理论总结与实验报告（`README.md`）+ 源代码（`*.c`）。 + +--- + +## 练习一：停车场车位管理 + +### 场景 + +一个停车场只有 3 个车位，同时有 5 辆车尝试进入。车位属于有限资源，车辆只有获得车位后才能进入。 + +### 功能要求 + +1. 创建一个初始值为 3 的计数信号量，表示剩余车位。 +2. 创建 5 个车辆线程。 +3. 每辆车到达后申请一个车位。 +4. 获得车位后打印车辆编号和进入信息。 +5. 车辆停留一段时间后离开，并释放车位。 +6. 未在 2 秒内获得车位的车辆打印等待超时信息，稍后重新申请。 +7. 任意时刻进入停车场的车辆数不能超过 3。 + +### 示例输出 + +```text +car1 entered, used spaces: 1 +car2 entered, used spaces: 2 +car3 entered, used spaces: 3 +car4 waiting for a space +car2 left +car4 entered, used spaces: 3 +``` + +### 思考题 + +为什么这里使用计数信号量，而不是互斥量？ + +> 互斥量是个二值量，只能管理能不能进，无法满足计数和统计还有多少的要求 + +--- + +## 练习二：多窗口售票系统 + +### 场景 + +两个售票窗口同时出售同一批车票。系统初始有 20 张票，每次只能由一个窗口修改剩余票数。 + +### 功能要求 + +1. 创建两个售票线程，分别代表窗口 A 和窗口 B。 +2. 使用一个全局变量保存剩余票数。 +3. 每个窗口循环完成以下操作： + - 检查是否还有余票； + - 将余票减 1； + - 记录售出的票号； + - 打印售票结果。 +4. 使用互斥量保护完整的售票过程。 +5. 售完后两个线程自动退出。 +6. 最终必须满足： + - 20 张票全部售出； + - 不出现相同票号； + - 剩余票数不能小于 0。 + +### 示例输出 + +```text +window A sold ticket 20 +window B sold ticket 19 +window B sold ticket 18 +... +all tickets sold +remaining tickets: 0 +``` + +### 对比实验 + +先暂时不使用互斥量，并在“读取余票”和“修改余票”之间加入短暂延时，观察是否会出现重复售票或余票错误。 + +随后加入互斥量并再次运行，对比两次结果。 + +> 结果没有任何区别！！！ + +### 思考题 + +为什么只给 `ticket_count--` 加锁仍可能不安全？ + +> + +--- + +## 练习三：系统启动条件检查 + +### 场景 + +设备启动前需要完成三个独立模块的初始化： + +- 网络模块初始化； +- 传感器模块初始化； +- 存储模块初始化。 + +只有三个模块全部准备完成，主业务线程才能启动。 + +PS：只是举例，模拟即可。 + +### 功能要求 + +定义三个事件位： + +```c +#define EVENT_NET_READY (1U << 0) +#define EVENT_SENSOR_READY (1U << 1) +#define EVENT_STORAGE_READY (1U << 2) +``` + +创建以下线程： + +- 网络初始化线程； +- 传感器初始化线程； +- 存储初始化线程； +- 主业务线程。 + +每个初始化线程经过不同时间的延时后，发送对应的就绪事件。 + +主业务线程必须使用 AND 模式等待三个事件全部到达，然后打印： + +```text +all modules are ready +business task started +``` + +另外增加一次超时测试： + +- 将存储模块初始化时间设置为 5 秒； +- 主业务线程最多等待 3 秒； +- 超时后打印尚未完成的模块，并再次等待。 + +### 示例输出 + +```text +network ready +sensor ready +wait modules timeout, storage is not ready +storage ready +all modules are ready +business task started +``` + +### 思考题 + +如果用三个独立信号量实现这个功能，与使用事件集相比有什么区别？ + +> **事件集主要用于线程间的同步，与信号量不同，它的特点是可以实现多个条件位的组合，AND和OR都可；** +> +> **信号量适合计数，拿到一个资源就能继续。** +> +> **本题是多模块就绪的组合条件，所以事件集是更自然的选择。** + +--- + +## 练习四：快递分拣中心 + +### 场景 + +两个收件线程不断产生快递信息，一个分拣线程从消息队列中取出快递并按照目的地区域分类。 + +### 消息结构 + +```c +struct package_msg +{ + rt_uint32_t id; + rt_uint8_t region; + rt_uint16_t weight; +}; +``` + +其中： + +```text +region = 1：华东 +region = 2：华南 +region = 3：华北 +``` + +### 功能要求 + +1. 创建一个消息队列，队列容量为 5 条消息。 +2. 创建两个发件线程，每个线程产生 5 条快递消息。 +3. 快递编号不得重复。 +4. 分拣线程接收消息，并打印快递编号、区域和重量。 +5. 分拣完成后统计： + - 总快递数量； + - 各区域快递数量； + - 所有快递的总重量。 +6. 当队列已满时，发送线程不得崩溃，应记录发送失败次数。 +7. 两个发送线程完成后，向分拣线程发送一条结束消息。 +8. 分拣线程收到结束消息后打印统计结果并退出。 + +### 示例输出 + +```text +package 1001 -> east, weight: 1200 g +package 2001 -> south, weight: 850 g +package 1002 -> north, weight: 960 g +... +total packages: 10 +east: 4, south: 3, north: 3 +total weight: 10250 g +send failed: 0 +``` + +--- + +## 二、MSH 命令要求 + +每个练习导出一个独立命令： + +```text +parking_demo +ticket_demo +startup_demo +package_demo +``` + +重复执行命令时，不得因同名线程或 IPC 对象残留而发生异常。可以在任务结束后主动释放资源，也可以检测任务是否仍在运行并拒绝重复启动。 diff --git "a/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\347\254\224\350\256\260/\347\254\254\344\270\211\345\244\251\347\254\224\350\256\260.md" "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\347\254\224\350\256\260/\347\254\254\344\270\211\345\244\251\347\254\224\350\256\260.md" new file mode 100644 index 0000000..d80157c --- /dev/null +++ "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\347\254\224\350\256\260/\347\254\254\344\270\211\345\244\251\347\254\224\350\256\260.md" @@ -0,0 +1,153 @@ +# 第三天：RT-Thread IPC 机制与线程同步通信 + +## 一、课程背景与基础概念 + +前两天学习了 RT-Thread 工程创建、启动流程和线程调度。本次课程进一步讨论多线程之间如何同步和交换数据。IPC（Inter-Process Communication）在 RT-Thread 中主要用于线程同步与线程间通信，常见对象包括信号量、互斥量、事件集、邮箱和消息队列。 + +**对于所有的线程，只要优先级更高，即使其他线程正常运行，也可以强制抢占，除非进入临界区或者关闭中断** + +### 1. 临界区、阻塞与挂起 + +- **临界区：** 访问共享变量、外设寄存器或其他共享资源的一段代码，同一时刻通常只允许一个线程进入。 +- **阻塞：** 线程暂时无法获得所需资源时等待。阻塞期间线程不占用 CPU，调度器可以运行其他就绪线程。 +- **非阻塞：** 不等待资源，立即返回成功或错误结果，适合不能长时间等待的场景。 +- **线程挂起：** 线程因等待资源、延时或主动挂起而进入 `RT_THREAD_SUSPEND` 状态，资源可用或延时结束后再恢复为就绪态。 + +IPC 的选择要同时考虑资源保护、数据传递、等待时间、优先级和是否运行在中断上下文中，不能简单地用一种对象替代所有同步需求。 + +## 二、线程同步机制 + +### 1. 信号量 Semaphore + +信号量本质上是一个可计数的资源数量，线程通过“获取”和“释放”来协调执行。 + +- **二值信号量：** 计数通常为 0 或 1，适合表示“事件是否发生”或“某项资源是否可用”。例如线程一完成计数后调用 `rt_sem_release()`，线程二使用 `rt_sem_take()` 等待并执行 LED 操作。 +- **计数信号量：** 初始值表示可用资源实例数量，适合管理多个相同资源，例如生产者—消费者模型中的空闲槽位和已有数据数量。 +- **动态创建：** `rt_sem_create(name, value, flag)` 从系统对象/堆资源中创建信号量。 +- **静态初始化：** `rt_sem_init(sem, name, value, flag)` 使用用户预先分配的控制块。 +- **核心操作：** `rt_sem_take(sem, timeout)` 获取信号量，`rt_sem_trytake(sem)` 不等待地获取，`rt_sem_release(sem)` 释放信号量。 + +`timeout` 决定等待策略：可以立即返回、等待指定 tick，或使用 `RT_WAITING_FOREVER` 永久等待。多个线程等待同一个信号量时，`flag` 可选 `RT_IPC_FLAG_FIFO` 或 `RT_IPC_FLAG_PRIO`。实时性要求较高时通常使用优先级等待；只有确实需要先来先服务时才选择 FIFO。 + +信号量没有线程所有权，释放操作不要求由最后获取它的线程执行，因此它适合“通知”和“资源计数”，但不适合作为严格的临界区所有权锁。 + +### 2. 互斥量 Mutex + +互斥量是带有所有权的互斥锁，适合保护共享数据和临界区。它与普通信号量的主要区别如下： + +| 对比项 | 信号量 | 互斥量 | +| --- | --- | --- | +| 主要用途 | 同步、事件通知、资源计数 | 保护临界区和共享资源 | +| 所有权 | 无所有权 | 有 owner，通常只有持有者可以释放 | +| 递归获取 | 不支持，重复获取可能导致阻塞 | 支持同一线程递归获取，使用次数由内核记录 | +| 优先级继承 | 不提供互斥量式的优先级继承 | 支持优先级继承，用于缓解优先级反转 | +| 中断中使用 | 按具体 API 和上下文限制使用 | 不能在中断服务程序中使用需要阻塞/所有权的互斥操作 | + +互斥量的典型 API 是 `rt_mutex_create`/`rt_mutex_init`、`rt_mutex_take`、`rt_mutex_release` 以及对应的 `delete`/`detach`。动态创建的对象使用 `delete`，静态初始化的对象使用 `detach`，两者不要混用。 + +#### 优先级反转 + +假设低优先级线程 L 持有共享资源，高优先级线程 H 等待该资源，此时中优先级线程 M 持续运行并抢占 L，H 就会间接地被 M 阻塞，这就是优先级反转。 + +RT-Thread 互斥量使用优先级继承：当 H 因等待资源而阻塞时，暂时提升持有者 L 的有效优先级，使 L 尽快运行并释放互斥量；释放后，L 恢复原来的优先级。课程中通过比较有无互斥量保护时 `number1`、`number2` 的变化，验证了临界区保护和优先级继承效果。 + +使用互斥量时应尽快完成临界区操作并释放锁，避免在持锁期间执行长时间延时、复杂计算或改变持有者优先级。 + +### 3. 事件集 Event Set + +事件集使用一个 32 位无符号值表示多个事件标志位，适合一对多或多对多同步。例如： + +```c +#define EVENT3 (1u << 3) +#define EVENT5 (1u << 5) +``` + +线程可以使用 `rt_event_recv()` 等待事件，发送方使用 `rt_event_send()` 设置事件标志。 + +- `RT_EVENT_FLAG_OR`：等待的标志中任意一个发生即可唤醒； +- `RT_EVENT_FLAG_AND`：等待的所有标志同时满足后才唤醒； +- `RT_EVENT_FLAG_CLEAR`：接收成功后清除已匹配的事件标志，避免旧事件重复触发。 + +课程示例先以 OR 模式等待事件 3 或事件 5，再以 AND 模式等待事件 3 和事件 5 同时到达。事件集传递的是标志，不携带具体数据；如果需要传递数据，应配合邮箱或消息队列使用。 + +## 三、线程间通信机制 + +### 1. 邮箱 Mailbox + +邮箱适合传递轻量、固定大小的消息。官方实现中，每封邮件最多保存一个 32 位值；在 32 位 MCU 上通常是 4 字节，因此常用来传递整数、状态值或指针，而不是直接复制一段较大的字符串。 + +常用 API 包括： + +- `rt_mb_create` / `rt_mb_init`：动态创建或静态初始化邮箱； +- `rt_mb_send`：发送邮件，邮箱满时立即返回 `-RT_EFULL`； +- `rt_mb_send_wait`：邮箱满时按照 timeout 等待空间； +- `rt_mb_recv`：接收邮件，可设置立即返回、限时等待或永久等待； +- `rt_mb_delete` / `rt_mb_detach`：分别删除动态邮箱或脱离静态邮箱。 + +邮箱可以由线程或 ISR 发送，因此适合中断向线程传递“发生了某事件”或一个指针。但传递指针时必须保证指针指向的内存在线程处理完成前仍然有效，并明确由谁负责释放，避免悬空指针和内存泄漏。 + +课程示例中，线程二交替发送字符串指针，线程一接收并打印；收到特殊字符串 `"over"` 后，接收线程退出，演示了使用邮箱传递控制信息的过程。 + +### 2. 消息队列 Message Queue + +消息队列用于复制传递消息内容，比邮箱更适合传输结构体或多字节数据。需要注意：RT-Thread 的一个消息队列在创建/初始化时配置固定的 `msg_size`，队列中的每条消息都按这个大小处理，因此这里的“变长”应理解为消息队列不受邮箱 4 字节限制，而不是同一个队列中每条消息都可以任意长度。 + +常用 API 包括： + +- `rt_mq_create(name, msg_size, max_msgs, flag)`：动态创建消息队列； +- `rt_mq_init(mq, name, msg_pool, msg_size, pool_size, flag)`：使用消息池静态初始化； +- `rt_mq_send`：将数据复制到队列消息块； +- `rt_mq_recv`：从队列取出消息并复制到接收缓冲区； +- `rt_mq_urgent`：将紧急消息插入队头； +- `rt_mq_delete` / `rt_mq_detach`：删除动态队列或脱离静态队列。 + +普通消息通常排在队尾。例如依次发送 `a` 到 `h`，再用 `rt_mq_urgent` 发送 `i`，接收顺序会体现 `i` 被插入队头的效果。紧急消息只改变队列位置，不会突破队列容量限制；队列满时仍需检查返回值。 + +消息队列直接复制数据内容，因此接收方可以使用自己的局部结构体接收消息，不必像邮箱传递指针那样额外管理动态内存。若发送和处理需要确认，可组合使用“消息队列 + 信号量”或“消息队列 + 邮箱”实现应答。 + +## 四、五种 IPC 机制的选型总结 + +| 需求 | 推荐机制 | 选择理由 | +| --- | --- | --- | +| 通知某个事件发生 | 二值信号量 | 使用简单，可阻塞等待和释放通知 | +| 管理多个相同资源 | 计数信号量 | 计数值表示可用资源数量 | +| 保护共享变量或外设 | 互斥量 | 有所有权、支持递归、可进行优先级继承 | +| 等待多个条件组合 | 事件集 | 支持 OR/AND 标志匹配，不负责携带数据 | +| 传递一个整数或指针 | 邮箱 | 单条消息固定 32 位，开销小 | +| 传递结构体或多字节数据 | 消息队列 | 按固定消息大小复制数据，并支持紧急消息插队 | + +***在使用API的时候，一定注意API返回值，尤其是创建create或者初始化init的时候，*** + +***例如create的时候，句柄在函数内；而使用init的时候，句柄作为返回值返回。如下面代码所示*** + +```c +rt_mq_t rt_mq_create(const char* name, rt_size_t msg_size, + rt_size_t max_msgs, rt_uint8_t flag); +rt_err_t rt_mq_init(rt_mq_t mq, const char* name, + void *msgpool, rt_size_t msg_size, + rt_size_t pool_size, rt_uint8_t flag); +``` + +设计 IPC 时还要注意以下原则： + +1. 明确每个对象的创建方式，动态对象用 `delete`，静态对象用 `detach`； +2. 所有 `take`、`recv`、`send` 操作都检查返回值和超时情况； +3. 临界区尽量短，持有互斥量时不要执行长时间阻塞操作； +4. 中断服务程序只能使用允许在 ISR 上下文调用的 API，不能调用会让中断阻塞的操作； +5. 使用优先级等待时要确认优先级数值含义：RT-Thread 中优先级数字越小，优先级越高； +6. 传递指针前确认对象生命周期，使用消息队列复制数据时确认接收缓冲区大小不小于队列的消息大小。 + +## 五、课程实操与调试思路 + +调试同步问题时，可以按照以下顺序检查： + +1. 确认 IPC 对象已经创建或初始化，并且初始化值正确； +2. 确认线程在使用前已经通过 `rt_thread_startup` 启动； +3. 在 `take`、`release`、`send`、`recv` 前后打印线程名、返回值和关键变量； +4. 使用 `list_thread` 观察线程是否处于 READY、RUNNING 或 SUSPEND 状态； +5. 检查是否忘记释放信号量/互斥量，是否出现重复释放、超时未处理或消息队列满； +6. 对优先级反转问题，比较使用信号量和互斥量时持有资源线程的有效优先级变化。 + +## 七、学习总结 + +线程同步解决“谁可以继续执行”和“谁可以访问资源”的问题，线程通信解决“数据如何安全传递”的问题。信号量偏向计数和通知，互斥量偏向资源保护，事件集偏向多条件同步，邮箱偏向轻量消息，消息队列偏向结构化数据传递。掌握这些机制后，可以把多个线程组织成清晰的生产者—消费者、事件驱动和资源互斥模型，减少共享变量直接读写造成的竞态条件。 -- Gitee From 449f84d179d10b02f753872b8645c17dd70dbc6f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=9D=BEV=E6=BA=AA?= <12042980+songv-creek@user.noreply.gitee.com> Date: Fri, 21 Aug 2026 20:10:03 +0800 Subject: [PATCH 3/3] =?UTF-8?q?feat:=E6=8F=90=E4=BA=A4=E7=AC=AC=E5=9B=9B?= =?UTF-8?q?=E5=A4=A9=E4=BD=9C=E4=B8=9A=E5=92=8C=E7=AC=94=E8=AE=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../test_dev.c" | 107 +++++++++ .../figures/image-20260821183406160.png" | Bin 0 -> 228458 bytes .../figures/image-20260821184411212.png" | Bin 0 -> 25235 bytes .../figures/image-20260821184717708.png" | Bin 0 -> 45639 bytes .../figures/image-20260821184720317.png" | Bin 0 -> 45639 bytes ...33\345\244\251\347\254\224\350\256\260.md" | 215 ++++++++++++++++++ 6 files changed, 322 insertions(+) create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/test_dev.c" create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\347\254\224\350\256\260/figures/image-20260821183406160.png" create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\347\254\224\350\256\260/figures/image-20260821184411212.png" create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\347\254\224\350\256\260/figures/image-20260821184717708.png" create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\347\254\224\350\256\260/figures/image-20260821184720317.png" create mode 100644 "2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\347\254\224\350\256\260/\347\254\254\345\233\233\345\244\251\347\254\224\350\256\260.md" diff --git "a/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/test_dev.c" "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/test_dev.c" new file mode 100644 index 0000000..44c4ac6 --- /dev/null +++ "b/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\344\275\234\344\270\232/\347\254\254\345\233\233\345\244\251\344\275\234\344\270\232/test_dev.c" @@ -0,0 +1,107 @@ +/* + * Copyright (c) 2006-2021, RT-Thread Development Team + * + * SPDX-License-Identifier: Apache-2.0 + * + * Change Logs: + * Date Author Notes + * 2026-08-21 Vincent the first version + */ +#include "test_dev.h" + +#define DBG_TAG "test_dev" +#define DBG_LVL DBG_INFO +#include + +/* 框架层设备操作集（对接 I/O 设备管理层） */ +static rt_err_t test_dev_init(struct rt_device *dev) +{ + LOG_I("test drv init"); + return RT_EOK; +} + +static rt_err_t test_dev_open(struct rt_device *dev, rt_uint16_t oflag) +{ + LOG_I("test drv open flag = %d", oflag); + return RT_EOK; +} + +static rt_err_t test_dev_close(struct rt_device *dev) +{ + LOG_I("test drv close"); + return RT_EOK; +} + +static rt_size_t test_dev_read(struct rt_device *dev, + rt_off_t pos, + void *buffer, + rt_size_t size) +{ + LOG_I("test drv read pos = %d, size = %d", pos, size); + return size; +} + +static rt_size_t test_dev_write(struct rt_device *dev, + rt_off_t pos, + const void *buffer, + rt_size_t size) +{ + /* test_dev 主要是读取设备，write 可根据需求实现 */ + LOG_I("test drv write pos = %d, size = %d", pos, size); + return size; +} + +static rt_err_t test_dev_control(struct rt_device *dev, + int cmd, + void *args) +{ + LOG_I("test drv control cmd = %d", cmd); + return RT_EOK; +} + +int rt_drv_test_init(void) +{ + rt_device_t test_dev = rt_device_create(RT_Device_Class_Char, 0); + if(!test_dev) + { + LOG_E("test drv create failed!"); + return -RT_ERROR; + } + + test_dev->init = test_dev_init; + test_dev->open = test_dev_open; + test_dev->close = test_dev_close; + test_dev->read = test_dev_read; + test_dev->write = test_dev_write; + test_dev->control = test_dev_control; + + if(rt_device_register(test_dev, "test_driver", RT_DEVICE_FLAG_RDWR) != RT_EOK) + { + LOG_E("test drv register failed!"); + return -RT_ERROR; + } + + return RT_EOK; +} +INIT_BOARD_EXPORT(rt_drv_test_init); + +static int drv_test_app(void) +{ + rt_device_t test_dev = rt_device_find("test_driver"); + if(test_dev == RT_NULL) + { + LOG_E("can not find test drv!"); + return -RT_ERROR; + } + + rt_device_open(test_dev, RT_DEVICE_OFLAG_RDWR); + rt_device_control(test_dev, RT_DEVICE_CTRL_CONFIG, RT_NULL); + rt_device_write(test_dev, 100, RT_NULL, 1024); + rt_device_read(test_dev, 20, RT_NULL, 128); + + rt_device_close(test_dev); + + return RT_EOK; +} +MSH_CMD_EXPORT(drv_test_app, enable test drv app); + diff --git "a/2026/\347\254\2542\347\273\204/\351\255\217\346\200\235\346\264\213/\347\254\224\350\256\260/figures/image-20260821183406160.png" 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zag2Wk9Pr$^+!dCdnCFJaS3O#NCnr}7d$Fm>FHK=tZL19obIz@=@5wW)iijxStu(q; z@Oy$TMmOLlC-Mm{VdXV&qh`JR$BkZND=WzBZ&cbF8W?m;9gP(~cwix()wB_kPj*qJho1AA z=%ztfL2mdp9b-%xt%3y zXr5EAl=Fcv1I+n`207Rw>BQjR){`A=UAfxR_4ZQZ+j*NI8@t*c7w(6V-*2Y4D9(1sRj^|k~;Lh6%gk*r9! zxzCq6bzsSjOwQ0zaFp4U!f?6%Vl4M%f~0?Wx%~TK1=ydzM?_2s60)ibJ@P2YUZ)v%v9oHCAHumC< zqpC>}(RnNltMc&rRLIcCNCNG+#ClZZ^S*6eT}I;}?Ml5bpv(;JX}s?7efzf>syK#~6som~6zUx>8y&rS;oGfYiUPgM)GtGaK(>cp={wn+G{_dy~gS|#JJZU{dZC!*sl zZa<}vuZ&E<#Gl#kvCuyai0ZqQu5y2lEgpL01A>A;L0)!ZD;9&uE4veiwoab;v)dw(#3|0QYivhm{QP9ZH_}kSX zi0;JugPUa(c9c_FST}EwI@4R*S8rSx%mEsv3@G7zoSx2!WBEEkw=7Ht5eR@0lCtD4 zG5nuDkp&yV*=mX?SrQ}3m4IVt;AAydlX`SRw;N?U0Jpl%H2(~=K9xQ*eu5#K#pT+MmO=-ALNa4E8*pfV~{tR{cJn=_tk;elw;T#@a?GE Q?zIm`uqPd0 ② 创建设备对象（rt_device_create()）——> ③ 将**板级驱动**函数绑定到**自定义的驱动框架(rt_device_ops)**函数 ——> ④ 注册设备（rt_device_register()） ——> ⑤ 应用层使用 + +```c +# 第三步将板级驱动函数绑定到自定义的驱动框架(rt_device_ops)函数 如下所示 +test_dev->init = drv_test_init; +test_dev->open = drv_test_open; +test_dev->close = drv_test_close; +test_dev->read = drv_test_read; +test_dev->write = drv_test_write; +test_dev->control = drv_test_control; +#由于是直接使用rt_err_t rt_device_control(rt_device_t dev, int cmd, void *arg)等函数 +#而rt_device_write函数内部调用了device_write(dev, pos, buffer, size),其中device_write是一个dev->write宏定义 +#在以上代码相当于rt_device_control函数内部调用test_dev->write = drv_test_write; +``` + +# 2. I2C与SPI总线驱动开发 + +## 2.1 I2C总线驱动开发 + +​ 在 RT-Thread 中将 I2C 主机虚拟为 I2C总线设备，I2C 从机通过 I2C 设备接口和 I2C 总线通讯。RT-Thread已经将I2C所需要用到的数据发送、数据读取和消息数据结构都已经统一定义了，只需要按照裸机开发流程一样正常开发 + +​ 唯一的区别是需要注意RTT将**所有外设都定义为设备**，所以需要像（1.2.1）一样，先进行设备的查找`rt_device_find()`，才能正常进行后续的开发 + +```c +# 官方示例 +#define AHT10_I2C_BUS_NAME "i2c1" /* 传感器连接的I2C总线设备名称 */ +#define AHT10_ADDR 0x38 /* 从机地址 */ +struct rt_i2c_bus_device *i2c_bus; /* I2C总线设备句柄 */ + +/* 查找I2C总线设备，获取I2C总线设备句柄 */ +i2c_bus = (struct rt_i2c_bus_device *)rt_device_find(name); + +/* 读传感器寄存器数据 */ +static rt_err_t read_regs(struct rt_i2c_bus_device *bus, rt_uint8_t len, rt_uint8_t *buf) +{ + struct rt_i2c_msg msgs; + + msgs.addr = AHT10_ADDR; /* 从机地址 */ + msgs.flags = RT_I2C_RD; /* 读标志 */ + msgs.buf = buf; /* 读写数据缓冲区指针　*/ + msgs.len = len; /* 读写数据字节数 */ + + /* 调用I2C设备接口传输数据 */ + if (rt_i2c_transfer(bus, &msgs, 1) == 1) + { + return RT_EOK; + } + else + { + return -RT_ERROR; + } +} +``` + +## 2.2 SPI总线驱动开发 + +​ SPI相较于I2C更为特殊的是，在 RT-Thread 中，SPI 设备分为 “**SPI 总线**”和“ **SPI 设备**”两大类，**SPI 总线对应 SPI 控制器**，**SPI 设备对应不同 CS 连接的从设备**，使用前需要先注册 SPI 总线，再把从设备挂载到总线上。 + +​ SPI总线对应： + +> MCU内部的SPI控制器。 + +​ SPI设备对应： + +> 挂载在SPI总线上的具体从设备。 + +SPI设备使用流程： + +​ ① 注册SPI总线 + +​ ② 创建SPI设备对象 + +​ ③ attach到SPI总线 + +​ ④ 配置SPI参数 + +​ ⑤ find获取设备 + +​ ⑥ SPI数据通信 + +```c +/* + * 程序清单：这是一个 SPI 设备使用例程 + * 例程导出了 spi_w25q_sample 命令到控制终端 + * 命令调用格式：spi_w25q_sample spi10 + * 命令解释：命令第二个参数是要使用的SPI设备名称，为空则使用默认的SPI设备 + * 程序功能：通过SPI设备读取 w25q 的 ID 数据 +*/ + +#include +#include + +#define W25Q_SPI_DEVICE_NAME "qspi10" + +static void spi_w25q_sample(int argc, char *argv[]) +{ + struct rt_spi_device *spi_dev_w25q; + char name[RT_NAME_MAX]; + rt_uint8_t w25x_read_id = 0x90; + rt_uint8_t id[5] = {0}; + + if (argc == 2) + { + rt_strncpy(name, argv[1], RT_NAME_MAX); + } + else + { + rt_strncpy(name, W25Q_SPI_DEVICE_NAME, RT_NAME_MAX); + } + + /* 查找 spi 设备获取设备句柄 */ + spi_dev_w25q = (struct rt_spi_device *)rt_device_find(name); + if (!spi_dev_w25q) + { + rt_kprintf("spi sample run failed! can't find %s device!\n", name); + } + else + { + /* 方式1：使用 rt_spi_send_then_recv()发送命令读取ID */ + rt_spi_send_then_recv(spi_dev_w25q, &w25x_read_id, 1, id, 5); + rt_kprintf("use rt_spi_send_then_recv() read w25q ID is:%x%x\n", id[3], id[4]); + + /* 方式2：使用 rt_spi_transfer_message()发送命令读取ID */ + struct rt_spi_message msg1, msg2; + + msg1.send_buf = &w25x_read_id; + msg1.recv_buf = RT_NULL; + msg1.length = 1; + msg1.cs_take = 1; + msg1.cs_release = 0; + msg1.next = &msg2; + + msg2.send_buf = RT_NULL; + msg2.recv_buf = id; + msg2.length = 5; + msg2.cs_take = 0; + msg2.cs_release = 1; + msg2.next = RT_NULL; + + rt_spi_transfer_message(spi_dev_w25q, &msg1); + rt_kprintf("use rt_spi_transfer_message() read w25q ID is:%x%x\n", id[3], id[4]); + + } +} +/* 导出到 msh 命令列表中 */ +MSH_CMD_EXPORT(spi_w25q_sample, spi w25q sample); +``` + -- Gitee