【STM32】CubeMX（十一）：FreeRTOS任务挂起与解挂

这篇文章是 STM32 HAL + FreeRTOS 下的任务挂起与恢复机制， 结合 CubeMX 图示与代码，构建了一个 FreeRTOS 控制示例。

本篇目标：

创建两个任务：
一个控制蓝灯闪烁（myTask01）
另一个监控按键（StartTask），实现对蓝灯任务的挂起与解挂功能

一、FreeRTOS 中任务挂起和恢复的机制

操作	函数	说明
挂起任务	vTaskSuspend(TaskHandle_t xTaskToSuspend)	将任务状态置为挂起，调度器不再调度它
恢复任务	vTaskResume(TaskHandle_t xTaskToResume)	重新激活任务，使其进入就绪态
自我挂起	vTaskSuspend(NULL)	当前任务挂起自身
查询状态	可用 eTaskGetState() 获取任务状态

🧩当前的任务设计逻辑

✅ 控制任务：StartDefaultTask

• 使用 GPIO 输入读取按键（PC1）
• 实现一次性按键触发检测（Trg 边沿检测）
• 判断标志位 TaskState 来控制挂起/恢复
• 使用 vTaskSuspend() / vTaskResume() 控制蓝灯任务

✅ 被控制任务：myTask01

• 闪烁蓝灯（PC8）
• 每 500ms 翻转一次

✅ 运行效果说明

操作					现象
上电后				蓝灯开始闪烁
按下按键一次			蓝灯停止闪烁，串口输出 “Suspend”
再次按下按键			蓝灯继续闪烁，串口输出 “Resume”

---

🛠️二、CubeMX 配置说明

✅ 1. 启用 FreeRTOS 软件包
见图：通过 Software Packs → X-CUBE-FREERTOS 添加 RTOS 支持。

✅ 2. 配置任务列表
在 Tasks and Queues 中设置两个任务 StartTask 和 myTask01

✅ 3. FreeRTOS 参数配置
启用 USE_PREEMPTION、堆大小、栈大小等

🧩三、代码逻辑解析

✅ 1. 按键检测（边沿触发）

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

• Trg：触发信号，仅在状态变化的那一拍为 1
• Cont：当前电平状态

✅ 2. StartTask 任务控制逻辑

if( Trg == 1 ) // 按键按下
{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");}
}

🔹 说明：

• Trg 是按键触发标志，代表边沿检测
• TaskState 作为状态标记，记录当前任务是否处于挂起状态
• vTaskSuspend() 真正将任务挂起
• vTaskResume() 将任务恢复

✅ 3. myTask01 任务内容（蓝灯闪烁）（控制 PC8）

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

• 每 500ms 闪烁一次
• 被挂起时，FreeRTOS 不再调度此任务，效果就是“蓝灯停止闪烁”

完整代码

📄 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 */

串口调试效果验证

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

✅ 表示按下按键 → 蓝灯任务切换状态 → 串口实时反馈。

实验效果

操作	现象
上电后	蓝灯开始闪烁
按一次按键	蓝灯停止闪烁，串口输出：Suspend
再按一次	蓝灯恢复闪烁，串口输出：Resume

调试中可能出现的问题

问题					排查点
蓝灯不闪				myTask01 没创建成功？GPIO初始化错误？
按键无效				检查引脚是否浮空？是否加了外部上拉？
无串口输出			UART 是否初始化？是否重定向 printf？
蓝灯不停切换状态		是否做了按键消抖？是否误触发？

我们还可以在此基础之上，加入按键消抖定时器避免连续触发； 使用中断 + 信号量控制，提高效率，避免轮询；增加多任务共享控制，控制多个任务挂起/恢复；还可以新增 OLED 显示任务状态，更直观展示任务运行。

以上。利用 HAL 库 + FreeRTOS，结合 vTaskSuspend 和 vTaskResume 任务挂起与解挂，可以非常灵活地控制任务运行状态，实现任务级能耗管理、资源调度和交互控制等高级功能。

以上，欢迎有从事同行业的电子信息工程、互联网通信、嵌入式开发的朋友共同探讨与提问，我可以提供实战演示或模板库。希望内容能够对你产生帮助！