基于RTOS的小汽车游戏信号量信号量的创建信号量的删除信号量的获取与释放小汽车小汽车模型两侧路障简单测试小汽车能否正常显示显示所有的小汽车和路障完整代码信号量在RTOS中信号量包含两种类型二进制信号量和计数型信号量其中二进制信号量被创建时初始值为0而计数型则是可以设定。信号量的创建二进制信号量计数型信号量xSemaphoreCreateBinaryxSemaphoreCreateCountingxSemaphoreCreateBinaryStaticxSemaphoreCreateCountingStatic信号量的删除可以使用下面的函数删除信号量voidvSemaphoreDelete(SemaphoreHandle_t xSemaphore);信号量的获取与释放类别在任务中使用在ISR中使用givexSemaphoreGivexSemaphoreGiveFromISRtakexSemaphoreTakexSemaphoreTakeFromISR小汽车可以设计三个小汽车去争抢两个信号量抢到信号量的汽车先出发然后到达终点释放信号量小汽车模型staticconstbyte carImg[]PROGMEM{0x40,0xF8,0xEC,0x2C,0x2C,0x38,0xF0,0x10,0xD0,0x30,0xE8,0x4C,0x4C,0x9C,0xF0,0x02,0x1F,0x37,0x34,0x34,0x1C,0x0F,0x08,0x0B,0x0C,0x17,0x32,0x32,0x39,0x0F,};两侧路障staticconstbyte roadMarking[]PROGMEM{0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01,};简单测试小汽车能否正常显示voidcar_test(void){g_framebufferLCD_GetFrameBuffer(g_xres,g_yres,g_bpp);draw_init();draw_end();draw_bitmap(0,0,carImg,15,16,NOINVERT,0);draw_flushArea(0,0,15,16);draw_bitmap(0,16,roadMarking,8,1,NOINVERT,0);draw_flushArea(0,16,8,1);}显示所有的小汽车和路障定义小汽车结构体方便使用同时定义对应的结构体数组方便后续使用。#definekey10#definekey21#definekey32structcar{intx;inty;intcontrol_key;};structcarcars[3]{{0,0,key1},{0,17,key2},{0,34,key3}};//绘制路标for(inti0;i3;i){for(intj0;j8;j){draw_bitmap(16*j,16i*17,roadMarking,8,1,NOINVERT,0);draw_flushArea(16*j,16i*17,8,1);}}//测试显示三辆汽车for(inti0;i3;i){draw_bitmap(cars[i].x,cars[i].y,carImg,CAR_WIDTH,CAR_LENGTH,NOINVERT,0);draw_flushArea(cars[i].x,cars[i].y,CAR_WIDTH,CAR_LENGTH);}完整代码/* * Project: N|Watch * Author: Zak Kemble, contactzakkemble.co.uk * Copyright: (C) 2013 by Zak Kemble * License: GNU GPL v3 (see License.txt) * Web: http://blog.zakkemble.co.uk/diy-digital-wristwatch/ */#includestdlib.h#includestdio.h#includestring.h#includecmsis_os.h#includeFreeRTOS.h// ARM.FreeRTOS::RTOS:Core#includetask.h// ARM.FreeRTOS::RTOS:Core#includeevent_groups.h// ARM.FreeRTOS::RTOS:Event Groups#includesemphr.h// ARM.FreeRTOS::RTOS:Core#includedraw.h#includeresources.h#includedriver_lcd.h#includedriver_ir_receiver.h#includedriver_rotary_encoder.h#includedriver_mpu6050.h#defineCAR_COUNT3#defineCAR_WIDTH12#defineCAR_LENGTH15#defineROAD_SPEED6#defineNOINVERTfalse#defineINVERTtrue#definekey10#definekey21#definekey32staticuint32_tg_xres,g_yres,g_bpp;staticuint8_t*g_framebuffer;staticSemaphoreHandle_t g_xSemTicks;structcar{intx;inty;intcontrol_key;};structcarcars[3]{{0,0,key1},{0,17,key2},{0,34,key3}};staticconstbyte carImg[]PROGMEM{0x40,0xF8,0xEC,0x2C,0x2C,0x38,0xF0,0x10,0xD0,0x30,0xE8,0x4C,0x4C,0x9C,0xF0,0x02,0x1F,0x37,0x34,0x34,0x1C,0x0F,0x08,0x0B,0x0C,0x17,0x32,0x32,0x39,0x0F,};staticconstbyte roadMarking[]PROGMEM{0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01,};staticconstbyte clearImg[30]{0};staticvoidshowCar(structcar*car){draw_bitmap(car-x,car-y,carImg,15,16,NOINVERT,0);draw_flushArea(car-x,car-y,15,16);}staticvoidhideCar(structcar*car){draw_bitmap(car-x,car-y,clearImg,15,16,NOINVERT,0);draw_flushArea(car-x,car-y,15,16);}staticvoidCarTask(void*params){structcar*car(structcar*)params;//获得信号量xSemaphoreTake(g_xSemTicks,portMAX_DELAY);while(1){if(car-xg_xres-CAR_LENGTH){hideCar(car);car-x1;if(car-xg_xres-CAR_LENGTH){car-xg_xres-CAR_LENGTH;}showCar(car);vTaskDelay(50);if(car-xg_xres-CAR_LENGTH){/* 释放信号量 */xSemaphoreGive(g_xSemTicks);vTaskDelete(NULL);}}}}voidcar_test(void){g_framebufferLCD_GetFrameBuffer(g_xres,g_yres,g_bpp);draw_init();draw_end();//绘制路标for(inti0;i3;i){for(intj0;j8;j){draw_bitmap(16*j,16i*17,roadMarking,8,1,NOINVERT,0);draw_flushArea(16*j,16i*17,8,1);}}//测试显示三辆汽车for(inti0;i3;i){showCar(cars[i]);}g_xSemTicksxSemaphoreCreateCounting(3,2);xTaskCreate(CarTask,Car1,128,cars[0],osPriorityNormal,NULL);xTaskCreate(CarTask,Car2,128,cars[1],osPriorityNormal,NULL);xTaskCreate(CarTask,Car3,128,cars[2],osPriorityNormal,NULL);}