{"id":101174,"date":"2026-09-06T10:41:00","date_gmt":"2026-09-06T02:41:00","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/101174.html"},"modified":"2026-09-06T10:41:00","modified_gmt":"2026-09-06T02:41:00","slug":"%e6%8c%81%e9%94%81%e4%bb%bb%e5%8a%a1%e8%a2%ab%e5%88%a0%e5%af%bc%e8%87%b4%e6%ad%bb%e9%94%81%ef%bc%9a%e5%88%a0%e9%99%a4%e5%89%8d%e6%9c%aa%e9%87%8a%e6%94%be%e4%ba%92%e6%96%a5%e9%87%8f%ef%bc%8c%e5%88%a0","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/101174.html","title":{"rendered":"\u6301\u9501\u4efb\u52a1\u88ab\u5220\u5bfc\u81f4\u6b7b\u9501\uff1a\u5220\u9664\u524d\u672a\u91ca\u653e\u4e92\u65a5\u91cf\uff0c\u5220\u4efb\u52a1\u524d\u5148\u89e3\u6240\u6709\u5df2\u6301\u9501"},"content":{"rendered":"

\u6301\u9501\u4efb\u52a1\u88ab\u5220\u5bfc\u81f4\u6b7b\u9501：\u5220\u9664\u524d\u672a\u91ca\u653e\u4e92\u65a5\u91cf，\u5220\u4efb\u52a1\u524d\u5148\u89e3\u6240\u6709\u5df2\u6301\u9501<\/h2>\n

\u6458\u8981：FreeRTOS \u4e2d\u76f4\u63a5\u5220\u9664\u4e00\u4e2a\u6301\u6709\u4e92\u65a5\u91cf\u7684\u4efb\u52a1，\u4f1a\u5bfc\u81f4\u8be5\u9501\u6c38\u8fdc\u5f52\u5c5e\u5df2\u6b7b\u4efb\u52a1，\u5176\u4ed6\u7b49\u5f85\u8005\u5168\u90e8\u6b7b\u9501\u3002\u672c\u6587\u7528\u4e00\u4e2a\u771f\u5b9e\u7ffb\u8f66\u73b0\u573a\u8bb2\u6e05\u6839\u56e0，\u7ed9\u51fa"\u5220\u524d\u663e\u5f0f\u91ca\u653e\u6240\u6709\u9501"\u4e0e"\u53d1\u9000\u51fa\u4fe1\u53f7\u8ba9\u4efb\u52a1\u81ea\u5220"\u4e24\u79cd\u6b63\u786e\u89e3\u6cd5，\u5e76\u9644\u53ef\u76f4\u63a5\u7f16\u8bd1\u7684 C \u4ee3\u7801\u4e0e\u5b9e\u6d4b\u5bf9\u6bd4，\u5e2e\u4f60\u5f7b\u5e95\u907f\u5f00\u8fd9\u4e2a\u5076\u53d1\u4e14\u6781\u96be\u6392\u67e5\u7684\u5751\u3002<\/p>\n

\u4e00\u3001\u5f00\u7bc7：\u4e00\u4e2a\u771f\u5b9e\u7ffb\u8f66\u73b0\u573a<\/h3>\n

\u4e00\u53f0\u8bbe\u5907\u7528 FreeRTOS，\u8fd0\u884c\u4e2d\u67d0\u4e2a\u4efb\u52a1\u4f1a"\u88ab\u52a8\u6001\u5220\u9664\u91cd\u5efa"（\u6bd4\u5982\u67d0\u79cd\u6a21\u5f0f\u5207\u6362）\u3002\u67d0\u6b21\u5207\u6362\u540e，\u7cfb\u7edf\u6574\u4f53\u5361\u6b7b\u2014\u2014\u5176\u4ed6\u4efb\u52a1\u90fd\u5728\u7b49\u4e00\u628a\u4e92\u65a5\u91cf，\u6c38\u8fdc\u62ff\u4e0d\u5230\u3002\u6211\u7528\u8c03\u8bd5\u5668\u770b，\u90a3\u628a\u9501\u7684\u6301\u6709\u8005\u6b63\u662f"\u521a\u521a\u88ab\u5220\u6389\u7684\u4efb\u52a1"，\u5b83\u5220\u7684\u65f6\u5019\u6b63\u62ff\u7740\u9501，\u9501\u518d\u6ca1\u88ab\u91ca\u653e \u2192 \u6b7b\u9501\u3002<\/p>\n

\u6839\u56e0\u4e00\u53e5\u8bdd：FreeRTOS \u4e2d\u5982\u679c\u7528 vTaskDelete \u5220\u9664\u4e00\u4e2a\u5f53\u524d\u6301\u6709\u4e92\u65a5\u91cf（mutex）\u7684\u4efb\u52a1，\u4e92\u65a5\u91cf\u4e0d\u4f1a\u88ab\u81ea\u52a8\u91ca\u653e（\u9664\u975e\u4f60\u663e\u5f0f\u5904\u7406）\u3002\u8fd9\u628a\u9501\u5c31\u6c38\u8fdc"\u88ab\u5df2\u6b7b\u4efb\u52a1\u6301\u6709"，\u5176\u4ed6\u7b49\u5f85\u5b83\u7684\u4efb\u52a1\u5168\u90e8\u6b7b\u9501\u3002\u5220\u9664\u4efb\u52a1\u524d\u5fc5\u987b\u5148\u91ca\u653e\u5b83\u6301\u6709\u7684\u6240\u6709\u9501\u3002<\/p>\n

\u9002\u7528\u8bfb\u8005：\u6709"\u52a8\u6001\u5220\u9664\/\u91cd\u5efa\u4efb\u52a1"\u903b\u8f91\u3001\u51fa\u73b0"\u5220\u5b8c\u67d0\u4e2a\u4efb\u52a1\u540e\u7cfb\u7edf\u5361\u6b7b\/\u5176\u4ed6\u4efb\u52a1\u997f\u6b7b"\u7684\u540c\u5b66\u3002
\n\u8bfb\u5b8c\u4f60\u80fd\u505a：\u8bc6\u522b"\u5220\u6301\u9501\u4efb\u52a1\u5bfc\u81f4\u6b7b\u9501"，\u5728\u5220\u9664\u524d\u91ca\u653e\u6240\u6709\u5df2\u6301\u4e92\u65a5\u91cf，\u6216\u7528"\u4f18\u96c5\u9000\u51fa"\u673a\u5236\u907f\u514d\u3002<\/p>\n

\u4e8c\u3001\u5148\u641e\u61c2：\u4e92\u65a5\u91cf\u548c\u4efb\u52a1\u751f\u547d\u5468\u671f（\u8ba4\u77e5）<\/h3>\n

2.1 \u4e92\u65a5\u91cf\u662f"\u5e26\u6240\u6709\u8005"\u7684<\/h4>\n

\u4e92\u65a5\u91cf（mutex）\u4e0d\u540c\u4e8e\u4e8c\u503c\u4fe1\u53f7\u91cf：\u5b83\u8bb0\u5f55"\u5f53\u524d\u6301\u6709\u8005"\u3002\u53ea\u6709\u6301\u6709\u8005\u80fd\u91ca\u653e；\u91ca\u653e\u65f6\u82e5\u6301\u6709\u8005\u4f18\u5148\u7ea7\u88ab\u63d0\u5347\u8fc7（\u4f18\u5148\u7ea7\u7ee7\u627f）\u8fd8\u4f1a\u8fd8\u539f\u3002\u8fd9\u628a\u9501"\u8ba4\u4e3b"\u3002<\/p>\n

2.2 \u5220\u4efb\u52a1\u4e3a\u4ec0\u4e48\u9501\u4e0d\u91ca\u653e<\/h4>\n

vTaskDelete \u53ea\u662f\u628a\u4efb\u52a1\u4ece\u8c03\u5ea6\u5668\u79fb\u9664\u3001\u56de\u6536 TCB\u3002\u5b83\u4e0d\u77e5\u9053\u4e5f\u4e0d\u8d1f\u8d23\u91ca\u653e\u8be5\u4efb\u52a1\u6301\u6709\u7684 mutex\u3002\u4e8e\u662f mutex \u7684"\u6301\u6709\u8005"\u6307\u9488\u4ecd\u6307\u5411\u5df2\u5220\u9664\u4efb\u52a1\u7684 TCB \u2192 \u9501\u6c38\u8fdc\u4e0d\u88ab\u91ca\u653e \u2192 \u7b49\u5f85\u8005\u6b7b\u9501\u3002<\/p>\n\n\u72b6\u6001\u7ed3\u679c<\/tr>\n\n\n\n
\u5220\u524d\u91ca\u653e\u9501<\/td>\n\u6b63\u5e38<\/td>\n<\/tr>\n
\u5220\u65f6\u6301\u9501<\/td>\n\u6b7b\u9501<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

#mermaid-svg-sluDcRufvrtfXPPX{font-family:\\”trebuchet ms\\”,verdana,arial,sans-serif;font-size:16px;fill:#333;}@keyframes edge-animation-frame{from{stroke-dashoffset:0;}}@keyframes dash{to{stroke-dashoffset:0;}}#mermaid-svg-sluDcRufvrtfXPPX .edge-animation-slow{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 50s linear infinite;stroke-linecap:round;}#mermaid-svg-sluDcRufvrtfXPPX .edge-animation-fast{stroke-dasharray:9,5!important;stroke-dashoffset:900;animation:dash 20s linear infinite;stroke-linecap:round;}#mermaid-svg-sluDcRufvrtfXPPX .error-icon{fill:#552222;}#mermaid-svg-sluDcRufvrtfXPPX .error-text{fill:#552222;stroke:#552222;}#mermaid-svg-sluDcRufvrtfXPPX .edge-thickness-normal{stroke-width:1px;}#mermaid-svg-sluDcRufvrtfXPPX .edge-thickness-thick{stroke-width:3.5px;}#mermaid-svg-sluDcRufvrtfXPPX .edge-pattern-solid{stroke-dasharray:0;}#mermaid-svg-sluDcRufvrtfXPPX .edge-thickness-invisible{stroke-width:0;fill:none;}#mermaid-svg-sluDcRufvrtfXPPX .edge-pattern-dashed{stroke-dasharray:3;}#mermaid-svg-sluDcRufvrtfXPPX .edge-pattern-dotted{stroke-dasharray:2;}#mermaid-svg-sluDcRufvrtfXPPX .marker{fill:#333333;stroke:#333333;}#mermaid-svg-sluDcRufvrtfXPPX .marker.cross{stroke:#333333;}#mermaid-svg-sluDcRufvrtfXPPX svg{font-family:\\”trebuchet ms\\”,verdana,arial,sans-serif;font-size:16px;}#mermaid-svg-sluDcRufvrtfXPPX p{margin:0;}#mermaid-svg-sluDcRufvrtfXPPX .label{font-family:\\”trebuchet ms\\”,verdana,arial,sans-serif;color:#333;}#mermaid-svg-sluDcRufvrtfXPPX .cluster-label text{fill:#333;}#mermaid-svg-sluDcRufvrtfXPPX .cluster-label span{color:#333;}#mermaid-svg-sluDcRufvrtfXPPX .cluster-label span p{background-color:transparent;}#mermaid-svg-sluDcRufvrtfXPPX .label text,#mermaid-svg-sluDcRufvrtfXPPX span{fill:#333;color:#333;}#mermaid-svg-sluDcRufvrtfXPPX .node rect,#mermaid-svg-sluDcRufvrtfXPPX .node circle,#mermaid-svg-sluDcRufvrtfXPPX .node ellipse,#mermaid-svg-sluDcRufvrtfXPPX .node polygon,#mermaid-svg-sluDcRufvrtfXPPX .node path{fill:#ECECFF;stroke:#9370DB;stroke-width:1px;}#mermaid-svg-sluDcRufvrtfXPPX .rough-node .label text,#mermaid-svg-sluDcRufvrtfXPPX .node .label text,#mermaid-svg-sluDcRufvrtfXPPX .image-shape .label,#mermaid-svg-sluDcRufvrtfXPPX .icon-shape .label{text-anchor:middle;}#mermaid-svg-sluDcRufvrtfXPPX .node .katex path{fill:#000;stroke:#000;stroke-width:1px;}#mermaid-svg-sluDcRufvrtfXPPX .rough-node .label,#mermaid-svg-sluDcRufvrtfXPPX .node .label,#mermaid-svg-sluDcRufvrtfXPPX .image-shape .label,#mermaid-svg-sluDcRufvrtfXPPX .icon-shape .label{text-align:center;}#mermaid-svg-sluDcRufvrtfXPPX .node.clickable{cursor:pointer;}#mermaid-svg-sluDcRufvrtfXPPX .root .anchor path{fill:#333333!important;stroke-width:0;stroke:#333333;}#mermaid-svg-sluDcRufvrtfXPPX .arrowheadPath{fill:#333333;}#mermaid-svg-sluDcRufvrtfXPPX .edgePath .path{stroke:#333333;stroke-width:2.0px;}#mermaid-svg-sluDcRufvrtfXPPX .flowchart-link{stroke:#333333;fill:none;}#mermaid-svg-sluDcRufvrtfXPPX .edgeLabel{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-sluDcRufvrtfXPPX .edgeLabel p{background-color:rgba(232,232,232, 0.8);}#mermaid-svg-sluDcRufvrtfXPPX .edgeLabel rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-sluDcRufvrtfXPPX .labelBkg{background-color:rgba(232, 232, 232, 0.5);}#mermaid-svg-sluDcRufvrtfXPPX .cluster rect{fill:#ffffde;stroke:#aaaa33;stroke-width:1px;}#mermaid-svg-sluDcRufvrtfXPPX .cluster text{fill:#333;}#mermaid-svg-sluDcRufvrtfXPPX .cluster span{color:#333;}#mermaid-svg-sluDcRufvrtfXPPX div.mermaidTooltip{position:absolute;text-align:center;max-width:200px;padding:2px;font-family:\\”trebuchet ms\\”,verdana,arial,sans-serif;font-size:12px;background:hsl(80, 100%, 96.2745098039%);border:1px solid #aaaa33;border-radius:2px;pointer-events:none;z-index:100;}#mermaid-svg-sluDcRufvrtfXPPX .flowchartTitleText{text-anchor:middle;font-size:18px;fill:#333;}#mermaid-svg-sluDcRufvrtfXPPX rect.text{fill:none;stroke-width:0;}#mermaid-svg-sluDcRufvrtfXPPX .icon-shape,#mermaid-svg-sluDcRufvrtfXPPX .image-shape{background-color:rgba(232,232,232, 0.8);text-align:center;}#mermaid-svg-sluDcRufvrtfXPPX .icon-shape p,#mermaid-svg-sluDcRufvrtfXPPX .image-shape p{background-color:rgba(232,232,232, 0.8);padding:2px;}#mermaid-svg-sluDcRufvrtfXPPX .icon-shape .label rect,#mermaid-svg-sluDcRufvrtfXPPX .image-shape .label rect{opacity:0.5;background-color:rgba(232,232,232, 0.8);fill:rgba(232,232,232, 0.8);}#mermaid-svg-sluDcRufvrtfXPPX .label-icon{display:inline-block;height:1em;overflow:visible;vertical-align:-0.125em;}#mermaid-svg-sluDcRufvrtfXPPX .node .label-icon path{fill:currentColor;stroke:revert;stroke-width:revert;}#mermaid-svg-sluDcRufvrtfXPPX :root{–mermaid-font-family:\\”trebuchet ms\\”,verdana,arial,sans-serif;}<\/span><\/p>\n

\u5220\u524d\u91ca\u653e<\/p>\n

<\/span><\/p>\n

\u5220\u65f6\u4e0d\u91ca\u653e<\/p>\n

<\/span><\/p>\n

\u4efb\u52a1\u6301\u9501<\/p>\n

<\/span><\/p>\n

vTaskDelete?<\/p>\n

<\/span><\/p>\n

\u9501\u5f52\u8fd8 \u4ed6\u4eba\u53ef\u5f97<\/p>\n

<\/span><\/p>\n

\u9501\u5f52\u5c5e\u5df2\u6b7b\u4efb\u52a1 \u6b7b\u9501<\/p>\n

<\/span><\/p>\n

\u56fe 1：\u5220\u6301\u9501\u4efb\u52a1\u540e\u679c（\u5982\u56fe 1 \u6240\u793a，\u4e0d\u91ca\u653e\u5373\u6b7b\u9501）\u3002<\/p>\n

[\u6ce8\u610f] \u9012\u5f52\u4e92\u65a5\u91cf（recursive mutex）\u66f4\u9ebb\u70e6：\u6301\u6709\u65f6\u6709"\u6301\u6709\u8ba1\u6570"，\u5220\u9664\u524d\u9700\u91ca\u653e\u5bf9\u5e94\u6b21\u6570\u3002\u52a8\u6001\u5220\u9664\u4efb\u52a1\u7684\u7cfb\u7edf\u8981\u7279\u522b\u5c0f\u5fc3\u3002<\/p>\n

\u4e09\u3001\u4e3a\u4ec0\u4e48\u4f1a\u6b7b\u9501（\u539f\u7406 + \u771f\u5b9e\u9519\u8bef\u4ee3\u7801）<\/h3>\n

3.1 \u6211\u6700\u521d\u7684\u5199\u6cd5（\u9519\u8bef\u7248）<\/h4>\n

\/\/ \u274c \u9519\u8bef\u5199\u6cd5：\u76f4\u63a5\u5220\u4efb\u52a1，\u6ca1\u7ba1\u5b83\u6301\u6709\u7684\u9501<\/span>
\nvoid<\/span> switch_mode<\/span>(<\/span>void<\/span>)<\/span> {<\/span>
\n vTaskDelete<\/span>(<\/span>task_A_handle)<\/span>;<\/span> \/\/ task_A \u6b63\u6301\u6709 config_mutex<\/span>
\n task_A_handle =<\/span> xTaskCreate<\/span>(<\/span>.<\/span>.<\/span>.<\/span>)<\/span>;<\/span> \/\/ \u91cd\u5efa<\/span>
\n \/\/ \u4e4b\u540e\u4efb\u4f55\u60f3\u62ff config_mutex \u7684\u4efb\u52a1\u90fd\u6b7b\u9501<\/span>
\n}<\/span><\/p>\n

\u9519\u5728\u54ea：<\/p>\n

  • task_A \u8fd0\u884c\u4e2d\u67d0\u523b\u62ff\u7740 config_mutex\u3002<\/li>\n
  • vTaskDelete \u628a\u5b83\u5220\u4e86，mutex \u6301\u6709\u8005\u4ecd\u6307\u5411\u5b83（\u5df2\u6b7b）\u3002<\/li>\n
  • \u5176\u4ed6\u4efb\u52a1 xSemaphoreTake(config_mutex) \u6c38\u8fdc\u963b\u585e\u3002<\/li>\n
  • \u7cfb\u7edf\u5361\u6b7b，\u4e14\u96be\u67e5（\u9501"\u5f52\u5c5e"\u4e00\u4e2a\u4e0d\u5b58\u5728\u7684\u4efb\u52a1）\u3002<\/li>\n

    [\u5751] \u94c1\u5f8b：\u5220\u9664\u4efb\u52a1\u524d，\u5fc5\u987b\u91ca\u653e\u5b83\u6301\u6709\u7684\u6240\u6709 mutex（\u542b\u9012\u5f52\u9501\u7684\u8ba1\u6570）\u3002\u5426\u5219\u5fc5\u7136\u6b7b\u9501\u3002<\/p>\n

    3.2 \u4e3a\u4ec0\u4e48"\u5076\u53d1"<\/h4>\n

    \u53ea\u6709"\u5220\u9664\u7684\u90a3\u4e00\u523b\u4efb\u52a1\u6070\u597d\u6301\u9501"\u624d\u89e6\u53d1\u3002\u82e5\u4efb\u52a1\u5927\u591a\u65f6\u5019\u4e0d\u6301\u9501，\u5220\u9664\u5c31\u6b63\u5e38 \u2192 \u8868\u73b0\u4e3a\u5076\u53d1\u6b7b\u9501，\u6781\u96be\u590d\u73b0\u3002<\/p>\n\n\u5220\u9664\u65f6\u523b\u7ed3\u679c<\/tr>\n\n\n\n
    \u4efb\u52a1\u6301\u9501<\/td>\n\u6b7b\u9501<\/td>\n<\/tr>\n
    \u4efb\u52a1\u672a\u6301\u9501<\/td>\n\u6b63\u5e38<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u56db\u3001\u6b63\u786e\u89e3\u6cd5：\u5220\u524d\u91ca\u653e\u9501 \/ \u4f18\u96c5\u9000\u51fa（\u5b8c\u6574\u843d\u5730）<\/h3>\n

    4.1 \u65b9\u6848\u5bf9\u6bd4<\/h4>\n\n\u65b9\u6848\u5b89\u5168\u6027\u8bf4\u660e<\/tr>\n\n\n\n\n
    \u76f4\u63a5 vTaskDelete<\/td>\n\u6b7b\u9501<\/td>\n\u9519<\/td>\n<\/tr>\n
    \u5220\u524d\u91ca\u653e\u6240\u6709\u9501<\/td>\n\u5b89\u5168<\/td>\n\u6b63\u89e3<\/td>\n<\/tr>\n
    \u53d1"\u9000\u51fa\u4fe1\u53f7"\u8ba9\u4efb\u52a1\u81ea\u5220<\/td>\n\u6700\u7a33<\/td>\n\u63a8\u8350<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    4.2 \u914d\u7f6e（\u7167\u7740\u70b9）<\/h4>\n

    FreeRTOSConfig.h：\u786e\u4fdd configUSE_MUTEXES=1\u3001configUSE_RECURSIVE_MUTEXES（\u5982\u7528\u9012\u5f52\u9501）\u3002<\/p>\n

    4.3 \u5b8c\u6574\u4ee3\u7801（\u53ef\u76f4\u63a5\u7f16\u8bd1）<\/h4>\n

    \/\/ \u65b9\u6848A：\u5220\u524d\u663e\u5f0f\u91ca\u653e<\/span>
    \nvoid<\/span> safe_delete<\/span>(<\/span>TaskHandle_t h,<\/span> SemaphoreHandle_t locks[<\/span>]<\/span>,<\/span> int<\/span> n)<\/span> {<\/span>
    \n \/\/ \u901a\u77e5\u4efb\u52a1\u505c\u6b62（\u5982\u8bbe\u6807\u5fd7），\u7b49\u5b83\u9000\u51fa\u4e34\u754c\u533a<\/span>
    \n for<\/span> (<\/span>int<\/span> i =<\/span> 0<\/span>;<\/span> i <<\/span> n;<\/span> i++<\/span>)<\/span>
    \n xSemaphoreGive<\/span>(<\/span>locks[<\/span>i]<\/span>)<\/span>;<\/span> \/\/ \u91ca\u653e\u5b83\u6301\u6709\u7684\u9501<\/span>
    \n vTaskDelete<\/span>(<\/span>h)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/\/ \u65b9\u6848B（\u63a8\u8350）：\u4efb\u52a1\u81ea\u5df1\u4f18\u96c5\u9000\u51fa<\/span>
    \nstatic<\/span> volatile<\/span> uint8_t<\/span> g_quit =<\/span> 0<\/span>;<\/span>
    \nvoid<\/span> task_A<\/span>(<\/span>void<\/span> *<\/span>arg)<\/span> {<\/span>
    \n for<\/span> (<\/span>;<\/span>;<\/span>)<\/span> {<\/span>
    \n if<\/span> (<\/span>g_quit)<\/span> {<\/span> \/\/ \u6536\u5230\u9000\u51fa\u4fe1\u53f7<\/span>
    \n xSemaphoreGive<\/span>(<\/span>config_mutex)<\/span>;<\/span> \/\/ \u5148\u8fd8\u9501<\/span>
    \n vTaskDelete<\/span>(<\/span>NULL<\/span>)<\/span>;<\/span> \/\/ \u81ea\u6740（\u81ea\u5220\u66f4\u5b89\u5168）<\/span>
    \n }<\/span>
    \n \/\/ … \u6b63\u5e38\u6301\u9501\/\u5e72\u6d3b<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    [\u5751] \u4e24\u4e2a\u7ffb\u8f66\u70b9\u6536\u597d：<\/p>\n

  • \u5220\u4efb\u52a1\u524d\u4e0d\u91ca\u653e mutex\u2014\u2014\u6b7b\u9501\u6839\u56e0；\u5220\u524d Give \u6240\u6709\u9501\u6216\u8ba9\u4efb\u52a1\u81ea\u5220\u3002<\/li>\n
  • \u9012\u5f52\u4e92\u65a5\u91cf\u53ea Give \u4e00\u6b21\u2014\u2014\u6301\u6709\u8ba1\u6570\u6ca1\u6e05\u5b8c\u4ecd\u6b7b\u9501；\u9012\u5f52\u9501\u8981 Give \u5230\u8fd4\u56de pdTRUE \u8868\u793a\u5b8c\u5168\u91ca\u653e\u3002<\/li>\n

    4.4 \u6539\u5b8c\u7684\u5b9e\u6d4b\u5bf9\u6bd4<\/h4>\n\n\u6307\u6807\u6539\u524d（\u76f4\u63a5\u5220）\u6539\u540e（\u4f18\u96c5\u9000\u51fa）<\/tr>\n\n\n\n\n
    \u5220\u4efb\u52a1\u540e\u7cfb\u7edf<\/td>\n\u5076\u53d1\u6b7b\u9501<\/td>\n\u7a33\u5b9a<\/td>\n<\/tr>\n
    \u5176\u4ed6\u4efb\u52a1\u62ff\u9501<\/td>\n\u6c38\u4e45\u963b\u585e<\/td>\n\u6b63\u5e38<\/td>\n<\/tr>\n
    \u53ef\u91cd\u73b0\u6027<\/td>\n\u96be<\/td>\n\u786e\u5b9a\u6027\u89e3\u51b3<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u4e94\u3001\u6536\u5c3e<\/h3>\n

    \u8981\u70b9\u590d\u76d8<\/p>\n

  • \u5220\u6301\u9501\u4efb\u52a1\u4f1a\u5bfc\u81f4 mutex \u5f52\u5c5e\u5df2\u6b7b\u4efb\u52a1，\u5176\u4ed6\u7b49\u5f85\u8005\u6b7b\u9501\u3002<\/li>\n
  • \u5220\u524d\u5fc5\u987b\u91ca\u653e\u6240\u6709\u9501（\u9012\u5f52\u9501\u91ca\u653e\u5230\u8ba1\u6570 0）；\u4f18\u5148\u7528"\u4efb\u52a1\u81ea\u5220"\u4f18\u96c5\u9000\u51fa\u3002<\/li>\n
  • \u5076\u53d1\u6b7b\u9501\u5e38\u662f"\u5220\u9664\u77ac\u95f4\u6070\u597d\u6301\u9501"\u3002<\/li>\n

    \u6700\u4f73\u5b9e\u8df5\u6e05\u5355<\/p>\n

      \n
    • \u52a8\u6001\u5220\u9664\u4efb\u52a1\u524d，\u786e\u4fdd\u5b83\u4e0d\u6301\u6709\u4efb\u4f55 mutex（\u6216\u663e\u5f0f\u91ca\u653e）\u3002<\/li>\n
    • \u63a8\u8350"\u53d1\u9000\u51fa\u6807\u5fd7 + \u4efb\u52a1\u81ea\u5220"，\u6bd4\u5916\u90e8 vTaskDelete \u5b89\u5168\u3002<\/li>\n
    • \u9012\u5f52\u4e92\u65a5\u91cf\u91ca\u653e\u5230 xSemaphoreGiveRecursive \u8fd4\u56de\u6210\u529f（\u5b8c\u5168\u91ca\u653e）\u3002<\/li>\n
    • \u9501\u7684\u83b7\u53d6\/\u91ca\u653e\u6210\u5bf9\u5199，\u4e14\u52a0\u9501\u8def\u5f84\u5355\u4e00\u3001\u4f5c\u7528\u57df\u5c0f\u3002<\/li>\n
    • \u6b7b\u9501\u6392\u67e5：\u6253\u5370\u5404 mutex \u6301\u6709\u8005\u53e5\u67c4，\u770b\u662f\u5426\u6307\u5411\u5df2\u5220\u4efb\u52a1\u3002<\/li>\n<\/ul>\n

      \u8fdb\u9636\u5ef6\u4f38：\u7528 uxSemaphoreGetCount\/\u6301\u6709\u8005 API（\u4f9d\u8d56 configUSE_MUTEXES \u4e0e\u8c03\u8bd5\u94a9\u5b50）\u5b9a\u4f4d\u6b7b\u9501；\u8003\u8651\u7528"\u6b7b\u9501\u68c0\u6d4b"\u5b9a\u65f6\u4efb\u52a1\u904d\u5386\u9501\u72b6\u6001\u3002<\/p>\n

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