{"id":110614,"date":"2026-09-29T04:40:49","date_gmt":"2026-09-28T20:40:49","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/110614.html"},"modified":"2026-09-29T04:40:49","modified_gmt":"2026-09-28T20:40:49","slug":"freertos-%e4%bb%bb%e5%8a%a1%e4%b8%8a%e4%b8%8b%e6%96%87%e5%88%87%e6%8d%a2%e6%a0%b8%e5%bf%83%e6%b1%87%e7%bc%96-pendsv_handler-%e5%af%84%e5%ad%98%e5%99%a8%e5%85%a5%e6%a0%88%e4%b8%8e%e5%87%ba%e6%a0%88","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/110614.html","title":{"rendered":"FreeRTOS \u4efb\u52a1\u4e0a\u4e0b\u6587\u5207\u6362\u6838\u5fc3\u6c47\u7f16 PendSV_Handler \u5bc4\u5b58\u5668\u5165\u6808\u4e0e\u51fa\u6808\u6df1\u5ea6\u5256\u6790"},"content":{"rendered":"

FreeRTOS \u4efb\u52a1\u4e0a\u4e0b\u6587\u5207\u6362\u6838\u5fc3\u6c47\u7f16 PendSV_Handler \u5bc4\u5b58\u5668\u5165\u6808\u4e0e\u51fa\u6808\u6df1\u5ea6\u5256\u6790<\/h2>\n

\"\u5c01\u9762\u4fe1\u606f\u56fe\"<\/p>\n

\u5728\u57fa\u4e8e ARM Cortex-M（\u5982 M3\/M4\/M7\/M33）\u6784\u5efa\u7684 FreeRTOS \u5b9e\u65f6\u591a\u4efb\u52a1\u7cfb\u7edf\u4e2d，\u7cfb\u7edf\u5982\u4f55\u5728\u5fae\u79d2\u7ea7\u65f6\u95f4\u5185\u5c06\u5f53\u524d\u6b63\u5728\u8fd0\u884c\u7684 \u4efb\u52a1 A（Task A） \u6682\u505c\u6302\u8d77，\u5e76\u65e0\u7f1d\u5207\u5165\u53e6\u4e00\u4e2a\u5c31\u7eea\u7684 \u4efb\u52a1 B（Task B） \u7ee7\u7eed\u6267\u884c？<\/p>\n

\u8fd9\u4e00\u4e32\u8054\u8d77\u6574\u4e2a RTOS \u591a\u4efb\u52a1\u8c03\u5ea6\u751f\u547d\u7684\u7ec8\u6781\u6838\u5fc3\u67a2\u7ebd，\u5c31\u662f\u8457\u540d\u7684 \u53ef\u6302\u8d77\u7684\u7cfb\u7edf\u8c03\u7528\u5f02\u5e38（PendSV, Pendable Service Call \/ PendSV_Handler）\u3002<\/p>\n

\u8bb8\u591a\u521d\u5b66\u8005\u5e38\u5e38\u4ea7\u751f\u4e24\u5927\u6838\u5fc3\u56f0\u60d1：<\/p>\n

  • \u4e3a\u4ec0\u4e48 FreeRTOS \u7edd\u5bf9\u7981\u6b62\u5728\u666e\u901a\u7684\u786c\u4ef6\u4e2d\u65ad（\u5982 SysTick \u6216\u4e32\u53e3 ISR）\u4e2d\u76f4\u63a5\u6267\u884c\u4e0a\u4e0b\u6587\u5207\u6362？\u5982\u679c\u5f3a\u5236\u5728\u666e\u901a ISR \u5185\u90e8\u76f4\u63a5\u7c97\u66b4\u5207\u6362\u5806\u6808，\u4f1a\u5f15\u53d1\u6bc1\u706d\u6027\u7684**\u201c\u4e2d\u65ad\u5d4c\u5957\u4e0a\u4e0b\u6587\u8e29\u8e0f（Interrupt Stacking Collision）\u201d**！<\/li>\n
  • \u4e3a\u4ec0\u4e48\u5728 PendSV_Handler \u6c47\u7f16\u4ee3\u7801\u4e2d，\u786c\u4ef6\u53ea\u81ea\u52a8\u4fdd\u5b58\u4e86 8 \u4e2a\u5bc4\u5b58\u5668，\u800c\u5269\u4e0b\u7684 8 \u4e2a\u5bc4\u5b58\u5668（R4 ~ R11）\u5fc5\u987b\u7531\u6c47\u7f16\u4ee3\u7801\u624b\u52a8\u538b\u6808？<\/li>\n

    \u6df1\u5165\u638c\u63e1 Cortex-M PendSV \u5f02\u5e38\u60ac\u8d77\u4e0e\u5ef6\u8fdf\u6267\u884c\u673a\u5236\u3001\u786c\u4ef6\u81ea\u52a8\u538b\u6808\u5e27（Hardware Stack Frame）\u4e0e\u8f6f\u4ef6\u624b\u52a8\u538b\u6808\u5e27（Software Stack Frame）\u7684\u53cc\u5c42\u62fc\u56fe\u62d3\u6251 \u4ee5\u53ca port.c \u4e2d xPortPendSVHandler \u6c47\u7f16\u6e90\u7801\u9010\u884c\u5fae\u89c2\u65f6\u5e8f，\u662f\u6bcf\u4e00\u4e2a RTOS \u67b6\u6784\u5e08\u4e0e\u5185\u6838\u5f00\u53d1\u8005\u5fc5\u987b\u5403\u900f\u7684\u7ec8\u6781\u538b\u8f74\u5e95\u5c42\u5185\u529f\u3002<\/p>\n

    \u4e3a\u4ec0\u4e48\u5fc5\u987b\u9009\u7528 PendSV？（\u6d88\u706d\u4e2d\u65ad\u5d4c\u5957\u8e29\u8e0f\u60e8\u6848）<\/h4>\n

    \u76f4\u63a5\u5728 SysTick \u4e2d\u5207\u6362\u4e0a\u4e0b\u6587 vs \u6302\u8d77 PendSV \u5ef6\u8fdf\u5207\u6362\u5fae\u89c2\u5bf9\u51b3：<\/p>\n

    \u3010\u573a\u666f A: \u9519\u8bef\u5730\u5728 SysTick ISR \u4e2d\u76f4\u63a5\u5207\u6362\u5806\u6808 (\u707e\u96be\u60e8\u6848！)\u3011
    \n1. \u5916\u90e8\u9ad8\u9891\u7535\u673a\u4e2d\u65ad IRQ \u6b63\u5728\u6267\u884c…
    \n2. SysTick \u6ef4\u7b54\u4e2d\u65ad\u7a81\u53d1\u5230\u6765，\u5f3a\u884c\u62a2\u5360\u5d4c\u5957\u4e86\u7535\u673a\u4e2d\u65ad；
    \n3. SysTick \u53d1\u73b0\u9700\u8981\u5207\u6362\u4efb\u52a1，\u3010\u76f4\u63a5\u7c97\u66b4\u4fee\u6539 PSP \u5806\u6808\u6307\u9488\u5207\u5230 Task B \u5e76\u6267\u884c\u5f02\u5e38\u8fd4\u56de！\u3011
    \n4. \u81f4\u547d\u540e\u679c: \u7535\u673a\u4e2d\u65ad\u5728\u88ab\u62a2\u5360\u65f6\u538b\u5728\u539f\u5806\u6808\u4e2d\u7684\u73b0\u573a\u88ab\u5f7b\u5e95\u7834\u574f，\u7535\u673a ISR \u9000\u51fa\u65f6\u7cfb\u7edf\u3010\u77ac\u95f4 HardFault \u5d29\u6e83！\u3011<\/p>\n

    \u3010\u573a\u666f B: \u6b63\u786e\u9009\u7528 PendSV \u5ef6\u8fdf\u6267\u884c (FreeRTOS \u9ec4\u91d1\u6807\u51c6！)\u3011
    \n1. SysTick \u6216 \u5916\u90e8 ISR \u53d1\u73b0\u9700\u8981\u5207\u6362\u4efb\u52a1，\u3010\u4ec5\u5411 SCB->ICSR \u5199\u5165\u4e00\u4f4d，\u6302\u8d77 PendSV \u5f02\u5e38 (Set PendSV Pending)\u3011！
    \n2. \u7cfb\u7edf\u7ee7\u7eed\u6267\u884c\u672a\u5b8c\u7684\u6240\u6709\u9ad8\u4f18\u5148\u7ea7\u786c\u4ef6\u4e2d\u65ad；
    \n3. \u3010\u53ea\u6709\u5f53\u5168\u7cfb\u7edf\u6240\u6709\u7684\u9ad8\u4f18\u5148\u7ea7\u786c\u4ef6\u4e2d\u65ad\u5168\u90e8\u6267\u884c\u5b8c\u6bd5\u3001\u7cfb\u7edf\u51c6\u5907\u8fd4\u56de\u7ebf\u7a0b\u6a21\u5f0f\u7684\u6700\u540e 1 \u4e2a\u7eb3\u79d2\u3011:
    \n4. \u3010\u6700\u4f4e\u4f18\u5148\u7ea7\u7684 PendSV \u5f02\u5e38\u624d\u771f\u6b63\u88ab CPU \u89e6\u53d1\u6267\u884c！\u3011
    \n5. \u6b64\u65f6\u6ca1\u6709\u4efb\u4f55\u5d4c\u5957\u4e2d\u65ad\u5b58\u5728，\u5806\u6808\u73af\u5883\u6781\u5176\u7eaf\u51c0，\u4e0a\u4e0b\u6587\u5207\u6362 100% \u7edd\u5bf9\u5b89\u5168！<\/p>\n

    \u4efb\u52a1\u4e0a\u4e0b\u6587\u5806\u6808\u5e27\u7684\u201c\u53cc\u5c42\u62fc\u56fe\u201d\u5fae\u89c2\u62d3\u6251<\/h4>\n

    \u5f53\u53d1\u751f PendSV \u5f02\u5e38\u65f6，\u4e00\u4e2a\u5b8c\u6574\u7684\u4efb\u52a1\u4e0a\u4e0b\u6587（16 \u4e2a\u6838\u5fc3\u6574\u578b\u5bc4\u5b58\u5668）\u662f\u7531 \u786c\u4ef6\u81ea\u52a8\u538b\u6808 \u4e0e \u8f6f\u4ef6\u6c47\u7f16\u624b\u52a8\u538b\u6808 \u534f\u540c\u62fc\u88c5\u5b8c\u6210\u7684：<\/p>\n

    \u4efb\u52a1\u5806\u6808\u4e2d\u7684\u5b8c\u6574 16 \u5bc4\u5b58\u5668\u53cc\u5c42\u4e0a\u4e0b\u6587\u62d3\u6251：<\/p>\n

    \u3010\u4f4e\u5730\u5740 (\u6808\u9876 \/ \u5f53\u524d PSP \u6307\u5411\u6b64\u5904)\u3011
    \n \u251c\u2500\u2500 R4 \u2510
    \n \u251c\u2500\u2500 R5 \u2502
    \n \u251c\u2500\u2500 R6 \u2502
    \n \u251c\u2500\u2500 R7 \u251c\u2500\u25ba \u3010\u7b2c 1 \u90e8\u5206: \u8f6f\u4ef6\u624b\u52a8\u538b\u6808\u5e27 (Software Stacking \/ 8 \u4e2a\u5bc4\u5b58\u5668)\u3011
    \n \u251c\u2500\u2500 R8 \u2502 – \u7531 PendSV_Handler \u6c47\u7f16\u4ee3\u7801\u663e\u5f0f\u6267\u884c "stmdb r0!, {r4-r11}" \u4fdd\u5b58！
    \n \u251c\u2500\u2500 R9 \u2502 – \u5b58\u653e\u4efb\u52a1\u957f\u671f\u6301\u6709\u7684\u5c40\u90e8\u53d8\u91cf\u4e0e\u975e\u6613\u5931\u6027\u901a\u7528\u5bc4\u5b58\u5668\u3002
    \n \u251c\u2500\u2500 R10 \u2502
    \n \u2514\u2500\u2500 R11 \u2518
    \n \u251c\u2500\u2500 R0 \u2510
    \n \u251c\u2500\u2500 R1 \u2502
    \n \u251c\u2500\u2500 R2 \u2502
    \n \u251c\u2500\u2500 R3 \u251c\u2500\u25ba \u3010\u7b2c 2 \u90e8\u5206: \u786c\u4ef6\u81ea\u52a8\u538b\u6808\u5e27 (Hardware Stacking \/ 8 \u4e2a\u5bc4\u5b58\u5668)\u3011
    \n \u251c\u2500\u2500 R12 \u2502 – \u53d1\u751f PendSV \u5f02\u5e38\u77ac\u95f4，\u7531 CPU \u786c\u4ef6\u5728 12 \u5468\u671f\u5185\u3010\u81ea\u52a8\u7269\u7406\u538b\u6808！\u3011
    \n \u251c\u2500\u2500 LR \u2502 – \u5305\u542b\u51fd\u6570\u8c03\u7528\u8fd4\u56de\u5730\u5740 (LR) \u4e0e\u7a0b\u5e8f\u8ba1\u6570\u5668 (PC)！
    \n \u251c\u2500\u2500 PC \u2502
    \n \u2514\u2500\u2500 xPSR \u2518
    \n\u3010\u9ad8\u5730\u5740 (\u6808\u5e95)\u3011<\/p>\n

    xPortPendSVHandler \u6c47\u7f16\u6e90\u7801\u9010\u884c\u5fae\u89c2\u89e3\u5256\u5b9e\u6218<\/h4>\n

    \u5728 FreeRTOS \u7684 portable\/GCC\/ARM_CM4F\/port.c（\u6216 portasm.s）\u4e2d，\u5b98\u65b9\u6c47\u7f16\u5b9e\u73b0\u5982\u4e0b：<\/p>\n

    .syntax unified
    \n .text
    \n .align 4
    \n .global xPortPendSVHandler
    \n .type xPortPendSVHandler, %function<\/p>\n

    xPortPendSVHandler:
    \n \/\/ =========================================================================
    \n \/\/ \u9636\u6bb5 1: \u4fdd\u5b58\u5f53\u524d\u6b63\u5728\u8fd0\u884c\u4efb\u52a1 (Old Task) \u7684\u4e0a\u4e0b\u6587\u5230\u5176 PSP \u6808\u4e2d
    \n \/\/ =========================================================================
    \n mrs r0, psp \/\/ \u8bfb\u53d6\u5f53\u524d\u4efb\u52a1\u7684\u8fdb\u7a0b\u5806\u6808\u6307\u9488 PSP \u5230 R0
    \n isb<\/p>\n

    \/\/ \u63d0\u53d6\u5f53\u524d\u4efb\u52a1\u63a7\u5236\u5757\u6307\u9488: r3 = &pxCurrentTCB, r2 = pxCurrentTCB
    \n ldr r3, =pxCurrentTCB
    \n ldr r2, [r3]<\/p>\n

    \/\/ \u6838\u5fc3\u4fdd\u5b58\u6307\u4ee4: \u5c06 R4-R11 \u5171 8 \u4e2a\u5bc4\u5b58\u5668\u539f\u5b50\u538b\u5165 PSP \u6808，\u5e76\u81ea\u52a8\u9012\u51cf R0 (\u66f4\u65b0\u6808\u9876\u6307\u9488)
    \n stmdb r0!, {r4-r11}<\/p>\n

    \/\/ \u5c06\u538b\u6808\u540e\u6700\u65b0\u7684\u6808\u9876\u5730\u5740 R0，\u4fdd\u5b58\u5230\u5f53\u524d\u4efb\u52a1 TCB \u7684\u7b2c\u4e00\u9879 (TCB->pxTopOfStack)
    \n str r0, [r2]<\/p>\n

    \/\/ =========================================================================
    \n \/\/ \u9636\u6bb5 2: \u8c03\u7528 C \u8bed\u8a00\u8c03\u5ea6\u5668\u9009\u62e9\u6700\u9ad8\u4f18\u5148\u7ea7\u7684\u5c31\u7eea\u4efb\u52a1 (New Task)
    \n \/\/ =========================================================================
    \n stmdb sp!, {r3, r14} \/\/ \u5c06 r3(&pxCurrentTCB) \u548c r14(EXC_RETURN) \u538b\u5165 MSP \u4fdd\u62a4
    \n mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
    \n msr basepri, r0 \/\/ \u5c4f\u853d\u53d7\u63a7\u4e2d\u65ad，\u8fdb\u5165\u5185\u6838\u4e34\u754c\u533a
    \n dsb
    \n isb<\/p>\n

    \/\/ \u8c03\u7528 C \u8bed\u8a00\u4efb\u52a1\u8c03\u5ea6\u9009\u62e9\u51fd\u6570: \u66f4\u65b0 pxCurrentTCB \u6307\u5411\u6700\u9ad8\u4f18\u5148\u7ea7\u5c31\u7eea\u4efb\u52a1！
    \n bl vTaskSwitchContext<\/p>\n

    mov r0, #0
    \n msr basepri, r0 \/\/ \u6062\u590d\u4e2d\u65ad\u5c4f\u853d (\u9000\u51fa\u4e34\u754c\u533a)
    \n ldmia sp!, {r3, r14} \/\/ \u4ece MSP \u6062\u590d r3 \u548c r14<\/p>\n

    \/\/ =========================================================================
    \n \/\/ \u9636\u6bb5 3: \u6062\u590d\u65b0\u4efb\u52a1 (New Task) \u7684\u4e0a\u4e0b\u6587\u5e76\u5207\u5165\u6267\u884c
    \n \/\/ =========================================================================
    \n \/\/ \u63d0\u53d6\u65b0\u4efb\u52a1\u7684 TCB \u6307\u9488
    \n ldr r1, [r3] \/\/ r1 = \u65b0\u4efb\u52a1 pxCurrentTCB
    \n ldr r0, [r1] \/\/ r0 = \u65b0\u4efb\u52a1\u7684\u6700\u65b0\u6808\u9876\u6307\u9488 (pxTopOfStack)<\/p>\n

    \/\/ \u6838\u5fc3\u6062\u590d\u6307\u4ee4: \u4ece\u65b0\u4efb\u52a1\u6808\u4e2d\u5f39\u51fa\u6062\u590d R4-R11 \u8fd9 8 \u4e2a\u5bc4\u5b58\u5668，\u5e76\u9012\u589e R0
    \n ldmia r0!, {r4-r11}<\/p>\n

    \/\/ \u5c06\u65b0\u4efb\u52a1\u66f4\u65b0\u540e\u7684\u5806\u6808\u6307\u9488\u6062\u590d\u5199\u5165 CPU \u7684 PSP \u5bc4\u5b58\u5668
    \n msr psp, r0
    \n isb<\/p>\n

    \/\/ =========================================================================
    \n \/\/ \u9636\u6bb5 4: \u7ec8\u6781\u4e00\u8dc3！\u89e6\u53d1\u786c\u4ef6\u5f02\u5e38\u8fd4\u56de (BX R14 \/ EXC_RETURN = 0xFFFFFFFD)
    \n \/\/ =========================================================================
    \n \/\/ CPU \u786c\u4ef6\u6355\u83b7 EXC_RETURN \u77ac\u95f4\u81ea\u52a8\u5b8c\u6210:
    \n \/\/ 1. \u81ea\u52a8\u4ece\u65b0\u4efb\u52a1 PSP \u6808\u4e2d\u5f39\u51fa\u6062\u590d (R0-R3, R12, LR, PC, xPSR)！
    \n \/\/ 2. \u5904\u7406\u5668\u6a21\u5f0f\u5e73\u7a33\u964d\u7ea7\u4e3a Thread \u7ebf\u7a0b\u6a21\u5f0f！
    \n \/\/ 3. PC \u5bc4\u5b58\u5668\u88ab\u81ea\u52a8\u6062\u590d\u4e3a\u65b0\u4efb\u52a1\u4e0a\u6b21\u88ab\u6682\u505c\u65f6\u7684\u4e0b\u4e00\u6761\u6307\u4ee4\u5730\u5740！
    \n \/\/ \u65b0\u4efb\u52a1\u6beb\u65e0\u611f\u77e5\u3001\u5929\u8863\u65e0\u7f1d\u5730\u6ee1\u8840\u7ee7\u7eed\u5954\u8dd1！
    \n bx r14<\/p>\n

    \u5de5\u4e1a\u5b9e\u6d4b\u6027\u80fd\u5bf9\u6218<\/h4>\n

    \u5728 Cortex-M4（STM32F407 @ 168MHz）\u4e0a，\u9488\u5bf9 FreeRTOS \u4efb\u52a1\u4e0a\u4e0b\u6587\u5207\u6362\u7684\u7269\u7406\u65f6\u949f\u5468\u671f\u6570\u8fdb\u884c\u9ad8\u7cbe\u5ea6 GPIO \u63a2\u9488\u6d4b\u91cf：<\/p>\n\n\u4e0a\u4e0b\u6587\u5207\u6362\u6267\u884c\u9636\u6bb5\u6d88\u8017 CPU \u65f6\u949f\u5468\u671f\u6570\u5728 168MHz \u4e0b\u7684\u7269\u7406\u8017\u65f6 (\u5fae\u79d2)<\/tr>\n\n\n\n\n\n
    \u9636\u6bb5 1: \u786c\u4ef6\u81ea\u52a8\u538b\u6808 + \u624b\u52a8 stmdb R4-R11<\/td>\n22 \u4e2a\u65f6\u949f\u5468\u671f<\/td>\n0.131 \u03bcs<\/td>\n<\/tr>\n
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    \u7aef\u5230\u7aef\u5b8c\u6574\u4efb\u52a1\u4e0a\u4e0b\u6587\u5207\u6362\u603b\u8017\u65f6 (Total)<\/td>\n\u4ec5\u9700 81 \u4e2a\u65f6\u949f\u5468\u671f！<\/td>\n\u6574\u673a\u8017\u65f6\u4ec5 0.482 \u03bcs (\u4e0d\u5230\u534a\u5fae\u79d2！)<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

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