{"id":113638,"date":"2026-10-07T01:25:33","date_gmt":"2026-10-06T17:25:33","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/113638.html"},"modified":"2026-10-07T01:25:33","modified_gmt":"2026-10-06T17:25:33","slug":"%e6%b7%b1%e6%8c%96freertos%e5%86%85%e6%a0%b8%e5%ae%9e%e7%8e%b0%ef%bc%88%e4%b8%89%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/113638.html","title":{"rendered":"\u6df1\u6316FreeRTOS\u5185\u6838\u5b9e\u73b0\uff08\u4e09\uff09"},"content":{"rendered":"

\u4e34\u754c\u6bb5\u4fdd\u62a4：<\/h2>\n

（1）\u4ec0\u4e48\u662f\u4e34\u754c\u6bb5：<\/h3>\n

\u4e34\u754c\u6bb5\u7528\u4e00\u53e5\u8bdd\u6982\u62ec\u5c31\u662f\u4e00\u6bb5\u5728\u6267\u884c\u7684\u65f6\u5019\u4e0d\u80fd\u88ab\u4e2d\u65ad\u7684\u4ee3\u7801\u6bb5\u3002\u5728 FreeRTOS \u91cc\u9762，\u8fd9\u4e2a\u4e34\u754c\u6bb5\u6700\u5e38\u51fa\u73b0\u7684\u5c31\u662f\u5bf9\u5168\u5c40\u53d8\u91cf\u7684\u64cd\u4f5c，\u5168\u5c40\u53d8\u91cf\u5c31\u597d\u50cf\u662f\u4e00\u4e2a\u67aa\u628a\u5b50，\u8c01\u90fd\u53ef\u4ee5\u5bf9\u4ed6\u5f00\u67aa，\u4f46\u662f\u6211\u5f00\u67aa\u7684\u65f6\u5019，\u4f60\u5c31\u4e0d\u80fd\u5f00\u67aa，\u5426\u5219\u5c31\u4e0d\u77e5\u9053\u662f\u8c01\u547d\u4e2d\u4e86\u9776\u5b50\u3002<\/p>\n

**\u90a3\u4e48\u4ec0\u4e48\u60c5\u51b5\u4e0b\u4e34\u754c\u6bb5\u4f1a\u88ab\u6253\u65ad？\u4e00\u4e2a\u662f\u7cfb\u7edf\u8c03\u5ea6，\u8fd8\u6709\u4e00\u4e2a\u5c31\u662f\u5916\u90e8\u4e2d\u65ad\u3002**\u5728FreeRTOS，\u7cfb\u7edf\u8c03\u5ea6，\u6700\u7ec8\u4e5f\u662f\u4ea7\u751f PendSV \u4e2d\u65ad，\u5728 PendSV Handler \u91cc\u9762\u5b9e\u73b0\u4efb\u52a1\u7684\u5207\u6362，\u6240\u4ee5\u8fd8\u662f\u53ef\u4ee5\u5f52\u7ed3\u4e3a\u4e2d\u65ad\u3002\u65e2\u7136\u8fd9\u6837，FreeRTOS \u5bf9\u4e34\u754c\u6bb5\u7684\u4fdd\u62a4\u6700\u7ec8\u8fd8\u662f\u56de\u5230\u5bf9\u4e2d\u65ad\u7684\u5f00\u548c\u5173\u7684\u63a7\u5236\u3002<\/p>\n

（2）Cortex-M \u5185\u6838\u5feb\u901f\u5173\u4e2d\u65ad\u6307\u4ee4<\/h3>\n

\u4e3a\u4e86\u5feb\u901f\u5730\u5f00\u5173\u4e2d\u65ad， Cortex-M \u5185\u6838\u4e13\u95e8\u8bbe\u7f6e\u4e86\u4e00\u6761 CPS \u6307\u4ee4，\u6709 4 \u79cd\u7528\u6cd5，\u5177\u4f53\u89c1\u4ee3\u7801\u6e05\u5355<\/p>\n

CPSID I ;<\/span>PRIMASK=<\/span>1<\/span> ;<\/span>\u5173\u4e2d\u65ad
\nCPSIE I ;<\/span>PRIMASK=<\/span>0<\/span> ;<\/span>\u5f00\u4e2d\u65ad
\nCPSID F ;<\/span>FAULTMASK=<\/span>1<\/span> ;<\/span>\u5173\u5f02\u5e38
\nCPSIE F ;<\/span>FAULTMASK=<\/span>0<\/span> ;<\/span>\u5f00\u5f02\u5e38<\/p>\n

PRIMASK \u548c FAULTMAST \u662f Cortex-M\u5185\u6838 \u91cc\u9762\u4e09\u4e2a\u4e2d\u65ad\u5c4f\u853d\u5bc4\u5b58\u5668\u4e2d\u7684\u4e24\u4e2a，\u8fd8\u6709\u4e00\u4e2a\u662f BASEPRI，\u6709\u5173\u8fd9\u4e09\u4e2a\u5bc4\u5b58\u5668\u7684\u8be6\u7ec6\u7528\u6cd5\u89c1\u8868\u683c：
\n\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"
\n\u4f46\u662f，\u5728 FreeRTOS \u4e2d，\u5bf9\u4e2d\u65ad\u7684\u5f00\u548c\u5173\u662f\u901a\u8fc7\u64cd\u4f5c BASEPRI \u5bc4\u5b58\u5668\u6765\u5b9e\u73b0\u7684，\u5373\u5927\u4e8e\u7b49\u4e8e BASEPRI \u7684\u503c\u7684\u4e2d\u65ad\u4f1a\u88ab\u5c4f\u853d，\u5c0f\u4e8e BASEPRI \u7684\u503c\u7684\u4e2d\u65ad\u5219\u4e0d\u4f1a\u88ab\u5c4f\u853d，\u4e0d\u53d7FreeRTOS \u7ba1\u7406\u3002\u7528\u6237\u53ef\u4ee5\u8bbe\u7f6e BASEPRI \u7684\u503c\u6765\u9009\u62e9\u6027\u7684\u7ed9\u4e00\u4e9b\u975e\u5e38\u7d27\u6025\u7684\u4e2d\u65ad\u7559\u4e00\u6761\u540e\u8def\u3002<\/p>\n

（3）\u5173\u4e2d\u65ad<\/h3>\n

FreeRTOS \u5173\u4e2d\u65ad\u7684\u51fd\u6570\u5728 portmacro.h \u4e2d\u5b9a\u4e49，\u5206\u4e0d\u5e26\u8fd4\u56de\u503c\u548c\u5e26\u8fd4\u56de\u503c\u4e24\u79cd，\u5177\u4f53\u5b9e\u73b0\u89c1\u4ee3\u7801<\/p>\n

\/*———————————————————–*\/<\/span>
\n\/* \u4e0d\u5e26\u8fd4\u56de\u503c\u7684\u5173\u4e2d\u65ad\u51fd\u6570，\u4e0d\u80fd\u5d4c\u5957，\u4e0d\u80fd\u5728\u4e2d\u65ad\u91cc\u9762\u4f7f\u7528 *\/<\/span>
\nstatic<\/span> portFORCE_INLINE void<\/span> vPortRaiseBASEPRI<\/span>(<\/span> void<\/span> )<\/span>
\n{<\/span>
\nuint32_t<\/span> ulNewBASEPRI =<\/span> configMAX_SYSCALL_INTERRUPT_PRIORITY;<\/span><\/p>\n

__asm
\n{<\/span>
\n\/* Set BASEPRI to the max syscall priority to effect a critical
\nsection. *\/<\/span>
\nmsr basepri,<\/span> ulNewBASEPRI
\ndsb
\nisb
\n}<\/span>
\n}<\/span>
\n\/*———————————————————–*\/<\/span><\/p>\n

\/*———————————————————–*\/<\/span>
\n\/* \u5e26\u8fd4\u56de\u503c\u7684\u5173\u4e2d\u65ad\u51fd\u6570，\u53ef\u4ee5\u5d4c\u5957，\u53ef\u4ee5\u5728\u4e2d\u65ad\u91cc\u9762\u4f7f\u7528 *\/<\/span>
\nstatic<\/span> portFORCE_INLINE uint32_t<\/span> ulPortRaiseBASEPRI<\/span>(<\/span> void<\/span> )<\/span>
\n{<\/span>
\nuint32_t<\/span> ulReturn,<\/span> ulNewBASEPRI =<\/span> configMAX_SYSCALL_INTERRUPT_PRIORITY;<\/span><\/p>\n

__asm
\n{<\/span>
\n\/* Set BASEPRI to the max syscall priority to effect a critical
\nsection. *\/<\/span>
\nmrs ulReturn,<\/span> basepri
\nmsr basepri,<\/span> ulNewBASEPRI
\ndsb
\nisb
\n}<\/span><\/p>\n

return<\/span> ulReturn;<\/span>
\n}<\/span>
\n\/*———————————————————–*\/<\/span><\/p>\n

（3.1）\u4e0d\u5e26\u8fd4\u56de\u503c\u7684\u5173\u4e2d\u65ad\u51fd\u6570<\/h4>\n

\u4e0d\u5e26\u8fd4\u56de\u503c\u7684\u5173\u4e2d\u65ad\u51fd\u6570，\u4e0d\u80fd\u5d4c\u5957，\u4e0d\u80fd\u5728\u4e2d\u65ad\u91cc\u9762\u4f7f\u7528\u3002\u4e0d\u5e26\u8fd4\u56de\u503c\u7684\u610f\u601d\u662f：\u5728\u5f80 BASEPRI \u5199\u5165\u65b0\u7684\u503c\u7684\u65f6\u5019，\u4e0d\u7528\u5148\u5c06 BASEPRI \u7684\u503c\u4fdd\u5b58\u8d77\u6765，\u5373\u4e0d\u7528\u7ba1\u5f53\u524d\u7684\u4e2d\u65ad\u72b6\u6001\u662f\u600e\u4e48\u6837\u7684，\u65e2\u7136\u4e0d\u7528\u7ba1\u5f53\u524d\u7684\u4e2d\u65ad\u72b6\u6001，\u4e5f\u5c31\u610f\u5473\u7740\u8fd9\u6837\u7684\u51fd\u6570\u4e0d\u80fd\u5728\u4e2d\u65ad\u91cc\u9762\u8c03\u7528\u3002<\/p>\n

\u5728vPortRaiseBASEPRI（）\u51fd\u6570\u4e2d：<\/p>\n

uint32_t ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY： configMAX_SYSCALL_INTERRUPT_PRIORITY \u662f \u4e00 \u4e2a \u5728FreeRTOSConfig.h \u4e2d\u5b9a\u4e49\u7684\u5b8f，\u5373\u8981\u5199\u5165\u5230 BASEPRI \u5bc4\u5b58\u5668\u7684\u503c\u3002\u8be5\u5b8f\u9ed8\u8ba4\u5b9a\u4e49\u4e3a 191（1011 1111），\u9ad8\u56db\u4f4d\u6709\u6548，\u5373\u7b49\u4e8e 0xb0\u6216\u8005\u662f 11，\u5373\u4f18\u5148\u7ea7\u5927\u4e8e\u7b49\u4e8e 11 \u7684\u4e2d\u65ad\u90fd\u4f1a\u88ab\u5c4f\u853d，11 \u4ee5\u5185\u7684\u4e2d\u65ad\u5219\u4e0d\u53d7 FreeRTOS \u7ba1\u7406\u3002<\/p>\n

msr basepri, ulNewBASEPRI： \u5c06 configMAX_SYSCALL_INTERRUPT_PRIORITY \u7684\u503c\u5199\u5165BASEPRI \u5bc4\u5b58\u5668，\u5b9e\u73b0\u5173\u4e2d\u65ad（\u51c6\u786e\u6765\u8bf4\u662f\u5173\u90e8\u5206\u4e2d\u65ad）\u3002<\/p>\n

（\u8865\u5145：\u50cf\u4e4b\u524d\u7684MSP\u3001SPS\u3001\u8fd8\u6709\u73b0\u5728\u7684BASEPRI，\u8fd9\u4e9b\u7279\u6b8a\u5bc4\u5b58\u5668\u4e0d\u5728\u5185\u5b58\u91cc，\u5c31\u5728 CPU \u5185\u6838\u5185\u90e8，\u6240\u4ee5\u6211\u4eec\u53bb\u8bfb\u3001\u5199\u7684\u65f6\u5019\u662f\u628a\u5185\u6838\u5185\u90e8\u7684\u4e00\u4e2a\u7269\u7406\u5bc4\u5b58\u5668\u76f4\u63a5\u642c\u8fdb\u901a\u7528\u5bc4\u5b58\u5668，\u4e0d\u8d70\u603b\u7ebf\u3001\u4e0d\u7ecf\u8fc7\u5185\u5b58\u3002<\/p>\n

\u7c7b\u6bd4：\u5916\u8bbe\u5bc4\u5b58\u5668\u662f\u5c0f\u533a\u5feb\u9012\u67dc\u2014\u2014\u6709\u67dc\u53f7（\u5730\u5740），\u5f97\u8d70\u4e00\u8d9f（\u603b\u7ebf）\u53bb\u53d6；\u5185\u6838\u5bc4\u5b58\u5668\u662f\u53e3\u888b\u91cc\u7684\u4e1c\u897f\u2014\u2014\u6ca1\u6709\u95e8\u724c\u53f7，\u4f38\u624b\u5c31\u638f（mrs\/msr）\u3002<\/p>\n

\u8fd9\u4e5f\u662f\u4e3a\u4ec0\u4e48 PendSV \u91cc\u53d6\u4efb\u52a1\u6808\u9876\u5fc5\u987b\u7528 （ mrs r0, psp： ） PSP\u538b\u6839\u6ca1\u6709\u5730\u5740，\u4f60\u60f3 ldr \u90fd\u6ca1\u5730\u65b9\u586b\u5730\u5740\u3002\u800c\u6302\u8d77 PendSV \u5374\u80fd\u5199 0xE000ED04\u2014\u2014\u56e0\u4e3a ICSR \u662f\u6620\u5c04\u5230\u5185\u5b58\u7a7a\u95f4\u7684\u5916\u8bbe\u5bc4\u5b58\u5668，\u6709\u5730\u5740\u3002）<\/p>\n

（3.2）\u5e26\u8fd4\u56de\u503c\u7684\u5173\u4e2d\u65ad\u51fd\u6570<\/h4>\n

\u5e26\u8fd4\u56de\u503c\u7684\u5173\u4e2d\u65ad\u51fd\u6570，\u53ef\u4ee5\u5d4c\u5957，\u53ef\u4ee5\u5728\u4e2d\u65ad\u91cc\u9762\u4f7f\u7528\u3002\u5e26\u8fd4\u56de\u503c\u7684\u610f\u601d\u662f：\u5728\u5f80 BASEPRI \u5199\u5165\u65b0\u7684\u503c\u7684\u65f6\u5019，\u5148\u5c06 BASEPRI \u7684\u503c\u4fdd\u5b58\u8d77\u6765，\u5728\u66f4\u65b0\u5b8cBASEPRI \u7684\u503c\u7684\u65f6\u5019，\u5c06\u4e4b\u524d\u4fdd\u5b58\u597d\u7684 BASEPRI \u7684\u503c\u8fd4\u56de，\u8fd4\u56de\u7684\u503c\u4f5c\u4e3a\u5f62\u53c2\u4f20\u5165\u5f00\u4e2d\u65ad\u51fd\u6570\u3002<\/p>\n

\u5728ulPortRaiseBASEPRI（）\u51fd\u6570\u4e2d：<\/p>\n

uint32_t ulRetu\u5728\u8fd9\u91cc\u63d2\u5165\u4ee3\u7801\u7247rn, ulNewBASEPRI = configMAX_SYSCALL_INTERRUPT_PRIORITY： configMAX_SYSCALL_INTERRUPT_PRIORITY \u662f \u4e00 \u4e2a \u5728FreeRTOSConfig.h \u4e2d\u5b9a\u4e49\u7684\u5b8f，\u5373\u8981\u5199\u5165\u5230 BASEPRI \u5bc4\u5b58\u5668\u7684\u503c\u3002\u8be5\u5b8f\u9ed8\u8ba4\u5b9a\u4e49\u4e3a 191，\u9ad8\u56db\u4f4d\u6709\u6548，\u5373\u7b49\u4e8e 0xb0，\u6216\u8005\u662f 11，\u5373\u4f18\u5148\u7ea7\u5927\u4e8e\u7b49\u4e8e 11 \u7684\u4e2d\u65ad\u90fd\u4f1a\u88ab\u5c4f\u853d，11 \u4ee5\u5185\u7684\u4e2d\u65ad\u5219\u4e0d\u53d7 FreeRTOS \u7ba1\u7406<\/p>\n

mrs ulReturn, basepri： mrs \u662f\u8bfb\u53d6 BASEPRI \u7684\u5f53\u524d\u503c\u5230 ulReturn（\u4fdd\u5b58\u65e7\u503c），\u8bb0\u5f55\u5f53\u524d\u54ea\u4e9b\u4e2d\u65ad\u88ab\u5173\u95ed\u3002<\/p>\n

msr basepri, ulNewBASEPRI： \u66f4\u65b0 BASEPRI \u7684\u503c\u3002<\/p>\n

return ulReturn： \u8fd4\u56de\u539f\u6765 BASEPRI \u7684\u503c\u3002<\/p>\n

（4）\u5f00\u4e2d\u65ad：<\/h3>\n

FreeRTOS \u5f00\u4e2d\u65ad\u7684\u51fd\u6570\u5728 portmacro.h \u4e2d\u5b9a\u4e49，\u5177\u4f53\u5b9e\u73b0\u89c1\u4ee3\u7801\u6e05\u5355：<\/p>\n

\/* \u4e0d\u5e26\u4e2d\u65ad\u4fdd\u62a4\u7684\u5f00\u4e2d\u65ad\u51fd\u6570 *\/<\/span>
\n#<\/span>define<\/span> portENABLE_INTERRUPTS<\/span>(<\/span>)<\/span>vPortSetBASEPRI<\/span>(<\/span> 0<\/span> )<\/span><\/span><\/span>
\n\/* \u5e26\u4e2d\u65ad\u4fdd\u62a4\u7684\u5f00\u4e2d\u65ad\u51fd\u6570 *\/<\/span>
\n#<\/span>define<\/span> portCLEAR_INTERRUPT_MASK_FROM_ISR<\/span>(<\/span>x)<\/span>vPortSetBASEPRI<\/span>(<\/span>x)<\/span><\/span><\/span><\/p>\n

\/*———————————————————–*\/<\/span><\/p>\n

static<\/span> portFORCE_INLINE void<\/span> vPortSetBASEPRI<\/span>(<\/span> uint32_t<\/span> ulBASEPRI )<\/span>
\n{<\/span>
\n__asm
\n{<\/span>
\n\/* Barrier instructions are not used as this function is only used to
\nlower the BASEPRI value. *\/<\/span>
\nmsr basepri,<\/span> ulBASEPRI
\n}<\/span>
\n}<\/span>
\n\/*———————————————————–*\/<\/span><\/p>\n

vPortSetBASEPRI( 0 )\u51fd\u6570： \u4e0d\u5e26\u4e2d\u65ad\u4fdd\u62a4\u7684\u5f00\u4e2d\u65ad\u51fd\u6570，\u76f4\u63a5\u5c06 BASEPRI \u7684\u503c\u8bbe\u7f6e\u4e3a 0，\u4e0eportDISABLE_INTERRUPTS()\u6210\u5bf9\u4f7f\u7528\u3002<\/p>\n

**vPortSetBASEPRI(x)\u51fd\u6570：**\u5e26\u4e2d\u65ad\u4fdd\u62a4\u7684\u5f00\u4e2d\u65ad\u51fd\u6570，\u5c06\u4e0a\u4e00\u6b21\u5173\u4e2d\u65ad\u65f6\u4fdd\u5b58\u7684 BASEPRI \u7684\u503c\u4f5c\u4e3a\u5f62\u53c2 ，\u4e0eportSET_INTERRUPT_MASK_FROM_ISR()\u6210\u5bf9\u4f7f\u7528\u3002<\/p>\n

void vPortSetBASEPRI( uint32_t ulBASEPRI )： \u5f00\u4e2d\u65ad\u51fd\u6570，\u5177\u4f53\u662f\u5c06\u4f20\u8fdb\u6765\u7684\u5f62\u53c2\u66f4\u65b0\u5230 BASEPRI \u5bc4\u5b58\u5668\u3002\u6839\u636e\u4f20\u8fdb\u6765\u5f62\u53c2\u7684\u4e0d\u540c，\u5206\u4e3a\u4e2d\u65ad\u4fdd\u62a4\u7248\u672c\u4e0e\u975e\u4e2d\u65ad\u4fdd\u62a4\u7248\u672c\u3002<\/p>\n

（5）\u8fdb\u5165\/\u9000\u51fa\u4e34\u754c\u6bb5\u7684\u5b8f<\/h3>\n

\u8fdb\u5165\u548c\u9000\u51fa\u4e34\u754c\u6bb5\u7684\u5b8f\u5728 task.h \u4e2d\u5b9a\u4e49，\u5177\u4f53\u89c1\u4ee3\u7801\u6e05\u5355：<\/p>\n

#<\/span>define<\/span> taskENTER_CRITICAL<\/span>(<\/span>)<\/span> portENTER_CRITICAL<\/span>(<\/span>)<\/span> <\/span><\/span>
\n#<\/span>define<\/span> taskENTER_CRITICAL_FROM_ISR<\/span>(<\/span>)<\/span> portSET_INTERRUPT_MASK_FROM_ISR<\/span>(<\/span>)<\/span><\/span><\/span><\/p>\n

#<\/span>define<\/span> taskEXIT_CRITICAL<\/span>(<\/span>)<\/span> portEXIT_CRITICAL<\/span>(<\/span>)<\/span> <\/span><\/span>
\n#<\/span>define<\/span> taskEXIT_CRITICAL_FROM_ISR<\/span>(<\/span> x )<\/span> portCLEAR_INTERRUPT_MASK_FROM_ISR<\/span>(<\/span> x )<\/span> <\/span><\/span><\/p>\n

\u8fdb\u5165\u548c\u9000\u51fa\u4e34\u754c\u6bb5\u7684\u5b8f\u5206\u4e2d\u65ad\u4fdd\u62a4\u7248\u672c\u548c\u975e\u4e2d\u65ad\u7248\u672c，\u4f46\u6700\u7ec8\u90fd\u662f\u901a\u8fc7\u5f00\/\u5173\u4e2d\u65ad\u6765\u5b9e\u73b0\u3002\u6709\u5173\u5f00\/\u5149\u4e2d\u65ad\u7684\u5e95\u5c42\u4ee3\u7801\u6211\u4eec\u5df2\u7ecf\u8bb2\u89e3，\u90a3\u4e48\u63a5\u4e0b\u6765\u7684\u9000\u51fa\u548c\u8fdb\u5165\u4e34\u754c\u6bb5\u7684\u4ee3\u7801\u914d\u5957\u6ce8\u91ca\u6765\u7406\u89e3\u5373\u53ef\u3002<\/p>\n

（5.1）\u8fdb\u5165\u4e34\u754c\u6bb5<\/h4>\n

1.\u4e0d\u5e26\u4e2d\u65ad\u4fdd\u62a4\u7248\u672c，\u4e0d\u80fd\u5d4c\u5957<\/p>\n

\/*
\n*************************************************************************
\n* \u4e34\u754c\u6bb5\u76f8\u5173\u51fd\u6570
\n*************************************************************************
\n*\/<\/span>
\nvoid<\/span> vPortEnterCritical<\/span>(<\/span> void<\/span> )<\/span>
\n{<\/span>
\nportDISABLE_INTERRUPTS<\/span>(<\/span>)<\/span>;<\/span>
\nuxCriticalNesting++<\/span>;<\/span><\/p>\n

\/* This is not the interrupt safe version of the enter critical function so
\nassert() if it is being called from an interrupt context. Only API
\nfunctions that end in "FromISR" can be used in an interrupt. Only assert if
\nthe critical nesting count is 1 to protect against recursive calls if the
\nassert function also uses a critical section. *\/<\/span>
\nif<\/span>(<\/span> uxCriticalNesting ==<\/span> 1<\/span> )<\/span>
\n{<\/span>
\n\/\/configASSERT( ( portNVIC_INT_CTRL_REG & portVECTACTIVE_MASK ) == 0 );<\/span>
\n}<\/span>
\n}<\/span><\/p>\n

void<\/span> vPortExitCritical<\/span>(<\/span> void<\/span> )<\/span>
\n{<\/span>
\n\/\/configASSERT( uxCriticalNesting );<\/span>
\nuxCriticalNesting—<\/span>;<\/span><\/p>\n

if<\/span>(<\/span> uxCriticalNesting ==<\/span> 0<\/span> )<\/span>
\n{<\/span>
\nportENABLE_INTERRUPTS<\/span>(<\/span>)<\/span>;<\/span>
\n}<\/span>
\n}<\/span><\/p>\n

uxCriticalNesting： \u662f\u5728 port.c \u4e2d\u5b9a\u4e49\u7684\u9759\u6001\u53d8\u91cf，\u8868\u793a\u4e34\u754c\u6bb5\u5d4c\u5957\u8ba1\u6570 \u5668 ， \u9ed8 \u8ba4 \u521d \u59cb \u5316 \u4e3a 0xaaaaaaaa ， \u5728 \u8c03 \u5ea6 \u5668 \u542f \u52a8 \u65f6 \u4f1a \u88ab \u91cd \u65b0 \u521d \u59cb \u5316 \u4e3a 0 ：vTaskStartScheduler()->xPortStartScheduler()->uxCriticalNesting = 0\u3002<\/p>\n

if( uxCriticalNesting == 1 )： \u5982\u679c uxCriticalNesting \u7b49\u4e8e 1，\u5373\u4e00\u5c42\u5d4c\u5957，\u8981\u786e\u4fdd\u5f53\u524d\u6ca1\u6709\u4e2d\u65ad\u6d3b\u8dc3，\u5373\u5185\u6838\u5916\u8bbe SCB \u4e2d\u7684\u4e2d\u65ad\u548c\u63a7\u5236\u5bc4\u5b58\u5668 SCB_ICSR \u7684\u4f4e 8 \u4f4d\u8981\u7b49\u4e8e 0\u3002<\/p>\n

\u8fdb\u5165\u4e34\u754c\u6bb5，\u5e26\u4e2d\u65ad\u4fdd\u62a4\u7248\u672c\u4e14\u53ef\u4ee5\u5d4c\u5957\u7684\u4ee3\u7801\u5b9e\u73b0\u5177\u4f53\u89c1\u4ee3\u7801\u6e05\u5355<\/p>\n

2.\u5e26\u4e2d\u65ad\u4fdd\u62a4\u7248\u672c，\u53ef\u4ee5\u5d4c\u5957<\/p>\n

\/* ==========\u8fdb\u5165\u4e34\u754c\u6bb5，\u5e26\u4e2d\u65ad\u4fdd\u62a4\u7248\u672c，\u53ef\u4ee5\u5d4c\u5957=============== *\/<\/span>
\n\/* \u5728 task.h \u4e2d\u5b9a\u4e49 *\/<\/span>
\n#<\/span>define<\/span> taskENTER_CRITICAL_FROM_ISR<\/span>(<\/span>)<\/span> portSET_INTERRUPT_MASK_FROM_ISR<\/span>(<\/span>)<\/span><\/span><\/span><\/p>\n

\/* \u5728 portmacro.h \u4e2d\u5b9a\u4e49 *\/<\/span>
\n#<\/span>define<\/span> portSET_INTERRUPT_MASK_FROM_ISR<\/span>(<\/span>)<\/span> ulPortRaiseBASEPRI<\/span>(<\/span>)<\/span><\/span><\/span><\/p>\n

\/* \u5728 portmacro.h \u4e2d\u5b9a\u4e49 *\/<\/span>
\nstatic<\/span> portFORCE_INLINE uint32_t<\/span> ulPortRaiseBASEPRI<\/span>(<\/span> void<\/span> )<\/span>
\n{<\/span>
\nuint32_t<\/span> ulReturn,<\/span> ulNewBASEPRI =<\/span> configMAX_SYSCALL_INTERRUPT_PRIORITY;<\/span><\/p>\n

__asm
\n{<\/span>
\nmrs ulReturn,<\/span> basepri
\nmsr basepri,<\/span> ulNewBASEPRI
\ndsb
\nisb
\n}<\/span><\/p>\n

return<\/span> ulReturn;<\/span>
\n}<\/span><\/p>\n

（5.2 ）\u9000\u51fa\u4e34\u754c\u6bb5<\/h4>\n

\u9000\u51fa\u4e34\u754c\u6bb5，\u4e0d\u5e26\u4e2d\u65ad\u4fdd\u62a4\u7248\u672c\u4e14\u4e0d\u80fd\u5d4c\u5957\u7684\u4ee3\u7801\u5b9e\u73b0\u5177\u4f53\u89c1\u4ee3\u7801\u6e05\u5355<\/p>\n

  • \u4e0d\u5e26\u4e2d\u65ad\u4fdd\u62a4\u7684\u7248\u672c，\u4e0d\u80fd\u5d4c\u5957<\/li>\n

    \/* ==========\u9000\u51fa\u4e34\u754c\u6bb5，\u4e0d\u5e26\u4e2d\u65ad\u4fdd\u62a4\u7248\u672c，\u4e0d\u80fd\u5d4c\u5957=============== *\/<\/span>
    \n\/* \u5728 task.h \u4e2d\u5b9a\u4e49 *\/<\/span>
    \n#<\/span>define<\/span> taskEXIT_CRITICAL<\/span>(<\/span>)<\/span> portEXIT_CRITICAL<\/span>(<\/span>)<\/span><\/span><\/span><\/p>\n

    \/* \u5728 portmacro.h \u4e2d\u5b9a\u4e49 *\/<\/span>
    \n#<\/span>define<\/span> portEXIT_CRITICAL<\/span>(<\/span>)<\/span> vPortExitCritical<\/span>(<\/span>)<\/span><\/span><\/span><\/p>\n

    \/* \u5728 port.c \u4e2d\u5b9a\u4e49 *\/<\/span>
    \nvoid<\/span> vPortExitCritical<\/span>(<\/span> void<\/span> )<\/span>
    \n{<\/span>
    \nconfigASSERT<\/span>(<\/span> uxCriticalNesting )<\/span>;<\/span>
    \nuxCriticalNesting—<\/span>;<\/span>
    \nif<\/span> (<\/span> uxCriticalNesting ==<\/span> 0<\/span> )<\/span>
    \n{<\/span>
    \nportENABLE_INTERRUPTS<\/span>(<\/span>)<\/span>;<\/span>
    \n}<\/span>
    \n}<\/span><\/p>\n

    \/* \u5728 portmacro.h \u4e2d\u5b9a\u4e49 *\/<\/span>
    \n#<\/span>define<\/span> portENABLE_INTERRUPTS<\/span>(<\/span>)<\/span> vPortSetBASEPRI<\/span>(<\/span> 0<\/span> )<\/span><\/span><\/span><\/p>\n

    \/* \u5728 portmacro.h \u4e2d\u5b9a\u4e49 *\/<\/span>
    \nstatic<\/span> portFORCE_INLINE void<\/span> vPortSetBASEPRI<\/span>(<\/span> uint32_t<\/span> ulBASEPRI )<\/span>
    \n{<\/span>
    \n__asm
    \n{<\/span>
    \nmsr basepri,<\/span> ulBASEPRI
    \n}<\/span>
    \n}<\/span><\/p>\n

  • \u5e26\u4e2d\u65ad\u4fdd\u62a4\u7684\u7248\u672c，\u53ef\u4ee5\u5d4c\u5957<\/li>\n

    \/* ==========\u9000\u51fa\u4e34\u754c\u6bb5，\u5e26\u4e2d\u65ad\u4fdd\u62a4\u7248\u672c，\u53ef\u4ee5\u5d4c\u5957=============== *\/<\/span>
    \n\/* \u5728 task.h \u4e2d\u5b9a\u4e49 *\/<\/span>
    \n#<\/span>define<\/span> taskEXIT_CRITICAL_FROM_ISR<\/span>(<\/span> x )<\/span> portCLEAR_INTERRUPT_MASK_FROM_ISR<\/span>(<\/span> x )<\/span><\/span><\/span><\/p>\n

    \/* \u5728 portmacro.h \u4e2d\u5b9a\u4e49 *\/<\/span>
    \n#<\/span>define<\/span> portCLEAR_INTERRUPT_MASK_FROM_ISR<\/span>(<\/span>x)<\/span> vPortSetBASEPRI<\/span>(<\/span>x)<\/span><\/span><\/span><\/p>\n

    \/* \u5728 portmacro.h \u4e2d\u5b9a\u4e49 *\/<\/span>
    \nstatic<\/span> portFORCE_INLINE void<\/span> vPortSetBASEPRI<\/span>(<\/span> uint32_t<\/span> ulBASEPRI )<\/span>
    \n{<\/span>
    \n__asm
    \n{<\/span>
    \nmsr basepri,<\/span> ulBASEPRI
    \n}<\/span>
    \n}<\/span><\/p>\n

    （6）\u4e34\u754c\u6bb5\u4ee3\u7801\u7684\u5e94\u7528<\/h3>\n

    \u5728 FreeRTOS \u4e2d，\u5bf9\u4e34\u754c\u6bb5\u7684\u4fdd\u62a4\u51fa\u73b0\u5728\u4e24\u79cd\u573a\u5408，\u4e00\u79cd\u662f\u5728\u4e2d\u65ad\u573a\u5408\u4e00\u79cd\u662f\u5728\u975e\u4e2d\u65ad\u573a\u5408，\u5177\u4f53\u7684\u5e94\u7528\u89c1\u3002<\/p>\n

    \/* \u5728\u4e2d\u65ad\u573a\u5408，\u4e34\u754c\u6bb5\u53ef\u4ee5\u5d4c\u5957 *\/<\/span>
    \n{<\/span>
    \nuint32_t<\/span> ulReturn;<\/span>
    \n\/* \u8fdb\u5165\u4e34\u754c\u6bb5，\u4e34\u754c\u6bb5\u53ef\u4ee5\u5d4c\u5957 *\/<\/span>
    \nulReturn =<\/span> taskENTER_CRITICAL_FROM_ISR<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    \/* \u4e34\u754c\u6bb5\u4ee3\u7801 *\/<\/span><\/p>\n

    \/* \u9000\u51fa\u4e34\u754c\u6bb5 *\/<\/span>
    \ntaskEXIT_CRITICAL_FROM_ISR<\/span>(<\/span> ulReturn )<\/span>;<\/span>
    \n}<\/span><\/p>\n

    \/* \u5728\u975e\u4e2d\u65ad\u573a\u5408，\u4e34\u754c\u6bb5\u4e0d\u80fd\u5d4c\u5957 *\/<\/span>
    \n{<\/span>
    \n\/* \u8fdb\u5165\u4e34\u754c\u6bb5 *\/<\/span>
    \ntaskENTER_CRITICAL<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

    \/* \u4e34\u754c\u6bb5\u4ee3\u7801 *\/<\/span><\/p>\n

    \/* \u9000\u51fa\u4e34\u754c\u6bb5*\/<\/span>
    \ntaskEXIT_CRITICAL<\/span>(<\/span>)<\/span>;<\/span>
    \n}<\/span><\/p>\n

    （7）\u8fd9\u6837\u770b\u8d77\u6765\u5f88\u4e71，\u4e0b\u9762\u603b\u7ed3\u4e00\u4e0b\u5c31\u6e05\u695a\u4e86：<\/h3>\n

    \u4e3a\u4ec0\u4e48\u5b9a\u4e49\u8fd9\u4e48\u591a\u5b8f：\u4e09\u5c42\u5206\u5de5<\/p>\n

    FreeRTOS \u8981\u8dd1\u5728\u51e0\u5341\u79cd\u5185\u6838\u4e0a（M3\u3001M4\u3001RISC-V\u2026\u2026），\u6bcf\u79cd\u5185\u6838\u5173\u4e2d\u65ad\u7684\u6307\u4ee4\u90fd\u4e0d\u4e00\u6837\u3002\u6240\u4ee5\u5206\u6210\u4e09\u5c42：<\/p>\n

    taskENTER_CRITICAL() \u2190 \u7528\u6237\u5c42：\u4f60\u5199\u7a0b\u5e8f\u53ea\u7ba1\u62e8\u8fd9\u4e2a"\u603b\u673a\u53f7\u7801"
    \n = portENTER_CRITICAL() \u2190 \u79fb\u690d\u5c42：\u6362\u5185\u6838\u65f6\u53ea\u6539\u8fd9\u4e00\u5c42
    \n = vPortRaiseBASEPRI() \u2190 \u5e95\u5c42：msr basepri, 191（\u771f\u6b63\u529e\u4e8b\u7684\u6c47\u7f16）<\/p>\n

    \u7c7b\u6bd4：\u603b\u673a\u53f7\u7801 \u2192 \u5185\u90e8\u8f6c\u63a5\u53f0 \u2192 \u5177\u4f53\u529e\u4e8b\u5458\u3002\u4f60\u6c38\u8fdc\u62e8\u540c\u4e00\u4e2a\u53f7\u7801；\u516c\u53f8\u642c\u5230\u522b\u7684\u697c（\u6362\u5185\u6838），\u53ea\u6539\u8f6c\u63a5\u8868，\u4f60\u7684\u53f7\u7801\u4e0d\u53d8\u3002\u8fd9\u5c31\u662f"\u8df3\u6765\u8df3\u53bb"\u7684\u5168\u90e8\u539f\u56e0\u2014\u2014\u4f60\u53ea\u8ddf\u7b2c\u4e00\u5c42\u6253\u4ea4\u9053，\u540e\u9762\u4e24\u5c42\u662f\u79fb\u690d\u8005\u7684\u4e8b\u3002<\/p>\n

    \u4e3a\u4ec0\u4e48\u5206"\u4e2d\u65ad\u7248"\u548c"\u975e\u4e2d\u65ad\u7248"\u4e24\u5957：\u4e00\u6761\u89c4\u5219<\/p>\n\n\u4efb\u52a1\u91cc\u7528（\u975e\u4e2d\u65ad\u7248）\u4e2d\u65ad\u91cc\u7528（FROM_ISR \u7248）<\/tr>\n\n\n\n\n\n
    \u8fdb\u5165<\/td>\ntaskENTER_CRITICAL()<\/td>\nulReturn = taskENTER_CRITICAL_FROM_ISR()<\/td>\n<\/tr>\n
    \u9000\u51fa<\/td>\ntaskEXIT_CRITICAL()<\/td>\ntaskEXIT_CRITICAL_FROM_ISR(ulReturn)<\/td>\n<\/tr>\n
    \u5d4c\u5957\u9760\u4ec0\u4e48<\/td>\n\u8ba1\u6570\u5668 uxCriticalNesting（\u6700\u5916\u5c42\u9000\u51fa\u624d\u771f\u6b63\u5f00\u4e2d\u65ad）<\/td>\n\u4fdd\u5b58\u65e7\u503c\u3001\u9000\u51fa\u65f6\u6062\u590d\u65e7\u503c<\/td>\n<\/tr>\n
    \u9000\u51fa\u52a8\u4f5c<\/td>\n\u76f4\u63a5\u5199 0（\u5168\u5f00）<\/td>\n\u6062\u590d\u6765\u65f6\u72b6\u6001（\u4e0d\u80fd\u5199 0）<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u4e3a\u4ec0\u4e48\u4e0d\u80fd\u6df7\u7528？ \u56e0\u4e3a\u4efb\u52a1\u91cc\u8fdb\u4e34\u754c\u6bb5\u4e4b\u524d，\u4e2d\u65ad\u672c\u6765\u5c31\u662f\u5168\u5f00\u7684\u2014\u2014\u9000\u51fa\u5199 0 \u6ca1\u6bdb\u75c5\u3002\u4f46\u4e2d\u65ad\u91cc\u8fdb\u4e34\u754c\u6bb5\u4e4b\u524d，BASEPRI \u53ef\u80fd\u5df2\u7ecf\u6709\u503c（\u6bd4\u5982\u5916\u5c42\u4e2d\u65ad\u5df2\u7ecf\u5c4f\u853d\u4e86\u4e00\u6279），\u9000\u51fa\u65f6\u5199 0 \u5c31\u628a\u5916\u5c42\u7684\u4e2d\u65ad\u72b6\u6001\u4e5f\u51b2\u6389\u4e86\u3002\u6240\u4ee5\u4e2d\u65ad\u7248\u5fc5\u987b"\u8bb0\u4f4f\u6765\u65f6\u72b6\u6001，\u8d70\u65f6\u6062\u590d\u539f\u6837"\u3002<\/p>\n

    \u4e00\u53e5\u8bdd\u8bb0：\u975e\u4e2d\u65ad\u7248 = \u9000\u51fa\u5168\u5f00；\u4e2d\u65ad\u7248 = \u6062\u590d\u539f\u6837\u3002<\/p>\n

    （7.1） \u56db\u4e2a\u5b8f\u4e00\u8def\u5c55\u5f00\u5230\u5e95<\/h4>\n

    \u2460 \u975e\u4e2d\u65ad\u7248 \u00b7 \u8fdb\u5165：taskENTER_CRITICAL()<\/h4>\n

    taskENTER_CRITICAL()
    \n \u2192 portENTER_CRITICAL()（\u5173\u4e2d\u65aduxCriticalNesting++，\u5f00\u4e2d\u65aduxCriticalNesting–）
    \n \u2192 vportDISABLE_INTERRUPTS()
    \n \u2192 vPortRaiseBASEPRI()<\/p>\n

    \u6700\u5e95\u5c42：<\/p>\n

    static<\/span> portFORCE_INLINE void<\/span> vPortRaiseBASEPRI<\/span>(<\/span> void<\/span> )<\/span>
    \n{<\/span>
    \n uint32_t<\/span> ulNewBASEPRI =<\/span> configMAX_SYSCALL_INTERRUPT_PRIORITY;<\/span> \/* = 191 *\/<\/span><\/p>\n

    __asm
    \n {<\/span>
    \n msr basepri,<\/span> ulNewBASEPRI \/* BASEPRI = 191：\u5c4f\u853d\u4f18\u5148\u7ea7 \u2265 11 \u7684\u4e2d\u65ad *\/<\/span>
    \n dsb
    \n isb
    \n }<\/span>
    \n}<\/span><\/p>\n

    \u2461 \u975e\u4e2d\u65ad\u7248 \u00b7 \u9000\u51fa：taskEXIT_CRITICAL()<\/h4>\n

    taskEXIT_CRITICAL()
    \n \u2192 portEXIT_CRITICAL()
    \n \u2192 vPortExitCritical()
    \n \u2514\u2500 \u5d4c\u5957\u8ba1\u6570\u51cf\u5230 0 \u65f6 \u2192 portENABLE_INTERRUPTS() \u2192 vPortSetBASEPRI(0)<\/p>\n

    \u6700\u5e95\u5c42：<\/p>\n

    void<\/span> vPortExitCritical<\/span>(<\/span> void<\/span> )<\/span>
    \n{<\/span>
    \n uxCriticalNesting—<\/span>;<\/span> \/* \u5d4c\u5957\u8ba1\u6570\u51cf 1 *\/<\/span><\/p>\n

    if<\/span>(<\/span> uxCriticalNesting ==<\/span> 0<\/span> )<\/span> \/* \u6700\u5916\u5c42\u9000\u51fa\u624d\u771f\u6b63\u5f00\u4e2d\u65ad *\/<\/span>
    \n {<\/span>
    \n portENABLE_INTERRUPTS<\/span>(<\/span>)<\/span>;<\/span> \/* = vPortSetBASEPRI( 0 ) *\/<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    static<\/span> portFORCE_INLINE void<\/span> vPortSetBASEPRI<\/span>(<\/span> uint32_t<\/span> ulBASEPRI )<\/span>
    \n{<\/span>
    \n __asm
    \n {<\/span>
    \n msr basepri,<\/span> ulBASEPRI \/* BASEPRI = 0：\u5168\u90e8\u6253\u5f00 *\/<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \u2462 \u4e2d\u65ad\u7248 \u00b7 \u8fdb\u5165：taskENTER_CRITICAL_FROM_ISR()<\/h4>\n

    taskENTER_CRITICAL_FROM_ISR()
    \n \u2192 portSET_INTERRUPT_MASK_FROM_ISR()
    \n \u2192 ulPortRaiseBASEPRI()<\/p>\n

    \u6700\u5e95\u5c42：<\/p>\n

    static<\/span> portFORCE_INLINE uint32_t<\/span> ulPortRaiseBASEPRI<\/span>(<\/span> void<\/span> )<\/span>
    \n{<\/span>
    \n uint32_t<\/span> ulReturn,<\/span> ulNewBASEPRI =<\/span> configMAX_SYSCALL_INTERRUPT_PRIORITY;<\/span><\/p>\n

    __asm
    \n {<\/span>
    \n mrs ulReturn,<\/span> basepri \/* \u5148\u4fdd\u5b58\u65e7\u503c（\u6765\u65f6\u72b6\u6001） *\/<\/span>
    \n msr basepri,<\/span> ulNewBASEPRI \/* BASEPRI = 191：\u5c4f\u853d \u2265 11 \u7684\u4e2d\u65ad *\/<\/span>
    \n dsb
    \n isb
    \n }<\/span><\/p>\n

    return<\/span> ulReturn;<\/span> \/* \u65e7\u503c\u4ea4\u7ed9\u8c03\u7528\u8005\u4fdd\u7ba1 *\/<\/span>
    \n}<\/span><\/p>\n

    \u2463 \u4e2d\u65ad\u7248 \u00b7 \u9000\u51fa：taskEXIT_CRITICAL_FROM_ISR(x)<\/h4>\n

    taskEXIT_CRITICAL_FROM_ISR( x )
    \n \u2192 portCLEAR_INTERRUPT_MASK_FROM_ISR( x )
    \n \u2192 vPortSetBASEPRI( x )<\/p>\n

    \u6700\u5e95\u5c42：<\/p>\n

    static<\/span> portFORCE_INLINE void<\/span> vPortSetBASEPRI<\/span>(<\/span> uint32_t<\/span> ulBASEPRI )<\/span> \/* \u5f62\u53c2 = \u4e4b\u524d\u4fdd\u5b58\u7684\u65e7\u503c *\/<\/span>
    \n{<\/span>
    \n __asm
    \n {<\/span>
    \n msr basepri,<\/span> ulBASEPRI \/* \u6062\u590d\u6765\u65f6\u72b6\u6001，\u4e0d\u662f\u5199 0 *\/<\/span>
    \n }<\/span>
    \n}<\/span><\/p>\n

    \u6700\u7ec8\u6548\u679c\u5bf9\u7167<\/p>\n\n\u5b8f\u5c55\u5f00\u5230\u5e95\u5b9e\u9645\u52a8\u4f5c<\/tr>\n\n\n\n\n\n
    taskENTER_CRITICAL()<\/td>\nvPortRaiseBASEPRI()<\/td>\nBASEPRI \u2190 191（\u5c4f\u853d \u226511）<\/td>\n<\/tr>\n
    taskEXIT_CRITICAL()<\/td>\nvPortExitCritical() \u2192 vPortSetBASEPRI(0)<\/td>\n\u8ba1\u6570\u51cf 1，\u5230 0 \u65f6 BASEPRI \u2190 0（\u5168\u5f00）<\/td>\n<\/tr>\n
    taskENTER_CRITICAL_FROM_ISR()<\/td>\nulPortRaiseBASEPRI()<\/td>\n\u5b58\u65e7\u503c \u2192 BASEPRI \u2190 191 \u2192 \u8fd4\u56de\u65e7\u503c<\/td>\n<\/tr>\n
    taskEXIT_CRITICAL_FROM_ISR(x)<\/td>\nvPortSetBASEPRI(x)<\/td>\nBASEPRI \u2190 \u65e7\u503c（\u6062\u590d\u539f\u6837）<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

    \u53d1\u73b0\u6ca1：\u7ed5\u4e86\u90a3\u4e48\u591a\u5c42\u5b8f，\u6700\u7ec8\u5168\u662f msr basepri \u4e00\u6761\u6307\u4ee4\u7684\u5305\u88c5\u2014\u2014\u8981\u4e48\u5199 191（\u5173\u95e8），\u8981\u4e48\u5199 0 \u6216\u65e7\u503c（\u5f00\u95e8）\u3002<\/p>\n

    \u7a7a\u95f2\u4efb\u52a1\u4e0e\u963b\u585e\u5ef6\u65f6\u7684\u5b9e\u73b0<\/h2>\n

    \u524d\u8a00：<\/h3>\n

    \u5728\u4e0a\u4e00\u7ae0\u8282\u4e2d，\u4efb\u52a1\u4f53\u5185\u7684\u5ef6\u65f6\u4f7f\u7528\u7684\u662f\u8f6f\u4ef6\u5ef6\u65f6，\u5373\u8fd8\u662f\u8ba9 CPU \u7a7a\u7b49\u6765\u8fbe\u5230\u5ef6\u65f6\u7684\u6548\u679c\u3002\u4f7f\u7528 RTOS \u7684\u5f88\u5927\u4f18\u52bf\u5c31\u662f\u69a8\u5e72 CPU \u7684\u6027\u80fd，\u6c38\u8fdc\u4e0d\u80fd\u8ba9\u5b83\u95f2\u7740，\u4efb\u52a1\u5982\u679c\u9700\u8981\u5ef6\u65f6\u4e5f\u5c31\u4e0d\u80fd\u518d\u8ba9 CPU \u7a7a\u7b49\u6765\u5b9e\u73b0\u5ef6\u65f6\u7684\u6548\u679c\u3002<\/p>\n

    RTOS \u4e2d\u7684\u5ef6\u65f6\u53eb\u963b\u585e\u5ef6\u65f6，\u5373\u4efb\u52a1\u9700\u8981\u5ef6\u65f6\u7684\u65f6\u5019，\u4efb\u52a1\u4f1a\u653e\u5f03 CPU \u7684\u4f7f\u7528\u6743，CPU \u53ef\u4ee5\u53bb\u5e72\u5176\u5b83\u7684\u4e8b\u60c5，\u5f53\u4efb\u52a1\u5ef6\u65f6\u65f6\u95f4\u5230，\u91cd\u65b0\u83b7\u53d6 CPU \u4f7f\u7528\u6743，\u4efb\u52a1\u7ee7\u7eed\u8fd0\u884c，\u8fd9\u6837\u5c31\u5145\u5206\u5730\u5229\u7528\u4e86 CPU \u7684\u8d44\u6e90，\u800c\u4e0d\u662f\u5e72\u7b49\u7740\u3002<\/p>\n

    \u5f53\u4efb\u52a1\u9700\u8981\u5ef6\u65f6，\u8fdb\u5165\u963b\u585e\u72b6\u6001，\u90a3 CPU \u53c8\u53bb\u5e72\u4ec0\u4e48\u4e8b\u60c5\u4e86？\u5982\u679c\u6ca1\u6709\u5176\u5b83\u4efb\u52a1\u53ef\u4ee5\u8fd0\u884c，RTOS \u90fd\u4f1a\u4e3a CPU \u521b\u5efa\u4e00\u4e2a\u7a7a\u95f2\u4efb\u52a1，\u8fd9\u4e2a\u65f6\u5019 CPU \u5c31\u8fd0\u884c\u7a7a\u95f2\u4efb\u52a1\u3002<\/p>\n

    \u5728 FreeRTOS \u4e2d，\u7a7a\u95f2\u4efb\u52a1\u662f\u7cfb\u7edf\u5728\u3010\u542f\u52a8\u8c03\u5ea6\u5668\u3011\u7684\u65f6\u5019\u521b\u5efa\u7684\u4f18\u5148\u7ea7\u6700\u4f4e\u7684\u4efb\u52a1，\u7a7a\u95f2\u4efb\u52a1\u4e3b\u4f53\u4e3b\u8981\u662f\u505a\u4e00\u4e9b\u7cfb\u7edf\u5185\u5b58\u7684\u6e05\u7406\u5de5\u4f5c（\u91ca\u653e\u6808\u7684\u7a7a\u95f4，\u540e\u9762\u5b66\u4e60\u5220\u9664\u4efb\u52a1\u7684\u65f6\u5019\u53ef\u80fd\u4f1a\u51fa\u73b0\u5220\u9664\u6808\u65e0\u6cd5\u91ca\u653e\u6808\u7a7a\u95f4，\u8fd9\u65f6\u7a7a\u95f2\u4efb\u52a1\u5c31\u53ef\u4ee5\u5e2e\u5fd9\u91ca\u653e\u4e86）\u3002\u4f46\u662f\u4e3a\u4e86\u7b80\u5355\u8d77\u89c1，\u6211\u4eec\u672c\u7ae0\u5b9e\u73b0\u7684\u7a7a\u95f2\u4efb\u52a1\u53ea\u662f\u5bf9\u4e00\u4e2a\u5168\u5c40\u53d8\u91cf\u8fdb\u884c\u8ba1\u6570\u3002<\/p>\n

    \u9274\u4e8e\u7a7a\u95f2\u4efb\u52a1\u7684\u8fd9\u79cd\u7279\u6027，\u5728\u5b9e\u9645\u5e94\u7528\u4e2d，\u5f53\u7cfb\u7edf\u8fdb\u5165\u7a7a\u95f2\u4efb\u52a1\u7684\u65f6\u5019，\u53ef\u5728\u7a7a\u95f2\u4efb\u52a1\u4e2d\u8ba9\u5355\u7247\u673a\u8fdb\u5165\u4f11\u7720\u6216\u8005\u4f4e\u529f\u8017\u7b49\u64cd\u4f5c\u3002<\/p>\n

    1.\u5b9e\u73b0\u7a7a\u95f2\u4efb\u52a1<\/h3>\n

    \u76ee\u524d\u6211\u4eec\u5728\u521b\u5efa\u4efb\u52a1\u65f6\u4f7f\u7528\u7684\u6808\u548c TCB \u90fd\u4f7f\u7528\u7684\u662f\u9759\u6001\u7684\u5185\u5b58，\u5373\u9700\u8981\u9884\u5148\u5b9a\u4e49\u597d\u5185\u5b58，\u7a7a\u95f2\u4efb\u52a1\u4e5f\u4e0d\u4f8b\u5916\u3002\u6709\u5173\u7a7a\u95f2\u4efb\u52a1\u7684\u6808\u548c TCB \u9700\u8981\u7528\u5230\u7684\u5185\u5b58\u7a7a\u95f4\u5747\u5728 main.c \u4e2d\u5b9a\u4e49\u3002<\/p>\n

    \/*\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1*\/<\/span>
    \nStackType_t IdleTaskStack[<\/span>configMINIMAL_STACK_SIZE]<\/span>;<\/span>
    \n\/*\u5b9a\u4e49\u4efb\u52a1\u7684TCB，\u7528\u6765\u63cf\u8ff0\u8be5\u4efb\u52a1\u7684\u4fe1\u606f*\/<\/span>
    \nTCB_t IdleTaskTCB;<\/span><\/p>\n

    **configMINIMAL_STACK_SIZE：**\u7a7a\u95f2\u4efb\u52a1\u7684\u6808\u662f\u4e00\u4e2a\u5b9a\u4e49\u597d\u7684\u6570\u7ec4，\u5927\u5c0f\u7531 FreeRTOSConfig.h \u4e2d\u5b9a\u4e49\u7684\u5b8f configMINIMAL_STACK_SIZE \u63a7\u5236，\u9ed8\u8ba4\u4e3a 128，\u5355\u4f4d\u4e3a\u5b57，\u5373 512 \u4e2a\u5b57\u8282\u3002<\/p>\n

    **IdleTaskTCB：**\u4efb\u52a1\u63a7\u5236\u5757\u662f\u6bcf\u4e00\u4e2a\u4efb\u52a1\u5fc5\u987b\u7684，\u7a7a\u95f2\u4efb\u52a1\u7684\u7684\u4efb\u52a1\u63a7\u5236\u5757\u6211\u4eec\u5728 main.c \u4e2d\u5b9a\u4e49，\u662f\u4e00\u4e2a\u5168\u5c40\u53d8\u91cf<\/p>\n

    （1）\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1<\/h4>\n

    \u5f53\u5b9a\u4e49\u597d\u7a7a\u95f2\u4efb\u52a1\u7684\u6808，\u4efb\u52a1\u63a7\u5236\u5757\u540e，\u5c31\u53ef\u4ee5\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1\u3002\u7a7a\u95f2\u4efb\u52a1\u5728\u8c03\u5ea6\u5668\u542f\u52a8\u51fd\u6570 vTaskStartScheduler()\u4e2d\u521b\u5efa：<\/p>\n

    \/*======================================\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1start==============================================*\/<\/span>
    \n TCB_t *<\/span>pxIdleTaskTCBBuffer =<\/span> NULL<\/span>;<\/span> \/* \u7528\u4e8e\u6307\u5411\u7a7a\u95f2\u4efb\u52a1\u63a7\u5236\u5757 *\/<\/span>
    \n StackType_t *<\/span>pxIdleTaskStackBuffer =<\/span> NULL<\/span>;<\/span> \/* \u7528\u4e8e\u7a7a\u95f2\u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740 *\/<\/span>
    \n uint32_t<\/span> ulIdleTaskStackSize;<\/span><\/p>\n

    \/* \u83b7\u53d6\u7a7a\u95f2\u4efb\u52a1\u7684\u5185\u5b58：\u4efb\u52a1\u6808\u548c\u4efb\u52a1TCB *\/<\/span>
    \n vApplicationGetIdleTaskMemory<\/span>(<\/span> &<\/span>pxIdleTaskTCBBuffer,<\/span>
    \n &<\/span>pxIdleTaskStackBuffer,<\/span>
    \n &<\/span>ulIdleTaskStackSize )<\/span>;<\/span> <\/p>\n

    xIdleTaskHandle =<\/span> xTaskCreateStatic<\/span>(<\/span> (<\/span>TaskFunction_t)<\/span>prvIdleTask,<\/span> \/* \u4efb\u52a1\u5165\u53e3 *\/<\/span>
    \n (<\/span>char<\/span> *<\/span>)<\/span>"IDLE"<\/span>,<\/span> \/* \u4efb\u52a1\u540d\u79f0，\u5b57\u7b26\u4e32\u5f62\u5f0f *\/<\/span>
    \n (<\/span>uint32_t<\/span>)<\/span>ulIdleTaskStackSize ,<\/span> \/* \u4efb\u52a1\u6808\u5927\u5c0f，\u5355\u4f4d\u4e3a\u5b57 *\/<\/span>
    \n (<\/span>void<\/span> *<\/span>)<\/span> NULL<\/span>,<\/span> \/* \u4efb\u52a1\u5f62\u53c2 *\/<\/span>
    \n (<\/span>StackType_t *<\/span>)<\/span>pxIdleTaskStackBuffer,<\/span> \/* \u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740 *\/<\/span>
    \n (<\/span>TCB_t *<\/span>)<\/span>pxIdleTaskTCBBuffer )<\/span>;<\/span> \/* \u4efb\u52a1\u63a7\u5236\u5757 *\/<\/span>
    \n \/* \u5c06\u4efb\u52a1\u6dfb\u52a0\u5230\u5c31\u7eea\u5217\u8868 *\/<\/span>
    \n vListInsertEnd<\/span>(<\/span> &<\/span>(<\/span> pxReadyTasksLists[<\/span>0<\/span>]<\/span> )<\/span>,<\/span> &<\/span>(<\/span> (<\/span>(<\/span>TCB_t *<\/span>)<\/span>pxIdleTaskTCBBuffer)<\/span>-><\/span>xStateListItem )<\/span> )<\/span>;<\/span>
    \n\/*======================================\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1end================================================*\/<\/span><\/p>\n

    \u6211\u4eec\u5148\u524d\u5728main.c\u5b9a\u4e49\u4e86\u7a7a\u95f2\u4efb\u52a1\u7684\u6808\u3001TCB\u8fd9\u4e9b\u4fe1\u606f，\u4f46\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1\u662f\u5728task.c\u521b\u5efa\u7684，\u6240\u4ee5\u83b7 \u53d6 \u7a7a \u95f2 \u4efb \u52a1 \u7684 \u5185 \u5b58 ， \u5373 \u5c06 pxIdleTaskTCBBuffer \u548cpxIdleTaskStackBuffer \u8fd9\u4e24\u4e2a\u63a5\u4e0b\u6765\u8981\u4f5c\u4e3a\u5f62\u53c2\u4f20\u5230 xTaskCreateStatic()\u51fd\u6570\u7684\u6307\u9488\u5206\u522b\u6307\u5411\u7a7a\u95f2\u4efb\u52a1\u7684 TCB \u548c\u6808\u7684\u8d77\u59cb\u5730\u5740，\u8fd9\u4e2a\u64cd\u4f5c\u7531\u4e8c\u7ea7\u6307\u9488\u51fd\u6570 vApplicationGetIdleTaskMemory()\u6765\u5b9e\u73b0：<\/p>\n

    main.c<\/p>\n

    \/*\u4e8c\u7ea7\u6307\u9488\u51fd\u6570，\u53c2\u6570\u662f\u4e8c\u7ea7\u6307\u9488，\u6307\u5411\u4e00\u7ea7\u6307\u9488*\/<\/span>
    \nvoid<\/span> vApplicationGetIdleTaskMemory<\/span>(<\/span> TCB_t *<\/span>*<\/span>ppxIdleTaskTCBBuffer,<\/span>
    \n StackType_t *<\/span>*<\/span>ppxIdleTaskStackBuffer,<\/span>
    \n uint32_t<\/span> *<\/span>pulIdleTaskStackSize )<\/span>
    \n{<\/span>
    \n*<\/span>ppxIdleTaskTCBBuffer=<\/span>&<\/span>IdleTaskTCB;<\/span>
    \n*<\/span>ppxIdleTaskStackBuffer=<\/span>IdleTaskStack;<\/span>
    \n*<\/span>pulIdleTaskStackSize=<\/span>configMINIMAL_STACK_SIZE;<\/span>
    \n}<\/span><\/p>\n

    task.c：<\/p>\n

    \/*\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1*\/<\/span>
    \nextern<\/span> StackType_t IdleTaskStack[<\/span>configMINIMAL_STACK_SIZE]<\/span>;<\/span>
    \nextern<\/span> TCB_t IdleTaskTCB;<\/span>
    \n\/*\u4e8c\u7ea7\u6307\u9488\u51fd\u6570，\u53c2\u6570\u662f\u4e8c\u7ea7\u6307\u9488，\u6307\u5411\u4e00\u7ea7\u6307\u9488*\/<\/span>
    \nvoid<\/span> vApplicationGetIdleTaskMemory<\/span>(<\/span> TCB_t *<\/span>*<\/span>ppxIdleTaskTCBBuffer,<\/span>
    \n StackType_t *<\/span>*<\/span>ppxIdleTaskStackBuffer,<\/span>
    \n uint32_t<\/span> *<\/span>pulIdleTaskStackSize )<\/span>
    \n{<\/span>
    \n*<\/span>ppxIdleTaskTCBBuffer=<\/span>&<\/span>IdleTaskTCB;<\/span>
    \n*<\/span>ppxIdleTaskStackBuffer=<\/span>IdleTaskStack;<\/span>
    \n*<\/span>pulIdleTaskStackSize=<\/span>configMINIMAL_STACK_SIZE;<\/span>
    \n}<\/span><\/p>\n

    \/*======================================\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1start==============================================*\/<\/span>
    \n TCB_t *<\/span>pxIdleTaskTCBBuffer =<\/span> NULL<\/span>;<\/span> \/* \u7528\u4e8e\u6307\u5411\u7a7a\u95f2\u4efb\u52a1\u63a7\u5236\u5757 *\/<\/span>
    \n StackType_t *<\/span>pxIdleTaskStackBuffer =<\/span> NULL<\/span>;<\/span> \/* \u7528\u4e8e\u7a7a\u95f2\u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740 *\/<\/span>
    \n uint32_t<\/span> ulIdleTaskStackSize;<\/span><\/p>\n

    \/* \u83b7\u53d6\u7a7a\u95f2\u4efb\u52a1\u7684\u5185\u5b58：\u4efb\u52a1\u6808\u548c\u4efb\u52a1TCB *\/<\/span>
    \n vApplicationGetIdleTaskMemory<\/span>(<\/span> &<\/span>pxIdleTaskTCBBuffer,<\/span>
    \n &<\/span>pxIdleTaskStackBuffer,<\/span>
    \n &<\/span>ulIdleTaskStackSize )<\/span>;<\/span> <\/p>\n

    xIdleTaskHandle =<\/span> xTaskCreateStatic<\/span>(<\/span> (<\/span>TaskFunction_t)<\/span>prvIdleTask,<\/span> \/* \u4efb\u52a1\u5165\u53e3 *\/<\/span>
    \n (<\/span>char<\/span> *<\/span>)<\/span>"IDLE"<\/span>,<\/span> \/* \u4efb\u52a1\u540d\u79f0，\u5b57\u7b26\u4e32\u5f62\u5f0f *\/<\/span>
    \n (<\/span>uint32_t<\/span>)<\/span>ulIdleTaskStackSize ,<\/span> \/* \u4efb\u52a1\u6808\u5927\u5c0f，\u5355\u4f4d\u4e3a\u5b57 *\/<\/span>
    \n (<\/span>void<\/span> *<\/span>)<\/span> NULL<\/span>,<\/span> \/* \u4efb\u52a1\u5f62\u53c2 *\/<\/span>
    \n (<\/span>StackType_t *<\/span>)<\/span>pxIdleTaskStackBuffer,<\/span> \/* \u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740 *\/<\/span>
    \n (<\/span>TCB_t *<\/span>)<\/span>pxIdleTaskTCBBuffer )<\/span>;<\/span> \/* \u4efb\u52a1\u63a7\u5236\u5757 *\/<\/span>
    \n \/* \u5c06\u4efb\u52a1\u6dfb\u52a0\u5230\u5c31\u7eea\u5217\u8868 *\/<\/span>
    \n vListInsertEnd<\/span>(<\/span> &<\/span>(<\/span> pxReadyTasksLists[<\/span>0<\/span>]<\/span> )<\/span>,<\/span> &<\/span>(<\/span> (<\/span>(<\/span>TCB_t *<\/span>)<\/span>pxIdleTaskTCBBuffer)<\/span>-><\/span>xStateListItem )<\/span> )<\/span>;<\/span>
    \n\/*======================================\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1end================================================*\/<\/span><\/p>\n

    \u6211\u4eec\u628a\u6574\u5957\u673a\u5236\u7c7b\u6bd4\u6210\u5c0f\u533a\u7269\u4e1a\u7684\u94a5\u5319\u9886\u53d6\u7a97\u53e3：<\/p>\n

  • IdleTaskTCB\u3001IdileTaskStack\u3001\u6808\u5927\u5c0f\u6570\u503c \u2192 \u5c0f\u533a\u91cc\u4e09\u95f4\u56fa\u5b9a\u7684\u5e93\u623f（\u5206\u522b\u5b58\u653e\u4efb\u52a1\u63a7\u5236\u5757\u3001\u4efb\u52a1\u6808\u3001\u6807\u6ce8\u6808\u5bb9\u91cf），\u4f4d\u7f6e\u6c38\u8fdc\u4e0d\u53d8\u3002<\/li>\n
  • \u51fd\u6570\u91cc\u7684 &IdleTaskTCB\u3001IdleTaskStack \u8fd9\u4e9b\u5730\u5740 \u2192 \u5bf9\u5e94\u5e93\u623f\u7684\u552f\u4e00\u94a5\u5319，\u62ff\u7740\u5b83\u5c31\u80fd\u627e\u5230\u5bf9\u5e94\u7684\u5185\u5b58\u3002<\/li>\n
  • \u51fd\u6570\u7684\u4e09\u4e2a\u53c2\u6570（ppxIdleTaskTCBBuffer \u7b49）\u2192 \u662f\u6765\u9886\u94a5\u5319\u7684\u4eba（\u5185\u6838）\u9012\u8fc7\u6765\u7684\u7a7a\u4fe1\u5c01\u3002\n
      \n
    • \u524d\u4e24\u4e2a\u4fe1\u5c01\u662f\u4e13\u95e8\u7528\u6765\u88c5 \u201c\u94a5\u5319\u201d \u7684（\u5bf9\u5e94\u4e8c\u7ea7\u6307\u9488：\u56e0\u4e3a\u8981\u8fd4\u56de\u7684\u672c\u8eab\u5c31\u662f\u4e00\u4e2a\u6307\u9488 \/ \u5730\u5740）；<\/li>\n
    • \u7b2c\u4e09\u4e2a\u4fe1\u5c01\u662f\u7528\u6765\u88c5 \u201c\u5e93\u623f\u9762\u79ef\u6570\u5b57\u201d \u7684（\u5bf9\u5e94\u4e00\u7ea7\u6307\u9488：\u8fd4\u56de\u666e\u901a\u6570\u503c）\u3002<\/li>\n<\/ul>\n<\/li>\n
    • vApplicationGetIdleTaskMemory \u51fd\u6570\u672c\u8eab \u2192 \u5c31\u662f\u8fd9\u4e2a\u56fa\u5b9a\u7684\u53d1\u653e\u7a97\u53e3\u3002\n
        \n
      • \u4e0d\u7ba1\u8c01\u6765\u3001\u9012\u8fc7\u6765\u4ec0\u4e48\u6837\u7684\u7a7a\u4fe1\u5c01，\u7a97\u53e3\u90fd\u4f1a\u628a\u56fa\u5b9a\u7684\u90a3\u4e09\u628a\u94a5\u5319 \/ \u6570\u5b57\u88c5\u8fdb\u4fe1\u5c01\u91cc；<\/li>\n
      • \u6240\u4ee5\u6240\u6709\u4eba\u9886\u56de\u53bb\u7684，\u6307\u5411\u7684\u90fd\u662f\u540c\u4e00\u6279\u5e93\u623f，\u62ff\u5230\u7684\u4fe1\u606f\u5b8c\u5168\u4e00\u81f4\u3002<\/li>\n<\/ul>\n<\/li>\n
          \n
        • *ppxIdleTaskTCBBuffer = &IdleTaskTCB; \u2192 \u628a TCB \u5e93\u623f\u7684\u94a5\u5319，\u585e\u8fdb\u5185\u6838\u9012\u6765\u7684\u7b2c\u4e00\u4e2a\u4fe1\u5c01\u91cc<\/li>\n
        • *ppxIdleTaskStackBuffer = IdleTaskStack; \u2192 \u628a\u6808\u5e93\u623f\u7684\u94a5\u5319，\u585e\u8fdb\u5185\u6838\u9012\u6765\u7684\u7b2c\u4e8c\u4e2a\u4fe1\u5c01\u91cc<\/li>\n
        • *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE; \u2192 \u628a\u6808\u9762\u79ef\u6570\u5b57，\u585e\u8fdb\u7b2c\u4e09\u4e2a\u4fe1\u5c01\u91cc<\/li>\n<\/ul>\n

          \u4e00\u53e5\u8bdd\u603b\u7ed3：\u7a97\u53e3\u662f\u56fa\u5b9a\u7684，\u5e93\u623f\u662f\u56fa\u5b9a\u7684，\u94a5\u5319\u4e5f\u662f\u56fa\u5b9a\u7684\u2014\u2014\u53d8\u7684\u53ea\u662f\u6765\u9886\u94a5\u5319\u7684\u4eba（\u5185\u6838）\u9012\u8fc7\u6765\u7684\u4fe1\u5c01\u3002 \u6240\u4ee5\u4e0d\u7ba1\u5185\u6838\u600e\u4e48\u8c03\u7528，\u62ff\u56de\u53bb\u7684\u6c38\u8fdc\u662f\u540c\u4e00\u6279\u5185\u5b58\u7684\u5730\u5740，\u8fd9\u5c31\u662f vApplicationGetIdleTaskMemory() \u7528\u4e8c\u7ea7\u6307\u9488\u628a\u300c\u5185\u5b58\u5730\u5740\u300d\u88c5\u8fdb\u300c\u53c2\u6570\u4fe1\u5c01\u300d\u8fd4\u56de\u7ed9\u5185\u6838\u7684\u5168\u90e8\u79d8\u5bc6\u3002<\/p>\n

          \u521b\u5efa\u7a7a\u95f2\u4efb\u52a1\u5165\u53e3：<\/p>\n

          #<\/span>define<\/span> portTASK_FUNCTION<\/span>(<\/span> vFunction,<\/span> pvParameters )<\/span> void<\/span> vFunction<\/span>(<\/span> void<\/span> *<\/span>pvParameters )<\/span><\/span><\/span><\/p>\n

          \/*\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1*\/<\/span>
          \nstatic<\/span> portTASK_FUNCTION<\/span>(<\/span> prvIdleTask,<\/span> pvParameters )<\/span>
          \n{<\/span>
          \n\/* \u9632\u6b62\u7f16\u8bd1\u5668\u7684\u8b66\u544a *\/<\/span>
          \n(<\/span> void<\/span> )<\/span> pvParameters;<\/span><\/p>\n

          for<\/span>(<\/span>;<\/span>;<\/span>)<\/span>
          \n {<\/span>
          \n \/* \u7a7a\u95f2\u4efb\u52a1\u6682\u65f6\u4ec0\u4e48\u90fd\u4e0d\u505a *\/<\/span>
          \n }<\/span>
          \n}<\/span><\/p>\n

          \u6700\u540e\u5c06\u7a7a\u95f2\u4efb\u52a1\u63d2\u5165\u5230\u5c31\u7eea\u5217\u8868\u7684\u5f00\u5934\u3002\u5728\u4e0b\u4e00\u7ae0\u6211\u4eec\u4f1a\u652f\u6301\u4f18\u5148\u7ea7，\u7a7a\u95f2\u4efb\u52a1\u9ed8\u8ba4\u7684\u4f18\u5148\u7ea7\u662f\u6700\u4f4e\u7684，\u5373\u6392\u5728\u5c31\u7eea\u5217\u8868\u7684\u5f00\u5934\u3002<\/p>\n

          2.\u5b9e\u73b0\u963b\u585e\u5ef6\u65f6<\/h4>\n

          （1）vTaskDelay ()\u51fd\u6570<\/h4>\n

          \u963b\u585e\u5ef6\u65f6\u7684\u963b\u585e\u662f\u6307\u4efb\u52a1\u8c03\u7528\u8be5\u5ef6\u65f6\u51fd\u6570\u540e，\u4efb\u52a1\u4f1a\u88ab\u5265\u79bb CPU \u4f7f\u7528\u6743，\u7136\u540e\u8fdb\u5165\u963b\u585e\u72b6\u6001，\u76f4\u5230\u5ef6\u65f6\u7ed3\u675f，\u4efb\u52a1\u91cd\u65b0\u83b7\u53d6 CPU \u4f7f\u7528\u6743\u624d\u53ef\u4ee5\u7ee7\u7eed\u8fd0\u884c\u3002\u5728\u4efb\u52a1\u963b\u585e\u7684\u8fd9\u6bb5\u65f6\u95f4，CPU \u53ef\u4ee5\u53bb\u6267\u884c\u5176\u5b83\u7684\u4efb\u52a1，\u5982\u679c\u5176\u5b83\u7684\u4efb\u52a1\u4e5f\u5728\u5ef6\u65f6\u72b6\u6001，\u90a3\u4e48 CPU \u5c31\u5c06\u8fd0\u884c\u7a7a\u95f2\u4efb\u52a1\u3002\u963b\u585e\u5ef6\u65f6\u51fd\u6570\u5728 task.c \u4e2d\u5b9a\u4e49：<\/p>\n

          \/*\u4efb\u52a1\u963b\u585e\u51fd\u6570*\/<\/span>
          \nvoid<\/span> vTaskDelay<\/span>(<\/span> const<\/span> TickType_t xTicksToDelay )<\/span>
          \n{<\/span>
          \n TCB_t *<\/span>pxTCB =<\/span> NULL<\/span>;<\/span><\/p>\n

          \/* \u83b7\u53d6\u5f53\u524d\u4efb\u52a1\u7684TCB *\/<\/span>
          \n pxTCB =<\/span> pxCurrentTCB;<\/span><\/p>\n

          \/* \u8bbe\u7f6e\u5ef6\u65f6\u65f6\u95f4 *\/<\/span>
          \n pxTCB-><\/span>xTicksToDelay =<\/span> xTicksToDelay;<\/span><\/p>\n

          \/* \u4efb\u52a1\u5207\u6362 *\/<\/span>
          \n taskYIELD<\/span>(<\/span>)<\/span>;<\/span>
          \n}<\/span><\/p>\n

          pxTCB = pxCurrentTCB： \u53d6\u5f53\u524d\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757\u3002pxCurrentTCB \u662f\u4e00\u4e2a\u5728 task.c \u5b9a\u4e49\u7684\u5168\u5c40\u6307\u9488，\u7528\u4e8e\u6307\u5411\u5f53\u524d\u6b63\u5728\u8fd0\u884c\u6216\u8005\u5373\u5c06\u8981\u8fd0\u884c\u7684\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757\u3002<\/p>\n

          pxTCB->xTicksToDelay = xTicksToDelay： xTicksToDelay \u662f\u4efb\u52a1\u63a7\u5236\u5757\u7684\u4e00\u4e2a\u6210\u5458，\u7528\u4e8e\u8bb0\u5f55\u4efb\u52a1\u9700\u8981\u5ef6\u65f6\u7684\u65f6\u95f4，\u5355\u4f4d\u4e3a SysTick \u7684\u4e2d\u65ad\u5468\u671f\u3002\u6bd4\u5982\u6211\u4eec\u672c\u4e66\u5f53\u4e2d SysTick \u7684\u4e2d\u65ad\u5468\u671f\u4e3a 10ms，\u8c03\u7528 vTaskDelay( 2 )\u5219\u5b8c\u6210 2*10ms \u7684\u5ef6\u65f6\u3002<\/p>\n

          \u4e4b\u524d\u7684TCB\u7ed3\u6784\u4f53\u662f\u6ca1\u6709xTicksToDelay\u8fd9\u4e2a\u6210\u5458\u7684，\u6240\u4ee5\u6211\u4eec\u8981\u4fee\u6539TCB\u7ed3\u6784\u4f53：<\/p>\n

          \/*StackType_t\u5c31\u662fuint32_t*\/<\/span>
          \ntypedef<\/span> struct<\/span> tskTaskControlBlock<\/span>
          \n{<\/span>
          \nvolatile<\/span> StackType_t *<\/span>pxTopOfStack;<\/span> \/* \u6808\u9876 *\/<\/span><\/p>\n

          ListItem_t xStateListItem;<\/span> \/* \u4efb\u52a1\u8282\u70b9 *\/<\/span><\/p>\n

          StackType_t *<\/span>pxStack;<\/span> \/* \u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740 *\/<\/span>
          \n \/* \u4efb\u52a1\u540d\u79f0，\u5b57\u7b26\u4e32\u5f62\u5f0f *\/<\/span>
          \nchar<\/span> pcTaskName[<\/span> configMAX_TASK_NAME_LEN ]<\/span>;<\/span><\/p>\n

          TickType_t xTicksToDelay;<\/span> \/* \u7528\u4e8e\u5ef6\u65f6 *\/<\/span>
          \n}<\/span> tskTCB;<\/span>
          \ntypedef<\/span> tskTCB TCB_t;<\/span><\/p>\n

          taskYIELD()： \u4efb\u52a1\u5207\u6362\u3002\u8c03\u7528 tashYIELD()\u4f1a\u4ea7\u751f PendSV\u4e2d\u65ad，\u5728 PendSV\u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u4e2d\u4f1a\u8c03\u7528\u4e0a\u4e0b\u6587\u5207\u6362\u51fd\u6570 vTaskSwitchContext()，\u8be5\u51fd\u6570\u7684\u4f5c\u7528\u662f\u5bfb\u627e\u6700\u9ad8\u4f18\u5148\u7ea7\u7684\u5c31\u7eea\u4efb\u52a1，\u7136\u540e\u66f4\u65b0 pxCurrentTCB\u3002\u4e0a\u4e00\u7ae0\u6211\u4eec\u53ea\u6709\u4e24\u4e2a\u4efb\u52a1，\u5219 pxCurrentTCB \u4e0d\u662f\u6307\u5411\u4efb\u52a1 1 \u5c31\u662f\u6307\u5411\u4efb\u52a1 2，\u672c\u7ae0\u8282\u5f00\u59cb\u6211\u4eec\u591a\u589e\u52a0\u4e86\u4e00\u4e2a\u7a7a\u95f2\u4efb\u52a1，\u5219\u9700\u8981\u8ba9pxCurrentTCB \u5728\u8fd9\u4e09\u4e2a\u4efb\u52a1\u4e2d\u5207\u6362，\u7b97\u6cd5\u9700\u8981\u6539\u53d8<\/p>\n

          （2）\u4fee\u6539 vTaskSwitchContext()\u51fd\u6570<\/h4>\n

          #<\/span>if<\/span> 0<\/span><\/span><\/span>
          \nvoid<\/span> vTaskSwitchContext<\/span>(<\/span> void<\/span> )<\/span>
          \n{<\/span>
          \n if<\/span>(<\/span> pxCurrentTCB ==<\/span> &<\/span>Task1TCB )<\/span>
          \n {<\/span>
          \n pxCurrentTCB =<\/span> &<\/span>Task2TCB;<\/span>
          \n }<\/span>
          \n else<\/span>
          \n {<\/span>
          \n pxCurrentTCB =<\/span> &<\/span>Task1TCB;<\/span>
          \n }<\/span>
          \n}<\/span>
          \n#<\/span>else<\/span><\/span><\/p>\n

          void<\/span> vTaskSwitchContext<\/span>(<\/span> void<\/span> )<\/span>
          \n{<\/span>
          \n\/* \u5982\u679c\u5f53\u524d\u7ebf\u7a0b\u662f\u7a7a\u95f2\u7ebf\u7a0b，\u90a3\u4e48\u5c31\u53bb\u5c1d\u8bd5\u6267\u884c\u7ebf\u7a0b1\u6216\u8005\u7ebf\u7a0b2，
          \n \u770b\u770b\u4ed6\u4eec\u7684\u5ef6\u65f6\u65f6\u95f4\u662f\u5426\u7ed3\u675f，\u5982\u679c\u7ebf\u7a0b\u7684\u5ef6\u65f6\u65f6\u95f4\u5747\u6ca1\u6709\u5230\u671f，
          \n \u90a3\u5c31\u8fd4\u56de\u7ee7\u7eed\u6267\u884c\u7a7a\u95f2\u7ebf\u7a0b *\/<\/span>
          \nif<\/span>(<\/span> pxCurrentTCB ==<\/span> &<\/span>IdleTaskTCB )<\/span>
          \n{<\/span>
          \nif<\/span>(<\/span>Task1TCB.<\/span>xTicksToDelay ==<\/span> 0<\/span>)<\/span>
          \n{<\/span>
          \n pxCurrentTCB =<\/span>&<\/span>Task1TCB;<\/span>
          \n}<\/span>
          \nelse<\/span> if<\/span>(<\/span>Task2TCB.<\/span>xTicksToDelay ==<\/span> 0<\/span>)<\/span>
          \n{<\/span>
          \n pxCurrentTCB =<\/span>&<\/span>Task2TCB;<\/span>
          \n}<\/span>
          \nelse<\/span>
          \n{<\/span>
          \nreturn<\/span>;<\/span>\/* \u7ebf\u7a0b\u5ef6\u65f6\u5747\u6ca1\u6709\u5230\u671f\u5219\u8fd4\u56de，\u7ee7\u7eed\u6267\u884c\u7a7a\u95f2\u7ebf\u7a0b *\/<\/span>
          \n}<\/span>
          \n}<\/span>
          \nelse<\/span>
          \n{<\/span>
          \n\/*\u5982\u679c\u5f53\u524d\u7ebf\u7a0b\u662f\u7ebf\u7a0b1\u6216\u8005\u7ebf\u7a0b2\u7684\u8bdd，\u68c0\u67e5\u4e0b\u53e6\u5916\u4e00\u4e2a\u7ebf\u7a0b,\u5982\u679c\u53e6\u5916\u7684\u7ebf\u7a0b\u4e0d\u5728\u5ef6\u65f6\u4e2d，\u5c31\u5207\u6362\u5230\u8be5\u7ebf\u7a0b
          \n \u5426\u5219，\u5224\u65ad\u4e0b\u5f53\u524d\u7ebf\u7a0b\u662f\u5426\u5e94\u8be5\u8fdb\u5165\u5ef6\u65f6\u72b6\u6001，\u5982\u679c\u662f\u7684\u8bdd，\u5c31\u5207\u6362\u5230\u7a7a\u95f2\u7ebf\u7a0b\u3002\u5426\u5219\u5c31\u4e0d\u8fdb\u884c\u4efb\u4f55\u5207\u6362 *\/<\/span>
          \nif<\/span>(<\/span>pxCurrentTCB ==<\/span> &<\/span>Task1TCB)<\/span>
          \n{<\/span>
          \n\/*\u5982\u679c\u4efb\u52a1\u4e0d\u5904\u4e8e\u963b\u585e\u72b6\u6001\u5c31\u5207\u6362\u4efb\u52a1\u4e8c*\/<\/span>
          \nif<\/span>(<\/span>Task2TCB.<\/span>xTicksToDelay ==<\/span> 0<\/span>)<\/span>
          \n{<\/span>
          \n pxCurrentTCB =<\/span>&<\/span>Task2TCB;<\/span>
          \n}<\/span>
          \n\/*\u5982\u679c\u5f53\u524d\u4efb\u52a1\u5904\u4e8e\u963b\u585e\u72b6\u6001，\u5c31\u8fdb\u5165\u7a7a\u95f2\u4efb\u52a1*\/<\/span>
          \nelse<\/span> if<\/span>(<\/span>pxCurrentTCB-><\/span>xTicksToDelay !=<\/span> 0<\/span>)<\/span>
          \n{<\/span>
          \n pxCurrentTCB =<\/span> &<\/span>IdleTaskTCB;<\/span>
          \n}<\/span>
          \nelse<\/span>
          \n{<\/span>
          \nreturn<\/span>;<\/span>\/* \u8fd4\u56de，\u4e0d\u8fdb\u884c\u5207\u6362，\u56e0\u4e3a\u4e24\u4e2a\u7ebf\u7a0b\u90fd\u5904\u4e8e\u5ef6\u65f6\u4e2d *\/<\/span>
          \n}<\/span>
          \n}<\/span>
          \nelse<\/span> if<\/span>(<\/span>pxCurrentTCB ==<\/span> &<\/span>Task2TCB)<\/span>
          \n{<\/span>
          \nif<\/span>(<\/span>Task1TCB.<\/span>xTicksToDelay ==<\/span> 0<\/span>)<\/span>
          \n{<\/span>
          \n pxCurrentTCB =<\/span>&<\/span>Task1TCB;<\/span>
          \n}<\/span>
          \nelse<\/span> if<\/span>(<\/span>pxCurrentTCB-><\/span>xTicksToDelay !=<\/span> 0<\/span>)<\/span>
          \n{<\/span>
          \n pxCurrentTCB =<\/span> &<\/span>IdleTaskTCB;<\/span>
          \n}<\/span>
          \nelse<\/span>
          \n{<\/span>
          \nreturn<\/span>;<\/span>\/* \u8fd4\u56de，\u4e0d\u8fdb\u884c\u5207\u6362，\u56e0\u4e3a\u4e24\u4e2a\u7ebf\u7a0b\u90fd\u5904\u4e8e\u5ef6\u65f6\u4e2d *\/<\/span>
          \n}<\/span>
          \n}<\/span>
          \n}<\/span>
          \n}<\/span><\/p>\n

          #<\/span>endif<\/span><\/span><\/p>\n

          if( pxCurrentTCB == &IdleTaskTCB )： \u5982\u679c\u5f53\u524d\u4efb\u52a1\u662f\u7a7a\u95f2\u4efb\u52a1，\u90a3\u4e48\u5c31\u53bb\u5c1d\u8bd5\u6267\u884c\u4efb\u52a1 1 \u6216\u8005\u4efb\u52a1 2，\u770b\u770b\u4ed6\u4eec\u7684\u5ef6\u65f6\u65f6\u95f4\u662f\u5426\u7ed3\u675f，\u5982\u679c\u4efb\u52a1\u7684\u5ef6\u65f6\u65f6\u95f4\u5747\u6ca1\u6709\u5230\u671f，\u90a3\u5c31\u8fd4\u56de\u7ee7\u7eed\u6267\u884c\u7a7a\u95f2\u4efb\u52a1\u3002<\/p>\n

          else： \u5982\u679c\u5f53\u524d\u4efb\u52a1\u662f\u4efb\u52a1 1 \u6216\u8005\u4efb\u52a1 2 \u7684\u8bdd，\u68c0\u67e5\u4e0b\u53e6\u5916\u4e00\u4e2a\u4efb\u52a1，\u5982\u679c\u53e6\u5916\u7684\u4efb\u52a1\u4e0d\u5728\u5ef6\u65f6\u4e2d，\u5c31\u5207\u6362\u5230\u8be5\u4efb\u52a1\u3002\u5426\u5219，\u5224\u65ad\u4e0b\u5f53\u524d\u4efb\u52a1\u662f\u5426\u5e94\u8be5\u8fdb\u5165\u5ef6\u65f6\u72b6\u6001，\u5982\u679c\u662f\u7684\u8bdd，\u5c31\u5207\u6362\u5230\u7a7a\u95f2\u4efb\u52a1，\u5426\u5219\u5c31\u4e0d\u8fdb\u884c\u4efb\u4f55\u5207\u6362 \u3002<\/p>\n

          （3）SysTick \u4e2d\u65ad\u670d\u52a1\u51fd\u6570<\/h4>\n

          \u5728\u4efb\u52a1\u4e0a\u4e0b\u6587\u5207\u6362\u51fd\u6570 vTaskSwitchContext ()\u4e2d，\u4f1a\u5224\u65ad\u6bcf\u4e2a\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757\u4e2d\u7684\u5ef6\u65f6\u6210\u5458 xTicksToDelay \u7684\u503c\u662f\u5426\u4e3a 0，\u5982\u679c\u4e3a 0\u5c31\u8981\u5c06\u5bf9\u5e94\u7684\u4efb\u52a1\u5c31\u7eea，\u5982\u679c\u4e0d\u4e3a 0 \u5c31\u7ee7\u7eed\u5ef6\u65f6\u3002\u5982\u679c\u4e00\u4e2a\u4efb\u52a1\u8981\u5ef6\u65f6，\u4e00\u5f00\u59cb xTicksToDelay \u80af\u5b9a\u4e0d\u4e3a 0，\u5f53 xTicksToDelay \u53d8\u4e3a0 \u7684\u65f6\u5019\u8868\u793a\u5ef6\u65f6\u7ed3\u675f，\u90a3\u4e48 xTicksToDelay \u662f\u4ee5\u4ec0\u4e48\u5468\u671f\u5728\u9012\u51cf？\u5728\u54ea\u91cc\u9012\u51cf？\u5728FreeRTOS \u4e2d，\u8fd9\u4e2a\u5468\u671f\u7531 SysTick \u4e2d\u65ad\u63d0\u4f9b，\u64cd\u4f5c\u7cfb\u7edf\u91cc\u9762\u7684\u6700\u5c0f\u7684\u65f6\u95f4\u5355\u4f4d\u5c31\u662fSysTick \u7684\u4e2d\u65ad\u5468\u671f，\u6211\u4eec\u79f0\u4e4b\u4e3a\u4e00\u4e2a tick，SysTick \u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u5728 port.c.c \u4e2d\u5b9e\u73b0<\/p>\n

          \/*
          \n*************************************************************************
          \n* SysTick\u4e2d\u65ad\u670d\u52a1\u51fd\u6570
          \n*************************************************************************
          \n*\/<\/span>
          \nvoid<\/span> xPortSysTickHandler<\/span>(<\/span> void<\/span> )<\/span>
          \n{<\/span>
          \n\/* \u5173\u4e2d\u65ad *\/<\/span>
          \n vPortRaiseBASEPRI<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

          \/* \u66f4\u65b0\u7cfb\u7edf\u65f6\u57fa *\/<\/span>
          \n xTaskIncrementTick<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

          \/* \u5f00\u4e2d\u65ad *\/<\/span>
          \n vPortClearBASEPRIFromISR<\/span>(<\/span>)<\/span>;<\/span>
          \n}<\/span><\/p>\n

          \u4ece\u524d\u9762\u7684\u5b66\u4e60\u6211\u4eec\u53eaSysTick\u4e2d\u65ad\u662f\u4f18\u5148\u7ea7\u6700\u4f4e\u7684\u4e2d\u65ad，\u6240\u4ee5\u4e3a\u4e86\u9632\u6b62SysTick\u4e2d\u65ad\u6267\u884c\u5230\u4e00\u534a\u88ab\u5176\u5b83\u4f18\u5148\u7ea7\u66f4\u9ad8\u7684\u4e2d\u65ad\u6253\u65ad，\u6240\u4ee5\u6211\u4eec\u8981\u5728\u6267\u884c
          \n\u66f4\u65b0\u7cfb\u7edf\u65f6\u57fa\u4e4b\u524d\u5173\u95ed\u4e2d\u65ad<\/p>\n

          （4）xTaskIncrementTick()\u51fd\u6570：<\/h4>\n

          static<\/span> volatile<\/span> TickType_t xTickCount =<\/span> (<\/span> TickType_t )<\/span> 0U<\/span>;<\/span><\/p>\n

          void<\/span> xTaskIncrementTick<\/span>(<\/span> void<\/span> )<\/span>
          \n{<\/span>
          \n TCB_t *<\/span>pxTCB =<\/span> NULL<\/span>;<\/span>
          \n BaseType_t i =<\/span> 0<\/span>;<\/span><\/p>\n

          \/* \u66f4\u65b0\u7cfb\u7edf\u65f6\u57fa\u8ba1\u6570\u5668xTickCount，xTickCount\u662f\u4e00\u4e2a\u5728task.c\u4e2d\u5b9a\u4e49\u7684\u5168\u5c40\u53d8\u91cf *\/<\/span>
          \n const<\/span> TickType_t xConstTickCount =<\/span> xTickCount +<\/span> 1<\/span>;<\/span>
          \n xTickCount =<\/span> xConstTickCount;<\/span><\/p>\n

          \/* \u626b\u63cf\u5c31\u7eea\u5217\u8868\u4e2d\u6240\u6709\u7ebf\u7a0b\u7684xTicksToDelay，\u5982\u679c\u4e0d\u4e3a0，\u5219\u51cf1 *\/<\/span>
          \nfor<\/span>(<\/span>i=<\/span>0<\/span>;<\/span> i<<\/span>configMAX_PRIORITIES;<\/span> i++<\/span>)<\/span>
          \n{<\/span>
          \n pxTCB =<\/span> (<\/span> TCB_t *<\/span> )<\/span> listGET_OWNER_OF_HEAD_ENTRY<\/span>(<\/span> (<\/span> &<\/span>pxReadyTasksLists[<\/span>i]<\/span> )<\/span> )<\/span>;<\/span>
          \nif<\/span>(<\/span>pxTCB-><\/span>xTicksToDelay ><\/span> 0<\/span>)<\/span>
          \n{<\/span>
          \npxTCB-><\/span>xTicksToDelay —<\/span>;<\/span>
          \n}<\/span>
          \n}<\/span><\/p>\n

          \/* \u4efb\u52a1\u5207\u6362 *\/<\/span>
          \n portYIELD<\/span>(<\/span>)<\/span>;<\/span>
          \n}<\/span><\/p>\n

          （1）const TickType_t xConstTickCount = xTickCount + 1： \u66f4\u65b0\u7cfb\u7edf\u65f6\u57fa\u8ba1\u6570\u5668 xTickCount，\u52a0\u4e00\u64cd\u4f5c\u3002xTickCount \u662f\u4e00\u4e2a\u5728
          \nport.c \u4e2d\u5b9a\u4e49\u7684\u5168\u5c40\u53d8\u91cf，\u5728\u51fd\u6570 vTaskStartScheduler()\u4e2d\u8c03\u7528 xPortStartScheduler()\u51fd\u6570\u524d\u521d\u59cb\u5316\u3002\u5982\u4e0b：<\/p>\n

          \/*\u5f00\u542f\u4efb\u52a1\u8c03\u5ea6*\/<\/span>
          \nvoid<\/span> vTaskStartScheduler<\/span>(<\/span> void<\/span> )<\/span>
          \n{<\/span>
          \n\/*======================================\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1start==============================================*\/<\/span>
          \n TCB_t *<\/span>pxIdleTaskTCBBuffer =<\/span> NULL<\/span>;<\/span> \/* \u7528\u4e8e\u6307\u5411\u7a7a\u95f2\u4efb\u52a1\u63a7\u5236\u5757 *\/<\/span>
          \n StackType_t *<\/span>pxIdleTaskStackBuffer =<\/span> NULL<\/span>;<\/span> \/* \u7528\u4e8e\u7a7a\u95f2\u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740 *\/<\/span>
          \n uint32_t<\/span> ulIdleTaskStackSize;<\/span><\/p>\n

          \/* \u83b7\u53d6\u7a7a\u95f2\u4efb\u52a1\u7684\u5185\u5b58：\u4efb\u52a1\u6808\u548c\u4efb\u52a1TCB *\/<\/span>
          \n vApplicationGetIdleTaskMemory<\/span>(<\/span> &<\/span>pxIdleTaskTCBBuffer,<\/span>
          \n &<\/span>pxIdleTaskStackBuffer,<\/span>
          \n &<\/span>ulIdleTaskStackSize )<\/span>;<\/span> <\/p>\n

          xIdleTaskHandle =<\/span> xTaskCreateStatic<\/span>(<\/span> (<\/span>TaskFunction_t)<\/span>prvIdleTask,<\/span> \/* \u4efb\u52a1\u5165\u53e3 *\/<\/span>
          \n (<\/span>char<\/span> *<\/span>)<\/span>"IDLE"<\/span>,<\/span> \/* \u4efb\u52a1\u540d\u79f0，\u5b57\u7b26\u4e32\u5f62\u5f0f *\/<\/span>
          \n (<\/span>uint32_t<\/span>)<\/span>ulIdleTaskStackSize ,<\/span> \/* \u4efb\u52a1\u6808\u5927\u5c0f，\u5355\u4f4d\u4e3a\u5b57 *\/<\/span>
          \n (<\/span>void<\/span> *<\/span>)<\/span> NULL<\/span>,<\/span> \/* \u4efb\u52a1\u5f62\u53c2 *\/<\/span>
          \n (<\/span>StackType_t *<\/span>)<\/span>pxIdleTaskStackBuffer,<\/span> \/* \u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740 *\/<\/span>
          \n (<\/span>TCB_t *<\/span>)<\/span>pxIdleTaskTCBBuffer )<\/span>;<\/span> \/* \u4efb\u52a1\u63a7\u5236\u5757 *\/<\/span>
          \n \/* \u5c06\u4efb\u52a1\u6dfb\u52a0\u5230\u5c31\u7eea\u5217\u8868 *\/<\/span>
          \n vListInsertEnd<\/span>(<\/span> &<\/span>(<\/span> pxReadyTasksLists[<\/span>0<\/span>]<\/span> )<\/span>,<\/span> &<\/span>(<\/span> (<\/span>(<\/span>TCB_t *<\/span>)<\/span>pxIdleTaskTCBBuffer)<\/span>-><\/span>xStateListItem )<\/span> )<\/span>;<\/span>
          \n\/*======================================\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1end================================================*\/<\/span><\/p>\n

          \/* \u624b\u52a8\u6307\u5b9a\u7b2c\u4e00\u4e2a\u8fd0\u884c\u7684\u4efb\u52a1 *\/<\/span>
          \n pxCurrentTCB =<\/span> &<\/span>Task1TCB;<\/span><\/p>\n

          \/* \u521d\u59cb\u5316\u7cfb\u7edf\u65f6\u57fa\u8ba1\u6570\u5668 *\/<\/span>
          \n xTickCount =<\/span> (<\/span> TickType_t )<\/span> 0U<\/span>;<\/span><\/p>\n

          \/* \u542f\u52a8\u8c03\u5ea6\u5668 *\/<\/span>
          \n if<\/span>(<\/span> xPortStartScheduler<\/span>(<\/span>)<\/span> !=<\/span> pdFALSE )<\/span>
          \n {<\/span>
          \n \/* \u8c03\u5ea6\u5668\u542f\u52a8\u6210\u529f，\u5219\u4e0d\u4f1a\u8fd4\u56de，\u5373\u4e0d\u4f1a\u6765\u5230\u8fd9\u91cc *\/<\/span>
          \n }<\/span>
          \n}<\/span><\/p>\n

          （2）for(i=0; i<configMAX_PRIORITIES; i++)： \u626b\u63cf\u5c31\u7eea\u5217\u8868\u4e2d\u6240\u6709\u4efb\u52a1\u7684 xTicksToDelay，\u5982\u679c\u4e0d\u4e3a 0，\u5219\u51cf 1\u3002\u8be5if（）\u8bed\u53e5\u8c03\u7528\u4e86：
          \nlistGET_OWNER_OF_HEAD_ENTRY，\u5b8f\u5b9a\u4e49\u5982\u4e0b：<\/p>\n

          #<\/span>define<\/span> listGET_OWNER_OF_HEAD_ENTRY<\/span>(<\/span> pxList )<\/span> (<\/span> (<\/span>&<\/span>(<\/span> (<\/span> pxList )<\/span>-><\/span>xListEnd )<\/span>)<\/span>-><\/span>pxNext-><\/span>pvOwner )<\/span><\/span><\/span><\/p>\n

          \u53ef\u4ee5\u770b\u5230\u8be5\u5b8f\u5b9a\u4e49\u662f\u8bbf\u95ee\u6bcf\u4e2a\u94fe\u8868\u7684\u7b2c\u4e00\u4e2a\u8282\u70b9\u7684pvOwner\u6210\u5458，\u4e5f\u5c31\u662f\u62ff\u5230\u7b2c\u4e00\u4e2a\u8282\u70b9\u7684\u4efb\u52a1TCB，\u63a5\u7740\u5c31\u53ef\u4ee5\u8bbf\u95ee\u8fd9\u4e2aTCB\u7684xTicksToDelay\u6210\u5458（\u53ef\u4ee5\u770b\u5230\u8fd9\u4e2a\u662f\u6709\u7f3a\u9677\u7684，\u53ea\u80fd\u67e5\u770b\u7b2c\u4e00\u4e2a\u8282\u70b9，\u6240\u4ee5\u5904\u4e8e\u963b\u585e\u72b6\u6001\u7684\u4efb\u52a1\u662f\u4e0d\u5728\u5c31\u7eea\u94fe\u8868\u7684，\u800c\u4e14\u662f\u5728\u5ef6\u65f6\u94fe\u8868）<\/p>\n

          （3）portYIELD()： \u6267\u884c\u4e00\u6b21\u4efb\u52a1\u5207\u6362\u3002\u8054\u5408\u524d\u9762\u7684vTaskSwitchContext（）\u51fd\u6570\u53ef\u4ee5\u77e5\u9053\u540e\u9762\u5c31\u4e0d\u7528\u5728\u4efb\u52a1\u7684\u540e\u9762\u8c03\u7528portYIELD()，\u4ee5\u540e\u4e0d\u7528\u5728\u4efb\u52a1\u4ee3\u7801\u540e\u9762\u624b\u52a8\u8c03 portYIELD()，\u4efb\u52a1\u5207\u6362\u7edf\u4e00\u7531 xTaskIncrementTick() \u5728\u6bcf\u6b21 tick \u65f6\u89e6\u53d1\u3002<\/p>\n

          （5）SysTick \u521d\u59cb\u5316\u51fd\u6570<\/h4>\n

          SysTick \u7684\u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u8981\u60f3\u88ab\u987a\u5229\u6267\u884c，\u5219 SysTick \u5fc5\u987b\u5148\u521d\u59cb\u5316\u3002SysTick \u521d\u59cb\u5316\u51fd\u6570\u5728 port.c \u4e2d\u5b9a\u4e49<\/p>\n

          \/* SysTick \u914d\u7f6e\u5bc4\u5b58\u5668 *\/<\/span>
          \n#<\/span>define<\/span> portNVIC_SYSTICK_CTRL_REG<\/span>(<\/span> *<\/span> (<\/span> (<\/span> volatile<\/span> uint32_t<\/span> *<\/span> )<\/span> 0xe000e010<\/span> )<\/span> )<\/span><\/span><\/span>
          \n#<\/span>define<\/span> portNVIC_SYSTICK_LOAD_REG<\/span>(<\/span> *<\/span> (<\/span> (<\/span> volatile<\/span> uint32_t<\/span> *<\/span> )<\/span> 0xe000e014<\/span> )<\/span> )<\/span><\/span><\/span><\/p>\n

          #<\/span>ifndef<\/span> configSYSTICK_CLOCK_HZ<\/span><\/span>
          \n#<\/span>define<\/span> configSYSTICK_CLOCK_HZ<\/span> configCPU_CLOCK_HZ<\/span><\/span>
          \n\/* \u786e\u4fddSysTick\u7684\u65f6\u949f\u4e0e\u5185\u6838\u65f6\u949f\u4e00\u81f4 *\/<\/span>
          \n#<\/span>define<\/span> portNVIC_SYSTICK_CLK_BIT<\/span>(<\/span> 1UL<\/span> <<<\/span> 2UL<\/span> )<\/span><\/span><\/span>
          \n#<\/span>else<\/span><\/span>
          \n#<\/span>define<\/span> portNVIC_SYSTICK_CLK_BIT<\/span>(<\/span> 0<\/span> )<\/span><\/span><\/span>
          \n#<\/span>endif<\/span><\/span><\/p>\n

          #<\/span>define<\/span> portNVIC_SYSTICK_INT_BIT<\/span>(<\/span> 1UL<\/span> <<<\/span> 1UL<\/span> )<\/span><\/span><\/span>
          \n#<\/span>define<\/span> portNVIC_SYSTICK_ENABLE_BIT<\/span>(<\/span> 1UL<\/span> <<<\/span> 0UL<\/span> )<\/span><\/span><\/span><\/p>\n

          \/*
          \n*************************************************************************
          \n* \u521d\u59cb\u5316SysTick
          \n*************************************************************************
          \n*\/<\/span>
          \nvoid<\/span> vPortSetupTimerInterrupt<\/span>(<\/span> void<\/span> )<\/span>
          \n{<\/span>
          \n \/* \u8bbe\u7f6e\u91cd\u88c5\u8f7d\u5bc4\u5b58\u5668\u7684\u503c *\/<\/span>
          \n portNVIC_SYSTICK_LOAD_REG =<\/span> (<\/span> configSYSTICK_CLOCK_HZ \/<\/span> configTICK_RATE_HZ )<\/span> –<\/span> 1UL<\/span>;<\/span><\/p>\n

          \/* \u8bbe\u7f6e\u7cfb\u7edf\u5b9a\u65f6\u5668\u7684\u65f6\u949f\u7b49\u4e8e\u5185\u6838\u65f6\u949f
          \n \u4f7f\u80fdSysTick \u5b9a\u65f6\u5668\u4e2d\u65ad
          \n \u4f7f\u80fdSysTick \u5b9a\u65f6\u5668 *\/<\/span>
          \n portNVIC_SYSTICK_CTRL_REG =<\/span> (<\/span> portNVIC_SYSTICK_CLK_BIT |<\/span>
          \n portNVIC_SYSTICK_INT_BIT |<\/span>
          \n portNVIC_SYSTICK_ENABLE_BIT )<\/span>;<\/span>
          \n}<\/span><\/p>\n

          **（1）SysTick \u914d\u7f6e\u5bc4\u5b58\u5668：**\u914d\u7f6e SysTick \u9700\u8981\u7528\u5230\u7684\u5bc4\u5b58\u5668\u548c\u5b8f\u5b9a\u4e49，\u5728 port.c \u4e2d\u5b9e\u73b0\u3002<\/p>\n

          （2）portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ \/ configTICK_RATE_HZ ) – 1UL： \u8bbe\u7f6e\u91cd\u88c5\u8f7d\u5bc4\u5b58\u5668\u7684\u503c，\u51b3\u5b9a SysTick \u7684\u4e2d\u65ad\u5468\u671f\u3002\u4ece\u4ee3\u7801\u6e05\u5355 9-10(1) \u53ef \u4ee5 \u77e5 \u9053 ： \u5982 \u679c \u6ca1 \u6709 \u5b9a \u4e49 configSYSTICK_CLOCK_HZ \u90a3 \u4e48configSYSTICK_CLOCK_HZ \u5c31 \u7b49 \u4e8e configCPU_CLOCK_HZ ，configSYSTICK_CLOCK_HZ \u786e \u5b9e \u6ca1 \u6709 \u5b9a \u4e49 ， \u5219 configSYSTICK_CLOCK_HZ \u7531 \u5728FreeRTOSConfig.h \u4e2d\u5b9a\u4e49\u7684 configCPU_CLOCK_HZ \u51b3\u5b9a，\u540c\u65f6 configTICK_RATE_HZ \u4e5f\u5728 FreeRTOSConfig.h \u4e2d\u5b9a\u4e49<\/p>\n

          #<\/span>define<\/span> configCPU_CLOCK_HZ<\/span>(<\/span> (<\/span> unsigned<\/span> long<\/span> )<\/span> 25000000<\/span> )<\/span><\/span><\/span>
          \n#<\/span>define<\/span> configTICK_RATE_HZ<\/span>(<\/span> (<\/span> TickType_t )<\/span> 100<\/span> )<\/span><\/span><\/span><\/p>\n

          \u8fd9\u6b65\u8ba1\u7b97\u516c\u5f0f\u5982\u4e0b：<\/p>\n

          LOAD = 25M \/ 100 – 1 = 249999 \u2192 \u8ba1\u6570\u5668\u8ba1 250000 \u4e2a\u65f6\u949f
          \n\u6bcf\u4e2a\u65f6\u949f\u5468\u671f = 1\/25M = 40ns
          \n\u4e2d\u65ad\u5468\u671f = 250000 \u00d7 40ns = 10ms \u2192 \u662f\u3010\u4e58\u6cd5\u3011<\/p>\n

          portNVIC_SYSTICK_CTRL_REG： \u8bbe\u7f6e\u7cfb\u7edf\u5b9a\u65f6\u5668\u7684\u65f6\u949f\u7b49\u4e8e\u5185\u6838\u65f6\u949f，\u4f7f\u80fd SysTick \u5b9a\u65f6\u5668\u4e2d\u65ad，\u4f7f\u80fd SysTick \u5b9a\u65f6\u5668\u3002<\/p>\n

          \u6700\u540e\u8be5vPortSetupTimerInterrupt( )SysTick \u521d\u59cb\u5316\u51fd\u6570\u4f1a\u5728xPortStartScheduler（）\u542f\u52a8\u8c03\u5ea6\u5668\u51fd\u6570\u88ab\u8c03\u7528，\u5982\u4e0b：<\/p>\n

          BaseType_t xPortStartScheduler<\/span>(<\/span> void<\/span> )<\/span>
          \n{<\/span>
          \n \/* \u914d\u7f6ePendSV \u548c SysTick \u7684\u4e2d\u65ad\u4f18\u5148\u7ea7\u4e3a\u6700\u4f4e *\/<\/span>
          \nportNVIC_SYSPRI2_REG |=<\/span> portNVIC_PENDSV_PRI;<\/span>
          \nportNVIC_SYSPRI2_REG |=<\/span> portNVIC_SYSTICK_PRI;<\/span><\/p>\n

          \/* \u521d\u59cb\u5316SysTick *\/<\/span>
          \nvPortSetupTimerInterrupt<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

          \/* \u542f\u52a8\u7b2c\u4e00\u4e2a\u4efb\u52a1，\u4e0d\u518d\u8fd4\u56de *\/<\/span>
          \nprvStartFirstTask<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

          \/* \u4e0d\u5e94\u8be5\u8fd0\u884c\u5230\u8fd9\u91cc *\/<\/span>
          \nreturn<\/span> 0<\/span>;<\/span>
          \n}<\/span><\/p>\n

          \u603b\u7ed3：vPortSetupTimerInterrupt() \u5728\u542f\u52a8\u8c03\u5ea6\u5668\u88ab\u8c03\u7528\u540e，\u5c31\u4f1a\u4f7f\u80fd SysTick \u4e2d\u65ad，\u63a5\u7740\u6309\u7167\u6211\u4eec\u7684\u914d\u7f6e\u6bcf 10ms \u89e6\u53d1\u4e00\u6b21 SysTick \u4e2d\u65ad，\u968f\u540e\u8fdb\u5165 xPortSysTickHandler() \u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u3002\u8be5\u51fd\u6570\u5148\u5173\u4e2d\u65ad（vPortRaiseBASEPRI()），\u518d\u8c03\u7528 xTaskIncrementTick() \u51fd\u6570，\u8fd9\u4e2a\u51fd\u6570\u5e72\u4e09\u4ef6\u4e8b：<\/p>\n

        • \u7cfb\u7edf\u65f6\u57fa\u8ba1\u6570\u5668 xTickCount \u52a0 1（\u66f4\u65b0\u7cfb\u7edf\u65f6\u57fa）；<\/li>\n
        • \u626b\u63cf\u5c31\u7eea\u94fe\u8868（\u76ee\u524d\u662f\u5c31\u7eea\u94fe\u8868，\u540e\u9762\u4f1a\u6539\u6210\u963b\u585e\u94fe\u8868）\u4e2d\u6240\u6709\u4efb\u52a1\u7684 xTicksToDelay，\u5982\u679c\u4e0d\u4e3a 0 \u5219\u51cf 1；<\/li>\n
        • \u8c03\u7528 taskYIELD() \u51fd\u6570，\u5c06 PendSV \u7684\u60ac\u8d77\u4f4d\u7f6e 1\u3002<\/li>\n

          \u968f\u540e\u5f00\u4e2d\u65ad（vPortClearBASEPRIFromISR()），SysTick \u4e2d\u65ad\u89e3\u9664，PendSV \u4e2d\u65ad\u54cd\u5e94，\u5b8c\u6210\u4e00\u6b21\u4efb\u52a1\u5207\u6362\u3002<\/p>\n

          \u6700\u540emian\u51fd\u6570\u5b9e\u73b0：<\/p>\n

          #<\/span>include<\/span> "FreeRTOS.h"<\/span><\/span>
          \n#<\/span>include<\/span> "task.h"<\/span><\/span><\/p>\n

          portCHAR flag1;<\/span>
          \nportCHAR flag2;<\/span>
          \nportCHAR flag3;<\/span><\/p>\n

          \/*\u5b9a\u4e49\u4efb\u52a1\u7684\u6808,StackType_t\u5c31\u662fuint32_t*\/<\/span>
          \n#<\/span>define<\/span> TASK1_STACK_SIZE<\/span> 128<\/span><\/span><\/span>
          \nStackType_t Task1_Stack[<\/span>TASK1_STACK_SIZE]<\/span>;<\/span>
          \n\/*\u5b9a\u4e49\u4efb\u52a1\u7684TCB，\u7528\u6765\u63cf\u8ff0\u8be5\u4efb\u52a1\u7684\u4fe1\u606f*\/<\/span>
          \nTCB_t Task1TCB;<\/span><\/p>\n

          #<\/span>define<\/span> TASK2_STACK_SIZE<\/span> 128<\/span><\/span><\/span>
          \nStackType_t Task2_Stack[<\/span>TASK2_STACK_SIZE]<\/span>;<\/span>
          \n\/*\u5b9a\u4e49\u4efb\u52a1\u7684TCB，\u7528\u6765\u63cf\u8ff0\u8be5\u4efb\u52a1\u7684\u4fe1\u606f*\/<\/span>
          \nTCB_t Task2TCB;<\/span><\/p>\n

          \/*\u58f0\u660e\u5916\u90e8\u8c03\u7528\u5217\u8868\u9879*\/<\/span>
          \nextern<\/span> List_t pxReadyTasksLists[<\/span> configMAX_PRIORITIES ]<\/span>;<\/span><\/p>\n

          \/*\u58f0\u660e\u8fd9\u4e24\u4e2a\u4efb\u52a1*\/<\/span>
          \nvoid<\/span> Task1_Entry<\/span>(<\/span>void<\/span>*<\/span> p_arg)<\/span>;<\/span>
          \nvoid<\/span> Task2_Entry<\/span>(<\/span>void<\/span>*<\/span> p_arg)<\/span>;<\/span><\/p>\n

          int<\/span> main<\/span>(<\/span>void<\/span>)<\/span>
          \n{<\/span>
          \n\/*\u521d\u59cb\u5316\u5c31\u7eea\u5217\u8868*\/<\/span>
          \nprvInitialiseTaskLists<\/span>(<\/span>)<\/span>;<\/span><\/p>\n

          xTaskCreateStatic<\/span>(<\/span>Task1_Entry,<\/span>"Task1"<\/span>,<\/span>TASK1_STACK_SIZE,<\/span>NULL<\/span>,<\/span>Task1_Stack,<\/span>&<\/span>Task1TCB)<\/span>;<\/span>
          \n\/*\u5c06\u4efb\u52a11\u7684\u8282\u70b9\u63d2\u5165\u5230\u5c31\u7eea\u94fe\u88680\u4e2d*\/<\/span>
          \nvListInsertEnd<\/span>(<\/span>&<\/span>pxReadyTasksLists[<\/span>2<\/span>]<\/span>,<\/span>&<\/span>Task1TCB.<\/span>xStateListItem)<\/span>;<\/span><\/p>\n

          xTaskCreateStatic<\/span>(<\/span>Task2_Entry,<\/span>"Task2"<\/span>,<\/span>TASK1_STACK_SIZE,<\/span>NULL<\/span>,<\/span>Task2_Stack,<\/span>&<\/span>Task2TCB)<\/span>;<\/span>
          \n\/*\u5c06\u4efb\u52a12\u7684\u8282\u70b9\u63d2\u5165\u5230\u5c31\u7eea\u94fe\u88681\u4e2d*\/<\/span>
          \nvListInsertEnd<\/span>(<\/span>&<\/span>pxReadyTasksLists[<\/span>3<\/span>]<\/span>,<\/span>&<\/span>Task2TCB.<\/span>xStateListItem)<\/span>;<\/span><\/p>\n

          \/*\u5f00\u542f\u8c03\u5ea6\u5668*\/<\/span>
          \nvTaskStartScheduler<\/span>(<\/span>)<\/span>;<\/span>
          \nfor<\/span>(<\/span>;<\/span>;<\/span>)<\/span>
          \n{<\/span><\/p>\n

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

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

          \/* \u8f6f\u4ef6\u5ef6\u65f6 *\/<\/span>
          \nvoid<\/span> delay<\/span> (<\/span>uint32_t<\/span> count)<\/span>
          \n{<\/span>
          \nfor<\/span>(<\/span>;<\/span> count!=<\/span>0<\/span>;<\/span> count—<\/span>)<\/span>;<\/span>
          \n}<\/span><\/p>\n

          \/*\u521b\u5efa\u4efb\u52a11，\u76ee\u524d\u6ca1\u6709\u53c2\u6570\u4f20\u8fdb\u6765，\u4e0d\u8fc7\u540e\u9762\u4f1a\u7528\u5230\u5148\u5b9a\u4e49\u4e00\u4e2avoid*\u6307\u9488*\/<\/span>
          \nvoid<\/span> Task1_Entry<\/span>(<\/span>void<\/span>*<\/span> p_arg)<\/span>
          \n{<\/span>
          \nfor<\/span>(<\/span>;<\/span>;<\/span>)<\/span>
          \n{<\/span>
          \nflag1=<\/span>1<\/span>;<\/span>
          \nflag2=<\/span>0<\/span>;<\/span>
          \nflag3=<\/span>0<\/span>;<\/span>
          \nvTaskDelay<\/span>(<\/span>1<\/span>)<\/span>;<\/span>
          \n}<\/span>
          \n}<\/span><\/p>\n

          \/*\u521b\u5efa\u4efb\u52a12*\/<\/span>
          \nvoid<\/span> Task2_Entry<\/span>(<\/span>void<\/span>*<\/span> p_arg)<\/span>
          \n{<\/span>
          \nfor<\/span>(<\/span>;<\/span>;<\/span>)<\/span>
          \n{<\/span>
          \nflag1=<\/span>0<\/span>;<\/span>
          \nflag2=<\/span>1<\/span>;<\/span>
          \nflag3=<\/span>0<\/span>;<\/span>
          \nvTaskDelay<\/span>(<\/span>1<\/span>)<\/span>;<\/span><\/p>\n

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

          \/*\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1*\/<\/span>
          \nStackType_t IdleTaskStack[<\/span>configMINIMAL_STACK_SIZE]<\/span>;<\/span>
          \n\/*\u5b9a\u4e49\u4efb\u52a1\u7684TCB，\u7528\u6765\u63cf\u8ff0\u8be5\u4efb\u52a1\u7684\u4fe1\u606f*\/<\/span>
          \nTCB_t IdleTaskTCB;<\/span>
          \n\/*\u4e8c\u7ea7\u6307\u9488\u51fd\u6570，\u53c2\u6570\u662f\u4e8c\u7ea7\u6307\u9488，\u6307\u5411\u4e00\u7ea7\u6307\u9488*\/<\/span>
          \nvoid<\/span> vApplicationGetIdleTaskMemory<\/span>(<\/span> TCB_t *<\/span>*<\/span>ppxIdleTaskTCBBuffer,<\/span>
          \n StackType_t *<\/span>*<\/span>ppxIdleTaskStackBuffer,<\/span>
          \n uint32_t<\/span> *<\/span>pulIdleTaskStackSize )<\/span>
          \n{<\/span>
          \n*<\/span>ppxIdleTaskTCBBuffer=<\/span>&<\/span>IdleTaskTCB;<\/span>
          \n*<\/span>ppxIdleTaskStackBuffer=<\/span>IdleTaskStack;<\/span>
          \n*<\/span>pulIdleTaskStackSize=<\/span>configMINIMAL_STACK_SIZE;<\/span>
          \n}<\/span><\/p>\n

          \u7a7a\u95f2\u4efb\u52a1：<\/p>\n

          \/*\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1*\/<\/span>
          \nstatic<\/span> portTASK_FUNCTION<\/span>(<\/span> prvIdleTask,<\/span> pvParameters )<\/span>
          \n{<\/span>
          \n\/* \u9632\u6b62\u7f16\u8bd1\u5668\u7684\u8b66\u544a *\/<\/span>
          \n(<\/span> void<\/span> )<\/span> pvParameters;<\/span><\/p>\n

          for<\/span>(<\/span>;<\/span>;<\/span>)<\/span>
          \n {<\/span>
          \nflag1=<\/span>0<\/span>;<\/span>
          \nflag2=<\/span>0<\/span>;<\/span>
          \nflag3=<\/span>1<\/span>;<\/span>
          \nvTaskDelay<\/span>(<\/span>1<\/span>)<\/span>;<\/span>
          \n \/* \u7a7a\u95f2\u4efb\u52a1\u6682\u65f6\u4ec0\u4e48\u90fd\u4e0d\u505a *\/<\/span>
          \n }<\/span>
          \n}<\/span><\/p>\n

          （6）\u5b9e\u9a8c\u73b0\u8c61\u5982\u4e0b：<\/h4>\n

          \"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"
          \n\u53ef\u4ee5\u770b\u5230\u4efb\u52a1\u4e00\u5148\u6267\u884c，\u7136\u540e\u8fdb\u5165\u963b\u585e\u72b6\u6001，\u4efb\u52a1\u4e8c\u6267\u884c\u7136\u540e\u53c8\u8fdb\u5165\u963b\u585e\u72b6\u6001，\u6700\u540e\u5f88\u957f\u4e00\u6bb5\u65f6\u95f4\u90fd\u662f\u7a7a\u95f2\u4efb\u52a1\u6267\u884c，\u8fd9\u662f\u4e3a\u4ec0\u4e48\u5462？\u56e0\u4e3a\u4efb\u52a1\u4e00\u548c\u4efb\u52a1\u4e8c\u53ea\u6267\u884c\u51e0\u5fae\u79d2，\u800c vTaskDelay(1) \u4f9d\u9760\u7684\u4e2d\u65ad\u670d\u52a1\u51fd\u6570（SysTick \u4e2d\u65ad）\u6765\u9012\u51cf\u5ef6\u65f6\u8ba1\u6570，\u800c\u6211\u4eec tick \u4e2d\u65ad\u662f 10ms \u624d\u89e6\u53d1\u4e00\u6b21，\u4e5f\u5c31\u662f\u5728\u8fd9\u5c06\u8fd1 10ms \u65f6\u95f4\u5185，\u4efb\u52a1\u4e00\u548c\u4efb\u52a1\u4e8c\u7684\u5ef6\u65f6\u8ba1\u6570\u90fd\u4e0d\u4f1a\u88ab\u9012\u51cf，\u6240\u4ee5\u5b83\u4eec\u90fd\u65e0\u6cd5\u88ab\u8c03\u5ea6\u6267\u884c，\u624d\u4f1a\u5bfc\u81f4\u540e\u9762\u5f88\u957f\u7684\u65f6\u95f4\u90fd\u662f\u7a7a\u95f2\u4efb\u52a1\u6267\u884c\u3002\u90a3\u6211\u4eec\u628a vTaskDelay(1) \u5220\u9664\u8bd5\u8bd5\u5462？
          \n\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"
          \n\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\"
          \n\u53ef\u4ee5\u770b\u5230\u7a7a\u95f2\u4efb\u52a1\u4e0d\u88ab\u6267\u884c，\u800c\u4efb\u52a1\u4e00\u548c\u4efb\u52a1\u4e8c\u8f6e\u6d41\u5207\u6362，\u65f6\u95f4\u95f4\u9694\u4e3a10ms<\/p>\n","protected":false},"excerpt":{"rendered":"

          \u4e34\u754c\u6bb5\u4fdd\u62a4：
          \n（1）\u4ec0\u4e48\u662f\u4e34\u754c\u6bb5：
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