{"id":122574,"date":"2026-11-05T06:16:44","date_gmt":"2026-11-04T22:16:44","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/122574.html"},"modified":"2026-11-05T06:16:44","modified_gmt":"2026-11-04T22:16:44","slug":"%e3%80%90freertos%e6%ba%90%e7%a0%81%e5%ad%a6%e4%b9%a0%e7%ac%94%e8%ae%b0%e3%80%91%e7%a9%ba%e9%97%b2%e4%bb%bb%e5%8a%a1%e4%b8%8e%e9%98%bb%e5%a1%9e%e5%bb%b6%e6%97%b6","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/122574.html","title":{"rendered":"\u3010FreeRTOS\u6e90\u7801\u5b66\u4e60\u7b14\u8bb0\u3011\u7a7a\u95f2\u4efb\u52a1\u4e0e\u963b\u585e\u5ef6\u65f6"},"content":{"rendered":"<\/p>\n<h4>\u3010FreeRTOS\u6e90\u7801\u5b66\u4e60\u7b14\u8bb0\u3011\u7a7a\u95f2\u4efb\u52a1\u4e0e\u963b\u585e\u5ef6\u65f6<\/h4>\n<ul>\n<li>\u524d\u8a00<\/li>\n<li>\u4e00\u3001\u5b9e\u73b0\u7a7a\u95f2\u4efb\u52a1<\/li>\n<li>\n<ul>\n<li>1.1 \u5b9a\u4e49\u7a7a\u95f2\u4efb\u52a1\u7684\u6808<\/li>\n<li>1.2 \u5b9a\u4e49\u7a7a\u95f2\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757<\/li>\n<li>1.3 \u521b\u5efa\u7a7a\u95f2\u4efb\u52a1<\/li>\n<\/ul>\n<\/li>\n<li>\u4e8c\u3001\u5b9e\u73b0\u963b\u585e\u5ef6\u65f6<\/li>\n<li>\n<ul>\n<li>2.1 vTaskDelay() \u51fd\u6570<\/li>\n<li>2.2 \u4fee\u6539 vTaskSwitchContext() \u51fd\u6570<\/li>\n<li>2.3 SysTick \u4e2d\u65ad\u670d\u52a1\u51fd\u6570<\/li>\n<li>2.4 SysTick \u521d\u59cb\u5316\u51fd\u6570<\/li>\n<\/ul>\n<\/li>\n<li>\u4e09\u3001main\u51fd\u6570<\/li>\n<\/ul>\n<hr \/>\n<h2>\u524d\u8a00<\/h2>\n<p>\u5728\u524d\u9762\u7684\u5b66\u4e60\u4e2d&#xff0c;\u4efb\u52a1\u4e2d\u7684\u5ef6\u65f6\u4f7f\u7528\u7684\u662f\u8f6f\u4ef6\u5ef6\u65f6&#xff0c;\u5373\u8fd8\u662f\u8ba9 CPU \u7b49\u5f85\u6765\u8fbe\u5230\u5ef6\u65f6\u7684\u6548\u679c\u3002\u4f7f\u7528 RTOS \u7684\u4f18\u52bf\u5c31\u662f\u80fd\u5145\u5206\u53d1\u6325 CPU \u7684\u6027\u80fd&#xff0c;\u6c38\u8fdc\u4e0d\u8ba9\u5b83\u95f2\u7740\u3002\u4efb\u52a1\u5982\u679c\u9700\u8981\u5ef6\u65f6&#xff0c;\u4e5f\u5c31\u4e0d\u80fd\u518d\u8ba9 CPU \u7a7a\u7b49\u6765\u5b9e\u73b0\u5ef6\u65f6\u7684\u6548\u679c\u3002RTOS \u4e2d\u7684\u5ef6\u65f6\u53eb\u4f5c\u963b\u585e\u5ef6\u65f6&#xff0c;\u5373\u4efb\u52a1\u9700\u8981\u5ef6\u65f6\u65f6&#xff0c;\u4f1a\u653e\u5f03 CPU \u7684\u4f7f\u7528\u6743&#xff0c;CPU \u53ef\u4ee5\u53bb\u505a\u5176\u4ed6\u7684\u4e8b\u60c5&#xff0c;\u5f53\u4efb\u52a1\u5ef6\u65f6\u65f6\u95f4\u5230&#xff0c;\u91cd\u65b0\u83b7\u53d6 CPU \u4f7f\u7528\u6743&#xff0c;\u4efb\u52a1\u7ee7\u7eed\u8fd0\u884c&#xff0c;\u8fd9\u6837\u5c31\u5145\u5206\u5730\u5229\u7528\u4e86 CPU \u7684\u8d44\u6e90&#xff0c;\u800c\u4e0d\u662f\u7a7a\u7b49\u3002<\/p>\n<p>\u5f53\u4efb\u52a1\u9700\u8981\u5ef6\u65f6\u800c\u8fdb\u5165\u963b\u585e\u72b6\u6001\u65f6&#xff0c;\u90a3 CPU \u5728\u505a\u4ec0\u4e48&#xff1f;\u5982\u679c\u6ca1\u6709\u5176\u4ed6\u4efb\u52a1\u53ef\u4ee5\u8fd0\u884c&#xff0c;RTOS \u90fd\u4f1a\u4e3a CPU \u521b\u5efa\u4e00\u4e2a\u7a7a\u95f2\u4efb\u52a1&#xff0c;\u8fd9\u4e2a\u65f6\u5019 CPU \u5c31\u8fd0\u884c\u7a7a\u95f2\u4efb\u52a1\u3002\u5728 FreeRTOS \u4e2d&#xff0c;\u7a7a\u95f2\u4efb\u52a1\u662f\u7cfb\u7edf\u5728\u542f\u52a8\u8c03\u5ea6\u5668\u65f6\u521b\u5efa\u7684\u4f18\u5148\u7ea7\u6700\u4f4e\u7684\u4efb\u52a1&#xff0c;\u7a7a\u95f2\u4efb\u52a1\u4e3b\u4f53\u4e3b\u8981\u662f\u505a\u4e00\u4e9b\u7cfb\u7edf\u5185\u5b58\u7684\u6e05\u7406\u5de5\u4f5c\u3002\u4f46\u662f\u4e3a\u4e86\u7b80\u5355\u8d77\u89c1&#xff0c;\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\u9274\u4e8e\u7a7a\u95f2\u4efb\u52a1\u7684\u8fd9\u79cd\u7279\u6027&#xff0c;\u5728\u5b9e\u9645\u5e94\u7528\u4e2d&#xff0c;\u5f53\u7cfb\u7edf\u8fdb\u5165\u7a7a\u95f2\u4efb\u52a1\u65f6&#xff0c;\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<hr \/>\n<h2>\u4e00\u3001\u5b9e\u73b0\u7a7a\u95f2\u4efb\u52a1<\/h2>\n<p>\u76ee\u524d\u6211\u4eec\u5728\u521b\u5efa\u4efb\u52a1\u65f6\u4f7f\u7528\u7684\u6808\u548c TCB \u90fd\u4f7f\u7528\u9759\u6001\u5185\u5b58&#xff0c;\u5373\u9700\u8981\u9884\u5148\u5b9a\u4e49\u597d\u5185\u5b58&#xff0c;\u7a7a\u95f2\u4efb\u52a1\u4e5f\u4e0d\u4f8b\u5916\u3002<\/p>\n<h3>1.1 \u5b9a\u4e49\u7a7a\u95f2\u4efb\u52a1\u7684\u6808<\/h3>\n<p>\u5728 main.c \u4e2d\u5b9a\u4e49\u7a7a\u95f2\u4efb\u52a1\u7684\u6808<\/p>\n<p><span class=\"token number\">1<\/span> <span class=\"token comment\">\/* \u5b9a\u4e49\u7a7a\u95f2\u4efb\u52a1\u7684\u6808 *\/<\/span><br \/>\n<span class=\"token number\">2<\/span> #define <span class=\"token function\">configMINIMAL_STACK_SIZE<\/span>    <span class=\"token punctuation\">(<\/span> <span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">unsigned<\/span> <span class=\"token keyword\">short<\/span> <span class=\"token punctuation\">)<\/span> <span class=\"token number\">128<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">3<\/span> StackType_t IdleTaskStack<span class=\"token punctuation\">[<\/span>configMINIMAL_STACK_SIZE<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>                 <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>&#xff08;1&#xff09;&#xff1a;\u7a7a\u95f2\u4efb\u52a1\u7684\u6808\u662f\u4e00\u4e2a\u5b9a\u4e49\u597d\u7684\u6570\u7ec4&#xff0c;\u5927\u5c0f\u7531 FreeRTOSConfig.h \u4e2d\u5b9a\u4e49\u7684\u5b8f configMINIMAL_STACK_SIZE \u63a7\u5236&#xff0c;\u9ed8\u8ba4\u503c\u4e3a 128&#xff0c;\u5355\u4f4d\u4e3a\u5b57&#xff0c;\u5373 512 \u4e2a\u5b57\u8282\u3002<\/p>\n<h3>1.2 \u5b9a\u4e49\u7a7a\u95f2\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757<\/h3>\n<p>\u4efb\u52a1\u63a7\u5236\u5757\u662f\u6bcf\u4e00\u4e2a\u4efb\u52a1\u5fc5\u9700\u7684&#xff0c;\u7a7a\u95f2\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757\u5728 main.c \u4e2d\u5b9a\u4e49&#xff0c;\u662f\u4e00\u4e2a\u5168\u5c40\u53d8\u91cf<\/p>\n<p><span class=\"token number\">1<\/span> <span class=\"token comment\">\/* \u5b9a\u4e49\u7a7a\u95f2\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757 *\/<\/span><br \/>\n<span class=\"token number\">2<\/span> TCB_t IdleTaskTCB<span class=\"token punctuation\">;<\/span><\/p>\n<h3>1.3 \u521b\u5efa\u7a7a\u95f2\u4efb\u52a1<\/h3>\n<p>\u5f53\u5b9a\u4e49\u597d\u7a7a\u95f2\u4efb\u52a1\u7684\u6808\u3001\u4efb\u52a1\u63a7\u5236\u5757\u540e&#xff0c;\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<p><span class=\"token number\">1<\/span> <span class=\"token keyword\">extern<\/span> TCB_t IdleTaskTCB<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">2<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">vApplicationGetIdleTaskMemory<\/span><span class=\"token punctuation\">(<\/span> TCB_t <span class=\"token operator\">*<\/span><span class=\"token operator\">*<\/span>ppxIdleTaskTCBBuffer<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token number\">3<\/span>                                     StackType_t <span class=\"token operator\">*<\/span><span class=\"token operator\">*<\/span>ppxIdleTaskStackBuffer<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token number\">4<\/span>                                     <span class=\"token class-name\">uint32_t<\/span> <span class=\"token operator\">*<\/span>pulIdleTaskStackSize <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">5<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">vTaskStartScheduler<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">6<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">7<\/span>     <span class=\"token comment\">\/*&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; \u521b\u5efa\u7a7a\u95f2\u4efb\u52a1 start &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;*\/<\/span><br \/>\n<span class=\"token number\">8<\/span>     TCB_t <span class=\"token operator\">*<\/span>pxIdleTaskTCBBuffer <span class=\"token operator\">&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/* \u7528\u4e8e\u6307\u5411\u7a7a\u95f2\u4efb\u52a1\u63a7\u5236\u5757 *\/<\/span><br \/>\n<span class=\"token number\">9<\/span>     StackType_t <span class=\"token operator\">*<\/span>pxIdleTaskStackBuffer <span class=\"token operator\">&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/* \u7528\u4e8e\u7a7a\u95f2\u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740 *\/<\/span><br \/>\n<span class=\"token number\">10<\/span>    <span class=\"token class-name\">uint32_t<\/span> ulIdleTaskStackSize<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">11<\/span><br \/>\n<span class=\"token number\">12<\/span>    <span class=\"token comment\">\/* \u83b7\u53d6\u7a7a\u95f2\u4efb\u52a1\u7684\u5185\u5b58&#xff1a;\u4efb\u52a1\u6808\u548c\u4efb\u52a1 TCB *\/<\/span>                              <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">13<\/span>    <span class=\"token function\">vApplicationGetIdleTaskMemory<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token operator\">&amp;<\/span>pxIdleTaskTCBBuffer<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token number\">14<\/span>                                   <span class=\"token operator\">&amp;<\/span>pxIdleTaskStackBuffer<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token number\">15<\/span>                                   <span class=\"token operator\">&amp;<\/span>ulIdleTaskStackSize <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">16<\/span>    <span class=\"token comment\">\/* \u521b\u5efa\u7a7a\u95f2\u4efb\u52a1 *\/<\/span>                                                   <span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">17<\/span>    xIdleTaskHandle <span class=\"token operator\">&#061;<\/span><br \/>\n<span class=\"token number\">18<\/span>    <span class=\"token function\">xTaskCreateStatic<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token punctuation\">(<\/span>TaskFunction_t<span class=\"token punctuation\">)<\/span>prvIdleTask<span class=\"token punctuation\">,<\/span>   <span class=\"token comment\">\/* \u4efb\u52a1\u5165\u53e3 *\/<\/span><br \/>\n<span class=\"token number\">19<\/span>                      <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span><span class=\"token string\">&#034;IDLE&#034;<\/span><span class=\"token punctuation\">,<\/span>                 <span class=\"token comment\">\/* \u4efb\u52a1\u540d\u79f0&#xff0c;\u5b57\u7b26\u4e32\u5f62\u5f0f *\/<\/span><br \/>\n<span class=\"token number\">20<\/span>                      <span class=\"token punctuation\">(<\/span><span class=\"token class-name\">uint32_t<\/span><span class=\"token punctuation\">)<\/span>ulIdleTaskStackSize <span class=\"token punctuation\">,<\/span> <span class=\"token comment\">\/* \u4efb\u52a1\u6808\u5927\u5c0f&#xff0c;\u5355\u4f4d\u4e3a\u5b57 *\/<\/span><br \/>\n<span class=\"token number\">21<\/span>                      <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span>                  <span class=\"token comment\">\/* \u4efb\u52a1\u5f62\u53c2 *\/<\/span><br \/>\n<span class=\"token number\">22<\/span>                      <span class=\"token punctuation\">(<\/span>StackType_t <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>pxIdleTaskStackBuffer<span class=\"token punctuation\">,<\/span> <span class=\"token comment\">\/* \u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740 *\/<\/span><br \/>\n<span class=\"token number\">23<\/span>                      <span class=\"token punctuation\">(<\/span>TCB_t <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>pxIdleTaskTCBBuffer <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/* \u4efb\u52a1\u63a7\u5236\u5757 *\/<\/span><br \/>\n<span class=\"token number\">24<\/span>    <span class=\"token comment\">\/* \u5c06\u4efb\u52a1\u6dfb\u52a0\u5230\u5c31\u7eea\u5217\u8868 *\/<\/span>                                          <span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">25<\/span>    <span class=\"token function\">vListInsertEnd<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token operator\">&amp;<\/span><span class=\"token punctuation\">(<\/span> pxReadyTasksLists<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token number\">26<\/span>                   <span class=\"token operator\">&amp;<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span>TCB_t <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>pxIdleTaskTCBBuffer<span class=\"token punctuation\">)<\/span><span class=\"token operator\">-&gt;<\/span>xStateListItem <span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">27<\/span>    <span class=\"token comment\">\/*&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061; \u521b\u5efa\u7a7a\u95f2\u4efb\u52a1 end &#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;&#061;*\/<\/span><br \/>\n<span class=\"token number\">28<\/span><br \/>\n<span class=\"token number\">29<\/span>    <span class=\"token comment\">\/* \u624b\u52a8\u6307\u5b9a\u7b2c\u4e00\u4e2a\u8fd0\u884c\u7684\u4efb\u52a1 *\/<\/span><br \/>\n<span class=\"token number\">30<\/span>    pxCurrentTCB <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&amp;<\/span>Task1TCB<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">31<\/span><br \/>\n<span class=\"token number\">32<\/span>    <span class=\"token comment\">\/* \u542f\u52a8\u8c03\u5ea6\u5668 *\/<\/span><br \/>\n<span class=\"token number\">33<\/span>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span> <span class=\"token function\">xPortStartScheduler<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">!&#061;<\/span> pdFALSE <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">34<\/span>    <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">35<\/span>        <span class=\"token comment\">\/* \u8c03\u5ea6\u5668\u542f\u52a8\u6210\u529f&#xff0c;\u5219\u4e0d\u4f1a\u8fd4\u56de&#xff0c;\u5373\u4e0d\u4f1a\u6765\u5230\u8fd9\u91cc *\/<\/span><br \/>\n<span class=\"token number\">36<\/span>    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">37<\/span> <span class=\"token punctuation\">}<\/span><\/p>\n<p>( 1 )&#xff1a;\u83b7\u53d6\u7a7a\u95f2\u4efb\u52a1\u7684\u5185\u5b58&#xff0c;\u5373\u5c06 pxIdleTaskTCBBuffer \u548c pxIdleTaskStackBuffer \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&#xff0c;\u8fd9\u4e2a\u64cd\u4f5c\u7531\u51fd\u6570 vApplicationGetIdleTaskMemory() \u6765\u5b9e\u73b0&#xff0c;\u8be5\u51fd\u6570\u9700\u8981\u7528\u6237\u81ea\u5b9a\u4e49&#xff0c;\u76ee\u524d\u6211\u4eec\u5728 main.c \u4e2d\u5b9e\u73b0 ( 2 )&#xff1a;\u8c03\u7528 xTaskCreateStatic() \u51fd\u6570\u521b\u5efa\u7a7a\u95f2\u4efb\u52a1\u3002 ( 3 )&#xff1a;\u5c06\u7a7a\u95f2\u4efb\u52a1\u63d2\u5165\u5c31\u7eea\u5217\u8868\u7684\u5f00\u5934\u3002\u7b49\u5b66\u4e60\u5230\u540e\u9762\u6211\u4eec\u4f1a\u652f\u6301\u4f18\u5148\u7ea7&#xff0c;\u7a7a\u95f2\u4efb\u52a1\u9ed8\u8ba4\u7684\u4f18\u5148\u7ea7\u662f\u6700\u4f4e\u7684&#xff0c;\u5373\u6392\u5728\u5c31\u7eea\u5217\u8868\u7684\u5f00\u5934\u3002<\/p>\n<p>vApplicationGetIdleTaskMemory() \u51fd\u6570\u5b9e\u73b0&#xff1a;<\/p>\n<p><span class=\"token number\">1<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">vApplicationGetIdleTaskMemory<\/span><span class=\"token punctuation\">(<\/span> TCB_t <span class=\"token operator\">*<\/span><span class=\"token operator\">*<\/span>ppxIdleTaskTCBBuffer<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token number\">2<\/span>                                    StackType_t <span class=\"token operator\">*<\/span><span class=\"token operator\">*<\/span>ppxIdleTaskStackBuffer<span class=\"token punctuation\">,<\/span><br \/>\n<span class=\"token number\">3<\/span>                                    <span class=\"token class-name\">uint32_t<\/span> <span class=\"token operator\">*<\/span>pulIdleTaskStackSize <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">4<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">5<\/span>     <span class=\"token operator\">*<\/span>ppxIdleTaskTCBBuffer<span class=\"token operator\">&#061;<\/span><span class=\"token operator\">&amp;<\/span>IdleTaskTCB<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">6<\/span>     <span class=\"token operator\">*<\/span>ppxIdleTaskStackBuffer<span class=\"token operator\">&#061;<\/span>IdleTaskStack<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">7<\/span>     <span class=\"token operator\">*<\/span>pulIdleTaskStackSize<span class=\"token operator\">&#061;<\/span>configMINIMAL_STACK_SIZE<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">8<\/span> <span class=\"token punctuation\">}<\/span><\/p>\n<hr \/>\n<h2>\u4e8c\u3001\u5b9e\u73b0\u963b\u585e\u5ef6\u65f6<\/h2>\n<h3>2.1 vTaskDelay() \u51fd\u6570<\/h3>\n<p>\u963b\u585e\u5ef6\u65f6\u7684\u963b\u585e\u662f\u6307\u4efb\u52a1\u8c03\u7528\u8be5\u5ef6\u65f6\u51fd\u6570\u540e&#xff0c;\u4efb\u52a1\u4f1a\u88ab\u5265\u593a CPU \u4f7f\u7528\u6743&#xff0c;\u7136\u540e\u8fdb\u5165\u963b\u585e\u72b6\u6001&#xff0c;\u76f4\u5230\u5ef6\u65f6\u7ed3\u675f&#xff0c;\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&#xff0c;CPU \u53ef\u4ee5\u53bb\u6267\u884c\u5176\u4ed6\u4efb\u52a1&#xff0c;\u5982\u679c\u5176\u4ed6\u4efb\u52a1\u4e5f\u5904\u4e8e\u5ef6\u65f6\u72b6\u6001&#xff0c;\u90a3\u4e48 CPU \u5c31\u5c06\u8fd0\u884c\u7a7a\u95f2\u4efb\u52a1\u3002\u963b\u585e\u5ef6\u65f6\u51fd\u6570 vTaskDelay() \u5728 task.c \u4e2d\u5b9a\u4e49\u3002<\/p>\n<p><span class=\"token number\">1<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">vTaskDelay<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">const<\/span> TickType_t xTicksToDelay <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">2<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">3<\/span>     TCB_t <span class=\"token operator\">*<\/span>pxTCB <span class=\"token operator\">&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">4<\/span><br \/>\n<span class=\"token number\">5<\/span>     <span class=\"token comment\">\/* \u83b7\u53d6\u5f53\u524d\u4efb\u52a1\u7684 TCB *\/<\/span><br \/>\n<span class=\"token number\">6<\/span>     pxTCB <span class=\"token operator\">&#061;<\/span> pxCurrentTCB<span class=\"token punctuation\">;<\/span>                                      <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">7<\/span><br \/>\n<span class=\"token number\">8<\/span>     <span class=\"token comment\">\/* \u8bbe\u7f6e\u5ef6\u65f6\u65f6\u95f4 *\/<\/span><br \/>\n<span class=\"token number\">9<\/span>     pxTCB<span class=\"token operator\">-&gt;<\/span>xTicksToDelay <span class=\"token operator\">&#061;<\/span> xTicksToDelay<span class=\"token punctuation\">;<\/span>                      <span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">10<\/span><br \/>\n<span class=\"token number\">11<\/span>    <span class=\"token comment\">\/* \u4efb\u52a1\u5207\u6362 *\/<\/span><br \/>\n<span class=\"token number\">12<\/span>    <span class=\"token function\">taskYIELD<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>                                               <span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">13<\/span> <span class=\"token punctuation\">}<\/span><\/p>\n<p>( 1 )&#xff1a;\u83b7\u53d6\u5f53\u524d\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757\u3002pxCurrentTCB \u662f\u4e00\u4e2a\u5728 task.c \u4e2d\u5b9a\u4e49\u7684\u5168\u5c40\u6307\u9488&#xff0c;\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<p>&#xff08;2&#xff09;&#xff1a;xTicksToDelay \u662f\u4efb\u52a1\u63a7\u5236\u5757\u7684\u4e00\u4e2a\u6210\u5458&#xff0c;\u7528\u4e8e\u8bb0\u5f55\u4efb\u52a1\u9700\u8981\u5ef6\u65f6\u7684\u65f6\u95f4&#xff0c;\u5355\u4f4d\u4e3a SysTick \u7684\u4e2d\u65ad\u5468\u671f\u3002\u6bd4\u5982\u672c\u4e66\u5f53\u4e2d SysTick \u7684\u4e2d\u65ad\u5468\u671f\u4e3a 10ms&#xff0c;\u8c03\u7528 vTaskDelay (2) \u5219\u5b8c\u6210 2 \u00d7 10ms \u7684\u5ef6\u65f6\u3002<\/p>\n<p>xTicksToDelay \u5b9a\u4e49<\/p>\n<p><span class=\"token number\">1<\/span> <span class=\"token keyword\">typedef<\/span> <span class=\"token keyword\">struct<\/span> <span class=\"token class-name\">tskTaskControlBlock<\/span><br \/>\n<span class=\"token number\">2<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">3<\/span>     <span class=\"token keyword\">volatile<\/span> StackType_t   <span class=\"token operator\">*<\/span>pxTopOfStack<span class=\"token punctuation\">;<\/span>      <span class=\"token comment\">\/* \u6808\u9876 *\/<\/span><br \/>\n<span class=\"token number\">4<\/span><br \/>\n<span class=\"token number\">5<\/span>     ListItem_t             xStateListItem<span class=\"token punctuation\">;<\/span>     <span class=\"token comment\">\/* \u4efb\u52a1\u8282\u70b9 *\/<\/span><br \/>\n<span class=\"token number\">6<\/span><br \/>\n<span class=\"token number\">7<\/span>     StackType_t            <span class=\"token operator\">*<\/span>pxStack<span class=\"token punctuation\">;<\/span>           <span class=\"token comment\">\/* \u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740 *\/<\/span><br \/>\n<span class=\"token number\">8<\/span>     <span class=\"token comment\">\/* \u4efb\u52a1\u540d\u79f0&#xff0c;\u5b57\u7b26\u4e32\u5f62\u5f0f *\/<\/span><br \/>\n<span class=\"token number\">9<\/span>     <span class=\"token keyword\">char<\/span>                   pcTaskName<span class=\"token punctuation\">[<\/span> configMAX_TASK_NAME_LEN <span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">10<\/span><br \/>\n<span class=\"token number\">11<\/span>    TickType_t xTicksToDelay<span class=\"token punctuation\">;<\/span>                  <span class=\"token comment\">\/* \u7528\u4e8e\u5ef6\u65f6 *\/<\/span><br \/>\n<span class=\"token number\">12<\/span> <span class=\"token punctuation\">}<\/span> tskTCB<span class=\"token punctuation\">;<\/span><\/p>\n<hr \/>\n<h3>2.2 \u4fee\u6539 vTaskSwitchContext() \u51fd\u6570<\/h3>\n<p>vTaskDelay() \u4ee3\u7801\u7684&#xff08;3&#xff09;&#xff1a;\u4efb\u52a1\u5207\u6362\u3002\u8c03\u7528 taskYIELD() \u4f1a\u4ea7\u751f PendSV \u4e2d\u65ad&#xff0c;\u5728 PendSV \u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u4e2d\u4f1a\u8c03\u7528\u4e0a\u4e0b\u6587\u5207\u6362\u51fd\u6570 vTaskSwitchContext()&#xff0c;\u8be5\u51fd\u6570\u7684\u4f5c\u7528\u662f\u5bfb\u627e\u6700\u9ad8\u4f18\u5148\u7ea7\u7684\u5c31\u7eea\u4efb\u52a1&#xff0c;\u7136\u540e\u66f4\u65b0 pxCurrentTCB\u3002\u76ee\u524d\u6211\u4eec\u5b66\u4e60\u5230\u73b0\u5728\u53ea\u6709\u4e24\u4e2a\u4efb\u52a1&#xff0c;\u5219 pxCurrentTCB \u4e0d\u662f\u6307\u5411\u4efb\u52a1 1 \u5c31\u662f\u6307\u5411\u4efb\u52a1 2&#xff0c;\u672c\u7ae0\u5f00\u59cb\u6211\u4eec\u589e\u52a0\u4e86\u4e00\u4e2a\u7a7a\u95f2\u4efb\u52a1&#xff0c;\u5219\u9700\u8981\u8ba9 pxCurrentTCB \u5728\u8fd9 3 \u4e2a\u4efb\u52a1\u4e2d\u5207\u6362\u3002\u7b97\u6cd5\u9700\u8981\u6539\u53d8&#xff0c;\u5177\u4f53\u5b9e\u73b0\u53c2\u89c1\u4ee3\u7801\u6e05\u5355 7-7 \u4e2d\u7684\u52a0\u7c97\u90e8\u5206\u3002<\/p>\n<p>vTaskSwitchContext() \u51fd\u6570<\/p>\n<p><span class=\"token number\">1<\/span> #<span class=\"token keyword\">if<\/span> <span class=\"token number\">0<\/span>  <span class=\"token comment\">\/\/(\u4e4b\u524d\u7684\u5199\u6cd5)<\/span><br \/>\n<span class=\"token number\">2<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">vTaskSwitchContext<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">3<\/span> <span class=\"token punctuation\">{<\/span>   <span class=\"token comment\">\/* \u4e24\u4e2a\u4efb\u52a1\u8f6e\u6d41\u5207\u6362 *\/<\/span><br \/>\n<span class=\"token number\">4<\/span>     <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span> pxCurrentTCB <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token operator\">&amp;<\/span>Task1TCB <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">5<\/span>     <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">6<\/span>         pxCurrentTCB <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&amp;<\/span>Task2TCB<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">7<\/span>     <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">8<\/span>     <span class=\"token keyword\">else<\/span><br \/>\n<span class=\"token number\">9<\/span>     <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">10<\/span>        pxCurrentTCB <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&amp;<\/span>Task1TCB<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">11<\/span>    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">12<\/span> <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">13<\/span> #<span class=\"token keyword\">else<\/span><br \/>\n<span class=\"token number\">14<\/span> <span class=\"token comment\">\/\/ \u4fee\u6539\u540e\u7684\u5199\u6cd5<\/span><br \/>\n<span class=\"token number\">15<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">vTaskSwitchContext<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">16<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">17<\/span>    <span class=\"token comment\">\/* \u5982\u679c\u5f53\u524d\u4efb\u52a1\u662f\u7a7a\u95f2\u4efb\u52a1&#xff0c;\u90a3\u4e48\u5c31\u53bb\u5c1d\u8bd5\u6267\u884c\u4efb\u52a11\u6216\u8005\u4efb\u52a12&#xff0c;<br \/>\n18    \u770b\u770b\u5b83\u4eec\u7684\u5ef6\u65f6\u662f\u5426\u7ed3\u675f&#xff0c;\u5982\u679c\u4efb\u52a1\u7684\u5ef6\u65f6\u5747\u6ca1\u6709\u5230\u671f&#xff0c;<br \/>\n19    \u5219\u8fd4\u56de&#xff0c;\u7ee7\u7eed\u6267\u884c\u7a7a\u95f2\u4efb\u52a1 *\/<\/span><br \/>\n<span class=\"token number\">20<\/span>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span> pxCurrentTCB <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token operator\">&amp;<\/span>IdleTaskTCB <span class=\"token punctuation\">)<\/span>                          <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">21<\/span>    <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">22<\/span>        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>Task1TCB<span class=\"token punctuation\">.<\/span>xTicksToDelay <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">23<\/span>    <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">24<\/span>        pxCurrentTCB <span class=\"token operator\">&#061;<\/span><span class=\"token operator\">&amp;<\/span>Task1TCB<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">25<\/span>    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">26<\/span>    <span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>Task2TCB<span class=\"token punctuation\">.<\/span>xTicksToDelay <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">27<\/span>    <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">28<\/span>        pxCurrentTCB <span class=\"token operator\">&#061;<\/span><span class=\"token operator\">&amp;<\/span>Task2TCB<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">29<\/span>    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">30<\/span>    <span class=\"token keyword\">else<\/span><br \/>\n<span class=\"token number\">31<\/span>    <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">32<\/span>        <span class=\"token keyword\">return<\/span><span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/* \u4efb\u52a1\u5ef6\u65f6\u5747\u6ca1\u6709\u5230\u671f\u5219\u8fd4\u56de&#xff0c;\u7ee7\u7eed\u6267\u884c\u7a7a\u95f2\u4efb\u52a1 *\/<\/span><br \/>\n<span class=\"token number\">33<\/span>    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">34<\/span> <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">35<\/span> <span class=\"token keyword\">else<\/span><span class=\"token comment\">\/* \u5f53\u524d\u4efb\u52a1\u4e0d\u662f\u7a7a\u95f2\u4efb\u52a1\u5219\u4f1a\u6267\u884c\u5230\u8fd9\u91cc *\/<\/span>                                  <span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">36<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">37<\/span>    <span class=\"token comment\">\/* \u5982\u679c\u5f53\u524d\u4efb\u52a1\u662f\u4efb\u52a1 1 \u6216\u8005\u4efb\u52a1 2&#xff0c;\u68c0\u67e5\u53e6\u5916\u4e00\u4e2a\u4efb\u52a1&#xff0c;<br \/>\n38    \u5982\u679c\u53e6\u5916\u7684\u4efb\u52a1\u4e0d\u5728\u5ef6\u65f6\u4e2d&#xff0c;\u5c31\u5207\u6362\u5230\u8be5\u4efb\u52a1&#xff0c;<br \/>\n39    \u5426\u5219&#xff0c;\u5224\u65ad\u5f53\u524d\u4efb\u52a1\u662f\u5426\u5e94\u8be5\u8fdb\u5165\u5ef6\u65f6\u72b6\u6001&#xff0c;<br \/>\n40    \u5982\u679c\u662f&#xff0c;\u5c31\u5207\u6362\u5230\u7a7a\u95f2\u4efb\u52a1&#xff0c;\u5426\u5219\u4e0d\u8fdb\u884c\u4efb\u4f55\u5207\u6362 *\/<\/span><br \/>\n<span class=\"token number\">41<\/span>    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>pxCurrentTCB <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token operator\">&amp;<\/span>Task1TCB<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">42<\/span>    <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">43<\/span>        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>Task2TCB<span class=\"token punctuation\">.<\/span>xTicksToDelay <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">44<\/span>        <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">45<\/span>            pxCurrentTCB <span class=\"token operator\">&#061;<\/span><span class=\"token operator\">&amp;<\/span>Task2TCB<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">46<\/span>        <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">47<\/span>        <span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>pxCurrentTCB<span class=\"token operator\">-&gt;<\/span>xTicksToDelay <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">48<\/span>        <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">49<\/span>            pxCurrentTCB <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&amp;<\/span>IdleTaskTCB<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">50<\/span>        <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">51<\/span>        <span class=\"token keyword\">else<\/span><br \/>\n<span class=\"token number\">52<\/span>        <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">53<\/span>            <span class=\"token keyword\">return<\/span><span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/* \u8fd4\u56de&#xff0c;\u4e0d\u8fdb\u884c\u5207\u6362&#xff0c;\u56e0\u4e3a\u4e24\u4e2a\u4efb\u52a1\u90fd\u5904\u4e8e\u5ef6\u65f6\u4e2d *\/<\/span><br \/>\n<span class=\"token number\">54<\/span>        <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">55<\/span>    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">56<\/span>    <span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>pxCurrentTCB <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token operator\">&amp;<\/span>Task2TCB<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">57<\/span>    <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">58<\/span>        <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>Task1TCB<span class=\"token punctuation\">.<\/span>xTicksToDelay <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">59<\/span>        <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">60<\/span>            pxCurrentTCB <span class=\"token operator\">&#061;<\/span><span class=\"token operator\">&amp;<\/span>Task1TCB<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">61<\/span>        <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">62<\/span>        <span class=\"token keyword\">else<\/span> <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>pxCurrentTCB<span class=\"token operator\">-&gt;<\/span>xTicksToDelay <span class=\"token operator\">!&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">63<\/span>        <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">64<\/span>            pxCurrentTCB <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&amp;<\/span>IdleTaskTCB<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">65<\/span>        <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">66<\/span>        <span class=\"token keyword\">else<\/span><br \/>\n<span class=\"token number\">67<\/span>        <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">68<\/span>            <span class=\"token keyword\">return<\/span><span class=\"token punctuation\">;<\/span>            <span class=\"token comment\">\/* \u8fd4\u56de&#xff0c;\u4e0d\u8fdb\u884c\u5207\u6362&#xff0c;\u56e0\u4e3a\u4e24\u4e2a\u4efb\u52a1\u90fd\u5904\u4e8e\u5ef6\u65f6\u4e2d *\/<\/span><br \/>\n<span class=\"token number\">69<\/span>        <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">70<\/span>    <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">71<\/span> <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">72<\/span> <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">73<\/span><br \/>\n<span class=\"token number\">74<\/span> #endif<\/p>\n<p>( 1 )&#xff1a;\u5982\u679c\u5f53\u524d\u4efb\u52a1\u662f\u7a7a\u95f2\u4efb\u52a1&#xff0c;\u90a3\u4e48\u5c31\u53bb\u5c1d\u8bd5\u6267\u884c\u4efb\u52a1 1 \u6216\u8005\u4efb\u52a1 2&#xff0c;\u770b\u770b\u5b83\u4eec\u7684\u5ef6\u65f6\u662f\u5426\u7ed3\u675f&#xff0c;\u5982\u679c\u4efb\u52a1\u7684\u5ef6\u65f6\u5747\u6ca1\u6709\u5230\u671f&#xff0c;\u5219\u8fd4\u56de&#xff0c;\u7ee7\u7eed\u6267\u884c\u7a7a\u95f2\u4efb\u52a1\u3002 ( 2 )&#xff1a;\u5982\u679c\u5f53\u524d\u4efb\u52a1\u662f\u4efb\u52a1 1 \u6216\u8005\u4efb\u52a1 2&#xff0c;\u68c0\u67e5\u53e6\u5916\u4e00\u4e2a\u4efb\u52a1&#xff0c;\u5982\u679c\u53e6\u5916\u7684\u4efb\u52a1\u4e0d\u5728\u5ef6\u65f6\u4e2d&#xff0c;\u5c31\u5207\u6362\u5230\u8be5\u4efb\u52a1\u3002\u5426\u5219&#xff0c;\u5224\u65ad\u5f53\u524d\u4efb\u52a1\u662f\u5426\u5e94\u8be5\u8fdb\u5165\u5ef6\u65f6\u72b6\u6001&#xff0c;\u5982\u679c\u662f&#xff0c;\u5c31\u5207\u6362\u5230\u7a7a\u95f2\u4efb\u52a1&#xff0c;\u5426\u5219\u4e0d\u8fdb\u884c\u4efb\u4f55\u5207\u6362\u3002<\/p>\n<hr \/>\n<h3>2.3 SysTick \u4e2d\u65ad\u670d\u52a1\u51fd\u6570<\/h3>\n<p>\u5728\u4efb\u52a1\u4e0a\u4e0b\u6587\u5207\u6362\u51fd\u6570 vTaskSwitchContext() \u4e2d&#xff0c;\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&#xff0c;\u5982\u679c\u4e3a 0 \u5c31\u8981\u5c06\u5bf9\u5e94\u7684\u4efb\u52a1\u5c31\u7eea&#xff0c;\u5982\u679c\u4e0d\u4e3a 0 \u5c31\u7ee7\u7eed\u5ef6\u65f6\u3002\u5982\u679c\u4e00\u4e2a\u4efb\u52a1\u8981\u5ef6\u65f6&#xff0c;\u4e00\u5f00\u59cb xTicksToDelay \u80af\u5b9a\u4e0d\u4e3a 0&#xff0c;\u5f53 xTicksToDelay \u53d8\u4e3a 0 \u65f6\u8868\u793a\u5ef6\u65f6\u7ed3\u675f\u3002\u90a3\u4e48 xTicksToDelay \u662f\u4ee5\u4ec0\u4e48\u5468\u671f\u5728\u9012\u51cf&#xff1f;\u5728\u54ea\u91cc\u9012\u51cf&#xff1f;\u5728 FreeRTOS \u4e2d&#xff0c;\u8fd9\u4e2a\u5468\u671f\u7531 SysTick \u4e2d\u65ad\u63d0\u4f9b&#xff0c;\u64cd\u4f5c\u7cfb\u7edf\u4e2d\u7684\u6700\u5c0f\u7684\u65f6\u95f4\u5355\u4f4d\u5c31\u662f SysTick \u7684\u4e2d\u65ad\u5468\u671f&#xff0c;\u6211\u4eec\u79f0\u4e4b\u4e3a\u4e00\u4e2a tick\u3002SysTick \u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u5728 port.c \u4e2d\u5b9e\u73b0\u3002<\/p>\n<p>SysTick \u4e2d\u65ad\u670d\u52a1\u51fd\u6570<\/p>\n<p><span class=\"token number\">1<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">xPortSysTickHandler<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">2<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">3<\/span>     <span class=\"token comment\">\/* \u5173\u4e2d\u65ad *\/<\/span><br \/>\n<span class=\"token number\">4<\/span>     UBaseType_t uxSavedInterruptStatus <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">portSET_INTERRUPT_MASK_FROM_ISR<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">5<\/span><br \/>\n<span class=\"token number\">6<\/span>     <span class=\"token comment\">\/* \u66f4\u65b0\u7cfb\u7edf\u65f6\u57fa *\/<\/span><br \/>\n<span class=\"token number\">7<\/span>     <span class=\"token function\">xTaskIncrementTick<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>                              <span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">8<\/span><br \/>\n<span class=\"token number\">9<\/span>     <span class=\"token comment\">\/* \u5f00\u4e2d\u65ad *\/<\/span><br \/>\n<span class=\"token number\">10<\/span>    <span class=\"token function\">portCLEAR_INTERRUPT_MASK_FROM_ISR<\/span><span class=\"token punctuation\">(<\/span> uxSavedInterruptStatus <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>      <span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">11<\/span> <span class=\"token punctuation\">}<\/span><\/p>\n<p>( 1 )&#xff1a;\u8fdb\u5165\u4e34\u754c\u6bb5&#xff0c;\u5173\u4e2d\u65ad\u3002 ( 2 )&#xff1a;xTaskIncrementTick() \u51fd\u6570\u66f4\u65b0\u7cfb\u7edf\u65f6\u57fa&#xff0c;\u8be5\u51fd\u6570\u5728 task.c \u4e2d\u5b9a\u4e49\u3002 ( 3 )&#xff1a;\u9000\u51fa\u4e34\u754c\u6bb5&#xff0c;\u5f00\u4e2d\u65ad\u3002<\/p>\n<p>xTaskIncrementTick()\u51fd\u6570<\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">xTaskIncrementTick<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n    TCB_t <span class=\"token operator\">*<\/span>pxTCB <span class=\"token operator\">&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    BaseType_t i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u66f4\u65b0\u7cfb\u7edf\u65f6\u57fa\u8ba1\u6570\u5668 xTickCount&#xff0c;xTickCount \u662f\u4e00\u4e2a\u5728 port.c \u4e2d\u5b9a\u4e49\u7684\u5168\u5c40\u53d8\u91cf *\/<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">const<\/span> TickType_t xConstTickCount <span class=\"token operator\">&#061;<\/span> xTickCount <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    xTickCount <span class=\"token operator\">&#061;<\/span> xConstTickCount<span class=\"token punctuation\">;<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u626b\u63cf\u5c31\u7eea\u5217\u8868\u4e2d\u6240\u6709\u4efb\u52a1\u7684 xTicksToDelay&#xff0c;\u5982\u679c\u4e0d\u4e3a 0&#xff0c;\u5219\u51cf 1 *\/<\/span>          <span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span>i<span class=\"token operator\">&#061;<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&lt;<\/span>configMAX_PRIORITIES<span class=\"token punctuation\">;<\/span> i<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">)<\/span><br \/>\n   <span class=\"token punctuation\">{<\/span><br \/>\n    pxTCB <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span> TCB_t <span class=\"token operator\">*<\/span> <span class=\"token punctuation\">)<\/span> <span class=\"token function\">listGET_OWNER_OF_HEAD_ENTRY<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token punctuation\">(<\/span> <span class=\"token operator\">&amp;<\/span>pxReadyTasksLists<span class=\"token punctuation\">[<\/span>i<span class=\"token punctuation\">]<\/span> <span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span>pxTCB<span class=\"token operator\">-&gt;<\/span>xTicksToDelay <span class=\"token operator\">&gt;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token punctuation\">{<\/span><br \/>\n        pxTCB<span class=\"token operator\">-&gt;<\/span>xTicksToDelay <span class=\"token operator\">&#8212;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><br \/>\n    <span class=\"token punctuation\">}<\/span><\/p>\n<p>    <span class=\"token comment\">\/* \u4efb\u52a1\u5207\u6362 *\/<\/span>                                                     <span class=\"token punctuation\">(<\/span><span class=\"token number\">3<\/span><span class=\"token punctuation\">)<\/span><br \/>\n    <span class=\"token function\">portYIELD<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>( 1 )&#xff1a;\u66f4\u65b0\u7cfb\u7edf\u65f6\u57fa\u8ba1\u6570\u5668 xTickCount&#xff0c;\u52a0 1 \u64cd\u4f5c\u3002xTickCount \u662f\u4e00\u4e2a\u5728 port.c \u4e2d\u5b9a\u4e49\u7684\u5168\u5c40\u53d8\u91cf&#xff0c;\u5728\u51fd\u6570 vTaskStartScheduler() \u4e2d\u8c03\u7528 xPortStartScheduler() \u51fd\u6570\u524d\u521d\u59cb\u5316\u3002 ( 2 )&#xff1a;\u626b\u63cf\u5c31\u7eea\u5217\u8868\u4e2d\u6240\u6709\u4efb\u52a1\u7684 xTicksToDelay&#xff0c;\u5982\u679c\u4e0d\u4e3a 0&#xff0c;\u5219\u51cf 1\u3002 ( 3 )&#xff1a;\u6267\u884c\u4e00\u6b21\u4efb\u52a1\u5207\u6362\u3002<\/p>\n<hr \/>\n<h3>2.4 SysTick \u521d\u59cb\u5316\u51fd\u6570<\/h3>\n<p>SysTick \u7684\u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u8981\u60f3\u88ab\u987a\u5229\u6267\u884c&#xff0c;\u5219 SysTick \u5fc5\u987b\u5148\u521d\u59cb\u5316\u3002SysTick \u521d\u59cb\u5316\u51fd\u6570 vPortSetupTimerInterrupt() \u5728 port.c \u4e2d\u5b9a\u4e49\u3002<\/p>\n<p><span class=\"token number\">1<\/span> <span class=\"token comment\">\/* SysTick \u63a7\u5236\u5bc4\u5b58\u5668 *\/<\/span>                                          <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">2<\/span> #define <span class=\"token function\">portNVIC_SYSTICK_CTRL_REG<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">uint32_t<\/span> <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token number\">0xe000e010<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">3<\/span> <span class=\"token comment\">\/* SysTick \u91cd\u88c5\u8f7d\u5bc4\u5b58\u5668 *\/<\/span><br \/>\n<span class=\"token number\">4<\/span> #define <span class=\"token function\">portNVIC_SYSTICK_LOAD_REG<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">*<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">volatile<\/span> <span class=\"token class-name\">uint32_t<\/span> <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token number\">0xe000e014<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">5<\/span><br \/>\n<span class=\"token number\">6<\/span> <span class=\"token comment\">\/* SysTick \u65f6\u949f\u6e90\u9009\u62e9 *\/<\/span><br \/>\n<span class=\"token number\">7<\/span> #ifndef configSYSTICK_CLOCK_HZ<br \/>\n<span class=\"token number\">8<\/span>     #define configSYSTICK_CLOCK_HZ configCPU_CLOCK_HZ<br \/>\n<span class=\"token number\">9<\/span>     <span class=\"token comment\">\/* \u786e\u4fdd SysTick \u7684\u65f6\u949f\u4e0e\u5185\u6838\u65f6\u949f\u4e00\u81f4 *\/<\/span><br \/>\n<span class=\"token number\">10<\/span>    #define <span class=\"token function\">portNVIC_SYSTICK_CLK_BIT<\/span> <span class=\"token punctuation\">(<\/span> <span class=\"token number\">1UL<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">2UL<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">11<\/span> #<span class=\"token keyword\">else<\/span><br \/>\n<span class=\"token number\">12<\/span>    #define <span class=\"token function\">portNVIC_SYSTICK_CLK_BIT<\/span> <span class=\"token punctuation\">(<\/span> <span class=\"token number\">0<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">13<\/span> #endif<br \/>\n<span class=\"token number\">14<\/span><br \/>\n<span class=\"token number\">15<\/span> #define <span class=\"token function\">portNVIC_SYSTICK_INT_BIT<\/span>        <span class=\"token punctuation\">(<\/span> <span class=\"token number\">1UL<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">1UL<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">16<\/span> #define <span class=\"token function\">portNVIC_SYSTICK_ENABLE_BIT<\/span>     <span class=\"token punctuation\">(<\/span> <span class=\"token number\">1UL<\/span> <span class=\"token operator\">&lt;&lt;<\/span> <span class=\"token number\">0UL<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">17<\/span><br \/>\n<span class=\"token number\">18<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">vPortSetupTimerInterrupt<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token punctuation\">)<\/span>                              <span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">19<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">20<\/span>     <span class=\"token comment\">\/* \u8bbe\u7f6e\u91cd\u88c5\u8f7d\u5bc4\u5b58\u5668\u7684\u503c *\/<\/span>                                     <span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">&#8211;<\/span>\u2460<br \/>\n<span class=\"token number\">21<\/span>     portNVIC_SYSTICK_LOAD_REG <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span> configSYSTICK_CLOCK_HZ <span class=\"token operator\">\/<\/span> configTICK_RATE_HZ <span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#8211;<\/span> <span class=\"token number\">1UL<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">22<\/span><br \/>\n<span class=\"token number\">23<\/span><br \/>\n<span class=\"token number\">24<\/span>     <span class=\"token comment\">\/* \u8bbe\u7f6e\u7cfb\u7edf\u5b9a\u65f6\u5668\u7684\u65f6\u949f\u7b49\u4e8e\u5185\u6838\u65f6\u949f<br \/>\n25        \u4f7f\u80fd SysTick \u5b9a\u65f6\u5668\u4e2d\u65ad<br \/>\n26        \u4f7f\u80fd SysTick \u5b9a\u65f6\u5668 *\/<\/span>                                       <span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><span class=\"token operator\">&#8211;<\/span>\u2461<br \/>\n<span class=\"token number\">27<\/span>     portNVIC_SYSTICK_CTRL_REG <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span> portNVIC_SYSTICK_CLK_BIT <span class=\"token operator\">|<\/span><br \/>\n<span class=\"token number\">28<\/span>                                   portNVIC_SYSTICK_INT_BIT <span class=\"token operator\">|<\/span><br \/>\n<span class=\"token number\">29<\/span>                                   portNVIC_SYSTICK_ENABLE_BIT <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">30<\/span> <span class=\"token punctuation\">}<\/span><\/p>\n<p>( 1 )&#xff1a;\u914d\u7f6e SysTick \u9700\u8981\u7528\u5230\u7684\u5bc4\u5b58\u5668\u548c\u5b8f\u5b9a\u4e49&#xff0c;\u5728 port.c \u4e2d\u5b9e\u73b0\u3002 ( 2 )&#xff1a;SysTick \u521d\u59cb\u5316\u51fd\u6570 vPortSetupTimerInterrupt() \u5728 xPortStartScheduler() \u4e2d\u88ab\u8c03\u7528<\/p>\n<p>xPortStartScheduler() \u51fd\u6570\u4e2d\u8c03\u7528 vPortSetupTimerInterrupt()<\/p>\n<p><span class=\"token number\">1<\/span> BaseType_t <span class=\"token function\">xPortStartScheduler<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">2<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">3<\/span>     <span class=\"token comment\">\/* \u914d\u7f6e PendSV \u548c SysTick \u7684\u4e2d\u65ad\u4f18\u5148\u7ea7\u4e3a\u6700\u4f4e *\/<\/span><br \/>\n<span class=\"token number\">4<\/span>     portNVIC_SYSPRI2_REG <span class=\"token operator\">|&#061;<\/span> portNVIC_PENDSV_PRI<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">5<\/span>     portNVIC_SYSPRI2_REG <span class=\"token operator\">|&#061;<\/span> portNVIC_SYSTICK_PRI<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">6<\/span><br \/>\n<span class=\"token number\">7<\/span>     <span class=\"token comment\">\/* \u521d\u59cb\u5316 SysTick *\/<\/span><br \/>\n<span class=\"token number\">8<\/span>     <span class=\"token function\">vPortSetupTimerInterrupt<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>   <span class=\"token comment\">\/\/ \u65b0\u589e<\/span><br \/>\n<span class=\"token number\">9<\/span><br \/>\n<span class=\"token number\">10<\/span>    <span class=\"token comment\">\/* \u542f\u52a8\u7b2c\u4e00\u4e2a\u4efb\u52a1&#xff0c;\u4e0d\u518d\u8fd4\u56de *\/<\/span><br \/>\n<span class=\"token number\">11<\/span>    <span class=\"token function\">prvStartFirstTask<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">12<\/span><br \/>\n<span class=\"token number\">13<\/span>    <span class=\"token comment\">\/* \u4e0d\u5e94\u8be5\u8fd0\u884c\u5230\u8fd9\u91cc *\/<\/span><br \/>\n<span class=\"token number\">14<\/span>    <span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">15<\/span> <span class=\"token punctuation\">}<\/span><\/p>\n<p>&#xff08;2&#xff09;-\u2460&#xff1a;\u8bbe\u7f6e\u91cd\u88c5\u8f7d\u5bc4\u5b58\u5668\u7684\u503c&#xff0c;\u51b3\u5b9a SysTick \u7684\u4e2d\u65ad\u5468\u671f\u3002\u4ece\u4ee3\u7801\u6e05\u5355 7-10&#xff08;1&#xff09;\u53ef\u4ee5\u77e5\u9053&#xff0c;\u5982\u679c\u6ca1\u6709\u5b9a\u4e49 configSYSTICK_CLOCK_HZ&#xff0c;\u90a3\u4e48 configSYSTICK_CLOCK_HZ \u5c31\u7b49\u4e8e configCPU_CLOCK_HZ\u3002configSYSTICK_CLOCK_HZ \u786e\u5b9e\u6ca1\u6709\u5b9a\u4e49&#xff0c;\u5219 configSYSTICK_CLOCK_HZ \u7531\u5728 FreeRTOSConfig.h \u4e2d\u5b9a\u4e49\u7684 configCPU_CLOCK_HZ \u51b3\u5b9a&#xff0c;\u540c\u65f6 configTICK_RATE_HZ \u4e5f\u5728 FreeRTOSConfig.h \u4e2d\u5b9a\u4e49\u3002 &#xff08;2&#xff09;-\u2461&#xff1a;\u8bbe\u7f6e\u7cfb\u7edf\u5b9a\u65f6\u5668\u7684\u65f6\u949f\u7b49\u4e8e\u5185\u6838\u65f6\u949f&#xff0c;\u542f\u7528 SysTick \u5b9a\u65f6\u5668\u4e2d\u65ad\u548c SysTick \u5b9a\u65f6\u5668\u3002<\/p>\n<p>configCPU_CLOCK_HZ \u4e0e configTICK_RATE_HZ \u5b8f\u5b9a\u4e49<\/p>\n<p><span class=\"token number\">1<\/span> #define <span class=\"token function\">configCPU_CLOCK_HZ<\/span>      <span class=\"token punctuation\">(<\/span> <span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">unsigned<\/span> <span class=\"token keyword\">long<\/span> <span class=\"token punctuation\">)<\/span> <span class=\"token number\">25000000<\/span> <span class=\"token punctuation\">)<\/span>        <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">2<\/span> #define <span class=\"token function\">configTICK_RATE_HZ<\/span>      <span class=\"token punctuation\">(<\/span> <span class=\"token punctuation\">(<\/span> TickType_t <span class=\"token punctuation\">)<\/span> <span class=\"token number\">100<\/span> <span class=\"token punctuation\">)<\/span>                <span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><\/p>\n<p>&#xff08;1&#xff09;&#xff1a;\u7cfb\u7edf\u65f6\u949f\u7684\u5927\u5c0f&#xff0c;\u56e0\u4e3a\u76ee\u524d\u662f\u8f6f\u4ef6\u4eff\u771f&#xff0c;\u9700\u8981\u914d\u7f6e\u6210\u4e0e system_ARMCM3.c&#xff08;system_ARMCM4.c \u6216 system_ARMCM7.c&#xff09;\u6587\u4ef6\u4e2d\u7684 SYSTEM_CLOCK \u7684\u4e00\u6837&#xff0c;\u5373\u7b49\u4e8e 25MHz\u3002\u5982\u679c\u6709\u5177\u4f53\u7684\u786c\u4ef6&#xff0c;\u5219\u914d\u7f6e\u6210\u4e0e\u786c\u4ef6\u7684\u7cfb\u7edf\u65f6\u949f\u4e00\u6837\u3002<\/p>\n<p>&#xff08;2&#xff09;&#xff1a;SysTick \u6bcf\u79d2\u4e2d\u65ad\u591a\u5c11\u6b21&#xff0c;\u76ee\u524d\u914d\u7f6e\u4e3a 100&#xff0c;\u5373\u6bcf 10ms \u4e2d\u65ad\u4e00\u6b21\u3002<\/p>\n<hr \/>\n<h2>\u4e09\u3001main\u51fd\u6570<\/h2>\n<p>main\u51fd\u6570\u4ee3\u7801\u6539\u52a8\u4e0d\u5927&#xff0c;\u6211\u628a\u9700\u8981\u6539\u52a8\u7684\u4ee3\u7801\u5199\u5728\u4e0b\u9762\u3002<\/p>\n<p><span class=\"token number\">101<\/span> <span class=\"token comment\">\/* \u4efb\u52a1 1 *\/<\/span><br \/>\n<span class=\"token number\">102<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">Task1_Entry<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>p_arg <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">103<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">104<\/span>     <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span> <span class=\"token punctuation\">;<\/span> <span class=\"token punctuation\">;<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">105<\/span>     <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">106<\/span> #<span class=\"token keyword\">if<\/span> <span class=\"token number\">0<\/span><br \/>\n<span class=\"token number\">107<\/span>         flag1 <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">108<\/span>         <span class=\"token function\">delay<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token number\">100<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">109<\/span>         flag1 <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">110<\/span>         <span class=\"token function\">delay<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token number\">100<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">111<\/span><br \/>\n<span class=\"token number\">112<\/span>         <span class=\"token comment\">\/* \u4efb\u52a1\u5207\u6362&#xff0c;\u8fd9\u91cc\u662f\u624b\u52a8\u5207\u6362 *\/<\/span><br \/>\n<span class=\"token number\">113<\/span>         <span class=\"token function\">portYIELD<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">114<\/span> #<span class=\"token keyword\">else<\/span><br \/>\n<span class=\"token number\">115<\/span>         flag1 <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">116<\/span>         <span class=\"token function\">vTaskDelay<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token number\">2<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>                                      <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">117<\/span>         flag1 <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">118<\/span>         <span class=\"token function\">vTaskDelay<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token number\">2<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">119<\/span> #endif<br \/>\n<span class=\"token number\">120<\/span>     <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">121<\/span> <span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token number\">122<\/span><br \/>\n<span class=\"token number\">123<\/span> <span class=\"token comment\">\/* \u4efb\u52a1 2 *\/<\/span><br \/>\n<span class=\"token number\">124<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">Task2_Entry<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>p_arg <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">125<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">126<\/span>     <span class=\"token keyword\">for<\/span> <span class=\"token punctuation\">(<\/span> <span class=\"token punctuation\">;<\/span> <span class=\"token punctuation\">;<\/span> <span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">127<\/span>     <span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token number\">128<\/span> #<span class=\"token keyword\">if<\/span> <span class=\"token number\">0<\/span><br \/>\n<span class=\"token number\">129<\/span>         flag2 <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">130<\/span>         <span class=\"token function\">delay<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token number\">100<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">131<\/span>         flag2 <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">132<\/span>         <span class=\"token function\">delay<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token number\">100<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">133<\/span><br \/>\n<span class=\"token number\">134<\/span>         <span class=\"token comment\">\/* \u4efb\u52a1\u5207\u6362&#xff0c;\u8fd9\u91cc\u662f\u624b\u52a8\u5207\u6362 *\/<\/span><br \/>\n<span class=\"token number\">135<\/span>         <span class=\"token function\">portYIELD<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">136<\/span> #<span class=\"token keyword\">else<\/span><br \/>\n<span class=\"token number\">137<\/span>         flag2 <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">138<\/span>         <span class=\"token function\">vTaskDelay<\/span><span class=\"token punctuation\">(<\/span> <span class=\"token number\">2<\/span> <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>                                      <span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token number\">139<\/span>         flag2 <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token number\">140<\/span>         <span class=\"token function\">vTaskDelay<\/span><span class=\"token punctuation\">(<\/span> <span 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