{"id":38983,"date":"2025-05-21T22:03:37","date_gmt":"2025-05-21T14:03:37","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/38983.html"},"modified":"2025-05-21T22:03:37","modified_gmt":"2025-05-21T14:03:37","slug":"freertos%e5%ad%a6%e4%b9%a0%e7%ac%94%e8%ae%b0%e3%80%9011%e3%80%91-%e4%bb%bb%e5%8a%a1%e5%88%97%e8%a1%a8","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/38983.html","title":{"rendered":"FreeRTOS\u5b66\u4e60\u7b14\u8bb0\u301011\u3011-----\u4efb\u52a1\u5217\u8868"},"content":{"rendered":"

\u6839\u636eb\u7ad9up freeRTOS\u6e90\u7801<\/p>\n

\u6570\u636e\u7ed3\u6784<\/h2>\n

1 TCB（task control block）<\/h4>\n

typedef<\/span> struct<\/span> tskTaskControlBlock<\/span> \/* The old naming convention is used to prevent breaking kernel aware debuggers. *\/<\/span>
\n{<\/span>
\n volatile<\/span> StackType_t *<\/span> pxTopOfStack;<\/span> \/**< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. *\/<\/span>
\n \/\/\u6307\u5411\u4efb\u52a1\u6808\u9876\u90e8\u7684\u6307\u9488<\/span>
\n ListItem_t xStateListItem;<\/span> \/**< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). *\/<\/span>
\n \/\/\u7528\u4e8e\u5c06\u4efb\u52a1\u94fe\u63a5\u5230\u4e0d\u540c\u72b6\u6001\u5217\u8868（\u5c31\u7eea\u3001\u963b\u585e\u3001\u6302\u8d77）\u7684\u5217\u8868\u9879\u3002<\/span>
\n ListItem_t xEventListItem;<\/span> \/**< Used to reference a task from an event list. *\/<\/span>
\n \/\/\u7528\u4e8e\u5c06\u4efb\u52a1\u94fe\u63a5\u5230\u4e8b\u4ef6\u5217\u8868\u7684\u5217\u8868\u9879\u3002<\/span>
\n UBaseType_t uxPriority;<\/span> \/**< The priority of the task. 0 is the lowest priority. *\/<\/span>
\n \/\/\u4efb\u52a1\u7684\u4f18\u5148\u7ea7，\u6570\u503c\u8d8a\u5c0f\u4f18\u5148\u7ea7\u8d8a\u4f4e\u3002<\/span>
\n StackType_t *<\/span> pxStack;<\/span> \/**< Points to the start of the stack. *\/<\/span>
\n \/\/\u6307\u5411\u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740\u7684\u6307\u9488<\/span>
\n char<\/span> pcTaskName[<\/span> configMAX_TASK_NAME_LEN ]<\/span>;<\/span>
\n}<\/span> tskTCB;<\/span><\/p>\n

2 \u4efb\u52a1\u5217\u8868\u9879<\/h4>\n

struct<\/span> xLIST_ITEM<\/span>
\n{<\/span>
\n listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE \/**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. *\/<\/span><\/p>\n

configLIST_VOLATILE TickType_t xItemValue;<\/span> \/**< The value being listed. In most cases this is used to sort the list in ascending order. *\/<\/span><\/p>\n

struct<\/span> xLIST_ITEM<\/span> *<\/span> configLIST_VOLATILE pxNext;<\/span> \/**< Pointer to the next ListItem_t in the list. *\/<\/span><\/p>\n

struct<\/span> xLIST_ITEM<\/span> *<\/span> configLIST_VOLATILE pxPrevious;<\/span> \/**< Pointer to the previous ListItem_t in the list. *\/<\/span><\/p>\n

void<\/span> *<\/span> pvOwner;<\/span> \/**< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. *\/<\/span>
\n \/\/\u6307\u5411\u201c\u62e5\u6709\u201d\u8be5 list item \u7684\u5bf9\u8c61\u3002\u901a\u5e38\u662f\u4e00\u4e2a\u4efb\u52a1\u63a7\u5236\u5757（TCB）\u3002<\/span>
\n struct<\/span> xLIST<\/span> *<\/span> configLIST_VOLATILE pxContainer;<\/span> \/**< Pointer to the list in which this list item is placed (if any). *\/<\/span>
\n \/\/\u6307\u5217\u8868\u9879\u6240\u5904\u7684\u5217\u8868（\u5c31\u7eea\u5217\u8868\u3001delay\u5217\u8868\u3001\u6302\u8d77\u5217\u8868）<\/span>
\n listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE \/**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. *\/<\/span><\/p>\n

}<\/span>;<\/span>
\ntypedef<\/span> struct<\/span> xLIST_ITEM<\/span> ListItem_t;<\/span><\/p>\n

3 \u5217\u8868\u5934<\/h4>\n

typedef<\/span> struct<\/span> xLIST<\/span>
\n{<\/span>
\n listFIRST_LIST_INTEGRITY_CHECK_VALUE \/**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. *\/<\/span><\/p>\n

configLIST_VOLATILE UBaseType_t uxNumberOfItems;<\/span> \/**< Number of items in the list. *\/<\/span><\/p>\n

ListItem_t *<\/span> configLIST_VOLATILE pxIndex;<\/span> \/**< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). *\/<\/span>
\n \/\/\u6307\u5411\u5217\u8868\u7684\u6307\u9488<\/span>
\n MiniListItem_t xListEnd;<\/span> \/**< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. *\/<\/span>
\n \/\/\u5c3e\u8282\u70b9<\/span>
\n listSECOND_LIST_INTEGRITY_CHECK_VALUE \/**< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. *\/<\/span><\/p>\n

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

\u5217\u8868\u4ee3\u7801<\/h2>\n

1 \u5217\u8868\u521d\u59cb\u5316<\/h4>\n

freeRTOS\u7684\u5217\u8868\u53d8\u91cf：<\/p>\n

PRIVILEGED_DATA static<\/span> List_t pxReadyTasksLists[<\/span> configMAX_PRIORITIES ]<\/span>;<\/span>
\n\/**< \u7528\u4e8e\u5b58\u50a8\u5c31\u7eea\u6001（Ready）\u7684\u4efb\u52a1\u5217\u8868. *\/<\/span>
\nPRIVILEGED_DATA static<\/span> List_t xDelayedTaskList1;<\/span>
\n\/**< \u7528\u4e8e\u5b58\u50a8\u5ef6\u8fdf（Delayed）\u7684\u4efb\u52a1 *\/<\/span>
\nPRIVILEGED_DATA static<\/span> List_t xDelayedTaskList2;<\/span>
\n\/**< xDelayedTaskList2 \u7528\u4e8e\u5b58\u50a8\u90a3\u4e9b\u5ef6\u8fdf\u65f6\u95f4\u8d85\u8fc7\u4e86\u5f53\u524d tick \u8ba1\u6570\u8303\u56f4\u7684\u4efb\u52a1. *\/<\/span>
\nPRIVILEGED_DATA static<\/span> List_t *<\/span> volatile<\/span> pxDelayedTaskList;<\/span>
\n\/**< \u5f53\u524d\u6b63\u5728\u4f7f\u7528\u7684\u5ef6\u8fdf\u4efb\u52a1\u5217\u8868.\u5ef6\u8fdf\u65f6\u95f4\u8d85\u8fc7\u4e86\u5f53\u524d tick \u8ba1\u6570\u5668\u7684\u8303\u56f4\u65f6，\u8fd9\u4e9b\u4efb\u52a1\u4f1a\u88ab\u653e\u5165 *\/<\/span>
\nPRIVILEGED_DATA static<\/span> List_t *<\/span> volatile<\/span> pxOverflowDelayedTaskList;<\/span>
\n\/**< \u6307\u5411\u5f53\u524d\u7528\u4e8e\u5b58\u50a8\u6ea2\u51fa\u5ef6\u8fdf\u4efb\u52a1\u7684\u5217\u8868. *\/<\/span>
\nPRIVILEGED_DATA static<\/span> List_t xPendingReadyList;<\/span>
\n\/**< \u7528\u4e8e\u5b58\u50a8\u90a3\u4e9b\u7531\u4e8e\u67d0\u4e9b\u4e8b\u4ef6（\u5982\u4fe1\u53f7\u91cf\u91ca\u653e\u3001\u961f\u5217\u64cd\u4f5c\u7b49）\u800c\u53d8\u4e3a\u5c31\u7eea\u6001\u7684\u4efb\u52a1 *\/<\/span><\/p>\n

2 \u5217\u8868\u521d\u59cb\u5316<\/h4>\n

pxList-><\/span>pxIndex =<\/span> (<\/span> ListItem_t *<\/span> )<\/span> &<\/span>(<\/span> pxList-><\/span>xListEnd )<\/span>;<\/span><\/p>\n

pxList-><\/span>xListEnd.<\/span>xItemValue =<\/span> portMAX_DELAY;<\/span>
\n\/\/0xffffffffU <\/span>
\npxList-><\/span>xListEnd.<\/span>pxNext =<\/span> (<\/span> ListItem_t *<\/span> )<\/span> &<\/span>(<\/span> pxList-><\/span>xListEnd )<\/span>;<\/span><\/p>\n

pxList-><\/span>xListEnd.<\/span>pxPrevious =<\/span> (<\/span> ListItem_t *<\/span> )<\/span> &<\/span>(<\/span> pxList-><\/span>xListEnd )<\/span>;<\/span><\/p>\n

pxList-><\/span>uxNumberOfItems =<\/span> (<\/span> UBaseType_t )<\/span> 0U<\/span>;<\/span><\/p>\n

3 Insert \u51fd\u6570<\/h4>\n

void<\/span> vListInsert<\/span>(<\/span> List_t *<\/span> const<\/span> pxList,<\/span>
\n ListItem_t *<\/span> const<\/span> pxNewListItem )<\/span><\/p>\n

pxList \u8981\u63d2\u5165\u7684\u5217\u8868， pxNewListItem \u8981\u63d2\u5165\u7684\u5217\u8868\u9879<\/p>\n

ListItem_t *<\/span> pxIterator;<\/span>
\n\/\/\u5c06\u65b0\u5217\u8868\u9879\u63d2\u5165\u5728pxIterator\u6307\u5411\u4f4d\u7f6e\u7684\u540e\u9762<\/span>
\n pxNewListItem-><\/span>pxNext =<\/span> pxIterator-><\/span>pxNext;<\/span>
\n pxNewListItem-><\/span>pxNext-><\/span>pxPrevious =<\/span> pxNewListItem;<\/span>
\n pxNewListItem-><\/span>pxPrevious =<\/span> pxIterator;<\/span>
\n pxIterator-><\/span>pxNext =<\/span> pxNewListItem;<\/span><\/p>\n

\u90a3\u4e48，pxIterator\u7684\u662f\u5982\u4f55\u5b9a\u4f4d\u7684\u5462？<\/p>\n

\/\/\u5982\u679cvalue\u6700\u5927，\u5c31\u653e\u5728\u5c3e\u7ed3\u70b9\u7684\u524d\u9762<\/span>
\n if<\/span>(<\/span> xValueOfInsertion ==<\/span> portMAX_DELAY )<\/span>
\n {<\/span>
\n pxIterator =<\/span> pxList-><\/span>xListEnd.<\/span>pxPrevious;<\/span>
\n }<\/span>
\n else<\/span>
\n {<\/span>
\n \/\/\u521d\u59cb\u5316，\u8fed\u4ee3\u5668\u6307\u5411\u5c3e\u90e8<\/span>
\n \/\/\u505c\u6b62\u6761\u4ef6，\u8fed\u4ee3\u5668\u7684\u4e0b\u4e00\u4e2a\u8282\u70b9\u7684\u503c\u5c0f\u4e8e\u7b49\u4e8e\u5f53\u524d\u503c<\/span>
\n \/\/\u5426\u5219 \u8fed\u4ee3\u5668\u6307\u5411\u4e0b\u4e00\u4e2a\u8282\u70b9<\/span>
\n for<\/span>(<\/span> pxIterator =<\/span> (<\/span> ListItem_t *<\/span> )<\/span> &<\/span>(<\/span> pxList-><\/span>xListEnd )<\/span>;<\/span>
\n pxIterator-><\/span>pxNext-><\/span>xItemValue <=<\/span> xValueOfInsertion;<\/span>
\n pxIterator =<\/span> pxIterator-><\/span>pxNext )<\/span>
\n {<\/span>
\n \/* There is nothing to do here, just iterating to the wanted
\n * insertion position. *\/<\/span>
\n }<\/span><\/p>\n

4 InsertEnd\u51fd\u6570<\/h4>\n

\u8fd9\u91cc\u7684End\u662f\u5bf9\u4e8e\u904d\u5386\u800c\u8a00\u7684End， \u5728listGET_OWNER_OF_NEXT_ENTRY\u4e2d，\u9700\u8981\u5bf9list\u8fdb\u884c\u904d\u5386<\/p>\n

do<\/span> {<\/span> \\\\
\n List_t *<\/span> const<\/span> pxConstList =<\/span> (<\/span> pxList )<\/span>;<\/span> \\\\
\n \/* Increment the index to the next item and return the item, ensuring *\/<\/span> \\\\
\n \/* we don't return the marker used at the end of the list. *\/<\/span> \\\\
\n (<\/span> pxConstList )<\/span>-><\/span>pxIndex =<\/span> (<\/span> pxConstList )<\/span>-><\/span>pxIndex-><\/span>pxNext;<\/span> \\\\
\n if<\/span>(<\/span> (<\/span> void<\/span> *<\/span> )<\/span> (<\/span> pxConstList )<\/span>-><\/span>pxIndex ==<\/span> (<\/span> void<\/span> *<\/span> )<\/span> &<\/span>(<\/span> (<\/span> pxConstList )<\/span>-><\/span>xListEnd )<\/span> )<\/span> \\\\
\n {<\/span> \\\\
\n (<\/span> pxConstList )<\/span>-><\/span>pxIndex =<\/span> (<\/span> pxConstList )<\/span>-><\/span>xListEnd.<\/span>pxNext;<\/span> \\\\
\n }<\/span> \\\\
\n (<\/span> pxTCB )<\/span> =<\/span> (<\/span> pxConstList )<\/span>-><\/span>pxIndex-><\/span>pvOwner;<\/span> \\\\
\n }<\/span> while<\/span>(<\/span> 0<\/span> )<\/span><\/p>\n

InsertEnd \u51fd\u6570\u5b58\u5728\u7684\u542b\u4e49\u662f：<\/p>\n

\u5e76\u4e0d\u662f\u628a\u5f53\u524d\u8981\u63d2\u5165\u7684\u9879\u63d2\u5230\u5217\u8868\u5c3e \u800c\u662f\u8981\u628a\u5217\u8868\u653e\u5728\u904d\u5386\u65f6\u6700\u540e\u4e00\u4e2a\u904d\u5386\u7684\u4f4d\u7f6e<\/p>\n","protected":false},"excerpt":{"rendered":"

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