{"id":51511,"date":"2025-08-10T23:44:22","date_gmt":"2025-08-10T15:44:22","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/51511.html"},"modified":"2025-08-10T23:44:22","modified_gmt":"2025-08-10T15:44:22","slug":"freertos%e5%85%a5%e9%97%a8%e7%9f%a5%e8%af%86%ef%bc%88%e5%88%9d%e8%af%86rtos%e4%b8%ad%e7%9a%84%e9%98%9f%e5%88%97api%ef%bc%89%ef%bc%88%e5%9b%9b%ef%bc%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/51511.html","title":{"rendered":"FreeRTOS\u5165\u95e8\u77e5\u8bc6\uff08\u521d\u8bc6RTOS\u4e2d\u7684\u961f\u5217API\uff09\uff08\u56db\uff09"},"content":{"rendered":"<\/p>\n<h4>\u6587\u7ae0\u76ee\u5f55<\/h4>\n<ul>\n<li>\u6458\u8981<\/li>\n<li>\n<ul>\n<li>1.3\u3001\u540c\u6b65\u4e92\u65a5\u4e0e\u901a\u4fe1<\/li>\n<li>\n<ul>\n<li>1.3.1\u3001\u6b64\u540c\u6b65\u975e\u5f7c\u540c\u6b65<\/li>\n<li>1.3.2\u3001\u4e92\u65a5<\/li>\n<li>1.3.3\u3001\u961f\u5217<\/li>\n<li>1.3.4\u3001\u961f\u5217\u7684\u5e94\u7528<\/li>\n<li>\n<ul>\n<li>\u5199\u5165\u961f\u5217\u6570\u636e&#xff1a;<\/li>\n<li>\u8bfb\u961f\u5217&#xff1a;<\/li>\n<li>\u4e92\u65a5\u9501\u5b9e\u73b0<\/li>\n<\/ul>\n<\/li>\n<li>1.3.5\u3001\u961f\u5217\u96c6\u548c\u90ae\u7bb1<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<hr 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class=\"token keyword\">void<\/span> <span class=\"token function\">TaskGenericFunction<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span> param<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span>flagUARTused<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nflagUARTused <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;%s\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>param<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nflagUARTused <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<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 function\">xTaskCreate<\/span><span class=\"token punctuation\">(<\/span>TaskGenericFunction<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Task3&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Task 3 is running&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">xTaskCreate<\/span><span class=\"token punctuation\">(<\/span>TaskGenericFunction<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Task4&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Task 4 is running&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u5728\u4e0a\u8ff0\u4efb\u52a1\u6267\u884c\u8fc7\u7a0b\u4e2d&#xff0c;\u4e00\u76f4\u4f1a\u6267\u884c\u4efb\u52a14&#xff0c;\u4efb\u52a13\u5e76\u6ca1\u6709\u88ab\u6267\u884c\u3002<\/p>\n<p>\u8fd9\u662f\u56e0\u4e3a\u4e24\u4e2a\u4efb\u52a1\u51fa\u73b0\u5171\u4eab\u8d44\u6e90\u7ade\u4e89&#xff0c;\u901a\u8fc7\u5168\u5c40\u53d8\u91cf\u3002\u4f46\u662f\u5b9e\u9645\u60c5\u51b5\u662f\u4efb\u52a13\u4e00\u76f4\u6ca1\u6709\u88ab\u8f93\u51fa\u3002<\/p>\n<p>\u4e5f\u5c31\u662f\u8bf4\u4efb\u52a13\u5728\u6267\u884c\u7684\u65f6\u5019&#xff0c;\u521a\u597d\u662fflagUARTused &#061; 1;\u5c31\u5bfc\u81f4\u65e0\u6cd5\u8fd0\u884c&#xff0c;\u7136\u540e\u65f6\u95f4\u5230\u4e86\u53c8\u5207\u6362\u6210\u4efb\u52a14\u4e2d\u65ad\u7684\u5730\u65b9&#xff0c;\u7136\u540e\u53c8\u7ee7\u7eed\u6267\u884c\u3002<\/p>\n<p>\u4efb\u52a1\u88ab\u62a2\u5360\u7684\u65f6\u5019&#xff0c;\u6062\u590d\u7684\u4f4d\u7f6e\u5c31\u662f\u4e0a\u6b21\u88ab\u62a2\u5360\u7684\u5730\u65b9\u3002\u5f53\u4efb\u52a1\u88ab\u62a2\u5360\u540e\u6062\u590d\u65f6&#xff0c;\u7cfb\u7edf\u4f1a\u7cbe\u786e\u6062\u590d\u5230\u4efb\u52a1\u88ab\u62a2\u5360\u65f6\u7684\u4ee3\u7801\u4f4d\u7f6e\u7ee7\u7eed\u6267\u884c\u3002<\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">TaskGenericFunction<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span> param<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token operator\">!<\/span>flagUARTused<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nflagUARTused <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;%s\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>param<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nflagUARTused <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">vTaskDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u867d\u7136\u589e\u52a0\u4e86\u4e00\u4e2a\u5ef6\u65f6\u51fd\u6570&#xff0c;\u76f8\u5f53\u4e8e\u662f\u963b\u585e\u4e86\u4efb\u52a14&#xff0c;\u7ed9\u4efb\u52a13\u4e00\u4e2a\u6267\u884c\u7684\u7a7a\u95f4&#xff0c;\u4f46\u662f\u8fd8\u662f\u4f1a\u6709\u98ce\u9669&#xff0c;<\/p>\n<p>\u5b58\u5728\u4e00\u79cd\u60c5\u51b5&#xff0c;\u5f53\u4efb\u52a13\u6267\u884c\u5230flagUARTused &#061; 1;\u53d1\u751f\u5207\u6362\u5230\u4efb\u52a14&#xff0c;\u7136\u540e\u4efb\u52a14\u5f00\u59cb\u6253\u5370&#xff0c;\u4f46\u662f\u4efb\u52a14\u5728\u6253\u5370\u8fc7\u7a0b\u4e2d\u88ab\u5207\u6362\u81f3\u4efb\u52a13&#xff0c;\u7136\u540e\u4efb\u52a13\u7ee7\u7eed\u5f00\u59cb\u6253\u5370&#xff0c;\u8fd9\u6837\u6253\u5370\u7684\u987a\u5e8f\u5c31\u4f1a\u9519\u4e71&#xff0c;\u5f53\u7136\u8fd9\u79cd\u5047\u8bbe\u53ef\u80fd\u4e0d\u4f1a\u53d1\u751f\u5728\u8fd9\u4e2a\u51fd\u6570&#xff0c;\u4f46\u662f\u8fd9\u4e2a\u601d\u60f3\u662f\u5728\u7684\u3002\u5176\u5b9e\u8fd9\u4e2a\u4e0d\u662f\u5f88\u7406\u89e3\u662f\u56e0\u4e3a\u5230\u73b0\u5728\u8fd8\u4e0d\u77e5\u9053\u4efb\u52a1\u6267\u884c\u7684\u65f6\u95f4\u5e94\u8be5\u662f\u591a\u5c11&#xff0c;\u4e5f\u5c31\u662f\u4efb\u52a1\u6267\u884c\u5207\u6362\u65f6\u95f4\u5206\u6790\u3002\u4f46\u662f\u4e0d\u7ba1\u600e\u4e48\u6837&#xff0c;\u80af\u5b9a\u4f1a\u5b58\u5728\u8fd9\u79cd\u73b0\u8c61&#xff0c;\u90a3\u4e48\u5c31\u8981\u907f\u514d\u3002\u4e5f\u5c31\u662f\u67d0\u4e9b\u7a0b\u5e8f\u4f1a\u5076\u7136\u51fa\u73b0Bug&#xff0c;\u4e0d\u662f\u5fc5\u73b0\u7684Bug\u3002<\/p>\n<p>\u95ee\u9898\u7684\u539f\u56e0\u662f \u5224\u65ad\u548c\u8bbe\u7f6e\u7684\u65f6\u95f4\u592a\u957f\u4e86&#xff0c;\u5bfc\u81f4\u53ef\u80fd\u4efb\u52a1\u6ca1\u6709\u6267\u884c\u5b8c&#xff0c;\u5c31\u5907\u5207\u6362\u51fa\u53bb&#xff0c;\u7136\u540e\u53c8\u662f\u5168\u5c40\u53d8\u91cf\u5bfc\u81f4\u4e0b\u4e00\u4e2a\u4efb\u52a1\u4e5f\u5728\u4f7f\u7528\u8fd9\u4e2a\u53d8\u91cf&#xff0c;\u8fd9\u4e2a\u5168\u5c40\u53d8\u91cf\u53c8\u4e0d\u662f\u4e13\u5c5e\u7684&#xff0c;\u7a0b\u5e8f\u8fd8\u4ee5\u4e3a\u662f\u73b0\u5728\u8fd9\u4e2a\u4efb\u52a1\u7684\u6807\u5fd7\u4f4d&#xff0c;\u56e0\u6b64\u5c31\u51fa\u73b0\u4e86\u9519\u8bef\u3002\u65e2\u7136\u77e5\u9053\u4e86\u539f\u56e0&#xff0c;\u90a3\u4e48\u5c31\u4f1a\u6709\u89e3\u51b3\u529e\u6cd5\u3002<\/p>\n<p>\u5c31\u662f\u89e3\u51b3FreeRTOS\u4e2d\u4efb\u52a1\u4e4b\u95f4\u7684\u540c\u6b65\u548c\u4e92\u65a5\u3002\u57fa\u4e8e\u4e00\u4e0b\u539f\u5219&#xff1a;<\/p>\n<p>\u6b63\u786e\u6027<\/p>\n<p>\u6548\u7387\u6027&#xff1a;\u7b49\u5f85\u7740\u8981\u8fdb\u5165\u963b\u585e\u72b6\u6001<\/p>\n<p>\u591a\u79cd\u89e3\u51b3\u65b9\u6848<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/08\/20250810154419-6898be53ca1bb.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u4ee5\u4e0a\u8fd9\u51e0\u79cd\u601d\u8def\u90fd\u662f\u5b9e\u73b0&#xff0c;\u4efb\u52a1\u4e4b\u95f4\u7684\u901a\u77e5\u3002<\/p>\n<p>**&#061;&#061;\u540e\u7eed\u9010\u4e00\u5206\u6790\u3002<\/p>\n<h4>1.3.3\u3001\u961f\u5217<\/h4>\n<p>\u5bf9\u4e8e\u961f\u5217\u7684\u57fa\u7840\u77e5\u8bc6\u524d\u9762\u5df2\u7ecf\u8be6\u7ec6\u7684\u5206\u6790\u4ee5\u53ca\u961f\u5217\u7684\u4e00\u4e9b\u6570\u5b66\u539f\u7406&#xff0c;\u4e5f\u8fdb\u884c\u4e86\u62c6\u89e3\u3002<\/p>\n<p>\u5faa\u73af\u961f\u5217\u5206\u6790\u53ca\u5e94\u7528-CSDN\u535a\u5ba2<\/p>\n<p>\u5d4c\u5165\u5f0f\u77e5\u8bc6\u65e5\u5e38\u95ee\u9898\u8bb0\u5f55\u53ca\u7528\u6cd5\u603b\u7ed3&#xff08;\u4e00&#xff09;-CSDN\u535a\u5ba2<\/p>\n<p>\u672c\u6587\u4e3b\u8981\u5206\u6790\u4e00\u4e9b\u5b9e\u9645\u7684\u5e94\u7528&#xff0c;\u57fa\u7840\u7684\u77e5\u8bc6\u4e0d\u5728\u5206\u6790\u3002<\/p>\n<p>\u961f\u5217\u5c31\u662f\u5148\u8fdb\u5148\u51fa&#xff0c;\u5e76\u4e14\u5c3e\u90e8\u6570\u636e\u5c31\u662f\u5199\u6570\u636e\u7684&#xff0c;\u5934\u90e8\u662f\u8bfb\u6570\u636e\u3002<\/p>\n<p>\u4f46\u662f\u4e3a\u4e86\u7406\u89e3\u9762\u5411\u5bf9\u8c61\u7684\u601d\u60f3\u4ee5\u53ca\u540e\u7eed\u7406\u89e3\u5728\u9879\u76ee\u4e2d\u5982\u4f55\u5b9e\u73b0\u6216\u8005\u8bf4\u4ec0\u4e48\u65f6\u5019\u5e94\u8be5\u5c01\u88c5\u4e00\u4e9b\u7ed3\u6784\u4f53&#xff0c;\u8fd8\u662f\u5e94\u8be5\u5148\u4f53\u9a8c\u601d\u60f3&#xff0c;\u901a\u8fc7\u6d41\u7a0b\u56fe\u7684\u65b9\u5f0f\u6216\u8005\u662f\u601d\u7ef4\u5bfc\u56fe\u5b9e\u73b0\u3002\u9879\u76ee\u4e2d\u80fd\u7528\u5230\u7684\u6700\u591a\u7684&#xff0c;\u5e76\u4e14\u4ec0\u4e48\u65f6\u5019\u8be5\u7528\u6216\u8005\u7528\u54ea\u4e9b&#xff0c;\u5728\u4e13\u680f\u6709\u76f8\u5bf9\u5e94\u7684\u6587\u7ae0\u3002<\/p>\n<p>\u5d4c\u5165\u5f0f\u8f6f\u4ef6\u5206\u5c42\u67b6\u6784\u7684\u8bbe\u8ba1\u539f\u7406\u4e0e\u5b9e\u8df5\u9a8c\u8bc1_\u6148\u60b2\u4e0d\u6e21\u81ea\u7edd\u4eba\u7684\u535a\u5ba2-CSDN\u535a\u5ba2<\/p>\n<p>\u8fd9\u91cc\u9700\u8981\u6ce8\u610f\u7684\u662f\u5728FreeRTOS\u4e2d\u5e76\u6ca1\u6709\u521b\u5efa\u4e4b\u524d\u4f7f\u7528\u7684\u5934\u7d22\u5f15\u548c\u5c3e\u7d22\u5f15&#xff0c;\u800c\u662f\u4f7f\u7528\u7684\u662f\u6307\u9488&#xff0c;\u4f46\u662f\u7ed3\u679c\u662f\u6ca1\u6709\u5f71\u54cd\u7684\u3002<\/p>\n<p>    <span class=\"token class-name\">int8_t<\/span> <span class=\"token operator\">*<\/span> pcHead<span class=\"token punctuation\">;<\/span>           <span class=\"token comment\">\/*&lt; Points to the beginning of the queue storage area. *\/<\/span><br \/>\n    <span class=\"token class-name\">int8_t<\/span> <span class=\"token operator\">*<\/span> pcWriteTo<span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/*&lt; Points to the free next place in the storage area. *\/<\/span><\/p>\n<p>\u8fd9\u662f\u56e0\u4e3a\u4f7f\u7528\u6307\u9488\u662f\u4e00\u6837\u7684\u5b9e\u73b0\u3002<\/p>\n<p><span class=\"token class-name\">int8_t<\/span> buffer<span class=\"token punctuation\">[<\/span>QUEUE_SIZE<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u5b58\u50a8\u533a<\/span><br \/>\npcHead <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&amp;<\/span>buffer<span class=\"token punctuation\">[<\/span><span class=\"token number\">0<\/span><span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">;<\/span>        <span class=\"token comment\">\/\/ \u6307\u5411\u5b58\u50a8\u533a\u5f00\u5934<\/span><br \/>\npcWriteTo <span class=\"token operator\">&#061;<\/span> pcHead<span class=\"token punctuation\">;<\/span>         <span class=\"token comment\">\/\/ \u521d\u59cb\u5199\u4f4d\u7f6e<\/span><\/p>\n<p><span class=\"token operator\">*<\/span>pcWriteTo <span class=\"token operator\">&#061;<\/span> new_data<span class=\"token punctuation\">;<\/span>                     <span class=\"token comment\">\/\/ \u5199\u5165\u6570\u636e<\/span><br \/>\npcWriteTo <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>pcWriteTo <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">%<\/span> QUEUE_SIZE<span class=\"token punctuation\">;<\/span>  <span class=\"token comment\">\/\/ \u5faa\u73af\u79fb\u52a8[4,7](&#064;ref)<\/span><\/p>\n<p>data <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">*<\/span>pcHead<span class=\"token punctuation\">;<\/span>                          <span class=\"token comment\">\/\/ \u8bfb\u53d6\u6570\u636e<\/span><br \/>\npcHead <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">(<\/span>pcHead <span class=\"token operator\">&#043;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span> <span class=\"token operator\">%<\/span> QUEUE_SIZE<span class=\"token punctuation\">;<\/span>       <span class=\"token comment\">\/\/ \u5faa\u73af\u79fb\u52a8[3,4](&#064;ref)<\/span><\/p>\n<p>\u8fd9\u91cc\u53ef\u80fd\u6709\u4e00\u4e2a\u7591\u95ee&#xff0c;\u4e3a\u4ec0\u4e48\u6307\u9488\u53d8\u91cf\u4e3a\u4ec0\u4e48\u53ef\u4ee5\u76f4\u63a5\u6c42\u6a21\u8fd0\u7b97&#xff1f;\u8fd9\u4e2a\u662f\u56e0\u4e3a&#xff1a;\u53d6\u6a21\u8fd0\u7b97\u4e0d\u662f\u76f4\u63a5\u4f5c\u7528\u4e8e\u7269\u7406\u5730\u5740&#xff0c;\u800c\u662f\u7528\u4e8e\u63a7\u5236\u7d22\u5f15\u7684\u5faa\u73af\u903b\u8f91\u3002<\/p>\n<p>\u6307\u9488\u79fb\u52a8\u7684\u672c\u8d28&#xff1a;\u504f\u79fb\u91cf\u8ba1\u7b97&#xff0c;\u800c\u975e\u7269\u7406\u5730\u5740<\/p>\n<p>\u5728C\/C&#043;&#043;\u4e2d&#xff0c;\u6307\u9488\u7684\u52a0\u51cf\u64cd\u4f5c\u672c\u8d28\u662f\u57fa\u4e8e\u6570\u636e\u7c7b\u578b\u5927\u5c0f\u7684\u504f\u79fb\u200b&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u4f8b\u5982 int8_t *pcHead &#043; 1 \u5b9e\u9645\u589e\u52a0\u7684\u662f sizeof(int8_t) &#061; 1\u5b57\u8282&#xff0c;\u6307\u5411\u4e0b\u4e00\u4e2a\u5b57\u8282\u5730\u5740\u3002<\/p>\n<\/li>\n<li>\n<p>\u4f46\u73af\u5f62\u961f\u5217\u4e2d&#xff0c;\u6211\u4eec\u66f4\u5173\u5fc3\u7684\u662f\u6570\u7ec4\u7d22\u5f15\u7684\u5faa\u73af&#xff0c;\u800c\u975e\u7269\u7406\u5730\u5740\u7684\u8fde\u7eed\u6027\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u7f16\u8bd1\u5668\u6267\u884c\u7684\u5e76\u4e0d\u662f\u6211\u4eec\u770b\u5230\u7684&#xff0c;\u800c\u662f\u4e24\u6b65\u64cd\u4f5c&#xff0c;<\/p>\n<p>1.\u200b\u8ba1\u7b97\u504f\u79fb\u540e\u7684\u65b0\u5730\u5740\u200b&#xff1a;pcHead &#043; 1 \u2192 \u65b0\u5730\u5740 &#061; \u539f\u5730\u5740 &#043; 1\u5b57\u8282\u3002<\/p>\n<p>2.\u200b\u8f6c\u6362\u4e3a\u7d22\u5f15\u5e76\u53d6\u6a21\u200b&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u9690\u542b\u516c\u5f0f&#xff1a;\u65b0\u7d22\u5f15 &#061; (\u5f53\u524d\u7d22\u5f15 &#043; \u504f\u79fb\u91cf) % QUEUE_SIZE<\/p>\n<\/li>\n<li>\n<p>\u6700\u7ec8\u6307\u9488 &#061; \u6570\u7ec4\u9996\u5730\u5740 &#043; \u65b0\u7d22\u5f15 \u00d7 \u5143\u7d20\u5927\u5c0f<\/p>\n<\/li>\n<\/ul>\n<p>\u53d6\u6a21\u4f5c\u7528\u7684\u662f\u7d22\u5f15\u503c&#xff0c;\u800c\u975e\u7269\u7406\u5730\u5740\u672c\u8eab\u3002\u6307\u9488\u53c2\u4e0e\u53d6\u6a21\u200b&#xff1a;\u5b9e\u9645\u662f\u201c\u5730\u5740 \u2192 \u7d22\u5f15 \u2192 \u53d6\u6a21 \u2192 \u65b0\u5730\u5740\u201d\u7684\u9690\u5f0f\u8f6c\u6362\u8fc7\u7a0b\u3002<\/p>\n<p>\u4ee5 int \u7c7b\u578b&#xff08;4\u5b57\u8282&#xff09;\u7684\u961f\u5217\u4e3a\u4f8b&#xff1a;<\/p>\n<li>\n<p>\u200b\u521d\u59cb\u72b6\u6001\u200b<\/p>\n<ul>\n<li>\n<p>\u57fa\u5730\u5740 base_addr &#061; 0x1000&#xff0c;QUEUE_SIZE &#061; 5&#xff08;\u6700\u591a\u5b585\u4e2a int \u5143\u7d20&#xff09;\u3002<\/p>\n<\/li>\n<li>\n<p>pcWriteTo \u6307\u5411 0x1000&#xff08;\u7d22\u5f15 0&#xff09;\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u200b**\u6267\u884c pcWriteTo &#043; 1<\/p>\n<ul>\n<li>\n<p>\u7269\u7406\u5730\u5740\u53d8\u4e3a 0x1004&#xff08;\u504f\u79fb sizeof(int)&#061;4 \u5b57\u8282&#xff09;\u3002<\/p>\n<\/li>\n<li>\n<p>\u5bf9\u5e94\u7d22\u5f15\u503c&#xff1a;(0x1004 &#8211; 0x1000) \/ 4 &#061; 1\u3002<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<p>\u7ed3\u679c\u4e0a\u662f\u8ddf\u7d22\u5f15\u7684\u7ed3\u679c\u662f\u4e00\u6837\u7684\u3002<\/p>\n<p>BaseType_t <span class=\"token function\">xQueueSend<\/span><span class=\"token punctuation\">(<\/span><br \/>\nQueueHandle_t xQueue<span class=\"token punctuation\">,<\/span><\/p>\n<p><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>pvItemToQueue<span class=\"token punctuation\">,<\/span><\/p>\n<p>TickType_t xTicksToWait<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u8ddf\u4e4b\u524d\u961f\u5217\u4e0d\u4e00\u6837\u7684\u5730\u65b9\u662f&#xff0c;\u6211\u4eec\u8fd8\u5f15\u5165\u4e86\u4e00\u4e2axTicksToWait\u8868\u793a\u961f\u5217\u6ee1\u4e86\u4ee5\u540e&#xff0c;\u53ef\u4ee5\u5728\u5728\u7b49\u5f85\u4e00\u4f1a\u518d\u5199&#xff0c;\u5982\u679c\u4e0d\u7b49\u5f85\u5c31\u662f\u8d4b\u503c\u4e3a0&#xff0c;\u53ef\u4ee5\u8fd4\u56de\u72b6\u6001\u662f\u6ee1\u3002<\/p>\n<p>    List_t xTasksWaitingToSend<span class=\"token punctuation\">;<\/span>             <span class=\"token comment\">\/*&lt; List of tasks that are blocked waiting to post onto this queue.  Stored in priority order. *\/<\/span><br \/>\n    List_t xTasksWaitingToReceive<span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/*&lt; List of tasks that are blocked waiting to read from this queue.  Stored in priority order. *\/<\/span><\/p>\n<p>pcHead\u6307\u5411\u7684\u4f4d\u7f6e\u4e00\u76f4\u662f\u6570\u7ec4\u7684\u9996\u5730\u5740\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/08\/20250810154420-6898be547f4ea.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>**&#061;&#061;\u5f53\u591a\u4e2a\u4efb\u52a1\u5728\u7b49\u5f85\u8bfb\u53d6\u6570\u636e\u7684\u65f6\u5019&#xff0c;\u6700\u5148\u88ab\u5524\u9192\u7684\u4e00\u5b9a\u662f\u4f18\u5148\u7ea7\u6700\u9ad8\u7684&#xff0c;\u6216\u8005\u662f\u540c\u4f18\u5148\u7ea7\u4e0b\u7b49\u5f85\u65f6\u95f4\u6700\u957f\u7684\u3002<\/p>\n<h4>1.3.4\u3001\u961f\u5217\u7684\u5e94\u7528<\/h4>\n<p>\u5b58\u5728\u4e00\u4e2a\u4efb\u52a11\u8fdb\u884c\u7d2f\u52a0&#xff0c;\u7136\u540e\u5b8c\u6210\u5bf9\u5e94\u7d2f\u52a0\u4ee5\u540e\u4ea7\u751f\u4e00\u4e2a\u6807\u5fd7\u4f4d&#xff0c;\u4efb\u52a12\u6839\u636e\u4efb\u52a11\u4ea7\u751f\u7684\u6807\u5fd7\u4f4d\u8fdb\u884c\u76f8\u5173\u903b\u8f91\u3002\u90a3\u4e48\u6700\u7406\u60f3\u7684\u72b6\u6001\u5c31\u662f\u5728\u4efb\u52a11\u6267\u884c\u671f\u95f4&#xff0c;\u90a3\u4e48\u4efb\u52a12\u5c31\u662f\u963b\u585e\u72b6\u6001&#xff0c;\u8fd9\u6837\u5c31\u4e0d\u4f1a\u62a2\u5360CPU\u8d44\u6e90&#xff0c;\u7136\u540e\u5c31\u80fd\u5f88\u597d\u7684\u6267\u884c\u7684\u7d2f\u52a0\u8fd0\u7b97&#xff0c;\u63d0\u5347CPU\u7684\u8fd0\u7b97\u6548\u7387\u3002\u5b9e\u73b0\u8fd9\u79cd\u9ad8\u6548\u7387\u7684\u4e00\u4e2a\u529e\u6cd5\u5c31\u662f\u4f7f\u7528\u961f\u5217&#xff0c;\u4e0b\u9762\u5c31\u8be6\u7ec6\u5206\u6790\u5982\u4f55\u4f7f\u7528\u961f\u5217\u3002<\/p>\n<p>\u4efb\u52a11\u8ba1\u7b97\u5b8c\u6210\u4ee5\u540e\u5c06\u8fd9\u4e2a\u6807\u5fd7\u4f4d\u6216\u8005\u5185\u5bb9\u5199\u5165\u961f\u5217&#xff0c;<\/p>\n<p>\u4efb\u52a12\u5c31\u8bfb\u53d6\u8fd9\u4e2a\u961f\u5217&#xff0c;\u6709\u6570\u636e\u7684\u65f6\u5019\u5c31\u6253\u5370\u51fa\u6765\u3002\u5982\u679c\u6ca1\u6709\u6570\u636e\u5c31\u8fdb\u884c\u963b\u585e\u72b6\u6001\u3002<\/p>\n<p>1\u3001\u9996\u5148\u662f\u521b\u5efa\u961f\u5217<\/p>\n<p>xQueueCalcHandle <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">xQueueCreate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<h5>\u5199\u5165\u961f\u5217\u6570\u636e&#xff1a;<\/h5>\n<p><span class=\"token function\">xQueueSend<\/span><span class=\"token punctuation\">(<\/span>xQueueCalcHandle<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>sum<span class=\"token punctuation\">,<\/span> portMAX_DELAY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>portMAX_DELAY\u8868\u793a&#xff1a;\u5982\u679c\u961f\u5217\u7a7a\u5219\u65e0\u6cd5\u8bfb\u51fa\u6570\u636e&#xff0c;\u53ef\u4ee5\u8ba9\u4efb\u52a1\u8fdb\u5165\u963b\u585e\u72b6\u6001&#xff0c;xTicksToWait \u8868\u793a\u963b\u585e\u7684\u6700\u5927\u65f6\u95f4(Tick Count)\u3002\u5982\u679c\u88ab\u8bbe\u4e3a 0&#xff0c;\u65e0\u6cd5\u8bfb\u51fa\u6570\u636e\u65f6\u51fd\u6570\u4f1a\u7acb\u523b\u8fd4\u56de&#xff1b;\u5982\u679c\u88ab\u8bbe\u4e3a portMAX_DELAY&#xff0c;\u5219\u4f1a\u4e00\u76f4\u963b\u585e\u76f4\u5230\u6709\u6570\u636e\u53ef\u5199\u3002<\/p>\n<h5>\u8bfb\u961f\u5217&#xff1a;<\/h5>\n<p><span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token comment\">\/\/if (flagCalcEnd)<\/span><br \/>\nflagCalcEnd <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">xQueueReceive<\/span><span class=\"token punctuation\">(<\/span>xQueueCalcHandle<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>val<span class=\"token punctuation\">,<\/span> portMAX_DELAY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nflagCalcEnd <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;sum &#061; %d\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> val<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u8fd9\u4e2a\u91cc\u9762\u6709\u4e00\u4e2a\u5173\u952e\u95ee\u9898&#xff0c;\u5c31\u662f\u4f7f\u7528\u961f\u5217\u4ee5\u540e\u4efb\u52a1\u8c03\u5ea6\u7684\u601d\u8def\u3002 \u76ee\u524d\u53ea\u662f\u76f8\u5f53\u4e8e\u662f\u4f7f\u7528\u4e00\u4e2a\u9ed1\u76d2\u5b50&#xff0c;\u5e76\u4e0d\u77e5\u9053\u5177\u4f53\u6267\u884c\u7684\u7ec6\u8282\u3002<\/p>\n<p><span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token function\">GetUARTLock<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;%s\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>param<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token comment\">\/\/ task 3 is waiting<\/span><br \/>\n<span class=\"token function\">PutUARTLock<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/* task 3 &#061;&#061;&gt; ready, task 4 is running  *\/<\/span><br \/>\n<span class=\"token comment\">\/\/vTaskDelay(1);<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u5982\u679c\u4e0d\u9002\u7528\u8fd9\u4e2a\u5ef6\u65f6\u51fd\u6570&#xff0c;\u867d\u7136\u4efb\u52a14\u5728\u6267\u884c\u7684\u65f6\u5019\u4f1a\u5c06\u8fd9\u4e2a\u961f\u5217\u6570\u636e\u8fdb\u884c\u91ca\u653e\u6216\u8005\u600e\u4e48&#xff0c;\u4f46\u662f\u4efb\u52a14\u4e00\u76f4\u5904\u4e8e\u8fd0\u884c\u72b6\u6001&#xff0c;\u800c\u4efb\u52a13\u53ea\u662f\u51fa\u4e8e\u5c31\u7eea\u72b6\u6001&#xff0c;\u4efb\u52a13\u8fd8\u662f\u62a2\u4e0d\u8fc7\u4efb\u52a14,\u3002\u6240\u4ee5\u8fd8\u662f\u9700\u8981\u4e3b\u52a8\u7684\u5f15\u5165\u5ef6\u65f6\u51fd\u6570\u3002<\/p>\n<p>\u5176\u5b9e\u8fd8\u662f\u5bf9\u8fd9\u4e2a\u4efb\u52a1\u8c03\u5ea6\u4e0d\u7406\u89e3&#xff0c;\u56e0\u4e3a\u6309\u7167\u6b63\u5e38\u601d\u8def&#xff0c;\u4f18\u5148\u7ea7\u662f\u76f8\u540c\u7684&#xff0c;\u96be\u9053\u4e0d\u662f\u5e94\u8be5\u5faa\u73af\u6267\u884c\u5417&#xff1f;<\/p>\n<h5>\u4e92\u65a5\u9501\u5b9e\u73b0<\/h5>\n<p><span class=\"token keyword\">int<\/span> <span class=\"token function\">InitUARTLock<\/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<span class=\"token keyword\">int<\/span> val<span class=\"token punctuation\">;<\/span><br \/>\nxQueueUARTcHandle <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">xQueueCreate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/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>xQueueUARTcHandle <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;can not create queue\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">return<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token function\">xQueueSend<\/span><span class=\"token punctuation\">(<\/span>xQueueUARTcHandle<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>val<span class=\"token punctuation\">,<\/span> portMAX_DELAY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">return<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">GetUARTLock<\/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<span class=\"token keyword\">int<\/span> val<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">xQueueReceive<\/span><span class=\"token punctuation\">(<\/span>xQueueUARTcHandle<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>val<span class=\"token punctuation\">,<\/span> portMAX_DELAY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">PutUARTLock<\/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<span class=\"token keyword\">int<\/span> val<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">xQueueSend<\/span><span class=\"token punctuation\">(<\/span>xQueueUARTcHandle<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>val<span class=\"token punctuation\">,<\/span> portMAX_DELAY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">TaskGenericFunction<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span> param<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token function\">GetUARTLock<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;%s\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>param<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token comment\">\/\/ task 3 is waiting<\/span><br \/>\n<span class=\"token function\">PutUARTLock<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/* task 3 &#061;&#061;&gt; ready, task 4 is running  *\/<\/span><br \/>\n<span class=\"token function\">vTaskDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/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 function\">xTaskCreate<\/span><span class=\"token punctuation\">(<\/span>TaskGenericFunction<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Task3&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Task 3 is running&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">xTaskCreate<\/span><span class=\"token punctuation\">(<\/span>TaskGenericFunction<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Task4&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Task 4 is running&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u6839\u636e\u4e0a\u8ff0\u4f7f\u7528\u961f\u5217&#xff0c;\u5b9e\u73b0\u4e86\u4e92\u65a5\u9501\u3002\u5177\u4f53\u600e\u4e48\u7406\u89e3&#xff1f;<\/p>\n<p>\u9996\u5148\u662f\u521d\u59cb\u5316&#xff0c;\u6211\u4eec\u521b\u5efa\u4e00\u4e2a\u957f\u5ea6\u4e3a1\u7684\u961f\u5217&#xff0c;\u521d\u59cb\u5316\u7684\u65f6\u5019\u6211\u4eec\u653e\u5165\u4efb\u610f\u4e00\u4e2a\u6574\u6570val\u4f5c\u4e3a\u4ee4\u724c&#xff0c;\u6b64\u65f6\u961f\u5217\u662f\u6ee1\u72b6\u6001&#xff0c;\u8868\u793a\u9501\u53ef\u4ee5\u7528\u3002\u6ce8\u610f\u6211\u4eec\u5728\u521b\u5efa\u7684\u65f6\u5019\u5f15\u5165\u4e86\u53c2\u6570portMAX_DELAY&#xff0c;\u8fd9\u4e2a\u53c2\u6570\u662f\u5b9e\u73b0\u4e92\u65a5\u9501\u7684\u6838\u5fc3\u53c2\u6570&#xff0c;\u662fFreeRTOS\u4e2d\u5b9e\u73b0\u4efb\u52a1\u65e0\u9650\u963b\u585e\u7684\u6838\u5fc3\u673a\u5236\u3002\u4f7f\u7528\u5728\u8bfb\u961f\u5217\u548c\u5199\u961f\u5217\u51fd\u6570&#xff1a;<\/p>\n<p><span class=\"token function\">xQueueSend<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\nBaseType_t <span class=\"token function\">xQueueSend<\/span><span class=\"token punctuation\">(<\/span><\/p>\n<p>QueueHandle_t xQueue<span class=\"token punctuation\">,<\/span><\/p>\n<p><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>pvItemToQueue<span class=\"token punctuation\">,<\/span><\/p>\n<p>TickType_t xTicksToWait<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token function\">xQueueReceive<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>BaseType_t <span class=\"token function\">xQueueReceive<\/span><span class=\"token punctuation\">(<\/span> <\/p>\n<p>QueueHandle_t xQueue<span class=\"token punctuation\">,<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span> <span class=\"token keyword\">const<\/span> pvBuffer<span class=\"token punctuation\">,<\/span><\/p>\n<p>TickType_t xTicksToWait <span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>xTicksToWait\u53c2\u6570&#xff1a;<\/p>\n<p>\u5982\u679c\u88ab\u8bbe\u4e3a 0&#xff0c;\u65e0\u6cd5\u5199\u5165\u6570\u636e\u65f6\u51fd\u6570\u4f1a\u7acb\u523b\u8fd4\u56de&#xff1b;\u5982\u679c\u88ab\u8bbe\u4e3a portMAX_DELAY&#xff0c;\u5219\u4f1a\u4e00\u76f4\u963b\u585e\u76f4\u5230\u6709\u7a7a\u95f4\u53ef\u5199\u3002<\/p>\n<p>\u5982\u679c\u88ab\u8bbe\u4e3a 0&#xff0c;\u65e0\u6cd5\u8bfb\u51fa\u6570\u636e\u65f6\u51fd\u6570\u4f1a\u7acb\u523b\u8fd4\u56de&#xff1b;\u5982\u679c\u88ab\u8bbe\u4e3a portMAX_DELAY&#xff0c;\u5219\u4f1a\u4e00\u76f4\u963b\u585e\u76f4\u5230\u6709\u6570\u636e\u53ef\u8bfb\u3002<\/p>\n<p>\u6240\u4ee5\u8bf4&#xff0c;\u6839\u636e\u8fd9\u4e2a\u961f\u5217\u8bfb\u548c\u5199\u7684\u4e92\u65a5\u9501&#xff0c;\u540c\u65f6\u914d\u5408vTaskDelay(1);&#xff0c;\u5c31\u5b9e\u73b0\u4e86\u4efb\u52a1\u662f\u5426\u963b\u585e\u3002<\/p>\n<p>\u5177\u4f53\u6765\u8bf4&#xff0c;<\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">TaskGenericFunction<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span> param<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token function\">GetUARTLock<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;%s\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">char<\/span> <span class=\"token operator\">*<\/span><span class=\"token punctuation\">)<\/span>param<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n   <span class=\"token comment\">\/\/ task 3 is waiting<\/span><br \/>\n<span class=\"token function\">PutUARTLock<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/* task 3 &#061;&#061;&gt; ready, task 4 is running  *\/<\/span><br \/>\n<span class=\"token function\">vTaskDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u7531\u4e8e\u521d\u59cb\u5316\u6211\u4eec\u5df2\u7ecf\u5199\u5165\u4e86\u6570\u636e\u6b21\u6570\u961f\u5217\u6570\u636e\u662f\u6ee1\u7684&#xff0c;\u90a3\u4e48\u5728\u6267\u884c\u4efb\u52a14\u7684\u65f6\u5019\u5148\u83b7\u53d6\u8fd9\u4e2a\u6570\u636e&#xff0c;\u90a3\u4e48\u6b64\u65f6\u961f\u5217\u662f\u7a7a\u4e86&#xff0c;\u5c31\u8868\u793a\u88ab\u5360\u7528&#xff0c;\u76f8\u5f53\u4e8e\u662f\u5355\u72ec\u83b7\u53d6\u4e32\u53e3\u7684\u72b6\u6001\u3002\u5982\u679c\u8fd9\u4e2a\u65f6\u5019\u4efb\u52a13\u6267\u884c\u4e86&#xff0c;\u90a3\u4e48\u770b\u5230\u961f\u5217\u662f\u7a7a\u7684&#xff0c;\u5c31\u4f1a\u88ab\u53d8\u6210\u963b\u585e\u72b6\u6001\u3002\u63a5\u7740\u4efb\u52a14\u6267\u884c&#xff0c;\u7136\u540e\u4e3b\u52a8\u8fdb\u884c\u963b\u585e&#xff0c;\u91ca\u653eCPU&#xff0c;\u5e76\u4e14\u8fd8\u9700\u8981\u91cd\u65b0\u586b\u5199\u961f\u5217&#xff0c;\u4f7f\u961f\u5217\u662f\u6ee1\u72b6\u6001&#xff0c;\u8fd9\u6837\u4efb\u52a13\u8fc7\u6765\u7684\u65f6\u5019&#xff0c;\u5c31\u4f1a\u6267\u884c\u3002\u5982\u679c\u6211\u4eec\u4e0d\u586b\u5145\u961f\u5217&#xff0c;\u8bf4\u660e\u961f\u5217\u7684\u6570\u636e\u4e00\u76f4\u7a7a\u7684&#xff0c;\u90a3\u4e48\u4efb\u52a13\u548c4\u90fd\u662f\u5904\u4e8e\u963b\u585e\u72b6\u6001&#xff0c;\u56e0\u4e3a\u961f\u5217\u662f\u7a7a\u7684&#xff0c;\u6211\u4eec\u53c8\u8bbe\u7f6e\u4e86\u53c2\u6570portMAX_DELAY&#xff0c;\u5219\u4f1a\u4e00\u76f4\u963b\u585e\u76f4\u5230\u6709\u6570\u636e\u53ef\u8bfb\u3002\u8fd8\u662f\u90a3\u53e5\u8bdd&#xff0c;\u6211\u4eec\u4e0d\u77e5\u9053RTOS\u7684\u6838\u5fc3\u8c03\u5ea6&#xff0c;\u4f7f\u5f97\u6211\u4eec\u5728\u7406\u89e3\u7684\u65f6\u5019\u603b\u662f\u5dee\u4e00\u70b9\u3002\u76ee\u524d\u53ea\u80fd\u4ece\u8868\u9762\u5173\u7cfb\u8fdb\u884c\u7406\u89e3\u3002\u5148\u5b66\u4f1a\u5982\u4f55\u8c03\u7528API\u5427\u3002\u6838\u5fc3\u5c31\u662f\u961f\u5217\u7684\u6ee1\u4e0e\u7a7a&#xff0c;\u5982\u4f55\u548c\u4efb\u52a1\u7684\u6267\u884c\u6302\u94a9&#xff1f; \u5e76\u6ca1\u6709\u77e5\u5176\u6240\u4ee5\u7136\u3002<\/p>\n<p>\u963b\u585e\u5524\u9192\u673a\u5236\u200b<\/p>\n<ul>\n<li>\n<p>\u200b\u65e0\u4ee4\u724c\u65f6\u4e3b\u52a8\u963b\u585e\u200b&#xff1a; \u5f53\u4efb\u52a1\u8c03\u7528 GetUARTLock \u65f6&#xff0c;\u82e5\u961f\u5217\u4e3a\u7a7a&#xff08;\u9501\u88ab\u5360\u7528&#xff09;&#xff0c;\u4efb\u52a1\u4f1a\u6302\u8d77\u5e76\u79fb\u5165\u7b49\u5f85\u63a5\u6536\u94fe\u8868\u200b&#xff08;xTasksWaitingToReceive&#xff09;&#xff0c;\u4e0d\u5360\u7528CPU\u65f6\u95f4\u3002<\/p>\n<\/li>\n<li>\n<p>\u91ca\u653e\u9501\u65f6\u5524\u9192\u4efb\u52a1\u200b&#xff1a; PutUARTLock \u4e2d\u7684 xQueueSend \u4f1a\u68c0\u67e5\u7b49\u5f85\u63a5\u6536\u94fe\u8868&#xff0c;\u82e5\u6709\u4efb\u52a1\u963b\u585e&#xff0c;\u5219\u5524\u9192\u5176\u4e2d\u4f18\u5148\u7ea7\u6700\u9ad8\u7684\u4efb\u52a1&#xff0c;\u4f7f\u5176\u83b7\u5f97\u4ee4\u724c\u5e76\u7ee7\u7eed\u6267\u884c\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u4ee4\u724c\u5185\u5bb9\u65e0\u5173\u7d27\u8981\u200b<\/p>\n<p>\u4ee3\u7801\u4e2d\u7684 int val \u4ec5\u5360\u4f4d&#xff0c;\u5b9e\u9645\u503c\u65e0\u610f\u4e49&#xff0c;\u200b\u961f\u5217\u72b6\u6001&#xff08;\u7a7a\/\u6ee1&#xff09;\u624d\u662f\u9501\u72b6\u6001\u7684\u6807\u5fd7\u3002\u53ef\u5c06\u6570\u636e\u7c7b\u578b\u7b80\u5316\u4e3a\u5355\u5b57\u8282&#xff08;\u5982 char&#xff09;\u4ee5\u51cf\u5c11\u5185\u5b58\u5360\u7528\u3002<\/p>\n<h4>1.3.5\u3001\u961f\u5217\u96c6\u548c\u90ae\u7bb1<\/h4>\n<p>\u5b58\u5728\u4e00\u4e2a\u7cfb\u7edf\u6709\u4ee5\u4e0b\u51e0\u4e2a\u8f93\u5165&#xff1a;\u89e6\u6478\u3001\u6309\u952e\u3001\u9f20\u6807\u3001\u7ea2\u5916&#xff0c;\u4f46\u662f\u4e5f\u4e0d\u62d8\u6ce5\u4e8e\u8fd9\u51e0\u4e2a\u8f93\u5165&#xff0c;\u90fd\u53ef\u4ee5\u5524\u9192\u67d0\u4e2a\u4efb\u52a1&#xff0c;\u5e76\u4e14\u6bcf\u4e00\u4e2a\u8f93\u5165\u90fd\u662f\u4e00\u4e2a\u961f\u5217&#xff0c;\u8fd9\u6837\u5c31\u6784\u6210\u4e86\u4e00\u4e2a\u961f\u5217\u96c6\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/08\/20250810154420-6898be54b4ec0.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>Task1\u548cTask2\u5199\u5165\u6570\u636e&#xff0c;Task3\u53bb\u68c0\u6d4b\u6570\u636e\u3002 \u6ce8\u610f\u68c0\u6d4b\u6570\u636e\u7684\u65f6\u5019\u5c31\u5148\u4e0d\u7528\u8003\u8651\u6700\u5e95\u5c42\u7684\u8c03\u5ea6&#xff0c;\u5c31\u6309\u7167\u51fd\u6570\u7684\u8bf4\u660e\u8fdb\u884c\u4f7f\u7528&#xff0c;\u5c31\u5f53\u73b0\u5728\u4f7f\u7528\u7684\u662f\u4e00\u4e2a\u9ed1\u76d2\u5b50&#xff0c;\u53cd\u6b63\u540e\u7eed\u8fd8\u9700\u8981\u8be6\u7ec6\u7406\u89e3\u6e90\u7801\u4ee5\u53ca\u5e95\u5c42\u539f\u7406&#xff0c;\u56e0\u4e3a\u5982\u679c\u4e0d\u7406\u89e3\u5e95\u5c42\u539f\u7406&#xff0c;\u4e2a\u4eba\u662f\u5f88\u96be\u53d7\u7684&#xff0c;\u603b\u611f\u89c9\u5c11\u4e00\u70b9\u4e1c\u897f&#xff0c;\u4e0d\u77e5\u5176\u6240\u4ee5\u7136\u3002<\/p>\n<p>\/* 1. \u521b\u5efa2\u4e2aqueue *\/<\/p>\n<p>\u53ea\u9700\u8981\u6309\u7167\u5e93\u51fd\u6570\u7684\u65b9\u6cd5\u8fdb\u884c\u4f7f\u7528Queue\u521b\u5efa\u5bf9\u5e94 \u7684\u961f\u5217\u3002<\/p>\n<p>xQueueHandle1 <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">xQueueCreate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/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>xQueueHandle1 <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;can not create queue\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>xQueueHandle2 <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">xQueueCreate<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">2<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/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>xQueueHandle2 <span class=\"token operator\">&#061;&#061;<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;can not create queue\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\/* 2. \u521b\u5efaqueue set *\/<\/p>\n<p>\u961f\u5217\u96c6\u7684\u957f\u5ea6\u5c31\u662f\u961f\u52171\u548c\u961f\u52172\u7684\u957f\u5ea6\u4e4b\u548c&#xff0c;\u6240\u4ee5\u961f\u5217\u96c6\u7684\u957f\u5ea6\u5c31\u662f4\u3002<\/p>\n<p>xQueueSet <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">xQueueCreateSet<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">4<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\/* 3. \u628a2\u4e2aqueue\u6dfb\u52a0\u8fdbqueue set *\/<\/p>\n<p>\u76f4\u63a5\u8c03\u7528\u5e93\u51fd\u6570\u5c06\u6211\u4eec\u521b\u5efa\u7684\u961f\u5217\u653e\u5165\u961f\u5217\u96c6\u3002<\/p>\n<p><span class=\"token function\">xQueueAddToSet<\/span><span class=\"token punctuation\">(<\/span>xQueueHandle1<span class=\"token punctuation\">,<\/span> xQueueSet<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">xQueueAddToSet<\/span><span class=\"token punctuation\">(<\/span>xQueueHandle2<span class=\"token punctuation\">,<\/span> xQueueSet<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\/* 4. \u521b\u5efa3\u4e2a\u4efb\u52a1 *\/<\/p>\n<p><span class=\"token function\">xTaskCreate<\/span><span class=\"token punctuation\">(<\/span>Task1Function<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Task1&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>xHandleTask1<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">xTaskCreate<\/span><span class=\"token punctuation\">(<\/span>Task2Function<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Task2&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">xTaskCreate<\/span><span class=\"token punctuation\">(<\/span>Task3Function<span class=\"token punctuation\">,<\/span> <span class=\"token string\">&#034;Task3&#034;<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">100<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token constant\">NULL<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u603b\u4f53\u6765\u8bf4\u5c31\u662f\u4f7f\u7528\u5e93\u51fd\u6570\u8fdb\u884c\u4f7f\u7528&#xff0c;\u719f\u6089\u76f8\u5173\u7684\u5e93\u51fd\u6570\u4f7f\u7528\u3002<\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">Task1Function<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span> param<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">int<\/span> i <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token function\">xQueueSend<\/span><span class=\"token punctuation\">(<\/span>xQueueHandle1<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>i<span class=\"token punctuation\">,<\/span> portMAX_DELAY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\ni<span class=\"token operator\">&#043;&#043;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">vTaskDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">10<\/span><span class=\"token punctuation\">)<\/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 keyword\">void<\/span> <span class=\"token function\">Task2Function<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span> param<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token keyword\">int<\/span> i <span class=\"token operator\">&#061;<\/span> <span class=\"token operator\">&#8211;<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token function\">xQueueSend<\/span><span class=\"token punctuation\">(<\/span>xQueueHandle2<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>i<span class=\"token punctuation\">,<\/span> portMAX_DELAY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\ni<span class=\"token operator\">&#8212;<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token function\">vTaskDelay<\/span><span class=\"token punctuation\">(<\/span><span class=\"token number\">20<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u901a\u8fc7\u8fd9\u91cc\u53ef\u4ee5\u660e\u663e\u770b\u51fa&#xff0c;\u6211\u4eec\u5176\u5b9e\u5728RTOS\u5f00\u53d1\u4e2d&#xff0c;\u4e00\u5b9a\u662f\u8981\u719f\u6089\u8fd9\u4e9bAPI\u7684\u4f7f\u7528&#xff0c;\u6682\u65f6\u5148\u4e0d\u9700\u8981\u7406\u89e3\u5177\u4f53\u7684\u5b9e\u73b0&#xff0c;\u4e00\u5b9a\u662f\u5148\u77e5\u9053\u6bcf\u4e2a\u5e93\u51fd\u6570\u7684\u4f5c\u7528\u662f\u4ec0\u4e48\u3002\u4e0a\u9762\u8fd9\u4e24\u4e2a\u4efb\u52a1\u51fd\u6570\u5df2\u7ecf\u8bf4\u660e\u4e86\u8fd9\u4e00\u5207&#xff0c;\u53ea\u9700\u8981\u89c4\u5b9a\u597d\u600e\u4e48\u5199\u6570\u636e&#xff0c;\u7136\u540e\u76f4\u63a5\u4f7f\u7528\u5e93\u51fd\u6570\u5199\u5165\u6570\u636e&#xff0c;\u7136\u540e\u600e\u4e48\u8c03\u5ea6\u662f\u9700\u8981\u544a\u8bc9\u5185\u6838\u5c31\u884c&#xff0c;\u81f3\u4e8e\u5177\u4f53\u7684\u5fae\u89c2\u5c42\u9762\u7684\u5185\u5bb9&#xff0c;\u6682\u65f6\u5148\u4e0d\u8003\u8651&#xff0c;\u4e4b\u6240\u4ee5\u4e00\u76f4\u7684\u91cd\u590d\u7684\u8bf4\u660e&#xff0c;\u5c31\u662f\u4e3a\u4e86\u7ed9\u81ea\u5df1\u589e\u52a0\u8fd9\u79cd\u5f00\u53d1\u5370\u8c61&#xff0c;\u5f00\u53d1\u601d\u7ef4&#xff0c;\u8981\u63a5\u53d7RTOS\u8fd9\u79cd\u5f00\u53d1\u601d\u7ef4&#xff0c;\u5148\u4e0d\u8981\u60f3\u8fd9\u5fae\u89c2\u5c42\u9762\u7684\u5b9e\u73b0&#xff0c;\u5148\u5b66\u4f1a\u7528&#xff0c;\u5c31\u50cf\u5f53\u521d\u5b66\u4e60\u6df1\u5ea6\u5b66\u4e60\u4e00\u6837&#xff0c;\u5148\u4e0d\u7528\u7ba1\u5177\u4f53\u600e\u4e48\u5b9e\u73b0&#xff0c;\u4e00\u5b9a\u8981\u6709\u8fd9\u79cd\u601d\u7ef4&#xff0c;\u8fd9\u662f\u6700\u5173\u952e\u7684\u3002\u8fd8\u6709\u5c31\u662f\u6211\u4eec\u5728\u5199\u7684\u65f6\u5019\u90fd\u4f1a\u4e3b\u52a8\u7684\u8ba9\u4efb\u52a1\u8fdb\u884c\u4e00\u5b9a\u7a0b\u5ea6\u7684\u963b\u585e&#xff0c;\u76ee\u7684\u4e2a\u4eba\u5c31\u5148\u8ba4\u4e3a\u662f\u91ca\u653e\u51faCPU\u3002\u81f3\u4e8e\u8bf4\u8fd9\u4e2a\u6b65\u9aa4\u662f\u4e0d\u662f\u7ea6\u5b9a\u4fd7\u79f0\u7684&#xff0c;\u540e\u7eed\u5728\u6df1\u7a76\u3002<\/p>\n<p>\u4efb\u52a13&#xff1a;<\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">Task3Function<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span> param<span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\nQueueSetMemberHandle_t handle<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">int<\/span> i<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">while<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token number\">1<\/span><span class=\"token punctuation\">)<\/span><br \/>\n<span class=\"token punctuation\">{<\/span><br \/>\n<span class=\"token comment\">\/* 1. read queue set: which queue has data *\/<\/span><br \/>\nhandle <span class=\"token operator\">&#061;<\/span> <span class=\"token function\">xQueueSelectFromSet<\/span><span class=\"token punctuation\">(<\/span>xQueueSet<span class=\"token punctuation\">,<\/span> portMAX_DELAY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* 2. read queue *\/<\/span><br \/>\n<span class=\"token function\">xQueueReceive<\/span><span class=\"token punctuation\">(<\/span>handle<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>i<span class=\"token punctuation\">,<\/span> <span class=\"token number\">0<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token comment\">\/* 3. print *\/<\/span><br \/>\n<span class=\"token function\">printf<\/span><span class=\"token punctuation\">(<\/span><span class=\"token string\">&#034;get data : %d\\\\r\\\\n&#034;<\/span><span class=\"token punctuation\">,<\/span> i<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<p>\u4efb\u52a13\u7684\u542b\u4e49\u662f&#xff0c;\u68c0\u6d4b\u6211\u4eec\u7684\u961f\u5217\u96c6&#xff0c;\u67e5\u770b\u54ea\u4e2a\u961f\u5217\u6709\u65b0\u6570\u636e&#xff0c;\u7136\u540e\u8fd4\u56de\u4e00\u4e2ahandle&#xff0c;\u8fd9\u4e2ahandle\u5c31\u662f\u6211\u4eec\u7684\u961f\u5217\u96c6\u4e2d\u7684\u4e00\u4e2a\u961f\u5217\u3002<\/p>\n<p>\u5177\u4f53\u8fd8\u662f\u90a3\u53e5\u8bdd&#xff0c;\u4f7f\u7528\u5e93\u51fd\u6570&#xff0c;\u6211\u4eec\u53ea\u9700\u8981\u5c06\u8fd9\u4e2a\u961f\u5217\u6570\u636e\u96c6\u4f20\u5165\u8fd9\u4e2a\u51fd\u6570&#xff0c;\u7136\u540e\u4f20\u5165\u6838\u5fc3\u53c2\u6570portMAX_DELAY&#xff0c;\u4e00\u76f4\u7b49\u5f85\u3002\u5982\u679c\u6ca1\u6709\u5c31\u76f8\u5f53\u4e8e\u662f\u963b\u585e&#xff1f;<\/p>\n<p>\u7136\u540e\u8bfb\u53d6\u8fd9\u4e2a\u961f\u5217\u6570\u636e&#xff0c;\u5e76\u672a\u76f4\u63a5\u4e0d\u9700\u8981\u7b49\u5f85&#xff0c;\u76f4\u63a5\u8bfb\u8fd9\u4e2a\u6570\u636e&#xff0c;\u88ab\u8bbe\u4e3a 0&#xff0c;\u65e0\u6cd5\u8bfb\u51fa\u6570\u636e\u65f6\u51fd\u6570\u4f1a\u7acb\u523b\u8fd4\u56de&#xff1b; \u8fd9\u662f\u56e0\u4e3a\u6211\u4eec\u4e0a\u9762\u5df2\u7ecf\u6709\u4e86\u4e00\u5c42\u524d\u63d0&#xff0c;\u53ea\u6709\u6709\u961f\u5217\u6709\u65b0\u6570\u636e\u624d\u80fd\u8fd4\u56de\u76f8\u5e94\u961f\u5217\u7684Handle&#xff0c;\u4e0d\u7136\u90fd\u4e0d\u4f1a\u8fd4\u56de&#xff0c;\u751a\u81f3\u90fd\u662f\u6302\u8d77\u72b6\u6001\u3002<\/p>\n<p>\u4efb\u52a13\u7684\u76ee\u7684\u5c31\u662f\u7b49\u5f85\u961f\u5217\u6570\u636e\u7684\u5199\u5165&#xff0c;\u7136\u540e\u8f93\u51fa\u3002\u8fd8\u6709\u4e00\u4e2a\u95ee\u9898\u5c31\u662f&#xff0c;\u5982\u679c\u8bfb\u5b8c\u4e86&#xff0c;\u4efb\u52a13\u5c31\u4f1a\u4e3b\u52a8\u8fdb\u5165\u5230\u963b\u585e\u72b6\u6001\u3002<\/p>\n<p>\u963b\u585e\u7684\u6838\u5fc3\u673a\u5236\u200b&#xff1a; \u5f53\u4efb\u52a1\u8c03\u7528 xQueueSelectFromSet(xQueueSet, portMAX_DELAY) \u65f6&#xff0c;\u5982\u679c\u961f\u5217\u96c6 xQueueSet \u4e2d\u6240\u6709\u6210\u5458&#xff08;\u961f\u5217\u6216\u4fe1\u53f7\u91cf&#xff09;\u5747\u65e0\u53ef\u7528\u6570\u636e\u6216\u4e8b\u4ef6&#xff0c;\u200b\u4efb\u52a1\u4f1a\u7acb\u5373\u8fdb\u5165\u963b\u585e\u72b6\u6001&#xff08;Blocked State&#xff09;\u200b\u3002\u8fd9\u662f\u7531 portMAX_DELAY \u53c2\u6570\u51b3\u5b9a\u7684&#xff0c;\u8868\u793a\u65e0\u9650\u671f\u7b49\u5f85\u76f4\u5230\u4e8b\u4ef6\u53d1\u751f\u3002<\/p>\n<p>\u963b\u585e\u65f6\u7684\u4efb\u52a1\u884c\u4e3a\u200b&#xff1a;<\/p>\n<ul>\n<li>\u8c03\u5ea6\u5668\u884c\u4e3a\u200b&#xff1a;\u4efb\u52a1\u88ab\u79fb\u51fa\u5c31\u7eea\u5217\u8868&#xff08;Ready List&#xff09;&#xff0c;\u4e0d\u518d\u53c2\u4e0e\u8c03\u5ea6\u3002<\/li>\n<li>\u5524\u9192\u6761\u4ef6\u200b&#xff1a;\u961f\u5217\u96c6\u4e2d\u4efb\u610f\u4e00\u4e2a\u6210\u5458\u6536\u5230\u6570\u636e&#xff08;\u5982 xQueueSend \u88ab\u8c03\u7528&#xff09;\u6216\u4fe1\u53f7\u91cf\u88ab\u91ca\u653e&#xff08;\u5982 xSemaphoreGive \u88ab\u8c03\u7528&#xff09;\u3002<\/li>\n<li>\u8d44\u6e90\u5360\u7528\u200b&#xff1a;\u963b\u585e\u671f\u95f4\u4efb\u52a1\u4e0d\u6d88\u8017 CPU \u65f6\u95f4\u7247&#xff0c;\u7cfb\u7edf\u81ea\u52a8\u5207\u6362\u81f3\u5176\u4ed6\u5c31\u7eea\u4efb\u52a1\u8fd0\u884c\u3002<\/li>\n<\/ul>\n<p>\u4f46\u662f\u53ef\u80fd\u4f1a\u51fa\u73b0\u4e8b\u4ef6\u9057\u6f0f\u98ce\u9669&#xff0c;\u8fd9\u662f\u540e\u671f\u9700\u8981\u8003\u8651\u7684&#xff0c;\u5f53\u524d\u5c31\u662f\u7406\u89e3\u8fd9\u4e2a\u4efb\u52a1\u7684\u6267\u884c\u601d\u7ef4\u3002<\/p>\n<p>\u6b64\u8bbe\u8ba1\u5b8c\u5168\u4f9d\u8d56\u4e8b\u4ef6\u9a71\u52a8&#xff0c;\u901a\u8fc7\u963b\u585e\u673a\u5236\u9ad8\u6548\u534f\u8c03\u591a\u6e90\u6570\u636e\u76d1\u542c&#xff0c;\u907f\u514d CPU \u7a7a\u8f6c\u6d6a\u8d39\u8d44\u6e90\u3002<\/p>\n<p>\u8fd8\u6709\u5c31\u662f&#xff0c;\u4e2a\u4eba\u611f\u89c9\u5728FreeRTOS\u4e2d\u7684\u51fd\u6570\u6267\u884c\u4f3c\u4e4e\u5e76\u4e0d\u662f\u88f8\u673a\u4e2d\u7684\u987a\u5e8f\u6267\u884c&#xff1f;\u6216\u8005\u8bf4\u8f6e\u8be2&#xff1f;<\/p>\n<p>\u6709\u70b9\u4ea4\u53c9\u7684\u5473\u9053\u3002\u8fd9\u4e5f\u662fFreeRTOS\u4e2d\u7684\u62a2\u5360\u8c03\u5ea6\u7684\u539f\u56e0\u5427\u3002\u5c31\u662f\u867d\u7136\u77e5\u9053\u662f\u8fd9\u6837&#xff0c;\u4f46\u662f\u5728\u5206\u6790\u6267\u884c\u7684\u65f6\u5019\u8fd8\u662f\u6709\u4e00\u70b9\u6df7\u4e71&#xff0c;\u53ea\u80fd\u8bf4\u8fd8\u9700\u8981\u52a0\u5f3a\u953b\u70bc\u3002<\/p>\n<p>\u6b64\u5916\u8fd8\u9700\u8981\u8bf4\u660e\u7684\u662f&#xff1a;<\/p>\n<p>FreeRTOS \u4e2d\u7684\u4efb\u52a1\u6267\u884c\u673a\u5236\u4e0e\u88f8\u673a&#xff08;\u65e0\u64cd\u4f5c\u7cfb\u7edf&#xff09;\u7684\u987a\u5e8f\u6267\u884c\u6216\u8f6e\u8be2\u6709\u672c\u8d28\u533a\u522b\u3002\u5176\u6838\u5fc3\u5728\u4e8e \u200b\u591a\u4efb\u52a1\u5e76\u53d1\u8c03\u5ea6&#xff0c;\u901a\u8fc7\u62a2\u5360\u5f0f\u8c03\u5ea6\u5668\u548c\u65f6\u95f4\u7247\u8f6e\u8f6c\u5b9e\u73b0\u4efb\u52a1\u7684\u52a8\u6001\u5207\u6362&#xff0c;\u800c\u975e\u88f8\u673a\u7684\u7ebf\u6027\u8f6e\u8be2\u3002 \u8fd9\u4e2a\u5730\u65b9\u5728\u5b9e\u9645\u5206\u6790\u4e2d\u8fd8\u662f\u6709\u70b9\u7ed5\u7684&#xff0c;\u8fd8\u662f\u5e94\u8be5\u638c\u63e1\u4e00\u5957\u5177\u4f53\u7684\u5206\u6790\u65b9\u6cd5&#xff0c;\u8fd9\u662f\u9700\u8981\u52a0\u5f3a\u7684\u5730\u65b9\u3002<\/p>\n<p>\u5e76\u4e14\u5728\u4f7f\u7528\u8fc7\u7a0b\u4e2d\u53ef\u80fd\u8fd8\u9700\u8981\u8fdb\u884c\u4e00\u4e9b\u76f8\u5173\u914d\u7f6e\u3002 \u4e5f\u5c31\u662f\u6253\u5f00FreeRTOS\u4e2d\u4e00\u4e9b\u529f\u80fd\u7684\u5f00\u5173\u3002\u5c31\u7406\u89e3\u6210\u4e00\u4e2a\u7535\u8111&#xff0c;\u6211\u4eec\u6709\u65f6\u5019\u662f\u4e0d\u9700\u8981\u4e00\u4e9b\u529f\u80fd\u7684&#xff0c;\u6240\u4ee5\u5c31\u6ca1\u6709\u6253\u5f00&#xff0c;\u800c\u662f\u7528FreeRTOS\u5c31\u662f\u5728\u4f7f\u7528\u4e00\u4e2a\u7cfb\u7edf&#xff0c;\u601d\u7ef4\u662f\u4e00\u6837\u7684\u3002<\/p>\n<p>\u5982\u679c\u89c9\u5f97\u6211\u7684\u5185\u5bb9\u5bf9\u60a8\u6709\u5e2e\u52a9&#xff0c;\u5e0c\u671b\u4e0d\u8981\u541d\u556c\u60a8\u7684\u8d5e\u548c\u5173\u6ce8&#xff0c;\u60a8\u7684\u8d5e\u548c\u5173\u6ce8\u662f\u6211\u66f4\u65b0\u4f18\u8d28\u5185\u5bb9\u7684\u6700\u5927\u52a8\u529b\u3002<\/p>\n<hr \/>\n<hr \/>\n<p>\u4e13\u680f\u4ecb\u7ecd<\/p>\n<p>\u300a\u5d4c\u5165\u5f0f\u901a\u4fe1\u534f\u8bae\u89e3\u6790\u4e13\u680f\u300b \u300aPID\u7b97\u6cd5\u4e13\u680f\u300b \u300aC\u8bed\u8a00\u6307\u9488\u4e13\u680f\u300b 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