{"id":72254,"date":"2026-02-05T08:33:34","date_gmt":"2026-02-05T00:33:34","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/72254.html"},"modified":"2026-02-05T08:33:34","modified_gmt":"2026-02-05T00:33:34","slug":"freertos%e4%bb%bb%e5%8a%a1%e5%88%9b%e5%bb%ba","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/72254.html","title":{"rendered":"FreeRTOS\u4efb\u52a1\u521b\u5efa"},"content":{"rendered":"

1 \u4efb\u52a1\u521b\u5efa\u4e0e\u5220\u9664\u7684\u57fa\u672c\u6982\u5ff5<\/span><\/h2>\n

\u4efb\u52a1\u521b\u5efa：\u5728FreeRTOS\u4e2d\u521b\u5efa\u4efb\u52a1，\u672c\u8d28\u4e0a\u662f\u8c03\u7528\u76f8\u5e94\u7684API\u51fd\u6570，\u5206\u914d\u4efb\u52a1\u63a7\u5236\u5757（TCB）\u548c\u4efb\u52a1\u6808\u7a7a\u95f4\u3002
\n\u4efb\u52a1\u5220\u9664：\u79fb\u9664\u4efb\u52a1\u4ece\u5c31\u7eea\u3001\u963b\u585e\u3001\u6302\u8d77\u548c\u4e8b\u4ef6\u5217\u8868\u4e2d，\u91ca\u653e\u76f8\u5173\u5185\u5b58（\u52a8\u6001\u521b\u5efa\u65f6\u7531\u7a7a\u95f2\u4efb\u52a1\u5904\u7406）\u3002<\/p>\n

2 \u4efb\u52a1\u521b\u5efa\u4e0e\u5220\u9664\u7684API\u51fd\u6570<\/span><\/h2>\n

xTaskCreate()：\u52a8\u6001\u521b\u5efa\u4efb\u52a1，\u5185\u5b58\u7531FreeRTOS\u5806\u5206\u914d\u3002
\nxTaskCreateStatic()：\u9759\u6001\u521b\u5efa\u4efb\u52a1，\u5185\u5b58\u7531\u7528\u6237\u5206\u914d\u3002
\nvTaskDelete()：\u5220\u9664\u4efb\u52a1，\u52a8\u6001\u6216\u9759\u6001\u521b\u5efa\u7684\u4efb\u52a1\u5747\u53ef\u5220\u9664\u3002<\/p>\n

3. \u52a8\u6001\u521b\u5efa\u4efb\u52a1\u6d41\u7a0b（xTaskCreate）<\/span><\/h2>\n

3.1 \u4f7f\u7528\u6b65\u9aa4<\/span><\/h3>\n

1. \u5c06configSUPPORT_DYNAMIC_ALLOCATION\u8bbe\u4e3a1\u3002
\n2. \u5b9a\u4e49\u4efb\u52a1\u51fd\u6570（\u5165\u53e3\u53c2\u6570）\u3002
\n3. \u8c03\u7528xTaskCreate()\u3002<\/p>\n

3.2 \u5185\u90e8\u5b9e\u73b0<\/span><\/h3>\n

1. \u7533\u8bf7\u5806\u6808\u548cTCB\u5185\u5b58\u3002
\n2. \u521d\u59cb\u5316TCB\u6210\u5458（\u4f18\u5148\u7ea7\u3001\u540d\u79f0\u3001\u6808\u9876\u7b49）\u3002
\n3. \u521d\u59cb\u5316\u4efb\u52a1\u6808（\u586b\u51450xA5，\u8bbe\u7f6e\u4e0a\u4e0b\u6587）\u3002
\n4. \u5c06\u4efb\u52a1\u6dfb\u52a0\u5230\u5c31\u7eea\u5217\u8868\u3002
\n5. \u66f4\u65b0\u5c31\u7eea\u4f18\u5148\u7ea7\u4f4d\u56fe\u3002
\n6. \u5982\u679c\u8c03\u5ea6\u5668\u5df2\u8fd0\u884c\u4e14\u65b0\u4efb\u52a1\u4f18\u5148\u7ea7\u66f4\u9ad8，\u89e6\u53d1\u4efb\u52a1\u5207\u6362\u3002<\/p>\n

4 \u9759\u6001\u521b\u5efa\u4efb\u52a1\u6d41\u7a0b（xTaskCreateStatic）<\/span><\/h2>\n

4.1 \u4f7f\u7528\u6b65\u9aa4<\/span><\/h3>\n

1. \u5c06configSUPPORT_STATIC_ALLOCATION\u8bbe\u4e3a1\u3002
\n2. \u7528\u6237\u63d0\u4f9b\u6808\u6570\u7ec4\u548cTCB\u7ed3\u6784\u4f53\u3002
\n3. \u5b9a\u4e49\u4efb\u52a1\u51fd\u6570\u3002
\n4. \u8c03\u7528xTaskCreateStatic()\u3002<\/p>\n

4.2 \u5185\u90e8\u5b9e\u73b0<\/span><\/h3>\n

1. \u7528\u6237\u4f20\u5165\u6808\u548cTCB\u6307\u9488\u3002
\n2. \u521d\u59cb\u5316TCB（\u7c7b\u4f3c\u52a8\u6001\u65b9\u5f0f）\u3002
\n3. \u6dfb\u52a0\u5230\u5c31\u7eea\u5217\u8868\u3002<\/p>\n

5 \u4efb\u52a1\u5220\u9664\u6d41\u7a0b（vTaskDelete）<\/span><\/h2>\n

5.1 \u4f7f\u7528\u6b65\u9aa4<\/span><\/h3>\n

1. \u5c06INCLUDE_vTaskDelete\u8bbe\u4e3a1\u3002
\n2. \u8c03\u7528vTaskDelete()，\u4f20\u5165\u4efb\u52a1\u53e5\u67c4（NULL\u8868\u793a\u5220\u9664\u81ea\u8eab）\u3002<\/p>\n

5.2 \u5185\u90e8\u5b9e\u73b0<\/span><\/h3>\n

1. \u4ece\u6240\u6709\u5217\u8868\u4e2d\u79fb\u9664\u4efb\u52a1\u3002
\n2. \u5982\u679c\u662f\u5220\u9664\u81ea\u8eab，\u5219\u8fdb\u5165\u7b49\u5f85\u5220\u9664\u5217\u8868，\u7531\u7a7a\u95f2\u4efb\u52a1\u91ca\u653e\u5185\u5b58\u3002
\n3. \u5982\u679c\u662f\u5220\u9664\u5176\u4ed6\u4efb\u52a1，\u76f4\u63a5\u91ca\u653e\u5185\u5b58\u3002
\n4. \u66f4\u65b0\u4efb\u52a1\u6570\u91cf\u548c\u963b\u585e\u65f6\u95f4\u3002
\n5. \u53ef\u80fd\u89e6\u53d1\u4efb\u52a1\u5207\u6362\u3002<\/p>\n

6 \u52a8\u6001\u4e0e\u9759\u6001\u521b\u5efa\u5bf9\u6bd4<\/span><\/h2>\n

\u52a8\u6001\u521b\u5efa：\u5185\u5b58\u6765\u81eaFreeRTOS\u5806，\u7075\u6d3b\u5e38\u7528，\u9700\u914d\u7f6econfigSUPPORT_DYNAMIC_ALLOCATION=1\u3002
\n\u9759\u6001\u521b\u5efa：\u5185\u5b58\u7531\u7528\u6237\u5206\u914d，\u65e0\u5206\u914d\u5931\u8d25\u98ce\u9669，\u9700\u914d\u7f6econfigSUPPORT_STATIC_ALLOCATION=1，\u9002\u7528\u4e8e\u5185\u5b58\u53d7\u9650\u6216\u9700\u56fa\u5b9a\u5730\u5740\u7684\u573a\u666f\u3002<\/p>\n

7 \u5173\u952e\u6ce8\u610f\u4e8b\u9879<\/span><\/h2>\n

1. \u4f18\u5148\u7ea7\u6570\u503c\u8d8a\u5927\u4f18\u5148\u7ea7\u8d8a\u9ad8\u3002
\n2. \u6808\u5927\u5c0f\u4ee5\u5b57\u4e3a\u5355\u4f4d（\u5982128\u8868\u793a128*4\u5b57\u8282）\u3002
\n3. \u5220\u9664\u81ea\u8eab\u65f6\u4f20\u5165NULL，\u5185\u5b58\u7531\u7a7a\u95f2\u4efb\u52a1\u91ca\u653e\u3002
\n4. \u7528\u6237\u7533\u8bf7\u7684\u5185\u5b58\u9700\u5728\u4efb\u52a1\u5220\u9664\u524d\u91ca\u653e，\u5426\u5219\u4f1a\u5bfc\u81f4\u5185\u5b58\u6cc4\u6f0f\u3002
\n5. \u5173\u952e\u4ee3\u7801\u6bb5\u53ef\u4f7f\u7528\u4e34\u754c\u533a\u4fdd\u62a4，\u9632\u6b62\u88ab\u4e2d\u65ad\u6253\u65ad\u3002<\/p>\n

8 \u4efb\u52a1\u52a8\u6001\u521b\u5efa\u4e0e\u5220\u9664\u5b9e\u9a8c<\/span><\/h2>\n

8.1\u00a0xTaskCreate() \u51fd\u6570<\/span><\/h3>\n

\u8fd9\u662fFreeRTOS\u4e2d\u52a8\u6001\u521b\u5efa\u4efb\u52a1\u7684\u6838\u5fc3API\u51fd\u6570\u3002\u5176\u4f5c\u7528\u662f\u4eceFreeRTOS\u7ba1\u7406\u7684\u5806\u5185\u5b58\u4e2d\u81ea\u52a8\u5206\u914d\u4efb\u52a1\u63a7\u5236\u5757（TCB）\u548c\u4efb\u52a1\u6808\u7a7a\u95f4，\u5e76\u5c06\u65b0\u4efb\u52a1\u521d\u59cb\u5316\u4e3a\u5c31\u7eea\u72b6\u6001，\u7b49\u5f85\u8c03\u5ea6\u5668\u8c03\u5ea6\u3002<\/p>\n

\u51fd\u6570\u539f\u578b：
\nBaseType_t xTaskCreate( TaskFunction_t pvTaskCode,
\n const char * const pcName,
\n configSTACK_DEPTH_TYPE usStackDepth,
\n void *pvParameters,
\n UBaseType_t uxPriority,
\n TaskHandle_t *pxCreatedTask );<\/p>\n

\u53c2\u6570\u8bf4\u660e：
\npvTaskCode: \u6307\u5411\u4efb\u52a1\u51fd\u6570\u7684\u6307\u9488，\u4efb\u52a1\u51fd\u6570\u901a\u5e38\u4e3a\u65e0\u9650\u5faa\u73af
\npcName: \u4efb\u52a1\u540d\u79f0\u5b57\u7b26\u4e32，\u7528\u4e8e\u8c03\u8bd5\u548c\u6807\u8bc6
\nusStackDepth: \u4efb\u52a1\u6808\u6df1\u5ea6（\u4ee5\u5b57\u4e3a\u5355\u4f4d，\u5982128\u8868\u793a128*4\u5b57\u8282）
\npvParameters: \u4f20\u9012\u7ed9\u4efb\u52a1\u51fd\u6570\u7684\u53c2\u6570\u6307\u9488
\nuxPriority: \u4efb\u52a1\u4f18\u5148\u7ea7（0\u4e3a\u6700\u4f4e，\u6570\u503c\u8d8a\u5927\u4f18\u5148\u7ea7\u8d8a\u9ad8）
\npxCreatedTask: \u8fd4\u56de\u7684\u4efb\u52a1\u53e5\u67c4，\u53ef\u7528\u4e8e\u540e\u7eed\u4efb\u52a1\u7ba1\u7406<\/p>\n

\u8fd4\u56de\u503c：
\npdPASS: \u4efb\u52a1\u521b\u5efa\u6210\u529f
\npdFAIL: \u4efb\u52a1\u521b\u5efa\u5931\u8d25（\u901a\u5e38\u56e0\u5185\u5b58\u4e0d\u8db3）<\/p>\n

\u7279\u70b9：
\n\u4efb\u52a1\u521b\u5efa\u540e\u7acb\u5373\u8fdb\u5165\u5c31\u7eea\u72b6\u6001
\n\u5185\u5b58\u7531\u7cfb\u7edf\u81ea\u52a8\u7ba1\u7406
\n\u9700\u8981\u914d\u7f6econfigSUPPORT_DYNAMIC_ALLOCATION=1<\/p>\n

8.2\u00a0vTaskDelete() \u51fd\u6570<\/span><\/h3>\n

\u8fd9\u662fFreeRTOS\u4e2d\u5220\u9664\u4efb\u52a1\u7684API\u51fd\u6570\u3002\u5f53\u4f20\u5165\u53c2\u6570\u4e3aNULL\u65f6，\u8868\u793a\u5220\u9664\u5f53\u524d\u6b63\u5728\u6267\u884c\u7684\u4efb\u52a1\u81ea\u8eab\u3002<\/p>\n

\u5de5\u4f5c\u539f\u7406：
\n\u4efb\u52a1\u4ece\u6240\u6709\u72b6\u6001\u5217\u8868（\u5c31\u7eea\u3001\u963b\u585e\u3001\u6302\u8d77\u3001\u4e8b\u4ef6）\u4e2d\u79fb\u9664
\n\u4efb\u52a1\u81ea\u8eab\u8fdb\u5165\u7b49\u5f85\u5220\u9664\u5217\u8868
\n\u7a7a\u95f2\u4efb\u52a1（Idle Task）\u4f1a\u5728\u540e\u7eed\u8fd0\u884c\u4e2d\u91ca\u653e\u8be5\u4efb\u52a1\u5360\u7528\u7684\u7cfb\u7edf\u5185\u5b58<\/p>\n

\u6ce8\u610f\u4e8b\u9879：
\n\u5220\u9664\u81ea\u8eab\u540e，\u4efb\u52a1\u51fd\u6570\u7acb\u5373\u505c\u6b62\u6267\u884c
\n\u7528\u6237\u624b\u52a8\u7533\u8bf7\u7684\u5185\u5b58（\u5982malloc）\u4e0d\u4f1a\u88ab\u81ea\u52a8\u91ca\u653e，\u9700\u8981\u5728\u5220\u9664\u524d\u624b\u52a8\u91ca\u653e
\n\u5220\u9664\u5176\u4ed6\u4efb\u52a1\u65f6，\u9700\u4f20\u5165\u6709\u6548\u7684\u4efb\u52a1\u53e5\u67c4
\n\u9700\u8981\u914d\u7f6eINCLUDE_vTaskDelete=1<\/p>\n

\u4f7f\u7528\u573a\u666f：
\n\u4e00\u6b21\u6027\u4efb\u52a1\u5b8c\u6210\u540e\u81ea\u6211\u6e05\u7406
\n\u4efb\u52a1\u5f02\u5e38\u65f6\u7684\u5b89\u5168\u9000\u51fa
\n\u52a8\u6001\u4efb\u52a1\u7ba1\u7406\u7cfb\u7edf\u4e2d\u7684\u4efb\u52a1\u79fb\u9664<\/p>\n

8.3\u00a0\u4e34\u754c\u533a<\/span><\/h3>\n

\u4e34\u754c\u533a\u662f\u4e00\u6bb5\u5728\u6267\u884c\u671f\u95f4\u4e0d\u80fd\u88ab\u4e2d\u65ad\u7684\u4ee3\u7801\u533a\u57df，\u7528\u4e8e\u4fdd\u62a4\u5171\u4eab\u8d44\u6e90\u7684\u539f\u5b50\u6027\u8bbf\u95ee\u3002<\/p>\n

\u76f8\u5173\u51fd\u6570：
\ntaskENTER_CRITICAL(): \u8fdb\u5165\u4e34\u754c\u533a，\u5173\u95edFreeRTOS\u7ba1\u7406\u7684\u4e2d\u65ad
\ntaskEXIT_CRITICAL(): \u9000\u51fa\u4e34\u754c\u533a，\u6062\u590d\u4e2d\u65ad<\/p>\n

\u4f5c\u7528\u673a\u5236：
\n\u8fdb\u5165\u4e34\u754c\u533a\u540e，FreeRTOS\u4f1a\u5173\u95ed\u53ef\u7ba1\u7406\u7684\u4e2d\u65ad（\u901a\u5e38\u662fPendSV\u548cSysTick）
\n\u4f46\u4ecd\u53ef\u54cd\u5e94\u9ad8\u4f18\u5148\u7ea7\u786c\u4ef6\u4e2d\u65ad（\u5982\u5916\u8bbe\u4e2d\u65ad）
\n\u9000\u51fa\u4e34\u754c\u533a\u65f6\u6062\u590d\u4e4b\u524d\u7684\u4e2d\u65ad\u72b6\u6001<\/p>\n

\u4e3b\u8981\u7528\u9014：
\n\u4fdd\u62a4\u591a\u4efb\u52a1\u5171\u4eab\u7684\u5168\u5c40\u53d8\u91cf\u6216\u6570\u636e\u7ed3\u6784
\n\u9632\u6b62\u4efb\u52a1\u5207\u6362\u671f\u95f4\u7684\u8d44\u6e90\u7ade\u4e89
\n\u786e\u4fdd\u4ee3\u7801\u6bb5\u7684\u539f\u5b50\u6027\u6267\u884c<\/p>\n

\u6ce8\u610f\u4e8b\u9879：
\n\u4e34\u754c\u533a\u5e94\u5c3d\u91cf\u7b80\u77ed，\u907f\u514d\u5f71\u54cd\u7cfb\u7edf\u5b9e\u65f6\u6027
\n\u4e0d\u53ef\u5d4c\u5957\u8c03\u7528（\u6216\u9700\u6ce8\u610f\u5d4c\u5957\u8ba1\u6570）
\n\u4e0d\u80fd\u5728\u4e34\u754c\u533a\u5185\u8c03\u7528\u53ef\u80fd\u5f15\u8d77\u4efb\u52a1\u963b\u585e\u7684API（\u5982vTaskDelay）<\/p>\n

8.4 \u5b9e\u9a8c\u4ee3\u7801<\/span><\/h3>\n

\/*
\n * \u4efb\u52a1\u4f18\u5148\u7ea7\u5b9a\u4e49：
\n * \u6570\u503c\u8d8a\u5927\u4f18\u5148\u7ea7\u8d8a\u9ad8，FreeRTOS\u4e2d\u4f18\u5148\u7ea7\u901a\u5e38\u4ece0\u5f00\u59cb，0\u4e3a\u6700\u4f4e\u4f18\u5148\u7ea7
\n * \u8fd9\u91cc\u5b9a\u4e49\u8d77\u59cb\u4efb\u52a1\u4f18\u5148\u7ea7\u4e3a1，task1\u4f18\u5148\u7ea7\u4e3a2，task2\u4f18\u5148\u7ea7\u4e3a3，task3\u4f18\u5148\u7ea7\u4e3a4
\n *\/
\n#define START_TASK_PRIO 1 \/\/ \u8d77\u59cb\u4efb\u52a1\u4f18\u5148\u7ea7
\n#define START_TASK_STACK_SIZE 128 \/\/ \u8d77\u59cb\u4efb\u52a1\u5806\u6808\u5927\u5c0f（\u4ee5\u5b57\u4e3a\u5355\u4f4d，128\u5b57=128*4\u5b57\u8282=512\u5b57\u8282）
\nTaskHandle_t start_task_handler; \/\/ \u8d77\u59cb\u4efb\u52a1\u53e5\u67c4，\u7528\u4e8e\u4efb\u52a1\u7ba1\u7406
\nvoid start_task(void *pvParameters); \/\/ \u8d77\u59cb\u4efb\u52a1\u51fd\u6570\u58f0\u660e<\/p>\n

#define TASK1_PRIO 2 \/\/ \u4efb\u52a11\u4f18\u5148\u7ea7
\n#define TASK1_STACK_SIZE 128 \/\/ \u4efb\u52a11\u5806\u6808\u5927\u5c0f
\nTaskHandle_t task1_handler; \/\/ \u4efb\u52a11\u53e5\u67c4
\nvoid task1(void *pvParameters); \/\/ \u4efb\u52a11\u51fd\u6570\u58f0\u660e<\/p>\n

#define TASK2_PRIO 3 \/\/ \u4efb\u52a12\u4f18\u5148\u7ea7
\n#define TASK2_STACK_SIZE 128 \/\/ \u4efb\u52a12\u5806\u6808\u5927\u5c0f
\nTaskHandle_t task2_handler; \/\/ \u4efb\u52a12\u53e5\u67c4
\nvoid task2(void *pvParameters); \/\/ \u4efb\u52a12\u51fd\u6570\u58f0\u660e<\/p>\n

#define TASK3_PRIO 4 \/\/ \u4efb\u52a13\u4f18\u5148\u7ea7
\n#define TASK3_STACK_SIZE 128 \/\/ \u4efb\u52a13\u5806\u6808\u5927\u5c0f
\nTaskHandle_t task3_handler; \/\/ \u4efb\u52a13\u53e5\u67c4
\nvoid task3(void *pvParameters); \/\/ \u4efb\u52a13\u51fd\u6570\u58f0\u660e<\/p>\n

\/**
\n * @brief FreeRTOS\u4f8b\u7a0b\u5165\u53e3\u51fd\u6570
\n * @param \u65e0
\n * @retval \u65e0
\n * \u529f\u80fd：\u521b\u5efa\u8d77\u59cb\u4efb\u52a1\u5e76\u542f\u52a8FreeRTOS\u8c03\u5ea6\u5668
\n *\/
\nvoid freertos_demo(void)
\n{
\n \/* \u4f7f\u7528xTaskCreate\u52a8\u6001\u521b\u5efa\u8d77\u59cb\u4efb\u52a1
\n * \u53c2\u6570\u8bf4\u660e：
\n * 1. start_task – \u4efb\u52a1\u51fd\u6570\u6307\u9488
\n * 2. "start_task" – \u4efb\u52a1\u540d\u79f0（\u5b57\u7b26\u4e32）
\n * 3. START_TASK_STACK_SIZE – \u4efb\u52a1\u5806\u6808\u5927\u5c0f
\n * 4. NULL – \u4f20\u9012\u7ed9\u4efb\u52a1\u51fd\u6570\u7684\u53c2\u6570（\u6b64\u5904\u4e3a\u7a7a）
\n * 5. START_TASK_PRIO – \u4efb\u52a1\u4f18\u5148\u7ea7
\n * 6. &start_task_handler – \u8fd4\u56de\u7684\u4efb\u52a1\u53e5\u67c4\u6307\u9488
\n *\/
\n xTaskCreate((TaskFunction_t) start_task,
\n (char *) "start_task",
\n (configSTACK_DEPTH_TYPE) START_TASK_STACK_SIZE,
\n (void *) NULL,
\n (UBaseType_t) START_TASK_PRIO,
\n (TaskHandle_t *) &start_task_handler);<\/p>\n

\/* \u542f\u52a8FreeRTOS\u8c03\u5ea6\u5668，\u7cfb\u7edf\u5f00\u59cb\u8fdb\u884c\u4efb\u52a1\u8c03\u5ea6 *\/
\n vTaskStartScheduler();
\n}<\/p>\n

\/**
\n * @brief \u8d77\u59cb\u4efb\u52a1\u51fd\u6570
\n * @param pvParameters – \u4efb\u52a1\u53c2\u6570（\u6b64\u5904\u672a\u4f7f\u7528）
\n * @retval \u65e0
\n * \u529f\u80fd：\u521b\u5efatask1\u3001task2\u3001task3\u4e09\u4e2a\u4efb\u52a1，\u7136\u540e\u5220\u9664\u81ea\u8eab
\n *\/
\nvoid start_task(void *pvParameters)
\n{
\n \/* \u8fdb\u5165\u4e34\u754c\u533a：\u9632\u6b62\u4efb\u52a1\u521b\u5efa\u8fc7\u7a0b\u88ab\u4e2d\u65ad\u6253\u65ad *\/
\n taskENTER_CRITICAL();<\/p>\n

\/* \u52a8\u6001\u521b\u5efa\u4efb\u52a11 *\/
\n xTaskCreate((TaskFunction_t) task1,
\n (char *) "task1",
\n (configSTACK_DEPTH_TYPE) TASK1_STACK_SIZE,
\n (void *) NULL,
\n (UBaseType_t) TASK1_PRIO,
\n (TaskHandle_t *) &task1_handler);<\/p>\n

\/* \u52a8\u6001\u521b\u5efa\u4efb\u52a12 *\/
\n xTaskCreate((TaskFunction_t) task2,
\n (char *) "task2",
\n (configSTACK_DEPTH_TYPE) TASK2_STACK_SIZE,
\n (void *) NULL,
\n (UBaseType_t) TASK2_PRIO,
\n (TaskHandle_t *) &task2_handler);<\/p>\n

\/* \u52a8\u6001\u521b\u5efa\u4efb\u52a13 *\/
\n xTaskCreate((TaskFunction_t) task3,
\n (char *) "task3",
\n (configSTACK_DEPTH_TYPE) TASK3_STACK_SIZE,
\n (void *) NULL,
\n (UBaseType_t) TASK3_PRIO,
\n (TaskHandle_t *) &task3_handler);<\/p>\n

\/* \u9000\u51fa\u4e34\u754c\u533a *\/
\n taskEXIT_CRITICAL();<\/p>\n

\/* \u5220\u9664\u8d77\u59cb\u4efb\u52a1\u81ea\u8eab（NULL\u8868\u793a\u5220\u9664\u5f53\u524d\u4efb\u52a1） *\/
\n vTaskDelete(NULL);
\n}<\/p>\n

\/**
\n * @brief \u4efb\u52a11\u51fd\u6570
\n * @param pvParameters – \u4efb\u52a1\u53c2\u6570（\u6b64\u5904\u672a\u4f7f\u7528）
\n * @retval \u65e0
\n * \u529f\u80fd：\u63a7\u5236LED0\u6bcf500ms\u95ea\u70c1\u4e00\u6b21
\n *\/
\nvoid task1(void *pvParameters)
\n{
\n while (1)
\n {
\n LED0_TOGGLE(); \/\/ LED0\u72b6\u6001\u7ffb\u8f6c
\n vTaskDelay(500); \/\/ \u5ef6\u8fdf500ms（\u4ee5FreeRTOS\u7684\u8282\u62cd\u4e3a\u5355\u4f4d）
\n }
\n}<\/p>\n

\/**
\n * @brief \u4efb\u52a12\u51fd\u6570
\n * @param pvParameters – \u4efb\u52a1\u53c2\u6570（\u6b64\u5904\u672a\u4f7f\u7528）
\n * @retval \u65e0
\n * \u529f\u80fd：\u63a7\u5236LED1\u6bcf500ms\u95ea\u70c1\u4e00\u6b21
\n *\/
\nvoid task2(void *pvParameters)
\n{
\n while (1)
\n {
\n LED1_TOGGLE(); \/\/ LED1\u72b6\u6001\u7ffb\u8f6c
\n vTaskDelay(500); \/\/ \u5ef6\u8fdf500ms
\n }
\n}<\/p>\n

\/**
\n * @brief \u4efb\u52a13\u51fd\u6570
\n * @param pvParameters – \u4efb\u52a1\u53c2\u6570（\u6b64\u5904\u672a\u4f7f\u7528）
\n * @retval \u65e0
\n * \u529f\u80fd：\u68c0\u6d4b\u6309\u952eKEY0，\u6309\u4e0b\u5219\u5220\u9664task1\u4efb\u52a1
\n *\/
\nvoid task3(void *pvParameters)
\n{
\n uint8_t key = 0;<\/p>\n

while (1)
\n {
\n printf("task3\u6b63\u5728\u8fd0\u884c！！！\\\\r\\\\n"); \/\/ \u8f93\u51fa\u8fd0\u884c\u63d0\u793a\u4fe1\u606f<\/p>\n

key = key_scan(0); \/\/ \u626b\u63cf\u6309\u952e（\u53c2\u65700\u8868\u793a\u4e0d\u652f\u6301\u8fde\u6309）<\/p>\n

if (key == KEY0_PRES) \/\/ \u5982\u679cKEY0\u6309\u4e0b
\n {
\n if (task1_handler != NULL) \/\/ \u68c0\u67e5task1\u53e5\u67c4\u662f\u5426\u6709\u6548
\n {
\n printf("\u5220\u9664task1\u4efb\u52a1\\\\r\\\\n");
\n vTaskDelete(task1_handler); \/\/ \u5220\u9664task1\u4efb\u52a1
\n task1_handler = NULL; \/\/ \u5c06\u53e5\u67c4\u7f6e\u4e3aNULL，\u9632\u6b62\u91cd\u590d\u5220\u9664
\n }
\n }
\n vTaskDelay(10); \/\/ \u5ef6\u8fdf10ms，\u63a7\u5236\u6309\u952e\u68c0\u6d4b\u9891\u7387
\n }
\n}<\/p>\n

\u5b9e\u73b0\u529f\u80fd：\u9996\u5148\u521b\u5efa\u4e00\u4e2a\u8d77\u59cb\u4efb\u52a1\u6765\u521d\u59cb\u5316\u4e09\u4e2a\u529f\u80fd\u4efb\u52a1，\u5176\u4e2d task1 \u548c task2 \u5206\u522b\u63a7\u5236 LED0 \u548c LED1 \u4ee5 500ms \u95f4\u9694\u95ea\u70c1，\u5b9e\u73b0\u53cc\u706f\u4ea4\u66ff\u95ea\u70c1\u6548\u679c；task3 \u5219\u8d1f\u8d23\u76d1\u63a7\u6309\u952e KEY0 \u7684\u6309\u4e0b\u4e8b\u4ef6，\u5e76\u5728\u68c0\u6d4b\u5230\u6309\u952e\u65f6\u52a8\u6001\u5220\u9664 task1 \u4efb\u52a1，\u6f14\u793a\u4e86\u4efb\u52a1\u8fd0\u884c\u65f6\u7ba1\u7406\u7684\u529f\u80fd\u3002<\/p>\n

9 \u4efb\u52a1\u52a8\u6001\u521b\u5efa\u4e0e\u5220\u9664\u5b9e\u9a8c<\/span><\/h2>\n

9.1\u00a0xTaskCreateStatic()\u51fd\u6570<\/span><\/h3>\n

xTaskCreateStatic\u00a0\u662f FreeRTOS \u4e2d\u7528\u4e8e\u521b\u5efa\u9759\u6001\u5185\u5b58\u5206\u914d\u4efb\u52a1\u7684\u51fd\u6570\u3002\u4e0e\u52a8\u6001\u5206\u914d\u7684\u00a0xTaskCreate\u00a0\u4e0d\u540c，\u5b83\u9700\u8981\u7528\u6237\u9884\u5148\u5206\u914d\u4efb\u52a1\u63a7\u5236\u5757（TCB）\u548c\u6808\u5185\u5b58，\u9002\u5408\u5728\u7981\u7528\u52a8\u6001\u5185\u5b58\u5206\u914d\u7684\u7cfb\u7edf\u4e2d\u4f7f\u7528\u3002<\/p>\n

\u51fd\u6570\u539f\u578b：
\nTaskHandle_t xTaskCreateStatic( TaskFunction_t pvTaskCode,
\n const char * const pcName,
\n const uint32_t ulStackDepth,
\n void * const pvParameters,
\n UBaseType_t uxPriority,
\n StackType_t * const puxStackBuffer,
\n StaticTask_t * const pxTaskBuffer );<\/p>\n

\u53c2\u6570\u8bf4\u660e：
\npvTaskCode: \u6307\u5411\u4efb\u52a1\u51fd\u6570\u7684\u6307\u9488，\u4efb\u52a1\u51fd\u6570\u901a\u5e38\u4e3a\u65e0\u9650\u5faa\u73af
\npcName: \u4efb\u52a1\u540d\u79f0\u5b57\u7b26\u4e32，\u7528\u4e8e\u8c03\u8bd5\u548c\u6807\u8bc6
\nulStackDepth: \u4efb\u52a1\u6808\u6df1\u5ea6（\u4ee5\u5b57\u4e3a\u5355\u4f4d，\u5982128\u8868\u793a128*4\u5b57\u8282）
\npvParameters: \u4f20\u9012\u7ed9\u4efb\u52a1\u51fd\u6570\u7684\u53c2\u6570\u6307\u9488
\nuxPriority: \u4efb\u52a1\u4f18\u5148\u7ea7（0\u4e3a\u6700\u4f4e，\u6570\u503c\u8d8a\u5927\u4f18\u5148\u7ea7\u8d8a\u9ad8）
\npuxStackBuffer: \u6307\u5411\u4efb\u52a1\u6808\u7f13\u51b2\u533a\u7684\u6307\u9488，\u5fc5\u987b\u7531\u7528\u6237\u9759\u6001\u5206\u914d
\npxTaskBuffer: \u6307\u5411\u4efb\u52a1\u63a7\u5236\u5757（TCB）\u7f13\u51b2\u533a\u7684\u6307\u9488，\u5fc5\u987b\u7531\u7528\u6237\u9759\u6001\u5206\u914d<\/p>\n

\u8fd4\u56de\u503c：
\n\u975eNULL: \u4efb\u52a1\u521b\u5efa\u6210\u529f，\u8fd4\u56de\u4efb\u52a1\u53e5\u67c4
\nNULL: \u4efb\u52a1\u521b\u5efa\u5931\u8d25（\u901a\u5e38\u56e0\u4e3apuxStackBuffer\u6216pxTaskBuffer\u4e3aNULL，\u6216\u6808\u6df1\u5ea6\u4e3a0）<\/p>\n

\u7279\u70b9：
\n\u4efb\u52a1\u521b\u5efa\u540e\u7acb\u5373\u8fdb\u5165\u5c31\u7eea\u72b6\u6001
\n\u5185\u5b58\u7531\u7528\u6237\u9884\u5148\u9759\u6001\u5206\u914d，\u65e0\u52a8\u6001\u5185\u5b58\u7ba1\u7406\u5f00\u9500
\n\u9700\u8981\u914d\u7f6econfigSUPPORT_STATIC_ALLOCATION=1
\n\u65e0\u5185\u5b58\u788e\u7247\u95ee\u9898，\u9002\u5408\u957f\u671f\u8fd0\u884c\u7684\u5b89\u5168\u5173\u952e\u7cfb\u7edf<\/p>\n

9.2 \u5b9e\u9a8c\u4ee3\u7801<\/span><\/h3>\n

\/* FreeRTOS\u9759\u6001\u4efb\u52a1\u521b\u5efa\u793a\u4f8b\u4ee3\u7801 *\/<\/p>\n

\/* \u8d77\u59cb\u4efb\u52a1\u914d\u7f6e\u5b9a\u4e49 *\/
\n#define START_TASK_PRIO 1 \/\/ \u4efb\u52a1\u4f18\u5148\u7ea7
\n#define START_TASK_STACK_SIZE 128 \/\/ \u5806\u6808\u5927\u5c0f（\u4ee5\u5b57\u4e3a\u5355\u4f4d）
\nTaskHandle_t start_task_handler; \/\/ \u8d77\u59cb\u4efb\u52a1\u53e5\u67c4
\nStackType_t START_TASK_STACK[START_TASK_STACK_SIZE]; \/\/ \u8d77\u59cb\u4efb\u52a1\u5806\u6808\u6570\u7ec4（\u9759\u6001\u5206\u914d）
\nStaticTask_t start_task_tcb; \/\/ \u8d77\u59cb\u4efb\u52a1\u63a7\u5236\u5757（TCB）
\nvoid start_task(void *pvParameters); \/\/ \u8d77\u59cb\u4efb\u52a1\u51fd\u6570\u58f0\u660e<\/p>\n

\/* \u4efb\u52a11\u914d\u7f6e\u5b9a\u4e49 *\/
\n#define TASK1_PRIO 2 \/\/ \u4efb\u52a1\u4f18\u5148\u7ea7
\n#define TASK1_STACK_SIZE 128 \/\/ \u5806\u6808\u5927\u5c0f
\nTaskHandle_t task1_handler; \/\/ \u4efb\u52a11\u53e5\u67c4
\nStackType_t TASK1_STACK[TASK1_STACK_SIZE]; \/\/ \u4efb\u52a11\u5806\u6808\u6570\u7ec4（\u6ce8\u610f：\u8fd9\u91cc\u8bef\u5199\u4e3aSTART_TASK_STACK_SIZE，\u5e94\u8be5\u662fTASK1_STACK_SIZE）
\nStaticTask_t task1_tcb; \/\/ \u4efb\u52a11\u63a7\u5236\u5757
\nvoid task1(void *pvParameters); \/\/ \u4efb\u52a11\u51fd\u6570\u58f0\u660e<\/p>\n

\/* \u4efb\u52a12\u914d\u7f6e\u5b9a\u4e49 *\/
\n#define TASK2_PRIO 3 \/\/ \u4efb\u52a1\u4f18\u5148\u7ea7
\n#define TASK2_STACK_SIZE 128 \/\/ \u5806\u6808\u5927\u5c0f
\nTaskHandle_t task2_handler; \/\/ \u4efb\u52a12\u53e5\u67c4
\nStackType_t TASK2_STACK[TASK2_STACK_SIZE]; \/\/ \u4efb\u52a12\u5806\u6808\u6570\u7ec4（\u6ce8\u610f：\u540c\u6837\u8bef\u5199\u4e3aSTART_TASK_STACK_SIZE）
\nStaticTask_t task2_tcb; \/\/ \u4efb\u52a12\u63a7\u5236\u5757
\nvoid task2(void *pvParameters); \/\/ \u4efb\u52a12\u51fd\u6570\u58f0\u660e<\/p>\n

\/* \u4efb\u52a13\u914d\u7f6e\u5b9a\u4e49 *\/
\n#define TASK3_PRIO 3 \/\/ \u4efb\u52a1\u4f18\u5148\u7ea7（\u4e0e\u4efb\u52a12\u76f8\u540c，\u8fd9\u53ef\u80fd\u5bfc\u81f4\u4efb\u52a1\u8c03\u5ea6\u4e0d\u7b26\u5408\u9884\u671f）
\n#define TASK3_STACK_SIZE 128 \/\/ \u5806\u6808\u5927\u5c0f
\nTaskHandle_t task3_handler; \/\/ \u4efb\u52a13\u53e5\u67c4
\nStackType_t TASK3_STACK[TASK3_STACK_SIZE]; \/\/ \u4efb\u52a13\u5806\u6808\u6570\u7ec4（\u540c\u6837\u8bef\u5199\u4e3aSTART_TASK_STACK_SIZE）
\nStaticTask_t task3_tcb; \/\/ \u4efb\u52a13\u63a7\u5236\u5757
\nvoid task3(void *pvParameters); \/\/ \u4efb\u52a13\u51fd\u6570\u58f0\u660e<\/p>\n

\/* \u7a7a\u95f2\u4efb\u52a1\u548c\u5b9a\u65f6\u5668\u4efb\u52a1\u5185\u5b58\u914d\u7f6e（\u9759\u6001\u5206\u914d\u5fc5\u9700） *\/
\nStaticTask_t idle_task_tcb; \/\/ \u7a7a\u95f2\u4efb\u52a1\u63a7\u5236\u5757
\nStackType_t idle_task_stack[configMINIMAL_STACK_SIZE]; \/\/ \u7a7a\u95f2\u4efb\u52a1\u5806\u6808
\nStaticTask_t timer_task_tcb; \/\/ \u5b9a\u65f6\u5668\u4efb\u52a1\u63a7\u5236\u5757
\nStackType_t timer_task_stack[configMINIMAL_STACK_SIZE]; \/\/ \u5b9a\u65f6\u5668\u4efb\u52a1\u5806\u6808<\/p>\n

\/\/ \u7a7a\u95f2\u4efb\u52a1\u5185\u5b58\u5206\u914d\u63a5\u53e3\u51fd\u6570（FreeRTOS\u9759\u6001\u521b\u5efa\u4efb\u52a1\u65f6\u5fc5\u987b\u5b9e\u73b0）
\nvoid vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
\n StackType_t **ppxIdleTaskStackBuffer,
\n uint32_t *pulIdleTaskStackSize)
\n{
\n *ppxIdleTaskTCBBuffer = &idle_task_tcb; \/\/ \u8fd4\u56de\u7a7a\u95f2\u4efb\u52a1\u63a7\u5236\u5757\u6307\u9488
\n *ppxIdleTaskStackBuffer = idle_task_stack; \/\/ \u8fd4\u56de\u7a7a\u95f2\u4efb\u52a1\u5806\u6808\u6307\u9488
\n *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE; \/\/ \u8fd4\u56de\u7a7a\u95f2\u4efb\u52a1\u5806\u6808\u5927\u5c0f
\n}<\/p>\n

\/\/ \u5b9a\u65f6\u5668\u4efb\u52a1\u5185\u5b58\u5206\u914d\u63a5\u53e3\u51fd\u6570（\u4f7f\u7528\u8f6f\u4ef6\u5b9a\u65f6\u5668\u65f6\u5fc5\u987b\u5b9e\u73b0）
\nvoid vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
\n StackType_t **ppxTimerTaskStackBuffer,
\n uint32_t *pulTimerTaskStackSize)
\n{
\n *ppxTimerTaskTCBBuffer = &timer_task_tcb; \/\/ \u8fd4\u56de\u5b9a\u65f6\u5668\u4efb\u52a1\u63a7\u5236\u5757\u6307\u9488
\n *ppxTimerTaskStackBuffer = timer_task_stack; \/\/ \u8fd4\u56de\u5b9a\u65f6\u5668\u4efb\u52a1\u5806\u6808\u6307\u9488
\n *pulTimerTaskStackSize = configMINIMAL_STACK_SIZE; \/\/ \u8fd4\u56de\u5b9a\u65f6\u5668\u4efb\u52a1\u5806\u6808\u5927\u5c0f
\n}<\/p>\n

\/**
\n * @brief FreeRTOS\u4f8b\u7a0b\u5165\u53e3\u51fd\u6570
\n * @param \u65e0
\n * @retval \u65e0
\n * \u529f\u80fd：\u4f7f\u7528\u9759\u6001\u65b9\u5f0f\u521b\u5efa\u8d77\u59cb\u4efb\u52a1\u5e76\u542f\u52a8FreeRTOS\u8c03\u5ea6\u5668
\n *\/
\nvoid freertos_demo(void)
\n{
\n \/\/ \u4f7f\u7528xTaskCreateStatic\u9759\u6001\u521b\u5efa\u8d77\u59cb\u4efb\u52a1
\n start_task_handler = xTaskCreateStatic(
\n (TaskFunction_t)start_task, \/\/ \u6307\u5411\u4efb\u52a1\u51fd\u6570\u7684\u6307\u9488
\n (char *)"start_task", \/\/ \u4efb\u52a1\u540d\u79f0
\n (uint32_t)START_TASK_STACK_SIZE, \/\/ \u4efb\u52a1\u5806\u6808\u5927\u5c0f（\u4ee5\u5b57\u4e3a\u5355\u4f4d）
\n (void *)NULL, \/\/ \u4f20\u9012\u7ed9\u4efb\u52a1\u51fd\u6570\u7684\u53c2\u6570
\n (UBaseType_t)START_TASK_PRIO, \/\/ \u4efb\u52a1\u4f18\u5148\u7ea7
\n (StackType_t *)START_TASK_STACK, \/\/ \u4efb\u52a1\u5806\u6808\u6570\u7ec4（\u7528\u6237\u5206\u914d）
\n (StaticTask_t *)&start_task_tcb \/\/ \u4efb\u52a1\u63a7\u5236\u5757\u6307\u9488（\u7528\u6237\u5206\u914d）
\n );<\/p>\n

\/\/ \u542f\u52a8FreeRTOS\u8c03\u5ea6\u5668
\n vTaskStartScheduler();
\n}<\/p>\n

\/**
\n * @brief \u8d77\u59cb\u4efb\u52a1\u51fd\u6570
\n * @param pvParameters – \u4efb\u52a1\u53c2\u6570（\u672a\u4f7f\u7528）
\n * @retval \u65e0
\n * \u529f\u80fd：\u9759\u6001\u521b\u5efatask1\u3001task2\u3001task3\u4e09\u4e2a\u4efb\u52a1，\u7136\u540e\u5220\u9664\u81ea\u8eab
\n *\/
\nvoid start_task(void *pvParameters)
\n{
\n \/\/ \u8fdb\u5165\u4e34\u754c\u533a，\u9632\u6b62\u4efb\u52a1\u521b\u5efa\u8fc7\u7a0b\u88ab\u4e2d\u65ad\u6253\u65ad
\n taskENTER_CRITICAL();<\/p>\n

\/\/ \u4f7f\u7528xTaskCreateStatic\u9759\u6001\u521b\u5efa\u4efb\u52a11
\n task1_handler = xTaskCreateStatic(
\n (TaskFunction_t)task1, \/\/ \u6307\u5411\u4efb\u52a1\u51fd\u6570\u7684\u6307\u9488
\n (char *)"task1", \/\/ \u4efb\u52a1\u540d\u79f0
\n (uint32_t)TASK1_STACK_SIZE, \/\/ \u4efb\u52a1\u5806\u6808\u5927\u5c0f
\n (void *)NULL, \/\/ \u4f20\u9012\u7ed9\u4efb\u52a1\u51fd\u6570\u7684\u53c2\u6570
\n (UBaseType_t)TASK1_PRIO, \/\/ \u4efb\u52a1\u4f18\u5148\u7ea7
\n (StackType_t *)TASK1_STACK, \/\/ \u4efb\u52a1\u5806\u6808\u6570\u7ec4
\n (StaticTask_t *)&task1_tcb \/\/ \u4efb\u52a1\u63a7\u5236\u5757
\n );<\/p>\n

\/\/ \u4f7f\u7528xTaskCreateStatic\u9759\u6001\u521b\u5efa\u4efb\u52a12
\n task2_handler = xTaskCreateStatic(
\n (TaskFunction_t)task2, \/\/ \u6307\u5411\u4efb\u52a1\u51fd\u6570\u7684\u6307\u9488
\n (char *)"task2", \/\/ \u4efb\u52a1\u540d\u79f0
\n (uint32_t)TASK2_STACK_SIZE, \/\/ \u4efb\u52a1\u5806\u6808\u5927\u5c0f
\n (void *)NULL, \/\/ \u4f20\u9012\u7ed9\u4efb\u52a1\u51fd\u6570\u7684\u53c2\u6570
\n (UBaseType_t)TASK2_PRIO, \/\/ \u4efb\u52a1\u4f18\u5148\u7ea7
\n (StackType_t *)TASK2_STACK, \/\/ \u4efb\u52a1\u5806\u6808\u6570\u7ec4
\n (StaticTask_t *)&task2_tcb \/\/ \u4efb\u52a1\u63a7\u5236\u5757
\n );<\/p>\n

\/\/ \u4f7f\u7528xTaskCreateStatic\u9759\u6001\u521b\u5efa\u4efb\u52a13
\n task3_handler = xTaskCreateStatic(
\n (TaskFunction_t)task3, \/\/ \u6307\u5411\u4efb\u52a1\u51fd\u6570\u7684\u6307\u9488
\n (char *)"task3", \/\/ \u4efb\u52a1\u540d\u79f0
\n (uint32_t)TASK3_STACK_SIZE, \/\/ \u4efb\u52a1\u5806\u6808\u5927\u5c0f
\n (void *)NULL, \/\/ \u4f20\u9012\u7ed9\u4efb\u52a1\u51fd\u6570\u7684\u53c2\u6570
\n (UBaseType_t)TASK3_PRIO, \/\/ \u4efb\u52a1\u4f18\u5148\u7ea7
\n (StackType_t *)TASK3_STACK, \/\/ \u4efb\u52a1\u5806\u6808\u6570\u7ec4
\n (StaticTask_t *)&task3_tcb \/\/ \u4efb\u52a1\u63a7\u5236\u5757
\n );<\/p>\n

\/\/ \u5220\u9664\u8d77\u59cb\u4efb\u52a1\u81ea\u8eab（\u4f20\u5165\u4efb\u52a1\u53e5\u67c4\u800c\u4e0d\u662fNULL）
\n vTaskDelete(start_task_handler);<\/p>\n

\/\/ \u9000\u51fa\u4e34\u754c\u533a（\u7531\u4e8e\u4e0a\u9762\u5df2\u7ecf\u5220\u9664\u4efb\u52a1，\u6b64\u8bed\u53e5\u4e0d\u4f1a\u6267\u884c，\u5b58\u5728\u903b\u8f91\u9519\u8bef）
\n taskEXIT_CRITICAL();
\n}<\/p>\n

\/**
\n * @brief \u4efb\u52a11\u51fd\u6570
\n * @param pvParameters – \u4efb\u52a1\u53c2\u6570（\u672a\u4f7f\u7528）
\n * @retval \u65e0
\n * \u529f\u80fd：\u63a7\u5236LED0\u6bcf500ms\u95ea\u70c1\u4e00\u6b21
\n *\/
\nvoid task1(void *pvParameters)
\n{
\n while (1)
\n {
\n LED0_TOGGLE(); \/\/ LED0\u72b6\u6001\u7ffb\u8f6c
\n vTaskDelay(500); \/\/ \u5ef6\u8fdf500ms（FreeRTOS\u8282\u62cd）
\n }
\n}<\/p>\n

\/**
\n * @brief \u4efb\u52a12\u51fd\u6570
\n * @param pvParameters – \u4efb\u52a1\u53c2\u6570（\u672a\u4f7f\u7528）
\n * @retval \u65e0
\n * \u529f\u80fd：\u63a7\u5236LED1\u6bcf500ms\u95ea\u70c1\u4e00\u6b21
\n *\/
\nvoid task2(void *pvParameters)
\n{
\n while (1)
\n {
\n LED1_TOGGLE(); \/\/ LED1\u72b6\u6001\u7ffb\u8f6c
\n vTaskDelay(500); \/\/ \u5ef6\u8fdf500ms
\n }
\n}<\/p>\n

\/**
\n * @brief \u4efb\u52a13\u51fd\u6570
\n * @param pvParameters – \u4efb\u52a1\u53c2\u6570（\u672a\u4f7f\u7528）
\n * @retval \u65e0
\n * \u529f\u80fd：\u68c0\u6d4b\u6309\u952eKEY0，\u6309\u4e0b\u5219\u5220\u9664task1\u4efb\u52a1
\n *\/
\nvoid task3(void *pvParameters)
\n{
\n uint8_t key = 0;
\n while (1)
\n {
\n printf("task3\u6b63\u5728\u8fd0\u884c！！！\\\\r\\\\n"); \/\/ \u8f93\u51fa\u8fd0\u884c\u63d0\u793a<\/p>\n

key = key_scan(0); \/\/ \u626b\u63cf\u6309\u952e（\u53c2\u65700\u8868\u793a\u4e0d\u652f\u6301\u8fde\u6309）<\/p>\n

if (key == KEY0_PRES) \/\/ \u5982\u679cKEY0\u6309\u4e0b
\n {
\n if (task1_handler != NULL) \/\/ \u68c0\u67e5\u4efb\u52a11\u53e5\u67c4\u662f\u5426\u6709\u6548
\n {
\n printf("\u5220\u9664task1\u4efb\u52a1\\\\r\\\\n");
\n vTaskDelete(task1_handler); \/\/ \u5220\u9664\u4efb\u52a11
\n task1_handler = NULL; \/\/ \u5c06\u53e5\u67c4\u7f6e\u4e3aNULL，\u9632\u6b62\u91cd\u590d\u5220\u9664
\n }
\n }
\n vTaskDelay(10); \/\/ \u5ef6\u8fdf10ms，\u63a7\u5236\u6309\u952e\u68c0\u6d4b\u9891\u7387
\n }
\n}<\/p>\n

\u5b9e\u73b0\u529f\u80fd：\u9996\u5148\u521b\u5efa\u4e00\u4e2a\u8d77\u59cb\u4efb\u52a1\u6765\u521d\u59cb\u5316\u4e09\u4e2a\u529f\u80fd\u4efb\u52a1，\u5176\u4e2dtask1\u548ctask2\u5206\u522b\u63a7\u5236LED0\u548cLED1\u4ee5500ms\u95f4\u9694\u95ea\u70c1，\u5b9e\u73b0\u53cc\u706f\u4ea4\u66ff\u95ea\u70c1\u6548\u679c；task3\u5219\u76d1\u63a7\u6309\u952eKEY0\u7684\u6309\u4e0b\u4e8b\u4ef6，\u5e76\u5728\u68c0\u6d4b\u5230\u6309\u952e\u65f6\u52a8\u6001\u5220\u9664task1\u4efb\u52a1，\u6f14\u793a\u4e86\u8fd0\u884c\u65f6\u4efb\u52a1\u7ba1\u7406\u529f\u80fd\u3002\u6240\u6709\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757\u548c\u6808\u7a7a\u95f4\u5747\u91c7\u7528\u9759\u6001\u5206\u914d\u65b9\u5f0f，\u7531\u7528\u6237\u9884\u5148\u5b9a\u4e49\u6570\u7ec4\u548c\u7ed3\u6784\u4f53，\u540c\u65f6\u5b9e\u73b0\u4e86\u7a7a\u95f2\u4efb\u52a1\u548c\u5b9a\u65f6\u5668\u4efb\u52a1\u7684\u5185\u5b58\u5206\u914d\u63a5\u53e3\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"

1 \u4efb\u52a1\u521b\u5efa\u4e0e\u5220\u9664\u7684\u57fa\u672c\u6982\u5ff5\u4efb\u52a1\u521b\u5efa：\u5728FreeRTOS\u4e2d\u521b\u5efa\u4efb\u52a1，\u672c\u8d28\u4e0a\u662f\u8c03\u7528\u76f8\u5e94\u7684API\u51fd\u6570，\u5206\u914d\u4efb\u52a1\u63a7\u5236\u5757（TCB）\u548c\u4efb\u52a1\u6808\u7a7a\u95f4\u3002
\n\u4efb\u52a1\u5220\u9664：\u79fb\u9664\u4efb\u52a1\u4ece\u5c31\u7eea\u3001\u963b\u585e\u3001\u6302\u8d77\u548c\u4e8b\u4ef6\u5217\u8868\u4e2d，\u91ca\u653e\u76f8\u5173\u5185\u5b58（\u52a8\u6001\u521b\u5efa\u65f6\u7531\u7a7a\u95f2\u4efb\u52a1\u5904\u7406）\u30022 \u4efb\u52a1\u521b\u5efa\u4e0e\u5220\u9664\u7684API\u51fd\u6570xTaskCreate()：\u52a8\u6001\u521b\u5efa\u4efb\u52a1，\u5185\u5b58\u7531FreeRTOS\u5806<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[217,270,269],"topic":[],"class_list":["post-72254","post","type-post","status-publish","format-standard","hentry","category-server","tag-stm32","tag-270","tag-269"],"yoast_head":"\nFreeRTOS\u4efb\u52a1\u521b\u5efa - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/72254.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"FreeRTOS\u4efb\u52a1\u521b\u5efa - 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