{"id":85264,"date":"2026-07-27T08:24:59","date_gmt":"2026-07-27T00:24:59","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/85264.html"},"modified":"2026-07-27T08:24:59","modified_gmt":"2026-07-27T00:24:59","slug":"%e5%b8%b8%e8%a7%81%e5%b5%8c%e5%85%a5%e5%bc%8f%e6%93%8d%e4%bd%9c%e7%b3%bb%e7%bb%9f%e4%b8%ad%e7%9a%84%e7%ba%bf%e7%a8%8b%ef%bc%88%e4%bb%bb%e5%8a%a1%ef%bc%89%e9%97%b4%e9%80%9a%e4%bf%a1%e6%9c%ba%e5%88%b6","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/85264.html","title":{"rendered":"\u5e38\u89c1\u5d4c\u5165\u5f0f\u64cd\u4f5c\u7cfb\u7edf\u4e2d\u7684\u7ebf\u7a0b\uff08\u4efb\u52a1\uff09\u95f4\u901a\u4fe1\u673a\u5236"},"content":{"rendered":"<h2>\u5e38\u89c1\u5d4c\u5165\u5f0f\u64cd\u4f5c\u7cfb\u7edf\u4e2d\u7684\u7ebf\u7a0b&#xff08;\u4efb\u52a1&#xff09;\u95f4\u901a\u4fe1\u673a\u5236<\/h2>\n<hr \/>\n<h3>\u76ee\u5f55<\/h3>\n<ul>\n<li>1. \u6982\u8ff0&#xff1a;\u7ebf\u7a0b\u95f4\u901a\u4fe1\u89e3\u51b3\u4ec0\u4e48\u95ee\u9898<\/li>\n<li>2. \u673a\u5236\u5168\u666f\u4e0e\u9009\u578b\u7ef4\u5ea6<\/li>\n<li>3. \u6570\u636e\u4f20\u9012\u7c7b\u673a\u5236\n<ul>\n<li>3.1 \u6d88\u606f\u961f\u5217&#xff08;Message Queue&#xff09;<\/li>\n<li>3.2 \u90ae\u7bb1&#xff08;Mailbox&#xff09;<\/li>\n<li>3.3 \u7ba1\u9053\u4e0e\u5b57\u8282\u6d41&#xff08;Pipe \/ Stream Buffer&#xff09;<\/li>\n<li>3.4 \u53d8\u957f\u7f13\u51b2\u961f\u5217\u4e0e\u73af\u5f62\u7f13\u51b2&#xff08;Ring Buffer&#xff09;<\/li>\n<\/ul>\n<\/li>\n<li>4. \u4e8b\u4ef6\u901a\u77e5\u7c7b\u673a\u5236\n<ul>\n<li>4.1 \u4fe1\u53f7\u91cf&#xff08;\u901a\u77e5\u7528\u6cd5&#xff09;<\/li>\n<li>4.2 \u4e8b\u4ef6\u6807\u5fd7\u7ec4&#xff08;Event Flags&#xff09;<\/li>\n<li>4.3 \u4efb\u52a1\u901a\u77e5\u4e0e\u5185\u5d4c\u4efb\u52a1\u961f\u5217<\/li>\n<li>4.4 \u4fe1\u53f7\u4e0e\u5f02\u6b65\u56de\u8c03&#xff08;Signal&#xff09;<\/li>\n<\/ul>\n<\/li>\n<li>5. \u8d44\u6e90\u5171\u4eab\u7c7b\u673a\u5236<\/li>\n<li>6. Linux \u6269\u5c55\u673a\u5236<\/li>\n<li>7. \u8de8\u7cfb\u7edf\u63a5\u53e3\u5bf9\u6bd4\u603b\u8868<\/li>\n<li>8. ISR&#xff08;\u4e2d\u65ad\u4e0a\u4e0b\u6587&#xff09;\u4e0e\u4efb\u52a1\u901a\u4fe1\u7684\u7279\u6b8a\u6027<\/li>\n<li>9. \u9009\u578b\u5efa\u8bae\u4e0e\u5178\u578b\u573a\u666f<\/li>\n<li>10. \u5e38\u89c1\u8bef\u533a\u4e0e\u6ce8\u610f\u4e8b\u9879<\/li>\n<\/ul>\n<hr \/>\n<h3>1. \u6982\u8ff0&#xff1a;\u7ebf\u7a0b\u95f4\u901a\u4fe1\u89e3\u51b3\u4ec0\u4e48\u95ee\u9898<\/h3>\n<p>\u5728\u591a\u7ebf\u7a0b&#xff08;\u4efb\u52a1&#xff09;\u7cfb\u7edf\u4e2d&#xff0c;\u6bcf\u4e2a\u7ebf\u7a0b\u62e5\u6709\u72ec\u7acb\u7684\u6808\u548c\u8c03\u5ea6\u4e0a\u4e0b\u6587&#xff0c;\u4f46\u5171\u4eab\u540c\u4e00\u5730\u5740\u7a7a\u95f4&#xff08;\u65e0 MMU \u7684 RTOS&#xff09;\u6216\u5404\u81ea\u72ec\u7acb\u7684\u5730\u5740\u7a7a\u95f4&#xff08;Linux \u8fdb\u7a0b&#xff09;\u3002\u7ebf\u7a0b\u4e4b\u95f4\u8981\u534f\u4f5c\u5b8c\u6210\u4e00\u9879\u529f\u80fd&#xff0c;\u5fc5\u7136\u9700\u8981\u4ea4\u6362\u4fe1\u606f&#xff0c;\u8fd9\u5c31\u662f\u7ebf\u7a0b\u95f4\u901a\u4fe1&#xff08;Inter-Thread\/Task Communication&#xff0c;\u5e38\u5f52\u5165 IPC&#xff09;\u3002<\/p>\n<p>\u9700\u8981\u5148\u5398\u6e05\u4e09\u4e2a\u7ecf\u5e38\u88ab\u6df7\u4e3a\u4e00\u8c08\u7684\u6982\u5ff5&#xff1a;<\/p>\n<table>\n<tr>\u6982\u5ff5\u76ee\u7684\u5178\u578b\u624b\u6bb5<\/tr>\n<tbody>\n<tr>\n<td>\u901a\u4fe1&#xff08;Communication&#xff09;<\/td>\n<td>\u4f20\u9012\u300c\u6570\u636e\u300d\u6216\u300c\u4e8b\u4ef6\u5185\u5bb9\u300d<\/td>\n<td>\u6d88\u606f\u961f\u5217\u3001\u90ae\u7bb1\u3001\u7ba1\u9053<\/td>\n<\/tr>\n<tr>\n<td>\u540c\u6b65&#xff08;Synchronization&#xff09;<\/td>\n<td>\u534f\u8c03\u300c\u6267\u884c\u7684\u5148\u540e\u987a\u5e8f\u300d<\/td>\n<td>\u4fe1\u53f7\u91cf\u3001\u4e8b\u4ef6\u6807\u5fd7\u7ec4\u3001\u4efb\u52a1\u901a\u77e5<\/td>\n<\/tr>\n<tr>\n<td>\u4e92\u65a5&#xff08;Mutual Exclusion&#xff09;<\/td>\n<td>\u4fdd\u62a4\u300c\u5171\u4eab\u8d44\u6e90\u4e0d\u88ab\u540c\u65f6\u8bbf\u95ee\u300d<\/td>\n<td>\u4e92\u65a5\u9501\u3001\u4e34\u754c\u533a\u3001\u81ea\u65cb\u9501<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u4e09\u8005\u5728\u5de5\u7a0b\u5b9e\u8df5\u4e2d\u662f\u4ea4\u7ec7\u4f7f\u7528\u7684&#xff1a;\u6d88\u606f\u961f\u5217\u672c\u8eab\u65e2\u662f\u901a\u4fe1\u4e5f\u662f\u540c\u6b65&#xff08;\u961f\u5217\u4e3a\u7a7a\u65f6\u63a5\u6536\u65b9\u81ea\u7136\u963b\u585e\u7b49\u5f85&#xff09;&#xff1b;\u5171\u4eab\u5185\u5b58\u5fc5\u987b\u914d\u5408\u4e92\u65a5\u9501\u624d\u5b89\u5168&#xff1b;\u4e8b\u4ef6\u6807\u5fd7\u7ec4\u53ea\u505a\u540c\u6b65\u4e0d\u5e26\u6570\u636e&#xff0c;\u4f46\u5f80\u5f80\u914d\u5408\u5171\u4eab\u7f13\u51b2\u4f7f\u7528\u3002\u672c\u6587\u805a\u7126\u300c\u901a\u4fe1\u300d\u4e0e\u300c\u540c\u6b65\u300d\u4e2d\u627f\u62c5\u4fe1\u606f\u4f20\u9012\u804c\u8d23\u7684\u673a\u5236&#xff1b;\u4e92\u65a5\u673a\u5236\u5c5e\u4e8e\u300c\u5e76\u53d1\u4e0e\u7ade\u4e89\u4fdd\u62a4\u300d\u8303\u7574&#xff0c;\u53e6\u6709\u4e13\u6587\u8ba8\u8bba&#xff0c;\u672c\u6587\u4ec5\u5728\u8d44\u6e90\u5171\u4eab\u7c7b\u673a\u5236\u4e2d\u6d89\u53ca\u5176\u914d\u5408\u5173\u7cfb\u3002<\/p>\n<p>\u4e00\u4e2a\u51e0\u4e4e\u6240\u6709 RTOS \u5185\u6838\u5bf9\u8c61\u5171\u4eab\u7684\u5e95\u5c42\u7ed3\u6784\u503c\u5f97\u5148\u8bb0\u4f4f&#xff1a;<\/p>\n<p>\u5185\u6838\u5bf9\u8c61 &#061; \u6570\u636e\u533a&#xff08;\u7f13\u51b2\/\u4f4d\u63a9\u7801\/\u8ba1\u6570\u503c&#xff09; &#043; \u7b49\u5f85\u5217\u8868&#xff08;\u7b49\u5f85\u8be5\u5bf9\u8c61\u7684\u963b\u585e\u4efb\u52a1\u961f\u5217&#xff0c;\u901a\u5e38\u6309\u4f18\u5148\u7ea7\u6392\u5e8f&#xff09;<\/p>\n<p>\u65e0\u8bba\u662f\u961f\u5217\u3001\u4fe1\u53f7\u91cf\u8fd8\u662f\u4e8b\u4ef6\u7ec4&#xff0c;\u5f53\u6761\u4ef6\u4e0d\u6ee1\u8db3\u65f6&#xff0c;\u4efb\u52a1\u88ab\u6302\u5230\u8be5\u5bf9\u8c61\u7684\u7b49\u5f85\u5217\u8868\u4e0a\u8ba9\u51fa CPU&#xff1b;\u5f53\u6761\u4ef6\u6ee1\u8db3&#xff08;\u6d88\u606f\u5165\u961f\u3001\u4f4d\u7f6e\u4f4d\u3001\u4fe1\u53f7\u91cf\u91ca\u653e&#xff09;\u65f6&#xff0c;\u5185\u6838\u4ece\u7b49\u5f85\u5217\u8868\u4e2d\u5524\u9192\u6700\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1&#xff0c;\u5fc5\u8981\u65f6\u89e6\u53d1\u4efb\u52a1\u8c03\u5ea6\u3002\u7406\u89e3\u8fd9\u4e00\u70b9&#xff0c;\u540e\u9762\u6240\u6709\u673a\u5236\u7684\u884c\u4e3a&#xff08;\u963b\u585e\u3001\u8d85\u65f6\u3001\u5524\u9192\u987a\u5e8f\u3001\u4f18\u5148\u7ea7\u7ee7\u627f\u4e0e\u5426&#xff09;\u90fd\u80fd\u63a8\u5bfc\u51fa\u6765\u3002<\/p>\n<hr \/>\n<h3>2. \u673a\u5236\u5168\u666f\u4e0e\u9009\u578b\u7ef4\u5ea6<\/h3>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/07\/20260727002456-6a66a558e0d62.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u6309\u901a\u4fe1\u76ee\u7684&#xff0c;\u5e38\u89c1\u673a\u5236\u53ef\u5206\u4e3a\u56db\u5927\u7c7b&#xff1a;<\/p>\n<p>&#xff08;1&#xff09;\u6570\u636e\u4f20\u9012\u7c7b \u2014\u2014 \u901a\u4fe1\u53cc\u65b9\u8981\u4ea4\u6362\u5177\u4f53\u7684\u6570\u636e\u5185\u5bb9&#xff1a;<\/p>\n<ul>\n<li>\u6d88\u606f\u961f\u5217&#xff08;Message Queue&#xff09;&#xff1a;\u591a\u5bf9\u591a\u3001\u6309\u503c\u62f7\u8d1d\u3001FIFO \u6392\u961f\u7f13\u51b2&#xff0c;\u662f\u6700\u901a\u7528\u7684\u673a\u5236&#xff1b;<\/li>\n<li>\u90ae\u7bb1&#xff08;Mailbox&#xff09;&#xff1a;\u4e00\u5bf9\u4e00\u4e3a\u4e3b&#xff0c;\u5e38\u4f20\u6307\u9488\u6216\u5b9a\u957f\u5c0f\u6d88\u606f&#xff0c;\u7f13\u51b2\u6d45&#xff08;\u8bed\u4e49\u56e0\u5185\u6838\u5dee\u5f02\u5927&#xff09;&#xff1b;<\/li>\n<li>\u7ba1\u9053 \/ \u5b57\u8282\u6d41&#xff08;Pipe \/ Stream Buffer&#xff09;&#xff1a;\u65e0\u6d88\u606f\u8fb9\u754c\u7684\u5b57\u8282\u6d41&#xff0c;\u9002\u5408\u4e32\u53e3\u6570\u636e\u3001\u65e5\u5fd7\u6d41&#xff1b;<\/li>\n<li>\u73af\u5f62\u7f13\u51b2 \/ \u53d8\u957f\u7f13\u51b2\u961f\u5217&#xff1a;\u5b57\u8282\u7ea7\u6216\u53d8\u957f\u6d88\u606f\u7684\u8f7b\u91cf\u7f13\u51b2\u3002<\/li>\n<\/ul>\n<p>&#xff08;2&#xff09;\u4e8b\u4ef6\u901a\u77e5\u7c7b \u2014\u2014 \u53ea\u4f20\u9012\u300c\u53d1\u751f\u4e86\u4ec0\u4e48\u300d&#xff0c;\u4e0d\u5e26\u6216\u53ea\u5e26\u6781\u5c11\u91cf\u6570\u636e&#xff1a;<\/p>\n<ul>\n<li>\u4fe1\u53f7\u91cf&#xff08;\u901a\u77e5\u7528\u6cd5&#xff09;&#xff1a;\u53ef\u8ba1\u6570\u7684\u4e8b\u4ef6\u901a\u77e5&#xff08;give\/take&#xff09;&#xff1b;<\/li>\n<li>\u4e8b\u4ef6\u6807\u5fd7\u7ec4&#xff08;Event Flags&#xff09;&#xff1a;32 \u4e2a bit \u8868\u8fbe\u591a\u79cd\u4e8b\u4ef6&#xff0c;\u652f\u6301 AND\/OR \u590d\u5408\u7b49\u5f85&#xff1b;<\/li>\n<li>\u4efb\u52a1\u901a\u77e5&#xff08;Task Notification&#xff09;\/ \u5185\u5d4c\u4efb\u52a1\u961f\u5217&#xff1a;\u76f4\u63a5\u6302\u5728\u4efb\u52a1\u63a7\u5236\u5757\u4e0a\u7684\u5b9a\u5411\u901a\u77e5&#xff0c;\u6700\u5feb\u6700\u7701 RAM&#xff1b;<\/li>\n<li>\u4fe1\u53f7 \/ \u56de\u8c03&#xff08;Signal&#xff09;&#xff1a;\u5f02\u6b65\u6253\u65ad\u5f0f\u901a\u77e5&#xff08;POSIX \u4fe1\u53f7\u3001\u8f6f\u4e2d\u65ad\u4fe1\u53f7&#xff09;\u3002<\/li>\n<\/ul>\n<p>&#xff08;3&#xff09;\u8d44\u6e90\u5171\u4eab\u7c7b \u2014\u2014 \u591a\u7ebf\u7a0b\u5171\u540c\u8bfb\u5199\u540c\u4e00\u5757\u6570\u636e&#xff1a;<\/p>\n<ul>\n<li>\u5171\u4eab\u5185\u5b58 \/ \u5168\u5c40\u53d8\u91cf&#xff1a;\u96f6\u62f7\u8d1d\u3001\u6548\u7387\u6700\u9ad8&#xff0c;\u4f46\u5fc5\u987b\u914d\u5408\u4e92\u65a5\u9501\u3001\u4e34\u754c\u533a\u7b49\u4fdd\u62a4\u624b\u6bb5&#xff1b;<\/li>\n<li>\u5185\u5b58\u6c60 \/ \u5185\u5b58\u5757 &#043; \u961f\u5217\u4f20\u9012\u6307\u9488&#xff1a;\u300c\u6570\u636e\u653e\u6c60\u91cc\u3001\u6307\u9488\u8d70\u961f\u5217\u300d\u7684\u7ecf\u5178\u7ec4\u5408\u3002<\/li>\n<\/ul>\n<p>&#xff08;4&#xff09;Linux \u6269\u5c55\u7c7b \u2014\u2014 \u5d4c\u5165\u5f0f Linux \u4e0b\u8fdb\u7a0b\u4e0e\u7ebf\u7a0b\u901a\u7528\u7684 IPC&#xff1a;<\/p>\n<ul>\n<li>POSIX \u6d88\u606f\u961f\u5217\u3001Unix Domain Socket\u3001netlink\u3001eventfd\/signalfd\u3001pipe\/FIFO\u3001shm\/mmap\u3001DBus\/Binder \u7b49\u3002<\/li>\n<\/ul>\n<p>\u9009\u578b\u65f6\u5e38\u7528\u7684\u8bc4\u4f30\u7ef4\u5ea6&#xff1a;<\/p>\n<table>\n<tr>\u7ef4\u5ea6\u8981\u56de\u7b54\u7684\u95ee\u9898<\/tr>\n<tbody>\n<tr>\n<td>\u6570\u636e\u91cf\u4e0e\u5f62\u5f0f<\/td>\n<td>\u53ea\u901a\u77e5\u4e00\u4e2a\u4e8b\u4ef6&#xff0c;\u8fd8\u662f\u8981\u4f20\u51e0\u5341\u4e0a\u767e\u5b57\u8282&#xff1f;\u5b9a\u957f\u8fd8\u662f\u53d8\u957f&#xff1f;<\/td>\n<\/tr>\n<tr>\n<td>\u901a\u4fe1\u62d3\u6251<\/td>\n<td>\u4e00\u5bf9\u4e00\u3001\u591a\u5bf9\u4e00\u3001\u591a\u5bf9\u591a&#xff1f;\u662f\u5426\u9700\u8981\u5e7f\u64ad&#xff1f;<\/td>\n<\/tr>\n<tr>\n<td>\u7f13\u51b2\u6df1\u5ea6<\/td>\n<td>\u751f\u4ea7\u5feb\u4e8e\u6d88\u8d39\u65f6&#xff0c;\u5141\u8bb8\u79ef\u538b\u591a\u5c11&#xff1f;\u6ee1\u4e86\u600e\u4e48\u529e&#xff08;\u963b\u585e\/\u4e22\u5f03\/\u8986\u76d6&#xff09;&#xff1f;<\/td>\n<\/tr>\n<tr>\n<td>\u65f6\u6548\u6027<\/td>\n<td>\u80fd\u5426\u5bb9\u5fcd\u6392\u961f\u5ef6\u8fdf&#xff1f;\u662f\u5426\u8981\u7d27\u6025\u6d88\u606f\u63d2\u961f&#xff1f;<\/td>\n<\/tr>\n<tr>\n<td>\u62f7\u8d1d\u5f00\u9500<\/td>\n<td>\u6309\u503c\u62f7\u8d1d&#xff08;\u5b89\u5168\u3001\u89e3\u8026&#xff09;\u8fd8\u662f\u4f20\u6307\u9488&#xff08;\u96f6\u62f7\u8d1d\u3001\u9700\u7ba1\u7406\u751f\u547d\u5468\u671f&#xff09;&#xff1f;<\/td>\n<\/tr>\n<tr>\n<td>\u4e0a\u4e0b\u6587<\/td>\n<td>\u53d1\u9001\u65b9\/\u63a5\u6536\u65b9\u662f\u5426\u5728 ISR \u4e2d&#xff1f;ISR \u4e2d\u53ea\u80fd\u8c03\u7528 FromISR \/ no-wait \u63a5\u53e3<\/td>\n<\/tr>\n<tr>\n<td>\u8d44\u6e90\u5360\u7528<\/td>\n<td>\u5185\u6838\u5bf9\u8c61\u672c\u8eab\u6d88\u8017\u591a\u5c11 RAM&#xff1f;\u521b\u5efa\u591a\u5c11\u4e2a\u5408\u9002&#xff1f;<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h3>3. \u6570\u636e\u4f20\u9012\u7c7b\u673a\u5236<\/h3>\n<h4>3.1 \u6d88\u606f\u961f\u5217&#xff08;Message Queue&#xff09;<\/h4>\n<p>\u673a\u5236\u539f\u7406<\/p>\n<p>\u6d88\u606f\u961f\u5217\u662f\u6700\u901a\u7528\u7684\u7ebf\u7a0b\u95f4\u901a\u4fe1\u673a\u5236&#xff1a;\u53d1\u9001\u65b9\u628a\u4e00\u6761\u6d88\u606f\u6309\u503c\u62f7\u8d1d\u8fdb\u5185\u6838\u7ef4\u62a4\u7684\u961f\u5217&#xff0c;\u63a5\u6536\u65b9\u6309 FIFO \u987a\u5e8f\u53d6\u51fa\u3002RTOS \u4e2d\u7684\u961f\u5217\u901a\u5e38\u662f\u56fa\u5b9a\u69fd\u4f4d\u6570 \u00d7 \u56fa\u5b9a\u6d88\u606f\u5c3a\u5bf8\u7684\u73af\u5f62\u7f13\u51b2&#xff08;\u4fbf\u4e8e\u786e\u5b9a\u6027\u5185\u5b58\u7ba1\u7406&#xff09;&#xff0c;Linux\/POSIX \u6d88\u606f\u961f\u5217\u540c\u6837\u9650\u5b9a\u6700\u5927\u6d88\u606f\u6570\u548c\u5355\u6d88\u606f\u6700\u5927\u957f\u5ea6\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/07\/20260727002457-6a66a5594f86d.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u6838\u5fc3\u884c\u4e3a\u7279\u5f81&#xff1a;<\/p>\n<ul>\n<li>\u89e3\u8026&#xff1a;\u53d1\u9001\u65b9\u4e0e\u63a5\u6536\u65b9\u4e92\u4e0d\u77e5\u9053\u5bf9\u65b9\u5b58\u5728&#xff0c;\u53ef\u4efb\u610f\u589e\u51cf\u751f\u4ea7\u8005\/\u6d88\u8d39\u8005&#xff1b;<\/li>\n<li>\u7f13\u51b2&#xff1a;\u751f\u4ea7\u6d88\u8d39\u901f\u7387\u4e0d\u5339\u914d\u65f6\u7531\u961f\u5217\u5438\u6536\u6296\u52a8&#xff1b;<\/li>\n<li>\u53cc\u5411\u963b\u585e&#xff1a;\u961f\u5217\u7a7a \u2192 \u63a5\u6536\u65b9\u53ef\u963b\u585e&#xff08;\u5e26\u8d85\u65f6&#xff09;&#xff1b;\u961f\u5217\u6ee1 \u2192 \u53d1\u9001\u65b9\u53ef\u963b\u585e&#xff08;\u5e26\u8d85\u65f6&#xff09;\u6216\u8fd4\u56de\u5931\u8d25&#xff1b;<\/li>\n<li>\u6309\u503c\u62f7\u8d1d&#xff1a;\u6d88\u606f\u5165\u961f\u540e\u53d1\u9001\u65b9\u7684\u7f13\u51b2\u53ef\u7acb\u5373\u590d\u7528&#xff0c;\u65e0\u751f\u547d\u5468\u671f\u7ba1\u7406\u8d1f\u62c5&#xff08;\u4ee3\u4ef7\u662f memcpy \u5f00\u9500&#xff09;&#xff1b;<\/li>\n<li>ISR \u53ef\u7528&#xff1a;\u4e2d\u65ad\u91cc\u53ef\u4ee5\u7528 FromISR \/ no-wait \u53d8\u4f53\u53d1\u9001\u6d88\u606f&#xff0c;\u662f\u300cISR \u2192 \u4efb\u52a1\u9012\u5ef6\u5904\u7406\u300d\u7684\u6807\u51c6\u505a\u6cd5\u3002<\/li>\n<\/ul>\n<p>\u5404\u7cfb\u7edf\u63a5\u53e3\u4e0e\u5b9e\u73b0\u89e3\u6790<\/p>\n<table>\n<tr>\u7cfb\u7edf\u5185\u6838\u5bf9\u8c61\u521b\u5efa\u53d1\u9001\u63a5\u6536\u6d88\u606f\u5f62\u5f0f<\/tr>\n<tbody>\n<tr>\n<td>Linux&#xff08;POSIX mq&#xff09;<\/td>\n<td>mqd_t<\/td>\n<td>mq_open()<\/td>\n<td>mq_send() \/ mq_timedsend()<\/td>\n<td>mq_receive() \/ mq_timedreceive()<\/td>\n<td>\u6309\u503c&#xff0c;\u53d8\u957f&#xff08;\u2264 mq_msgsize&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>Linux&#xff08;SysV&#xff09;<\/td>\n<td>msgid<\/td>\n<td>msgget()<\/td>\n<td>msgsnd()<\/td>\n<td>msgrcv()<\/td>\n<td>\u6309\u503c&#xff0c;\u53d8\u957f&#xff0c;\u652f\u6301\u6309\u7c7b\u578b\u9009\u6536<\/td>\n<\/tr>\n<tr>\n<td>FreeRTOS<\/td>\n<td>QueueHandle_t<\/td>\n<td>xQueueCreate()<\/td>\n<td>xQueueSend() \/ xQueueSendToFront() \/ xQueueOverwrite()&#xff1b;ISR \u7528 xQueueSendFromISR()<\/td>\n<td>xQueueReceive() \/ xQueuePeek()<\/td>\n<td>\u6309\u503c&#xff0c;\u5b9a\u957f<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-II<\/td>\n<td>OS_EVENT&#xff08;Q&#xff09;<\/td>\n<td>OSQCreate()<\/td>\n<td>OSQPost() \/ OSQPostFront() \/ OSQPostOpt()<\/td>\n<td>OSQPend() \/ OSQAccept()<\/td>\n<td>\u4f20\u6307\u9488&#xff08;void*&#xff09;&#xff0c;\u4e0d\u62f7\u8d1d<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-III<\/td>\n<td>OS_Q<\/td>\n<td>OSQCreate()<\/td>\n<td>OSQPost()<\/td>\n<td>OSQPend()<\/td>\n<td>\u4f20\u6307\u9488 &#043; \u643a\u5e26\u6d88\u606f\u5927\u5c0f<\/td>\n<\/tr>\n<tr>\n<td>RT-Thread<\/td>\n<td>rt_mq_t<\/td>\n<td>rt_mq_create()<\/td>\n<td>rt_mq_send() \/ rt_mq_send_wait() \/ rt_mq_urgent()&#xff08;\u63d2\u961f\u5934&#xff09;<\/td>\n<td>rt_mq_recv()<\/td>\n<td>\u6309\u503c&#xff0c;\u5b9a\u957f<\/td>\n<\/tr>\n<tr>\n<td>Zephyr<\/td>\n<td>struct k_msgq<\/td>\n<td>K_MSGQ_DEFINE() \/ k_msgq_alloc_init()<\/td>\n<td>k_msgq_put()<\/td>\n<td>k_msgq_get() \/ k_msgq_peek()<\/td>\n<td>\u6309\u503c&#xff0c;\u5b9a\u957f&#xff1b;\u53e6\u6709 k_fifo&#xff08;\u4f20\u6307\u9488&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>ThreadX<\/td>\n<td>TX_QUEUE<\/td>\n<td>tx_queue_create()<\/td>\n<td>tx_queue_send() \/ tx_queue_front_send()<\/td>\n<td>tx_queue_receive()<\/td>\n<td>\u6309\u503c&#xff0c;1~16 \u4e2a 32 \u4f4d\u5b57\u5b9a\u957f<\/td>\n<\/tr>\n<tr>\n<td>NuttX<\/td>\n<td>POSIX mq<\/td>\n<td>mq_open()<\/td>\n<td>mq_send()<\/td>\n<td>mq_receive()<\/td>\n<td>\u6309\u503c&#xff0c;\u5b9a\u957f\u4e0a\u9650<\/td>\n<\/tr>\n<tr>\n<td>LiteOS<\/td>\n<td>\u961f\u5217 ID<\/td>\n<td>LOS_QueueCreate()<\/td>\n<td>LOS_QueueWrite() \/ LOS_QueueWriteCopy()<\/td>\n<td>LOS_QueueRead() \/ LOS_QueueReadCopy()<\/td>\n<td>\u6307\u9488\u6a21\u5f0f\u6216\u62f7\u8d1d\u6a21\u5f0f\u53ef\u9009<\/td>\n<\/tr>\n<tr>\n<td>AliOS Things<\/td>\n<td>kqueue_t<\/td>\n<td>krhino_queue_create()&#xff08;aos \u5c42 aos_queue_new()&#xff09;<\/td>\n<td>krhino_queue_send() \/ krhino_queue_back_send()<\/td>\n<td>krhino_queue_recv()<\/td>\n<td>\u6309\u503c&#xff0c;\u5b9a\u957f&#xff08;\u73af\u5f62\u7f13\u51b2&#xff09;<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5b9e\u73b0\u5c42\u9762\u7684\u51e0\u4e2a\u91cd\u8981\u5dee\u5f02\u70b9&#xff1a;<\/p>\n<li>\u6309\u503c\u62f7\u8d1d vs \u4f20\u6307\u9488&#xff1a;FreeRTOS\u3001RT-Thread\u3001Zephyr k_msgq\u3001ThreadX\u3001POSIX mq \u662f\u6309\u503c\u62f7\u8d1d&#xff0c;\u53d1\u9001\u540e\u7f13\u51b2\u5373\u53ef\u590d\u7528&#xff1b;\u03bcC\/OS-II\/III \u7684\u961f\u5217\u53ea\u4f20 void* \u6307\u9488&#xff0c;\u6570\u636e\u672c\u4f53\u7531\u53d1\u9001\u65b9\u4fdd\u8bc1\u6709\u6548&#xff08;\u5e38\u4e0e\u5185\u5b58\u5206\u533a OSMem* \u642d\u914d&#xff09;\u3002LiteOS \u4e24\u79cd\u6a21\u5f0f\u90fd\u63d0\u4f9b&#xff08;Write \u4f20\u6307\u9488 \/ WriteCopy \u62f7\u8d1d&#xff09;\u3002<\/li>\n<li>\u63d2\u961f\u80fd\u529b&#xff1a;RT-Thread rt_mq_urgent()\u3001FreeRTOS xQueueSendToFront()\u3001ThreadX tx_queue_front_send()\u3001\u03bcC\/OS-II OSQPostFront() \u652f\u6301\u628a\u6d88\u606f\u653e\u5230\u961f\u9996&#xff0c;\u7528\u4e8e\u7d27\u6025\u4e8b\u4ef6\u3002<\/li>\n<li>\u300c\u8986\u76d6\u300d\u8bed\u4e49&#xff1a;FreeRTOS \u5bf9\u957f\u5ea6\u4e3a 1 \u7684\u961f\u5217\u63d0\u4f9b xQueueOverwrite()\u2014\u2014\u961f\u5217\u5df2\u6ee1\u65f6\u76f4\u63a5\u8986\u76d6\u65e7\u503c&#xff0c;\u7b49\u4ef7\u4e8e&#034;\u6700\u65b0\u503c\u90ae\u7bb1&#034;&#xff0c;\u9002\u5408\u4f20\u9012\u6700\u65b0\u91c7\u6837\u503c\u8fd9\u7c7b\u300c\u4e22\u65e7\u4fdd\u65b0\u300d\u573a\u666f\u3002<\/li>\n<li>\u4f18\u5148\u7ea7\u5524\u9192&#xff1a;\u4ee5\u4e0a\u7cfb\u7edf\u7684\u7b49\u5f85\u5217\u8868\u90fd\u6309\u4f18\u5148\u7ea7\u6392\u5e8f&#xff08;Linux POSIX mq \u5524\u9192\u89c4\u5219\u89c6\u5b9e\u73b0&#xff09;&#xff0c;\u961f\u5217\u975e\u7a7a\u65f6\u5524\u9192\u6700\u9ad8\u4f18\u5148\u7ea7\u7b49\u5f85\u8005\u3002<\/li>\n<li>\u5220\u9664\u8bed\u4e49&#xff1a;\u5220\u9664\u961f\u5217\u65f6&#xff08;\u5982 RT-Thread rt_mq_delete\u3001\u03bcC\/OS-III OSQDel&#xff09;&#xff0c;\u6302\u8d77\u7684\u4efb\u52a1\u4f1a\u88ab\u5524\u9192\u5e76\u6536\u5230\u9519\u8bef\u7801&#xff0c;\u9700\u59a5\u5584\u5904\u7406\u3002<\/li>\n<p>\u6700\u5c0f\u793a\u4f8b&#xff08;RT-Thread \u98ce\u683c&#xff0c;\u5176\u4ed6\u7cfb\u7edf\u7ed3\u6784\u7c7b\u4f3c&#xff09;&#xff1a;<\/p>\n<p><span class=\"token keyword\">static<\/span> <span class=\"token class-name\">rt_mq_t<\/span> mq<span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token keyword\">struct<\/span> <span class=\"token class-name\">msg<\/span> <span class=\"token punctuation\">{<\/span> <span class=\"token class-name\">rt_uint32_t<\/span> type<span class=\"token punctuation\">;<\/span> <span class=\"token class-name\">rt_uint32_t<\/span> value<span class=\"token punctuation\">;<\/span> <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">producer<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>p<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">struct<\/span> <span class=\"token class-name\">msg<\/span> m <span class=\"token operator\">&#061;<\/span> <span class=\"token punctuation\">{<\/span> <span class=\"token punctuation\">.<\/span>type <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">1<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token punctuation\">.<\/span>value <span class=\"token operator\">&#061;<\/span> <span class=\"token number\">100<\/span> <span class=\"token punctuation\">}<\/span><span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token function\">rt_mq_send<\/span><span class=\"token punctuation\">(<\/span>mq<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>m<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>m<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span>          <span class=\"token comment\">\/* \u6309\u503c\u62f7\u8d1d\u5165\u961f *\/<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><br \/>\n<span class=\"token keyword\">void<\/span> <span class=\"token function\">consumer<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>p<span class=\"token punctuation\">)<\/span> <span class=\"token punctuation\">{<\/span><br \/>\n    <span class=\"token keyword\">struct<\/span> <span class=\"token class-name\">msg<\/span> m<span class=\"token punctuation\">;<\/span><br \/>\n    <span class=\"token keyword\">if<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token function\">rt_mq_recv<\/span><span class=\"token punctuation\">(<\/span>mq<span class=\"token punctuation\">,<\/span> <span class=\"token operator\">&amp;<\/span>m<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">sizeof<\/span><span class=\"token punctuation\">(<\/span>m<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> RT_WAITING_FOREVER<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">&#061;&#061;<\/span> RT_EOK<span class=\"token punctuation\">)<\/span><br \/>\n        <span class=\"token function\">handle<\/span><span class=\"token punctuation\">(<\/span><span class=\"token operator\">&amp;<\/span>m<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><br \/>\n<span class=\"token punctuation\">}<\/span><\/p>\n<hr \/>\n<h4>3.2 \u90ae\u7bb1&#xff08;Mailbox&#xff09;<\/h4>\n<p>\u673a\u5236\u539f\u7406<\/p>\n<p>\u300c\u90ae\u7bb1\u300d\u5728\u5d4c\u5165\u5f0f\u9886\u57df\u7684\u8bed\u4e49\u56e0\u5185\u6838\u5dee\u5f02\u6781\u5927&#xff0c;\u4f7f\u7528\u524d\u5148\u67e5\u624b\u518c\u5b9a\u4e49\u3002\u5927\u4f53\u5206\u4e3a\u4e24\u79cd\u5f62\u6001&#xff1a;<\/p>\n<ul>\n<li>\u5355\u683c\u90ae\u7bb1&#xff1a;\u53ea\u80fd\u5b58\u4e00\u5c01\u90ae\u4ef6&#xff08;\u901a\u5e38\u4e00\u4e2a\u6307\u9488&#xff09;&#xff0c;\u65b0\u90ae\u4ef6\u8986\u76d6\u6216\u5931\u8d25\u2014\u2014\u03bcC\/OS-II \u7684 Mbox&#xff1b;<\/li>\n<li>\u6392\u961f\u90ae\u7bb1&#xff1a;\u53ef\u5b58\u591a\u5c01\u5b9a\u957f\u90ae\u4ef6&#xff0c;\u672c\u8d28\u662f\u300c\u6d88\u606f\u5c3a\u5bf8\u5f88\u5c0f\u7684\u961f\u5217\u300d\u2014\u2014RT-Thread \u7684 mb&#xff08;\u90ae\u4ef6\u56fa\u5b9a 4 \u5b57\u8282&#xff0c;\u901a\u5e38\u5b58\u6307\u9488&#xff09;\u3001Zephyr \u7684 k_mbox&#xff08;\u652f\u6301\u53d1\u9001\u65b9\u6307\u5b9a\u63a5\u6536\u7ebf\u7a0b\u7684\u63e1\u624b\u5f0f\u6295\u9012&#xff09;\u3002<\/li>\n<\/ul>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/07\/20260727002457-6a66a559a0fe3.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u90ae\u7bb1\u7684\u5178\u578b\u7528\u6cd5\u662f**\u300c\u8f7b\u91cf\u901a\u77e5 &#043; \u6307\u5411\u5171\u4eab\u6570\u636e\u5757\u300d**&#xff1a;\u6570\u636e\u672c\u4f53\u653e\u5728\u5185\u5b58\u6c60\u6216\u5168\u5c40\u7f13\u51b2\u4e2d&#xff0c;\u90ae\u7bb1\u91cc\u53ea\u4f20\u6307\u9488&#xff0c;\u517c\u987e\u96f6\u62f7\u8d1d\u4e0e\u7ebf\u7a0b\u5b89\u5168\u3002<\/p>\n<p>\u5404\u7cfb\u7edf\u63a5\u53e3\u4e0e\u5b9e\u73b0\u89e3\u6790<\/p>\n<table>\n<tr>\u7cfb\u7edf\u5bf9\u8c61\u5173\u952e\u63a5\u53e3\u8bed\u4e49<\/tr>\n<tbody>\n<tr>\n<td>\u03bcC\/OS-II<\/td>\n<td>OS_EVENT&#xff08;Mbox&#xff09;<\/td>\n<td>OSMboxCreate() \/ OSMboxPost() \/ OSMboxPostOpt()&#xff08;\u53ef\u5e7f\u64ad&#xff09; \/ OSMboxPend() \/ OSMboxAccept()<\/td>\n<td>\u5355\u683c&#xff0c;\u5b58 void*&#xff1b;PostOpt \u53ef\u5411\u6240\u6709\u7b49\u5f85\u8005\u5e7f\u64ad<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-III<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u5df2\u53d6\u6d88\u72ec\u7acb Mbox \u5bf9\u8c61&#xff0c;\u63a8\u8350\u7528\u6df1\u5ea6\u4e3a 1 \u7684 OS_Q \u6216\u5185\u5d4c\u4efb\u52a1\u6d88\u606f\u961f\u5217<\/td>\n<td>\u2014\u2014<\/td>\n<\/tr>\n<tr>\n<td>RT-Thread<\/td>\n<td>rt_mailbox_t<\/td>\n<td>rt_mb_create() \/ rt_mb_send() \/ rt_mb_send_wait() \/ rt_mb_recv() \/ rt_mb_urgent()<\/td>\n<td>\u591a\u5c01\u6392\u961f&#xff0c;\u6bcf\u5c01\u56fa\u5b9a 4 \u5b57\u8282&#xff08;\u6307\u9488\u5927\u5c0f&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>Zephyr<\/td>\n<td>struct k_mbox<\/td>\n<td>k_mbox_init() \/ k_mbox_put() \/ k_mbox_async_put() \/ k_mbox_get() \/ k_mbox_data_get()<\/td>\n<td>\u652f\u6301\u6307\u5b9a\u76ee\u6807\u7ebf\u7a0b\u7684\u6295\u9012-\u63a5\u6536\u63e1\u624b&#xff08;\u53d1\u9001\u65b9\u53ef\u963b\u585e\u5230\u5bf9\u65b9\u53d6\u8d70&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>FreeRTOS<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u65e0\u72ec\u7acb\u90ae\u7bb1&#xff1b;\u7528\u957f\u5ea6 1 \u961f\u5217 &#043; xQueueOverwrite() \u6a21\u62df\u300c\u6700\u65b0\u503c\u90ae\u7bb1\u300d<\/td>\n<td>\u2014\u2014<\/td>\n<\/tr>\n<tr>\n<td>ThreadX<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u65e0\u72ec\u7acb\u90ae\u7bb1&#xff1b;\u7528\u6df1\u5ea6 1 \u7684 TX_QUEUE<\/td>\n<td>\u2014\u2014<\/td>\n<\/tr>\n<tr>\n<td>Linux \/ NuttX \/ LiteOS \/ AliOS<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u65e0\u72ec\u7acb\u90ae\u7bb1\u6982\u5ff5&#xff0c;\u7528\u6d88\u606f\u961f\u5217\u5b9e\u73b0<\/td>\n<td>\u2014\u2014<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5b9e\u73b0\u8981\u70b9&#xff1a;<\/p>\n<ul>\n<li>\u03bcC\/OS-II Mbox \u7684 OSMboxPostOpt(&#8230;, OS_POST_OPT_BROADCAST) \u662f\u5c11\u89c1\u7684\u5e7f\u64ad\u80fd\u529b&#xff1a;\u4e00\u6761\u6d88\u606f\u540c\u65f6\u5524\u9192\u6240\u6709\u7b49\u5f85\u8be5\u90ae\u7bb1\u7684\u4efb\u52a1&#xff1b;<\/li>\n<li>Zephyr k_mbox \u662f\u540c\u6b65\u5f0f\u6295\u9012&#xff1a;k_mbox_put() \u9ed8\u8ba4\u963b\u585e\u5230\u63a5\u6536\u65b9\u53d6\u8d70\u6d88\u606f&#xff08;rendezvous \u8bed\u4e49&#xff09;&#xff0c;\u9002\u5408\u300c\u5fc5\u987b\u786e\u8ba4\u5bf9\u65b9\u6536\u5230\u300d\u7684\u573a\u666f&#xff1b;k_mbox_async_put() \u5219\u4ea4\u7ed9\u7cfb\u7edf\u5de5\u4f5c\u961f\u5217\u5f02\u6b65\u6295\u9012&#xff1b;<\/li>\n<li>RT-Thread \u90ae\u7bb1\u6ee1\u4e86&#xff0c;rt_mb_send() \u7acb\u5373\u8fd4\u56de\u5931\u8d25&#xff0c;\u800c rt_mb_send_wait() \u5141\u8bb8\u53d1\u9001\u65b9\u9650\u65f6\u963b\u585e\u2014\u2014\u8fd9\u662f\u5b83\u4e0e \u03bcC\/OS \u5355\u683c\u90ae\u7bb1\u300c\u6ee1\u4e86\u53ea\u80fd\u5931\u8d25\u300d\u7684\u5173\u952e\u533a\u522b\u3002<\/li>\n<\/ul>\n<hr \/>\n<h4>3.3 \u7ba1\u9053\u4e0e\u5b57\u8282\u6d41&#xff08;Pipe \/ Stream Buffer&#xff09;<\/h4>\n<p>\u673a\u5236\u539f\u7406<\/p>\n<p>\u6d88\u606f\u961f\u5217\u4f20\u9012\u7684\u662f\u300c\u6709\u8fb9\u754c\u7684\u4e00\u6761\u6761\u6d88\u606f\u300d&#xff0c;\u800c\u7ba1\u9053\u4f20\u9012\u7684\u662f\u65e0\u8fb9\u754c\u7684\u5b57\u8282\u6d41\u2014\u2014\u50cf\u6587\u4ef6\u4e00\u6837 read\/write&#xff0c;\u8bfb\u8005\u4e0d\u611f\u77e5\u5199\u5165\u7684\u5206\u5305\u3002\u5b83\u5929\u7136\u9002\u5408\u4e32\u53e3\u6536\u53d1\u3001\u65e5\u5fd7\u8f93\u51fa\u3001Shell \u6570\u636e\u8f6c\u53d1\u7b49\u6d41\u5f0f\u573a\u666f\u3002Linux \u7684\u7ba1\u9053\u662f\u8fdb\u7a0b\u95f4 IPC \u7684\u5143\u8001&#xff1b;RTOS \u4e2d\u5219\u4ee5\u300c\u6d41\u7f13\u51b2\u300d\u5f62\u5f0f\u51fa\u73b0\u3002<\/p>\n<p>\u5404\u7cfb\u7edf\u63a5\u53e3\u4e0e\u5b9e\u73b0\u89e3\u6790<\/p>\n<table>\n<tr>\u7cfb\u7edf\u673a\u5236\u5173\u952e\u63a5\u53e3\u7279\u70b9<\/tr>\n<tbody>\n<tr>\n<td>Linux<\/td>\n<td>\u533f\u540d\u7ba1\u9053 pipe() \/ pipe2()&#xff1b;\u547d\u540d\u7ba1\u9053 mkfifo()<\/td>\n<td>read() \/ write() \/ poll()<\/td>\n<td>\u534a\u53cc\u5de5\u5b57\u8282\u6d41&#xff0c;\u5185\u6838\u7f13\u51b2\u9ed8\u8ba4 64 KiB&#xff1b;FIFO \u53ef\u5728\u65e0\u4eb2\u7f18\u8fdb\u7a0b\u95f4\u4f7f\u7528&#xff1b;\u5168\u53cc\u5de5\u9700\u6c42\u7528 socketpair()<\/td>\n<\/tr>\n<tr>\n<td>FreeRTOS<\/td>\n<td>Stream Buffer \/ Message Buffer<\/td>\n<td>xStreamBufferCreate() \/ xStreamBufferSend() \/ xStreamBufferReceive()&#xff1b;Message Buffer \u7248\u672c\u5728\u6d41\u4e0a\u52a0\u957f\u5ea6\u5934<\/td>\n<td>\u5355\u5199\u8005\u3001\u5355\u8bfb\u8005&#xff08;\u591a\u5199\u9700\u5916\u52a0\u4e92\u65a5&#xff09;&#xff1b;\u6781\u8f7b\u91cf\u3001\u53ef ISR \u4f7f\u7528&#xff1b;\u89e6\u53d1\u7ea7\u522b\u53ef\u914d<\/td>\n<\/tr>\n<tr>\n<td>Zephyr<\/td>\n<td>struct k_pipe<\/td>\n<td>k_pipe_init() \/ k_pipe_alloc_init() \/ k_pipe_put() \/ k_pipe_get()<\/td>\n<td>\u591a\u7ebf\u7a0b\u5b89\u5168\u7684\u5b57\u8282\u6d41\u7ba1\u9053&#xff0c;\u652f\u6301\u8d85\u65f6\u4e0e\u300c\u81f3\u5c11\u8bfb\u591f N \u5b57\u8282\u300d<\/td>\n<\/tr>\n<tr>\n<td>RT-Thread<\/td>\n<td>\u73af\u5f62\u7f13\u51b2 &#043; \u8bbe\u5907\u6846\u67b6<\/td>\n<td>rt_ringbuffer_init() \/ rt_ringbuffer_put() \/ rt_ringbuffer_get()&#xff1b;DFS \u4e0b\u53e6\u6709 pipe \u8bbe\u5907<\/td>\n<td>ringbuffer \u662f\u65e0\u9501\u524d\u63d0\u4e0b\u7684\u5355\u751f\u4ea7\u5355\u6d88\u8d39\u7f13\u51b2&#xff1b;\u4e32\u53e3\u8bbe\u5907\u5185\u90e8\u5373\u57fa\u4e8e\u5b83<\/td>\n<\/tr>\n<tr>\n<td>NuttX<\/td>\n<td>POSIX pipe \/ FIFO<\/td>\n<td>pipe() \/ mkfifo() \/ read() \/ write()<\/td>\n<td>\u5b8c\u6574 POSIX \u8bed\u4e49<\/td>\n<\/tr>\n<tr>\n<td>Linux \u901a\u7528\u8bf4\u660e<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u7ebf\u7a0b\u95f4\u4e5f\u80fd\u7528\u7ba1\u9053&#xff08;\u540c\u8fdb\u7a0b\u5185\u66f4\u5e38\u7528 socketpair \u6216\u81ea\u5efa\u961f\u5217&#xff09;&#xff0c;\u4f46\u5f00\u9500\u6bd4\u7eaf\u5185\u5b58\u961f\u5217\u5927<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-II\/III\u3001ThreadX\u3001LiteOS<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u65e0\u5185\u6838\u7ea7\u7ba1\u9053&#xff0c;\u7528\u300c\u73af\u5f62\u7f13\u51b2 &#043; \u4fe1\u53f7\u91cf\u300d\u81ea\u884c\u7ec4\u5408<\/td>\n<td>\u89c1 3.4<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u884c\u4e3a\u8981\u70b9&#xff1a;<\/p>\n<ul>\n<li>\u963b\u585e\u8bed\u4e49&#xff1a;Linux \u7ba1\u9053\u5199\u6ee1\u5219\u5199\u8005\u963b\u585e&#xff08;\u6216 O_NONBLOCK \u8fd4\u56de EAGAIN&#xff09;&#xff0c;\u8bfb\u7a7a\u5219\u8bfb\u8005\u963b\u585e&#xff1b;<\/li>\n<li>\u6d88\u606f\u8fb9\u754c&#xff1a;\u5b57\u8282\u6d41\u6ca1\u6709\u8fb9\u754c&#xff0c;\u8981\u4f20\u300c\u5305\u300d\u9700\u81ea\u5b9a\u534f\u8bae&#xff08;\u957f\u5ea6\u5934\/\u5206\u9694\u7b26&#xff09;\u2014\u2014FreeRTOS \u7684 Message Buffer \u6b63\u662f\u4e3a\u6b64\u628a\u957f\u5ea6\u5934\u6253\u8fdb\u6d41\u91cc&#xff1b;<\/li>\n<li>\u89e6\u53d1\u7ea7\u522b&#xff1a;FreeRTOS Stream Buffer \u53ef\u8bbe\u7f6e\u300c\u7f13\u51b2\u8fbe\u5230 N \u5b57\u8282\u624d\u5524\u9192\u8bfb\u8005\u300d&#xff0c;\u907f\u514d\u9010\u5b57\u8282\u5524\u9192\u7684\u6296\u52a8\u3002<\/li>\n<\/ul>\n<hr \/>\n<h4>3.4 \u53d8\u957f\u7f13\u51b2\u961f\u5217\u4e0e\u73af\u5f62\u7f13\u51b2&#xff08;Ring Buffer&#xff09;<\/h4>\n<p>\u673a\u5236\u539f\u7406<\/p>\n<p>\u6d88\u606f\u961f\u5217\u8981\u6c42\u5b9a\u957f\u6d88\u606f&#xff0c;\u4f46\u5b9e\u9645\u4e1a\u52a1\u5e38\u8981\u4f20\u53d8\u957f\u6570\u636e&#xff08;\u4e00\u6761 AT \u6307\u4ee4\u3001\u4e00\u5e27\u534f\u8bae&#xff09;\u3002\u4e24\u6761\u5e38\u89c1\u8def\u7ebf&#xff1a;<\/p>\n<li>\u53d8\u957f\u6d88\u606f\u7f13\u51b2\u961f\u5217&#xff1a;\u6d88\u606f\u8fde\u957f\u5ea6\u5934\u4e00\u8d77\u5b58\u8fdb\u5b57\u8282\u73af\u5f62\u533a&#xff0c;\u53d6\u8d70\u65f6\u6309\u957f\u5ea6\u8fd8\u539f\u2014\u2014AliOS Things \u7684 buf_queue&#xff1b;<\/li>\n<li>\u73af\u5f62\u7f13\u51b2&#xff08;Ring\/FIFO Buffer&#xff09;&#043; \u4fe1\u53f7\u91cf&#xff1a;\u88f8\u7684\u5b57\u8282\u73af\u5f62\u533a&#xff0c;\u300c\u6570\u636e\u6709\u6ca1\u6709\u3001\u6709\u591a\u5c11\u300d\u7531\u4fe1\u53f7\u91cf\u6216\u8ba1\u6570\u53d8\u91cf\u901a\u77e5\u2014\u2014\u8fd9\u662f\u6ca1\u6709\u7ba1\u9053\u673a\u5236\u7684\u7cfb\u7edf\u4e0a\u7684\u901a\u7528\u505a\u6cd5\u3002<\/li>\n<p>\u5404\u7cfb\u7edf\u63a5\u53e3\u4e0e\u5b9e\u73b0\u89e3\u6790<\/p>\n<table>\n<tr>\u7cfb\u7edf\u673a\u5236\u5173\u952e\u63a5\u53e3\u7279\u70b9<\/tr>\n<tbody>\n<tr>\n<td>AliOS Things<\/td>\n<td>kbuf_queue_t<\/td>\n<td>krhino_buf_queue_create() \/ krhino_buf_queue_send() \/ krhino_buf_queue_recv()<\/td>\n<td>\u53d8\u957f\u6d88\u606f\u6309\u503c\u5b58\u5165\u73af\u5f62\u533a&#xff0c;\u5185\u6838\u7ba1\u7406\u5206\u5305<\/td>\n<\/tr>\n<tr>\n<td>Zephyr<\/td>\n<td>struct k_fifo \/ k_lifo \/ k_ringbuf<\/td>\n<td>k_fifo_put() \/ k_fifo_get()&#xff1b;ring_buf_put() \/ ring_buf_get()<\/td>\n<td>k_fifo \u4f20\u7684\u662f\u94fe\u8868\u8282\u70b9\u6307\u9488&#xff08;\u96f6\u62f7\u8d1d\u3001\u8981\u6c42\u8282\u70b9\u5934\u90e8\u9884\u7559\u5185\u6838\u5b57\u6bb5&#xff09;&#xff1b;ring_buf \u662f\u88f8\u5b57\u8282\u73af\u5f62\u533a&#xff08;\u9ed8\u8ba4\u65e0\u540c\u6b65&#xff0c;\u9700\u81ea\u914d\u4fe1\u53f7\u91cf&#xff1b;\u53e6\u6709 ring_buf_item_* \u5e26\u7b80\u5355\u540c\u6b65&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>RT-Thread<\/td>\n<td>rt_ringbuffer<\/td>\n<td>rt_ringbuffer_put() \/ rt_ringbuffer_get()<\/td>\n<td>\u5355\u751f\u4ea7\u5355\u6d88\u8d39\u65e0\u9501&#xff1b;\u591a\u7ebf\u7a0b\u9700\u81ea\u914d\u4e92\u65a5\/\u4fe1\u53f7\u91cf<\/td>\n<\/tr>\n<tr>\n<td>FreeRTOS<\/td>\n<td>Stream Buffer&#xff08;\u89c1 3.3&#xff09;<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u672c\u8d28\u5373\u5e26\u540c\u6b65\u7684\u73af\u5f62\u7f13\u51b2<\/td>\n<\/tr>\n<tr>\n<td>LiteOS<\/td>\n<td>\u8f6f\u4ef6\u5b9a\u65f6\u5668\/\u961f\u5217\u4e4b\u5916\u65e0\u4e13\u7528\u5bf9\u8c61<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u7528\u961f\u5217\u6307\u9488\u6a21\u5f0f &#043; \u5185\u5b58\u6c60\u5b9e\u73b0\u53d8\u957f\u6570\u636e\u4f20\u9012<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-II\/III\u3001ThreadX<\/td>\n<td>\u65e0\u4e13\u7528\u5bf9\u8c61<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u7ec4\u5408&#xff1a;\u5185\u5b58\u6c60&#xff08;OSMemGet \/ tx_block_allocate&#xff09;\u7533\u8bf7\u5757 \u2192 \u961f\u5217\u4f20\u6307\u9488 \u2192 \u7528\u5b8c\u5f52\u8fd8<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u300c\u5185\u5b58\u6c60 &#043; \u961f\u5217\u4f20\u6307\u9488\u300d\u7ec4\u5408\u662f RTOS \u91cc\u4f20\u9012\u5927\u5757\/\u53d8\u957f\u6570\u636e\u7684\u7ecf\u5178\u8303\u5f0f&#xff0c;\u52a1\u5fc5\u638c\u63e1&#xff1a;<\/p>\n<p>\u53d1\u9001\u65b9&#xff1a;MemPool.alloc() \u2192 \u586b\u5145\u6570\u636e \u2192 Queue.send(\u6307\u9488)<br \/>\n\u63a5\u6536\u65b9&#xff1a;Queue.recv(\u6307\u9488) \u2192 \u4f7f\u7528\u6570\u636e \u2192 MemPool.free()<\/p>\n<p>\u76f8\u6bd4\u6309\u503c\u62f7\u8d1d\u7701\u4e00\u6b21 memcpy&#xff0c;\u4f46\u628a\u7f13\u51b2\u533a\u751f\u547d\u5468\u671f\u7ba1\u7406\u4ea4\u7ed9\u4e86\u5e94\u7528&#xff1a;\u8c01\u91ca\u653e\u3001\u6cc4\u6f0f\u4e86\u600e\u4e48\u529e\u3001ISR \u91cc\u80fd\u5426 alloc&#xff0c;\u90fd\u8981\u8bbe\u8ba1\u6e05\u695a\u3002<\/p>\n<hr \/>\n<h3>4. \u4e8b\u4ef6\u901a\u77e5\u7c7b\u673a\u5236<\/h3>\n<h4>4.1 \u4fe1\u53f7\u91cf&#xff08;\u901a\u77e5\u7528\u6cd5&#xff09;<\/h4>\n<p>\u673a\u5236\u539f\u7406<\/p>\n<p>\u4fe1\u53f7\u91cf\u6709\u4e24\u4e2a\u7528\u6cd5&#xff1a;\u8ba1\u6570\u8d44\u6e90&#xff08;\u7ade\u4e89\u4fdd\u62a4\u8303\u7574&#xff09;\u548c\u4e8b\u4ef6\u901a\u77e5&#xff08;\u672c\u6587\u8303\u7574&#xff09;\u3002\u4f5c\u4e3a\u901a\u77e5\u673a\u5236\u65f6&#xff1a;<\/p>\n<ul>\n<li>\u4e8c\u503c\u4fe1\u53f7\u91cf&#xff08;Binary Semaphore&#xff09;&#061; \u300c\u4e8b\u4ef6\u53d1\u751f\u4e86\u300d\u7684\u4e00\u6b21\u6027\u95e8\u94c3&#xff1b;<\/li>\n<li>\u8ba1\u6570\u4fe1\u53f7\u91cf &#061; \u300c\u4e8b\u4ef6\u53d1\u751f\u4e86 N \u6b21\u300d\u7684\u53ef\u7d2f\u79ef\u8ba1\u6570&#xff08;\u8fd9\u662f\u5b83\u76f8\u5bf9\u4e8b\u4ef6\u6807\u5fd7\u7ec4\u7684\u6838\u5fc3\u4f18\u52bf\u2014\u2014\u80fd\u8ba1\u6570&#xff09;\u3002<\/li>\n<\/ul>\n<p>\u53d1\u9001\u65b9 give\/post&#xff0c;\u63a5\u6536\u65b9 take\/pend&#xff08;\u5e26\u8d85\u65f6&#xff09;\u3002\u5b83\u4e0d\u5e26\u4efb\u4f55\u6570\u636e&#xff0c;\u662f\u6210\u672c\u6700\u4f4e\u7684\u901a\u4fe1\u539f\u8bed&#xff0c;\u4e5f\u662f ISR \u2192 \u4efb\u52a1\u5524\u9192\u7684\u6700\u5e38\u7528\u624b\u6bb5\u3002<\/p>\n<p>\u5404\u7cfb\u7edf\u63a5\u53e3\u4e0e\u5b9e\u73b0\u89e3\u6790<\/p>\n<table>\n<tr>\u7cfb\u7edf\u521b\u5efa\u91ca\u653e&#xff08;give&#xff09;\u83b7\u53d6&#xff08;take&#xff09;ISR \u53d8\u4f53<\/tr>\n<tbody>\n<tr>\n<td>FreeRTOS<\/td>\n<td>xSemaphoreCreateBinary() \/ xSemaphoreCreateCounting()<\/td>\n<td>xSemaphoreGive()<\/td>\n<td>xSemaphoreTake()<\/td>\n<td>xSemaphoreGiveFromISR()<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-II<\/td>\n<td>OSSemCreate()<\/td>\n<td>OSSemPost()&#xff08;OS_POST_OPT_BROADCAST \u53ef\u5e7f\u64ad&#xff09;<\/td>\n<td>OSSemPend() \/ OSSemAccept()<\/td>\n<td>\u76f4\u63a5\u8c03 Post&#xff08;\u03bcC\/OS \u65e0\u72ec\u7acb FromISR \u547d\u540d&#xff0c;ISR \u4e2d\u8c03\u975e\u963b\u585e\u7248&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-III<\/td>\n<td>OSSemCreate()<\/td>\n<td>OSSemPost()&#xff08;\u652f\u6301\u5e7f\u64ad opt&#xff09;<\/td>\n<td>OSSemPend()<\/td>\n<td>\u540c\u4e0a<\/td>\n<\/tr>\n<tr>\n<td>RT-Thread<\/td>\n<td>rt_sem_create()<\/td>\n<td>rt_sem_release() \/ rt_sem_release()&#xff08;\u8fde\u7eed&#xff09;<\/td>\n<td>rt_sem_take() \/ rt_sem_trytake()<\/td>\n<td>ISR \u4e2d\u76f4\u63a5 rt_sem_release()&#xff08;\u8be5 API \u672c\u8eab ISR \u5b89\u5168&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>Zephyr<\/td>\n<td>K_SEM_DEFINE() \/ k_sem_init()<\/td>\n<td>k_sem_give()<\/td>\n<td>k_sem_take()<\/td>\n<td>k_sem_give() ISR \u5b89\u5168<\/td>\n<\/tr>\n<tr>\n<td>ThreadX<\/td>\n<td>tx_semaphore_create()<\/td>\n<td>tx_semaphore_put()<\/td>\n<td>tx_semaphore_get()<\/td>\n<td>tx_semaphore_put() ISR \u5b89\u5168&#xff08;tx_semaphore_ceiling_put \u6709\u4e0a\u9650\u7248&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>NuttX<\/td>\n<td>sem_init()<\/td>\n<td>sem_post()<\/td>\n<td>sem_wait() \/ sem_timedwait()<\/td>\n<td>sem_post() \u662f\u5f02\u6b65\u4fe1\u53f7\u5b89\u5168\u7684<\/td>\n<\/tr>\n<tr>\n<td>LiteOS<\/td>\n<td>LOS_SemCreate() \/ LOS_BinarySemCreate()<\/td>\n<td>LOS_SemPost()<\/td>\n<td>LOS_SemPend()<\/td>\n<td>ISR \u4e2d\u53ef LOS_SemPost()<\/td>\n<\/tr>\n<tr>\n<td>AliOS Things<\/td>\n<td>krhino_sem_create()<\/td>\n<td>krhino_sem_give() \/ krhino_sem_give_all()&#xff08;\u5e7f\u64ad&#xff09;<\/td>\n<td>krhino_sem_take()<\/td>\n<td>give \u7cfb\u5217 ISR \u5b89\u5168<\/td>\n<\/tr>\n<tr>\n<td>Linux&#xff08;\u7ebf\u7a0b\u95f4&#xff09;<\/td>\n<td>sem_init(pshared&#061;0)<\/td>\n<td>sem_post()<\/td>\n<td>sem_wait() \/ sem_timedwait()<\/td>\n<td>\u7528\u6237\u6001\u65e0 ISR \u6982\u5ff5&#xff1b;\u4fe1\u53f7\u5904\u7406\u51fd\u6570\u4e2d sem_post() \u5b89\u5168<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u8981\u70b9&#xff1a;\u4e8c\u503c\u4fe1\u53f7\u91cf\u4f1a\u4e22\u4e8b\u4ef6\u2014\u2014\u8fde\u7eed give \u4e24\u6b21\u53ea\u7b49\u6548\u4e00\u6b21&#xff08;\u8ba1\u6570\u503c\u5c01\u9876 1&#xff09;&#xff1b;\u8981\u8ba1\u6570\u5c31\u7528\u8ba1\u6570\u4fe1\u53f7\u91cf\u3002\u8fd9\u51b3\u5b9a\u4e86\u300c\u6bcf\u6765\u4e00\u6b21\u4e2d\u65ad\u90fd\u8981\u88ab\u5904\u7406\u4e00\u6b21\u300d\u7684\u573a\u666f\u5fc5\u987b\u7528\u8ba1\u6570\u578b\u6216\u961f\u5217&#xff0c;\u4e0d\u80fd\u7528\u4e8c\u503c\u578b\u3002<\/p>\n<hr \/>\n<h4>4.2 \u4e8b\u4ef6\u6807\u5fd7\u7ec4&#xff08;Event Flags&#xff09;<\/h4>\n<p>\u673a\u5236\u539f\u7406<\/p>\n<p>\u4e8b\u4ef6\u6807\u5fd7\u7ec4\u7528**\u4e00\u7ec4 bit&#xff08;\u901a\u5e38 32 \u4f4d&#xff09;**\u8868\u8fbe\u591a\u79cd\u4e8b\u4ef6&#xff1a;\u4efb\u610f\u4efb\u52a1\/ISR \u628a\u5bf9\u5e94\u4f4d\u7f6e 1&#xff0c;\u7b49\u5f85\u65b9\u58f0\u660e\u300c\u6211\u5173\u5fc3\u54ea\u51e0\u4f4d\u3001\u8981\u5168\u90e8\u6ee1\u8db3&#xff08;AND&#xff09;\u8fd8\u662f\u4efb\u4e00\u6ee1\u8db3&#xff08;OR&#xff09;\u300d&#xff0c;\u6761\u4ef6\u4e0d\u6ee1\u8db3\u5219\u963b\u585e\u3002\u5b83\u662f\u300c\u591a\u8def\u4e8b\u4ef6\u6c47\u805a\u5230\u4e00\u4e2a\u4efb\u52a1\u300d\u7684\u6807\u51c6\u65b9\u6848&#xff08;\u5982\u901a\u4fe1\u4efb\u52a1\u540c\u65f6\u7b49\u5f85&#xff1a;\u6536\u5230\u6570\u636e | \u53d1\u9001\u5b8c\u6210 | \u51fa\u9519 | \u9000\u51fa\u8bf7\u6c42&#xff09;\u3002<\/p>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/07\/20260727002458-6a66a55a070cd.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" \/><\/p>\n<p>\u6838\u5fc3\u7279\u6027&#xff1a;<\/p>\n<ul>\n<li>\u590d\u5408\u7b49\u5f85&#xff1a;AND\/OR \u4e24\u79cd\u903b\u8f91&#xff0c;\u4e00\u4e2a\u4efb\u52a1\u53ef\u540c\u65f6\u7b49\u5f85\u591a\u79cd\u4e8b\u4ef6\u7684\u4efb\u610f\u7ec4\u5408&#xff1b;<\/li>\n<li>\u591a\u7b49\u5f85\u8005&#xff1a;\u540c\u4e00\u6807\u5fd7\u7ec4\u53ef\u88ab\u591a\u4e2a\u4efb\u52a1\u4ee5\u4e0d\u540c\u4f4d\u7ec4\u5408\u540c\u65f6\u7b49\u5f85&#xff1b;<\/li>\n<li>\u6d88\u8d39\u6e05\u96f6&#xff1a;\u53ef\u9009\u300c\u5524\u9192\u540e\u81ea\u52a8\u6e05\u9664\u5df2\u6ee1\u8db3\u7684\u4f4d\u300d&#xff08;\u5982 FreeRTOS xClearOnExit\u3001RT-Thread RT_EVENT_FLAG_CLEAR&#xff09;&#xff0c;\u5426\u5219\u9700\u624b\u52a8\u6e05\u4f4d&#xff0c;\u5904\u7406\u4e0d\u5f53\u4f1a\u53cd\u590d\u5524\u9192&#xff1b;<\/li>\n<li>\u4e0d\u6392\u961f&#xff1a;\u540c\u4e00\u4f4d\u8fde\u7eed\u7f6e\u4f4d\u4e24\u6b21 &#061; \u4e00\u6b21\u3002\u4e8b\u4ef6\u6807\u5fd7\u4e0d\u80fd\u8ba1\u6570&#xff0c;\u8981\u8ba1\u6570\u7528\u4fe1\u53f7\u91cf\/\u961f\u5217\u3002<\/li>\n<\/ul>\n<p>\u5404\u7cfb\u7edf\u63a5\u53e3\u4e0e\u5b9e\u73b0\u89e3\u6790<\/p>\n<table>\n<tr>\u7cfb\u7edf\u5bf9\u8c61\u7f6e\u4f4d\u7b49\u5f85\u7279\u70b9<\/tr>\n<tbody>\n<tr>\n<td>FreeRTOS<\/td>\n<td>EventGroupHandle_t<\/td>\n<td>xEventGroupSetBits() \/ &#8230;FromISR() \/ xEventGroupClearBits()<\/td>\n<td>xEventGroupWaitBits(bits, clearOnExit, waitForAll, timeout)&#xff1b;\u53e6\u6709 xEventGroupSync() \u505a\u4efb\u52a1\u95f4\u4f1a\u5408&#xff08;rendezvous&#xff09;<\/td>\n<td>tick \u6570\u5373\u4f4d\u6570&#xff08;24 \u6216 32 \u4f4d&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-II<\/td>\n<td>OS_FLAG_GRP<\/td>\n<td>OSFlagPost()<\/td>\n<td>OSFlagPend()&#xff08;WAIT_SET\/CLR &#043; ALL\/ANY &#043; consume opt&#xff09;\/ OSFlagAccept()<\/td>\n<td>\u4f4d\u5bbd 8\/16\/32 \u53ef\u914d<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-III<\/td>\n<td>OS_FLAG_GRP<\/td>\n<td>OSFlagPost()<\/td>\n<td>OSFlagPend() \/ OSFlagPendGetFlagsRdy()<\/td>\n<td>\u540c II&#xff0c;\u63a5\u53e3\u7edf\u4e00\u4e3a err \u98ce\u683c<\/td>\n<\/tr>\n<tr>\n<td>RT-Thread<\/td>\n<td>rt_event_t<\/td>\n<td>rt_event_send()<\/td>\n<td>rt_event_recv(set, option&#061;AND\/OR&#043;RT_EVENT_FLAG_CLEAR, timeout, &amp;recved)<\/td>\n<td>32 \u4f4d\u56fa\u5b9a<\/td>\n<\/tr>\n<tr>\n<td>Zephyr<\/td>\n<td>struct k_event<\/td>\n<td>k_event_post()&#xff08;\u4fdd\u7559\u5176\u4ed6\u4f4d&#xff09;\/ k_event_set()&#xff08;\u8986\u76d6&#xff09;<\/td>\n<td>k_event_wait(events, reset, timeout) \/ k_event_wait_all()<\/td>\n<td>32 \u4f4d&#xff1b;post \u662f\u7d2f\u79ef\u5f0f\u7f6e\u4f4d<\/td>\n<\/tr>\n<tr>\n<td>ThreadX<\/td>\n<td>TX_EVENT_FLAGS_GROUP<\/td>\n<td>tx_event_flags_set(TX_OR \/ TX_AND \/ *_CLEAR)<\/td>\n<td>tx_event_flags_get(TX_OR \/ TX_AND \/ *_CLEAR, timeout)<\/td>\n<td>set \u672c\u8eab\u5c31\u80fd\u9009 AND\/OR\/\u6e05\u4f4d\u8bed\u4e49&#xff0c;\u975e\u5e38\u7075\u6d3b<\/td>\n<\/tr>\n<tr>\n<td>NuttX<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u65e0\u539f\u751f\u4e8b\u4ef6\u7ec4\u5bf9\u8c61<\/td>\n<td>\u7528\u591a\u4e2a\u4fe1\u53f7\u91cf\u6216 sigwaitinfo \u4f4d\u63a9\u7801\u8fd1\u4f3c<\/td>\n<td>POSIX \u6ca1\u6709\u5bf9\u5e94\u539f\u8bed<\/td>\n<\/tr>\n<tr>\n<td>LiteOS<\/td>\n<td>EVENT_CB_S<\/td>\n<td>LOS_EventWrite() \/ LOS_EventSet()<\/td>\n<td>LOS_EventRead(mask, mode&#061;AND\/OR &#043; CLEAR, timeout)<\/td>\n<td>25 \u4e2a\u53ef\u7528\u4e8b\u4ef6\u4f4d<\/td>\n<\/tr>\n<tr>\n<td>AliOS Things<\/td>\n<td>kevent_t<\/td>\n<td>krhino_event_set()<\/td>\n<td>krhino_event_get(flags, opt&#061;AND\/OR&#043;CLEAR, timeout, &amp;actual)<\/td>\n<td>32 \u4f4d<\/td>\n<\/tr>\n<tr>\n<td>Linux<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u65e0\u5185\u6838\u4e8b\u4ef6\u7ec4&#xff1b;\u7528\u6237\u6001\u53ef\u7528 eventfd \u4f4d\u63a9\u7801\u3001\u6761\u4ef6\u53d8\u91cf&#043;\u6807\u5fd7\u4f4d\u6a21\u62df<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u2014\u2014<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5b9e\u73b0\u6ce8\u610f&#xff08;FreeRTOS \u7279\u4f8b&#xff09;&#xff1a;xEventGroupSetBitsFromISR() \u4e0d\u662f\u76f4\u63a5\u5728 ISR \u91cc\u7f6e\u4f4d&#xff0c;\u800c\u662f\u6295\u9012\u7ed9\u5b88\u62a4\u4efb\u52a1&#xff08;timer service task&#xff09;\u4ee3\u4e3a\u7f6e\u4f4d\u2014\u2014\u56e0\u6b64 ISR \u7f6e\u4f4d\u5230\u4efb\u52a1\u88ab\u5524\u9192\u4e4b\u95f4\u5b58\u5728\u4e00\u6b21\u961f\u5217\u4f20\u9012\u5ef6\u8fdf&#xff0c;\u5bf9\u65f6\u5ef6\u654f\u611f\u7684\u573a\u5408\u4f18\u5148\u7528\u4efb\u52a1\u901a\u77e5\u3002<\/p>\n<hr \/>\n<h4>4.3 \u4efb\u52a1\u901a\u77e5\u4e0e\u5185\u5d4c\u4efb\u52a1\u961f\u5217<\/h4>\n<p>\u673a\u5236\u539f\u7406<\/p>\n<p>\u961f\u5217\u3001\u4e8b\u4ef6\u7ec4\u90fd\u662f\u72ec\u7acb\u5185\u6838\u5bf9\u8c61&#xff08;\u8981\u989d\u5916 RAM\u3001\u8981\u521b\u5efa\u53e5\u67c4&#xff09;\u3002\u800c\u300c\u4efb\u52a1\u901a\u77e5\u300d\u76f4\u63a5\u628a\u901a\u4fe1\u8f7d\u4f53\u5d4c\u8fdb\u4efb\u52a1\u63a7\u5236\u5757&#xff08;TCB&#xff09;&#xff1a;\u6bcf\u4e2a\u4efb\u52a1\u81ea\u5e26\u4e00\u4e2a 32 \u4f4d\u901a\u77e5\u503c\u548c\u72b6\u6001&#xff0c;\u53d1\u9001\u65b9\u6307\u5b9a\u76ee\u6807\u4efb\u52a1\u76f4\u63a5\u6539\u5199\u5176\u901a\u77e5\u503c\u5e76\u5524\u9192\u5b83\u3002<\/p>\n<p>\u4f18\u52bf&#xff1a;\u96f6\u989d\u5916\u5bf9\u8c61\u3001\u5b9a\u5411\u6295\u9012\u3001\u901f\u5ea6\u6700\u5feb&#xff08;FreeRTOS \u5b98\u65b9\u6570\u636e&#xff1a;\u6bd4\u4e8c\u503c\u4fe1\u53f7\u91cf\u5feb\u7ea6 45%\u3001\u7701 RAM&#xff09;&#xff1b;\u52a3\u52bf&#xff1a;\u53ea\u80fd\u4e00\u5bf9\u4e00&#xff08;\u901a\u77e5\u5c5e\u4e8e\u76ee\u6807\u4efb\u52a1&#xff09;&#xff0c;\u4e14\u901a\u77e5\u503c\u53ea\u6709\u4e00\u4e2a&#xff08;32 \u4f4d\u53ef\u517c\u4f5c\u4e8b\u4ef6\u4f4d\u56fe\u6216\u8ba1\u6570&#xff09;\u3002<\/p>\n<p>\u5404\u7cfb\u7edf\u5bf9\u5e94\u673a\u5236<\/p>\n<table>\n<tr>\u7cfb\u7edf\u673a\u5236\u5173\u952e\u63a5\u53e3\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>FreeRTOS<\/td>\n<td>Task Notification<\/td>\n<td>xTaskNotifyGive() \/ vTaskNotifyGiveFromISR()&#xff08;\u8ba1\u6570\u7528\u6cd5&#xff09;&#xff1b;xTaskNotify() \/ xTaskNotifyFromISR()&#xff08;\u8bbe\u503c\/\u8bbe\u4f4d\u7528\u6cd5&#xff09;&#xff1b;\u63a5\u6536&#xff1a;ulTaskNotifyTake() \/ xTaskNotifyWait()<\/td>\n<td>\u53ef\u6a21\u62df\u4e8c\u503c\/\u8ba1\u6570\u4fe1\u53f7\u91cf\u3001\u4e8b\u4ef6\u7ec4\u3001\u8f7b\u91cf\u90ae\u7bb1<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-III<\/td>\n<td>\u5185\u5d4c\u4efb\u52a1\u4fe1\u53f7\u91cf &#043; \u5185\u5d4c\u4efb\u52a1\u6d88\u606f\u961f\u5217<\/td>\n<td>OSTaskSemPost() \/ OSTaskSemPend()&#xff1b;OSTaskQPost() \/ OSTaskQPend()<\/td>\n<td>\u6bcf\u4e2a TCB \u5185\u5d4c\u4e00\u4e2a\u4fe1\u53f7\u91cf\u548c\u4e00\u4e2a\u6d88\u606f\u961f\u5217&#xff0c;\u662f III \u76f8\u5bf9 II \u7684\u91cd\u8981\u589e\u5f3a<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-II<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u65e0&#xff0c;\u53ea\u80fd\u7528\u72ec\u7acb\u4fe1\u53f7\u91cf\/\u961f\u5217<\/td>\n<td>\u2014\u2014<\/td>\n<\/tr>\n<tr>\n<td>Zephyr<\/td>\n<td>k_poll_signal<\/td>\n<td>k_poll_signal_init() \/ k_poll_signal_raise() \/ \u7ebf\u7a0b\u7528 k_poll() \u7b49\u5f85\u4e00\u7ec4 signal\/event\/sem\/fifo<\/td>\n<td>k_poll \u7c7b\u4f3c Linux poll&#xff1a;\u4e00\u6b21\u7b49\u5f85\u591a\u4e2a\u5bf9\u8c61\u7684\u4efb\u610f\u5c31\u7eea&#xff0c;\u662f Zephyr \u7684\u591a\u8def\u590d\u7528\u65b9\u6848<\/td>\n<\/tr>\n<tr>\n<td>RT-Thread<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u65e0\u5185\u5d4c\u4efb\u52a1\u901a\u77e5&#xff1b;\u7528\u4fe1\u53f7\u91cf\/\u4e8b\u4ef6\u7ec4\u4ee3\u66ff<\/td>\n<td>\u2014\u2014<\/td>\n<\/tr>\n<tr>\n<td>ThreadX<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u65e0&#xff1b;\u7528 tx_semaphore_*<\/td>\n<td>\u2014\u2014<\/td>\n<\/tr>\n<tr>\n<td>NuttX<\/td>\n<td>POSIX \u4fe1\u53f7&#xff08;\u89c1 4.4&#xff09;<\/td>\n<td>sigqueue() \u53ef\u643a\u5e26\u4e00\u4e2a sigval \u5b9a\u5411\u53d1\u7ed9\u7ebf\u7a0b<\/td>\n<td>\u63a5\u8fd1\u300c\u5e26\u4e00\u4e2a\u503c\u7684\u4efb\u52a1\u901a\u77e5\u300d<\/td>\n<\/tr>\n<tr>\n<td>LiteOS \/ AliOS<\/td>\n<td>\u2014\u2014<\/td>\n<td>\u65e0\u72ec\u7acb\u4efb\u52a1\u901a\u77e5&#xff1b;\u7528\u4e8b\u4ef6\/\u4fe1\u53f7\u91cf<\/td>\n<td>\u2014\u2014<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5de5\u7a0b\u7ecf\u9a8c&#xff1a;ISR \u2192 \u7279\u5b9a\u4efb\u52a1 \u7684\u5524\u9192\u94fe\u8def\u4e0a&#xff0c;FreeRTOS \u4efb\u52a1\u901a\u77e5\u3001\u03bcC\/OS-III \u5185\u5d4c\u4efb\u52a1\u4fe1\u53f7\u91cf\u662f\u7b2c\u4e00\u9009\u62e9&#xff1b;\u53ea\u6709\u5728\u9700\u8981\u591a\u5bf9\u4e00\u6c47\u805a\u6216\u4e00\u5bf9\u591a\u5e7f\u64ad\u65f6\u624d\u9000\u56de\u5230\u4fe1\u53f7\u91cf\/\u4e8b\u4ef6\u7ec4\u3002<\/p>\n<hr \/>\n<h4>4.4 \u4fe1\u53f7\u4e0e\u5f02\u6b65\u56de\u8c03&#xff08;Signal&#xff09;<\/h4>\n<p>\u673a\u5236\u539f\u7406<\/p>\n<p>\u524d\u9762\u6240\u6709\u673a\u5236\u90fd\u662f\u540c\u6b65\u7b49\u5f85\u2014\u2014\u63a5\u6536\u65b9\u4e3b\u52a8\u8c03\u7528\u7b49\u5f85\u63a5\u53e3\u3002\u4fe1\u53f7&#xff08;Signal&#xff09;\u5219\u662f\u5f02\u6b65\u6253\u65ad&#xff1a;\u5185\u6838&#xff08;\u6216\u53e6\u4e00\u7ebf\u7a0b&#xff09;\u5411\u76ee\u6807\u7ebf\u7a0b\u6295\u9012\u4e00\u4e2a\u4fe1\u53f7&#xff0c;\u76ee\u6807\u7ebf\u7a0b\u6267\u884c\u5230\u5408\u9002\u65f6\u673a\u65f6\u88ab\u5f3a\u5236\u8f6c\u5165\u4fe1\u53f7\u5904\u7406\u51fd\u6570\u3002\u5b83\u662f POSIX \u7684\u4f20\u7edf\u673a\u5236&#xff0c;\u5728\u5d4c\u5165\u5f0f RTOS \u4e2d\u53ea\u6709\u90e8\u5206\u7cfb\u7edf\u652f\u6301\u3002<\/p>\n<p>\u5404\u7cfb\u7edf\u652f\u6301\u60c5\u51b5<\/p>\n<table>\n<tr>\u7cfb\u7edf\u652f\u6301\u60c5\u51b5\u5173\u952e\u63a5\u53e3<\/tr>\n<tbody>\n<tr>\n<td>Linux<\/td>\n<td>\u5b8c\u6574 POSIX \u4fe1\u53f7<\/td>\n<td>sigaction() \u6ce8\u518c\u5904\u7406\u51fd\u6570&#xff1b;kill() \/ tkill() \/ pthread_kill() \u5b9a\u5411\u53d1\u9001&#xff1b;sigwait() \u540c\u6b65\u7b49\u5f85&#xff1b;signalfd() \u628a\u4fe1\u53f7\u53d8\u6210\u53ef poll \u7684\u6587\u4ef6\u63cf\u8ff0\u7b26&#xff08;\u63a8\u8350\u7684\u591a\u7ebf\u7a0b\u7528\u6cd5&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>NuttX<\/td>\n<td>\u5b8c\u6574 POSIX \u4fe1\u53f7&#xff08;\u542b sigqueue() \u5e26\u503c\u5b9e\u65f6\u4fe1\u53f7&#xff09;<\/td>\n<td>sigaction() \/ sigqueue() \/ sigwaitinfo()<\/td>\n<\/tr>\n<tr>\n<td>RT-Thread<\/td>\n<td>\u63d0\u4f9b POSIX \u98ce\u683c\u8f6f\u4e2d\u65ad\u4fe1\u53f7\u7ec4\u4ef6<\/td>\n<td>rt_signal_install() \/ rt_signal_kill()&#xff08;\u53d1\u4fe1\u53f7&#xff09; \/ rt_signal_wait()&#xff08;\u540c\u6b65\u7b49\u5f85&#xff0c;\u7c7b\u4f3c sigwait&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>Zephyr<\/td>\n<td>\u65e0 POSIX signal&#xff1b;k_poll_signal \u63d0\u4f9b\u300c\u5bf9\u8c61\u7ea7\u4fe1\u53f7\u300d&#xff08;\u89c1 4.3&#xff09;<\/td>\n<td>\u2014\u2014<\/td>\n<\/tr>\n<tr>\n<td>FreeRTOS \/ \u03bcC\/OS \/ ThreadX \/ LiteOS \/ AliOS<\/td>\n<td>\u65e0\u4fe1\u53f7\u6982\u5ff5<\/td>\n<td>\u4ee5\u56de\u8c03\u6ce8\u518c&#xff08;\u5982\u5b9a\u65f6\u5668\u56de\u8c03\u3001\u9a71\u52a8\u56de\u8c03&#xff09;\u5b9e\u73b0\u5f02\u6b65\u901a\u77e5<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u8981\u70b9&#xff1a;\u4fe1\u53f7\u5904\u7406\u51fd\u6570\u8fd0\u884c\u5728\u88ab\u6253\u65ad\u7ebf\u7a0b\u7684\u4e0a\u4e0b\u6587\u91cc&#xff0c;\u53ef\u8c03\u7528\u51fd\u6570\u53d7\u4e25\u683c\u9650\u5236&#xff08;\u5f02\u6b65\u4fe1\u53f7\u5b89\u5168\u51fd\u6570\u96c6&#xff09;&#xff1b;\u591a\u7ebf\u7a0b\u7a0b\u5e8f\u66f4\u63a8\u8350 sigwait \/ signalfd \u628a\u5f02\u6b65\u4fe1\u53f7\u8f6c\u6210\u540c\u6b65\u4e8b\u4ef6\u5904\u7406\u3002<\/p>\n<hr \/>\n<h3>5. \u8d44\u6e90\u5171\u4eab\u7c7b\u673a\u5236<\/h3>\n<p>\u673a\u5236\u539f\u7406<\/p>\n<p>\u5728\u65e0 MMU \u7684 RTOS&#xff08;FreeRTOS\u3001\u03bcC\/OS\u3001RT-Thread \u975e smart \u7248\u3001Zephyr \u9ed8\u8ba4\u3001ThreadX\u3001LiteOS-M\u3001AliOS\u3001NuttX flat build&#xff09;\u4e2d&#xff0c;\u6240\u6709\u4efb\u52a1\u5171\u4eab\u540c\u4e00\u7269\u7406\u5730\u5740\u7a7a\u95f4\u2014\u2014\u4efb\u4f55\u5168\u5c40\u53d8\u91cf\u3001\u9759\u6001\u7f13\u51b2\u533a\u5929\u7136\u5c31\u662f\u300c\u5171\u4eab\u5185\u5b58\u300d&#xff0c;\u901a\u4fe1\u53ef\u4ee5\u7b80\u5355\u5230\u300c\u5199\u4e00\u4e2a\u5168\u5c40\u7ed3\u6784\u4f53\u300d\u3002\u4f46\u6b63\u56e0\u4e3a\u8c01\u90fd\u80fd\u78b0&#xff0c;\u5fc5\u987b\u914d\u5408\u4e92\u65a5\u673a\u5236\u9632\u6b62\u6495\u88c2\u8bbf\u95ee&#xff1a;<\/p>\n<ul>\n<li>\u4e92\u65a5\u9501&#xff08;FreeRTOS xSemaphoreCreateMutex\u3001RT-Thread rt_mutex_*\u3001Zephyr k_mutex_*\u3001ThreadX tx_mutex_*\u3001\u03bcC\/OS OSMutex*\u3001LiteOS LOS_Mux*\u3001AliOS krhino_mutex_*&#xff09;\u2014\u2014\u652f\u6301\u4f18\u5148\u7ea7\u7ee7\u627f&#xff1b;<\/li>\n<li>\u4e34\u754c\u533a&#xff08;\u5173\u4e2d\u65ad taskENTER_CRITICAL \/ rt_enter_critical \/ k_sched_lock&#xff09;\u2014\u2014\u53ea\u9002\u5408\u6781\u77ed\u64cd\u4f5c&#xff1b;<\/li>\n<li>\u8bfb\u5199\u987a\u5e8f\u7ea6\u5b9a &#043; \u539f\u5b50\u53d8\u91cf&#xff08;\u65e0\u9501\u573a\u666f&#xff09;\u3002<\/li>\n<\/ul>\n<p>Linux \/ RT-Smart \/ NuttX kernel build \u7b49\u6709 MMU \u7684\u73af\u5883&#xff1a;\u7ebf\u7a0b\u95f4\u4ecd\u5171\u4eab\u8fdb\u7a0b\u5730\u5740\u7a7a\u95f4&#xff08;\u5168\u5c40\u53d8\u91cf\u76f4\u63a5\u7528&#xff09;&#xff1b;\u8fdb\u7a0b\u95f4\u624d\u9700\u8981\u663e\u5f0f\u5171\u4eab\u5185\u5b58&#xff1a;<\/p>\n<table>\n<tr>\u673a\u5236\u63a5\u53e3\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>POSIX \u5171\u4eab\u5185\u5b58<\/td>\n<td>shm_open() &#043; mmap() &#043; ftruncate()<\/td>\n<td>\u73b0\u4ee3\u63a8\u8350&#xff0c;\u914d\u5408 sem_open \u547d\u540d\u4fe1\u53f7\u91cf\u505a\u540c\u6b65<\/td>\n<\/tr>\n<tr>\n<td>System V \u5171\u4eab\u5185\u5b58<\/td>\n<td>shmget() \/ shmat() \/ shmdt()<\/td>\n<td>\u4f20\u7edf\u63a5\u53e3&#xff0c;key \u7ba1\u7406\u8f83\u7ed5<\/td>\n<\/tr>\n<tr>\n<td>\u6587\u4ef6\u6620\u5c04<\/td>\n<td>mmap(MAP_SHARED)<\/td>\n<td>\u5171\u4eab\u5185\u5bb9\u53ef\u6301\u4e45\u5316\u5230\u6587\u4ef6<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5185\u5b58\u6c60\u662f\u5171\u4eab\u8d44\u6e90\u7c7b\u901a\u4fe1\u7684\u57fa\u7840\u8bbe\u65bd&#xff0c;\u5e38\u4e0e\u961f\u5217\u642d\u914d&#xff08;\u89c1 3.4&#xff09;&#xff1a;RT-Thread rt_mp_create\/rt_mp_alloc\u3001ThreadX tx_block_pool_create\/tx_block_allocate\u3001Zephyr k_mem_slab_alloc \/ k_heap_alloc\u3001\u03bcC\/OS-III OSMemGet\/OSMemPut\u3001LiteOS LOS_Membox*\u3001AliOS krhino_mblk_pool_*\u3001FreeRTOS \u5219\u4ee5\u9759\u6001\u5206\u914d &#043; heap_1~5 \u7b56\u7565\u63d0\u4f9b\u3002<\/p>\n<hr \/>\n<h3>6. Linux \u6269\u5c55\u673a\u5236<\/h3>\n<p>\u5d4c\u5165\u5f0f Linux&#xff08;\u7f51\u5173\u3001IPC \u6444\u50cf\u5934\u3001\u5ea7\u8231\u57df\u63a7\u7b49\u573a\u666f&#xff09;\u4e0b&#xff0c;\u7ebf\u7a0b\u95f4\u901a\u4fe1\u5f80\u5f80\u4e0e\u8fdb\u7a0b\u95f4\u901a\u4fe1\u5171\u7528\u4e00\u5957\u8bbe\u65bd&#xff0c;\u503c\u5f97\u5355\u72ec\u68b3\u7406&#xff1a;<\/p>\n<table>\n<tr>\u673a\u5236\u63a5\u53e3\u7ebf\u7a0b\u95f4\u9002\u7528\u6027\u7279\u70b9<\/tr>\n<tbody>\n<tr>\n<td>POSIX \u6d88\u606f\u961f\u5217<\/td>\n<td>mq_open\/mq_send\/mq_receive<\/td>\n<td>\u2714<\/td>\n<td>\u5185\u6838\u7ef4\u62a4\u3001\u6309\u503c\u3001\u5e26\u4f18\u5148\u7ea7&#xff08;mq_receive \u5148\u6536\u6700\u9ad8\u4f18\u5148\u7ea7\u6d88\u606f&#xff09;&#xff0c;\u53ef\u8de8\u8fdb\u7a0b<\/td>\n<\/tr>\n<tr>\n<td>SysV \u6d88\u606f\u961f\u5217<\/td>\n<td>msgget\/msgsnd\/msgrcv<\/td>\n<td>\u2714<\/td>\n<td>\u652f\u6301\u6309 mtype \u9009\u62e9\u6027\u63a5\u6536&#xff08;\u5355\u961f\u5217\u591a\u8def\u590d\u7528&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>Unix Domain Socket<\/td>\n<td>socket(AF_UNIX, SOCK_DGRAM\/STREAM) \/ socketpair()<\/td>\n<td>\u2714<\/td>\n<td>\u5168\u53cc\u5de5\u3001\u53ef\u4f20\u6587\u4ef6\u63cf\u8ff0\u7b26&#xff08;SCM_RIGHTS&#xff09;\u3001\u53ef poll\/epoll \u591a\u8def\u590d\u7528&#xff0c;\u5de5\u7a0b\u4e0a\u6700\u5e38\u7528<\/td>\n<\/tr>\n<tr>\n<td>netlink<\/td>\n<td>socket(AF_NETLINK, &#8230;)<\/td>\n<td>\u7528\u6237\u6001\u2194\u5185\u6838<\/td>\n<td>\u4e0e\u5185\u6838\u5b50\u7cfb\u7edf\u901a\u4fe1\u7684\u6807\u51c6\u901a\u9053&#xff08;uevent\u3001\u8def\u7531\u3001\u81ea\u5b9a\u4e49&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>\u7ba1\u9053 \/ FIFO<\/td>\n<td>pipe() \/ mkfifo()<\/td>\n<td>\u2714<\/td>\n<td>\u534a\u53cc\u5de5\u5b57\u8282\u6d41&#xff08;\u89c1 3.3&#xff09;<\/td>\n<\/tr>\n<tr>\n<td>eventfd<\/td>\n<td>eventfd() &#043; read()\/write()<\/td>\n<td>\u2714<\/td>\n<td>64 \u4f4d\u8ba1\u6570\u4e8b\u4ef6&#xff0c;\u53ef\u5e76\u5165 epoll&#xff0c;\u662f\u300c\u53ef poll \u7684\u4fe1\u53f7\u91cf\u300d&#xff0c;\u7ebf\u7a0b\u6c60\u5524\u9192\u6807\u914d<\/td>\n<\/tr>\n<tr>\n<td>signalfd<\/td>\n<td>signalfd()<\/td>\n<td>\u2714<\/td>\n<td>\u628a\u4fe1\u53f7\u8f6c\u6210 fd&#xff0c;\u7edf\u4e00\u8fdb\u4e8b\u4ef6\u5faa\u73af<\/td>\n<\/tr>\n<tr>\n<td>POSIX \u5171\u4eab\u5185\u5b58<\/td>\n<td>shm_open() &#043; mmap()<\/td>\n<td>\u8fdb\u7a0b\u95f4<\/td>\n<td>\u7ebf\u7a0b\u95f4\u76f4\u63a5\u7528\u5168\u5c40\u5185\u5b58\u5373\u53ef<\/td>\n<\/tr>\n<tr>\n<td>\u6761\u4ef6\u53d8\u91cf<\/td>\n<td>pthread_cond_wait\/signal\/broadcast<\/td>\n<td>\u2714&#xff08;\u7ebf\u7a0b\u95f4\u4e3b\u529b&#xff09;<\/td>\n<td>\u4e0e pthread_mutex \u914d\u5bf9&#xff0c;\u7528\u6237\u6001\u81ea\u5efa\u6d88\u606f\u961f\u5217\u7684\u6807\u51c6\u540c\u6b65\u4ef6<\/td>\n<\/tr>\n<tr>\n<td>D-Bus \/ Binder<\/td>\n<td>\u5e93\u7ea7 IPC<\/td>\n<td>\u2714<\/td>\n<td>\u670d\u52a1\u5316\u67b6\u6784&#xff08;Android Binder\u3001\u5d4c\u5165\u5f0f D-Bus&#xff09;&#xff0c;\u5e26\u63a5\u53e3\u63cf\u8ff0\u4e0e\u6743\u9650\u6a21\u578b<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u5de5\u7a0b\u7ecf\u9a8c&#xff1a;Linux \u7528\u6237\u6001\u591a\u7ebf\u7a0b\u7a0b\u5e8f\u4e2d&#xff0c;\u300c\u81ea\u5efa\u961f\u5217 &#043; pthread_mutex &#043; pthread_cond\u300d \u548c \u300ceventfd &#043; \u7ebf\u7a0b\u5b89\u5168\u73af\u5f62\u961f\u5217\u300d \u662f\u7ebf\u7a0b\u95f4\u901a\u4fe1\u7684\u4e24\u5927\u4e3b\u6d41\u8303\u5f0f&#xff1b;\u9700\u8981\u8de8\u8fdb\u7a0b\u6216\u591a\u8def\u590d\u7528\u65f6\u5219\u8f6c\u5411 Unix Socket &#043; epoll\u3002<\/p>\n<hr \/>\n<h3>7. \u8de8\u7cfb\u7edf\u63a5\u53e3\u5bf9\u6bd4\u603b\u8868<\/h3>\n<p>\u4e0b\u8868\u6c47\u603b\u5341\u4e2a\u7cfb\u7edf\u5bf9\u5404\u901a\u4fe1\u673a\u5236\u7684\u539f\u751f\u652f\u6301\u60c5\u51b5&#xff08;\u25cf \u539f\u751f\u652f\u6301 \/ \u25d0 \u9700\u7ec4\u5408\u6216\u53d8\u4f53\u5b9e\u73b0 \/ \u2014 \u4e0d\u652f\u6301&#xff09;&#xff1a;<\/p>\n<table>\n<tr>\u673a\u5236LinuxFreeRTOS\u03bcC\/OS-II\u03bcC\/OS-IIIRT-ThreadZephyrThreadXNuttXLiteOSAliOS<\/tr>\n<tbody>\n<tr>\n<td>\u6d88\u606f\u961f\u5217&#xff08;\u6309\u503c&#xff09;<\/td>\n<td>\u25cf mq\/msg<\/td>\n<td>\u25cf Queue<\/td>\n<td>\u25d0 \u4f20\u6307\u9488<\/td>\n<td>\u25d0 \u4f20\u6307\u9488<\/td>\n<td>\u25cf rt_mq<\/td>\n<td>\u25cf k_msgq<\/td>\n<td>\u25cf tx_queue<\/td>\n<td>\u25cf mq<\/td>\n<td>\u25cf \u961f\u5217&#xff08;\u53cc\u6a21\u5f0f&#xff09;<\/td>\n<td>\u25cf queue<\/td>\n<\/tr>\n<tr>\n<td>\u7d27\u6025\u6d88\u606f\u63d2\u961f<\/td>\n<td>\u25d0 \u4f18\u5148\u7ea7<\/td>\n<td>\u25cf ToFront<\/td>\n<td>\u25cf PostFront<\/td>\n<td>\u2014<\/td>\n<td>\u25cf urgent<\/td>\n<td>\u2014<\/td>\n<td>\u25cf front_send<\/td>\n<td>\u25d0 \u4f18\u5148\u7ea7<\/td>\n<td>\u2014<\/td>\n<td>\u25d0 back_send<\/td>\n<\/tr>\n<tr>\n<td>\u90ae\u7bb1<\/td>\n<td>\u25d0 \u961f\u5217\u6a21\u62df<\/td>\n<td>\u25d0 \u957f\u5ea61\u961f\u5217&#043;\u8986\u76d6<\/td>\n<td>\u25cf Mbox \u5355\u683c<\/td>\n<td>\u25d0 \u7528 Q \u4ee3\u66ff<\/td>\n<td>\u25cf rt_mb \u591a\u5c01<\/td>\n<td>\u25cf k_mbox \u63e1\u624b<\/td>\n<td>\u25d0 \u6df1\u5ea61\u961f\u5217<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0<\/td>\n<\/tr>\n<tr>\n<td>\u4e8b\u4ef6\u6807\u5fd7\u7ec4<\/td>\n<td>\u25d0 eventfd\/cond<\/td>\n<td>\u25cf EventGroup<\/td>\n<td>\u25cf FlagGrp<\/td>\n<td>\u25cf FlagGrp<\/td>\n<td>\u25cf rt_event<\/td>\n<td>\u25cf k_event<\/td>\n<td>\u25cf event_flags<\/td>\n<td>\u25d0<\/td>\n<td>\u25cf Event<\/td>\n<td>\u25cf event<\/td>\n<\/tr>\n<tr>\n<td>\u4efb\u52a1\u901a\u77e5\/\u5185\u5d4c\u961f\u5217<\/td>\n<td>\u25d0 sigqueue<\/td>\n<td>\u25cf TaskNotify<\/td>\n<td>\u2014<\/td>\n<td>\u25cf TaskSem\/TaskQ<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0 k_poll_signal<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0 sigqueue<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0<\/td>\n<\/tr>\n<tr>\n<td>\u8ba1\u6570\/\u4e8c\u503c\u4fe1\u53f7\u91cf<\/td>\n<td>\u25cf sem<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf k_sem<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf<\/td>\n<\/tr>\n<tr>\n<td>\u4fe1\u53f7&#xff08;\u5f02\u6b65&#xff09;<\/td>\n<td>\u25cf signal<\/td>\n<td>\u2014<\/td>\n<td>\u2014<\/td>\n<td>\u2014<\/td>\n<td>\u25cf rt_signal<\/td>\n<td>\u25d0 k_poll_signal<\/td>\n<td>\u2014<\/td>\n<td>\u25cf signal<\/td>\n<td>\u2014<\/td>\n<td>\u2014<\/td>\n<\/tr>\n<tr>\n<td>\u7ba1\u9053\/\u5b57\u8282\u6d41<\/td>\n<td>\u25cf pipe<\/td>\n<td>\u25cf StreamBuffer<\/td>\n<td>\u25d0 \u81ea\u5efa<\/td>\n<td>\u25d0 \u81ea\u5efa<\/td>\n<td>\u25d0 ringbuffer<\/td>\n<td>\u25cf k_pipe<\/td>\n<td>\u25d0<\/td>\n<td>\u25cf pipe<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0<\/td>\n<\/tr>\n<tr>\n<td>\u53d8\u957f\u7f13\u51b2\u961f\u5217<\/td>\n<td>\u25d0<\/td>\n<td>\u25cf MessageBuffer<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0 ring_buf<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0<\/td>\n<td>\u25cf buf_queue<\/td>\n<\/tr>\n<tr>\n<td>\u5171\u4eab\u5185\u5b58<\/td>\n<td>\u25cf shm\/mmap<\/td>\n<td>\u25cf \u5168\u5c40\u5730\u5740\u7a7a\u95f4<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf&#xff08;smart \u53e6\u6709\u8fdb\u7a0b\u9694\u79bb&#xff09;<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf&#xff08;flat&#xff09;\/ shm&#xff08;kernel build&#xff09;<\/td>\n<td>\u25cf<\/td>\n<td>\u25cf<\/td>\n<\/tr>\n<tr>\n<td>Unix Socket \/ netlink<\/td>\n<td>\u25cf<\/td>\n<td>\u2014<\/td>\n<td>\u2014<\/td>\n<td>\u2014<\/td>\n<td>\u25d0 lwip socket<\/td>\n<td>\u25d0 \u7f51\u7edc\u6808<\/td>\n<td>\u2014<\/td>\n<td>\u25cf socket<\/td>\n<td>\u25d0<\/td>\n<td>\u25d0<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h3>8. ISR&#xff08;\u4e2d\u65ad\u4e0a\u4e0b\u6587&#xff09;\u4e0e\u4efb\u52a1\u901a\u4fe1\u7684\u7279\u6b8a\u6027<\/h3>\n<p>ISR \u4e0e\u4efb\u52a1\u95f4\u7684\u901a\u4fe1\u662f\u6700\u5e38\u7528\u4e5f\u6700\u6613\u8e29\u5751\u7684\u573a\u666f&#xff0c;\u89c4\u5219\u53ef\u5f52\u7eb3\u4e3a\u56db\u6761&#xff1a;<\/p>\n<li>ISR \u4e2d\u53ea\u80fd\u7528 ISR \u5b89\u5168\u63a5\u53e3&#xff1a;FreeRTOS \u5fc5\u987b\u7528 &#8230;FromISR() \u540e\u7f00 API&#xff1b;RT-Thread\/Zephyr\/ThreadX\/LiteOS\/AliOS \u7684 release\/give\/send \u7c7b API \u672c\u8eab ISR \u5b89\u5168\u4f46\u7edd\u4e0d\u80fd\u5e26\u963b\u585e\u8d85\u65f6&#xff08;RT_WAITING_NO \/ K_NO_WAIT \/ TX_NO_WAIT&#xff09;&#xff1b;\u03bcC\/OS \u5728 ISR \u4e2d\u8c03\u975e\u963b\u585e Post\u3002<\/li>\n<li>ISR \u4e2d\u7edd\u4e0d\u7b49\u5f85&#xff1a;\u4e2d\u65ad\u4e0a\u4e0b\u6587\u6ca1\u6709\u300c\u88ab\u6302\u8d77\u300d\u7684\u6982\u5ff5&#xff0c;\u8c03\u7528\u963b\u585e\u578b\u63a5\u6536&#xff08;xQueueReceive\u3001rt_mq_recv \u5e26\u8d85\u65f6&#xff09;\u4f1a\u76f4\u63a5\u65ad\u8a00\u6216\u884c\u4e3a\u672a\u5b9a\u4e49\u3002ISR \u53ea\u53d1\u4e0d\u6536&#xff08;\u4e2a\u522b\u7cfb\u7edf\u5141\u8bb8 no-wait \u5c1d\u8bd5\u6536&#xff09;\u3002<\/li>\n<li>\u5ef6\u8fdf\u5904\u7406&#xff08;deferred processing&#xff09;\u662f\u6807\u51c6\u6a21\u5f0f&#xff1a;ISR \u91cc\u53ea\u505a\u6700\u6025\u8feb\u7684\u4e8b&#xff08;\u6e05\u4e2d\u65ad\u6807\u5fd7\u3001\u53d6\u786c\u4ef6 FIFO \u6570\u636e&#xff09;&#xff0c;\u628a\u300c\u901a\u77e5\u4efb\u52a1\u5e72\u6d3b\u300d\u901a\u8fc7\u961f\u5217\/\u4fe1\u53f7\u91cf\/\u4efb\u52a1\u901a\u77e5\u53d1\u51fa\u53bb&#xff1b;Linux \u5bf9\u5e94 bottom half&#xff08;softirq\/tasklet\/workqueue&#xff09;\u3002<\/li>\n<li>\u5524\u9192\u4e0e\u8c03\u5ea6\u7684\u8854\u63a5&#xff1a;FreeRTOS \u7684 FromISR API \u901a\u8fc7 xHigherPriorityTaskWoken \u51fa\u53c2\u544a\u77e5\u662f\u5426\u5524\u9192\u4e86\u66f4\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1&#xff0c;ISR \u51fa\u53e3\u636e\u6b64\u8c03 portYIELD_FROM_ISR()&#xff1b;RT-Thread \u5728 rt_interrupt_leave() \u7edf\u4e00\u68c0\u67e5\u8c03\u5ea6&#xff1b;Linux sem_post() \u540e\u9760\u8c03\u5ea6\u70b9\u81ea\u7136\u5524\u9192\u3002\u9057\u6f0f\u8fd9\u4e00\u6b65\u4f1a\u8ba9\u300c\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u5df2\u88ab\u5524\u9192\u5374\u5ef6\u8fdf\u5230\u4e0b\u4e2a tick \u624d\u8fd0\u884c\u300d\u3002<\/li>\n<hr \/>\n<h3>9. \u9009\u578b\u5efa\u8bae\u4e0e\u5178\u578b\u573a\u666f<\/h3>\n<table>\n<tr>\u573a\u666f\u63a8\u8350\u673a\u5236\u7406\u7531<\/tr>\n<tbody>\n<tr>\n<td>ISR \u901a\u77e5\u5355\u4e00\u4efb\u52a1&#xff08;\u5982 DMA \u5b8c\u6210&#xff09;<\/td>\n<td>\u4efb\u52a1\u901a\u77e5 \/ \u5185\u5d4c\u4efb\u52a1\u4fe1\u53f7\u91cf&#xff08;FreeRTOS TaskNotify\u3001\u03bcC\/OS-III TaskSem&#xff09;&#xff1b;\u65e0\u6b64\u673a\u5236\u7528\u4e8c\u503c\u4fe1\u53f7\u91cf<\/td>\n<td>\u5b9a\u5411\u3001\u6700\u5feb\u3001\u96f6\u989d\u5916\u5bf9\u8c61<\/td>\n<\/tr>\n<tr>\n<td>ISR \u9012\u5ef6\u6570\u636e\u7ed9\u4efb\u52a1&#xff08;\u4e32\u53e3\u3001ADC \u91c7\u6837\u5757&#xff09;<\/td>\n<td>\u6d88\u606f\u961f\u5217&#xff08;\u6309\u503c&#xff09;\u6216\u300c\u5185\u5b58\u6c60&#043;\u961f\u5217\u4f20\u6307\u9488\u300d<\/td>\n<td>\u5e26\u7f13\u51b2\u3001\u53ef\u7d2f\u79ef\u3001\u5929\u7136\u89e3\u8026<\/td>\n<\/tr>\n<tr>\n<td>\u6bcf\u5e27\u6570\u636e\u90fd\u8981\u5904\u7406\u3001\u4e0d\u8bb8\u4e22\u5e27<\/td>\n<td>\u8ba1\u6570\u4fe1\u53f7\u91cf &#043; \u73af\u5f62\u7f13\u51b2&#xff0c;\u6216\u8db3\u591f\u6df1\u7684\u6d88\u606f\u961f\u5217<\/td>\n<td>\u4e8c\u503c\u4fe1\u53f7\u91cf\/\u4e8b\u4ef6\u6807\u5fd7\u4f1a\u4e22\u6b21\u6570<\/td>\n<\/tr>\n<tr>\n<td>\u53ea\u5173\u5fc3\u6700\u65b0\u503c&#xff08;\u4f20\u611f\u5668\u91c7\u6837\u5237\u65b0&#xff09;<\/td>\n<td>\u957f\u5ea6 1 \u961f\u5217 &#043; xQueueOverwrite \/ \u5168\u5c40\u53d8\u91cf &#043; \u8bfb\u5199\u4fdd\u62a4<\/td>\n<td>\u300c\u4e22\u65e7\u4fdd\u65b0\u300d\u8bed\u4e49<\/td>\n<\/tr>\n<tr>\n<td>\u4e00\u4e2a\u4efb\u52a1\u7b49\u5f85\u591a\u8def\u4e8b\u4ef6&#xff08;\u901a\u4fe1\u4efb\u52a1\u4e3b\u5faa\u73af&#xff09;<\/td>\n<td>\u4e8b\u4ef6\u6807\u5fd7\u7ec4&#xff08;AND\/OR \u7b49\u5f85&#xff09;&#xff1b;Zephyr \u7528 k_poll&#xff1b;Linux \u7528 poll\/epoll &#043; eventfd<\/td>\n<td>\u5355\u70b9\u963b\u585e\u3001\u591a\u6e90\u5524\u9192<\/td>\n<\/tr>\n<tr>\n<td>\u4efb\u52a1\u95f4\u4f20\u5927\u5757\/\u53d8\u957f\u6570\u636e<\/td>\n<td>\u5185\u5b58\u6c60 &#043; \u961f\u5217\u4f20\u6307\u9488&#xff08;\u96f6\u62f7\u8d1d&#xff09;&#xff1b;AliOS buf_queue&#xff08;\u53d8\u957f\u6309\u503c&#xff09;&#xff1b;Linux \u7528 socket \u6216 shm<\/td>\n<td>\u907f\u514d\u5927 memcpy<\/td>\n<\/tr>\n<tr>\n<td>\u591a\u5bf9\u591a\u4e8b\u4ef6\u5206\u53d1&#xff08;\u603b\u7ebf\u5f0f&#xff09;<\/td>\n<td>\u6d88\u606f\u961f\u5217 &#043; \u8ba2\u9605\u5206\u53d1\u4efb\u52a1&#xff1b;Linux \u7528 D-Bus \/ Unix Socket \u7ec4<\/td>\n<td>\u961f\u5217\u672c\u8eab\u4e0d\u5e7f\u64ad&#xff0c;\u9700\u5206\u53d1\u8005\u6a21\u5f0f<\/td>\n<\/tr>\n<tr>\n<td>\u4e25\u683c\u4e00\u5bf9\u4e00\u4ea4\u4ed8\u786e\u8ba4&#xff08;\u547d\u4ee4-\u5e94\u7b54&#xff09;<\/td>\n<td>Zephyr k_mbox_put&#xff08;\u63e1\u624b\u5f0f&#xff09;&#xff1b;\u4e00\u822c\u7cfb\u7edf\u7528\u300c\u8bf7\u6c42\u961f\u5217 &#043; \u5e94\u7b54\u961f\u5217\u300d\u53cc\u961f\u5217<\/td>\n<td>\u9700\u8981 rendezvous \u8bed\u4e49<\/td>\n<\/tr>\n<tr>\n<td>\u8de8\u6838 \/ AMP \u6838\u95f4\u901a\u4fe1<\/td>\n<td>\u5171\u4eab\u5185\u5b58 &#043; mailbox \u786c\u4ef6\u4e2d\u65ad&#xff08;OpenAMP\/rpmsg \u6846\u67b6&#xff09;<\/td>\n<td>\u8d85\u51fa\u5355\u5185\u6838\u5bf9\u8c61\u8303\u7574&#xff0c;\u5c5e\u5e73\u53f0\u5c42<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<p>\u51e0\u6761\u901a\u7528\u539f\u5219&#xff1a;<\/p>\n<li>\u80fd\u901a\u77e5\u5c31\u4e0d\u4f20\u6570\u636e&#xff0c;\u80fd\u4f20\u6307\u9488\u5c31\u4e0d\u62f7\u8d1d\u2014\u2014\u6309\u5b9e\u65f6\u6027\u9700\u6c42\u9010\u5c42\u964d\u7ea7&#xff1b;<\/li>\n<li>\u5148\u786e\u8ba4\u300c\u6ee1\u4e86\/\u7a7a\u4e86\u600e\u4e48\u529e\u300d\u518d\u9009\u673a\u5236\u2014\u2014\u963b\u585e\u3001\u8d85\u65f6\u3001\u4e22\u5f03\u3001\u8986\u76d6&#xff0c;\u56db\u79cd\u7b56\u7565\u5bf9\u5e94\u4e0d\u540c API \u9009\u9879&#xff1b;<\/li>\n<li>\u961f\u5217\u6df1\u5ea6\u6309\u300c\u751f\u4ea7\u5cf0\u503c\u901f\u7387 \u00d7 \u6700\u957f\u6d88\u8d39\u5ef6\u8fdf\u300d\u4f30\u7b97&#xff0c;\u5e76\u9884\u7559\u8fc7\u8f7d\u76d1\u63a7&#xff08;\u6c34\u4f4d\u7edf\u8ba1&#xff09;&#xff1b;<\/li>\n<li>\u5220\u9664\u5185\u6838\u5bf9\u8c61\u524d\u5148\u786e\u4fdd\u65e0\u4efb\u52a1\u6302\u5728\u5176\u7b49\u5f85\u5217\u8868\u4e0a&#xff0c;\u5426\u5219\u5524\u9192\u8fd4\u56de\u9519\u8bef\u7801\u7684\u8def\u5f84\u5fc5\u987b\u5904\u7406\u3002<\/li>\n<hr \/>\n<h3>10. \u5e38\u89c1\u8bef\u533a\u4e0e\u6ce8\u610f\u4e8b\u9879<\/h3>\n<li>\u300c\u4e8b\u4ef6\u6807\u5fd7\u7ec4\u53ef\u4ee5\u5f53\u961f\u5217\u7528\u300d\u2014\u2014\u9519\u8bef\u3002\u4e8b\u4ef6\u4f4d\u4e0d\u6392\u961f\u3001\u4e0d\u8ba1\u6570&#xff0c;\u540c\u4e00\u4f4d\u4e24\u6b21\u7f6e\u4f4d\u7b49\u6548\u4e00\u6b21&#xff1b;\u8981\u8ba1\u6570\u7528\u4fe1\u53f7\u91cf&#xff0c;\u8981\u4fdd\u5e8f\u7528\u961f\u5217\u3002<\/li>\n<li>\u300c\u4e8c\u503c\u4fe1\u53f7\u91cf &#061; \u6d88\u606f\u961f\u5217&#xff08;\u957f\u5ea61&#xff09;\u300d\u2014\u2014\u8fd1\u4f3c\u4f46\u4e0d\u540c&#xff1a;\u961f\u5217\u5e26\u6570\u636e\u4e14\u6709\u300c\u8986\u76d6\/\u63d2\u961f\u300d\u9009\u9879&#xff0c;\u4fe1\u53f7\u91cf\u53ea\u662f\u8ba1\u6570\u3002<\/li>\n<li>\u03bcC\/OS-II\/III \u7684\u961f\u5217\u4f20\u7684\u662f\u6307\u9488\u4e0d\u662f\u6570\u636e\u2014\u2014\u65b0\u624b\u5e38\u628a\u5c40\u90e8\u53d8\u91cf\u5730\u5740 OSQPost \u51fa\u53bb&#xff0c;\u51fd\u6570\u8fd4\u56de\u540e\u5373\u60ac\u5782\u3002\u5fc5\u987b\u914d\u5408\u5185\u5b58\u6c60\u6216\u9759\u6001\u7f13\u51b2\u3002<\/li>\n<li>ISR \u91cc\u8c03\u7528\u963b\u585e\u63a5\u53e3\u2014\u2014\u786c\u6545\u969c\u7b2c\u4e00\u5927\u6765\u6e90&#xff1b;\u53d1\u9001\u4e00\u5f8b no-wait\/FromISR\u3002<\/li>\n<li>\u5171\u4eab\u5185\u5b58\u4e0d\u52a0\u4fdd\u62a4\u2014\u2014\u300c\u6211\u53ea\u662f\u8bfb\u4e00\u4e0b\u300d\u4e5f\u4f1a\u8bfb\u5230\u6495\u88c2\u72b6\u6001&#xff08;\u591a\u5b57\u8282\u53d8\u91cf\u7684\u975e\u539f\u5b50\u8bfb\u5199&#xff09;&#xff1b;32 \u4f4d\u5bf9\u9f50\u5355\u5b57\u5199\u5728 Cortex-M \u4e0a\u539f\u5b50&#xff0c;\u4f46\u7ed3\u6784\u4f53\u4ece\u4e0d\u539f\u5b50\u3002<\/li>\n<li>FreeRTOS xEventGroupSetBitsFromISR \u7684\u5ef6\u8fdf\u2014\u2014\u5b83\u7ecf\u5b88\u62a4\u4efb\u52a1\u4e2d\u8f6c&#xff0c;\u4e0d\u662f\u5373\u65f6\u7f6e\u4f4d&#xff1b;\u65f6\u5ef6\u654f\u611f\u7528\u4efb\u52a1\u901a\u77e5\u3002<\/li>\n<li>\u90ae\u7bb1\u8bed\u4e49\u5f20\u51a0\u674e\u6234\u2014\u2014\u03bcC\/OS \u7684\u5355\u683c Mbox\u3001RT-Thread \u7684\u591a\u5c01 mb\u3001Zephyr \u7684\u63e1\u624b mbox \u662f\u4e09\u79cd\u4e1c\u897f&#xff0c;\u79fb\u690d\u4ee3\u7801\u65f6\u5c24\u5176\u6ce8\u610f\u3002<\/li>\n<li>Linux \u7ebf\u7a0b\u95f4\u6ee5\u7528\u7ba1\u9053\/socket\u2014\u2014\u540c\u8fdb\u7a0b\u7ebf\u7a0b\u95f4\u4f18\u5148\u5171\u4eab\u5185\u5b58 &#043; mutex\/cond \u6216 eventfd&#xff1b;\u7ba1\u9053 socket \u8d70\u5185\u6838\u62f7\u8d1d&#xff0c;\u7559\u7ed9\u8de8\u8fdb\u7a0b\u6216\u9700\u8981 poll \u591a\u8def\u590d\u7528\u7684\u573a\u5408\u3002<\/li>\n<li>\u5fd8\u8bb0\u7b49\u5f85\u8d85\u65f6\u53c2\u6570\u2014\u2014RT_WAITING_FOREVER \u8bed\u4e49\u4e0b\u5bf9\u7aef\u5f02\u5e38\u4f1a\u9020\u6210\u6c38\u4e45\u6302\u6b7b&#xff0c;\u751f\u4ea7\u4ee3\u7801\u5efa\u8bae\u4e00\u5f8b\u5e26\u8d85\u65f6\u5e76\u5904\u7406\u8d85\u65f6\u5206\u652f\u3002<\/li>\n<hr \/>\n<h3>\u9644\u5f55&#xff1a;\u5404\u7cfb\u7edf\u5185\u6838\u5bf9\u8c61\u547d\u540d\u901f\u67e5<\/h3>\n<table>\n<tr>\u7cfb\u7edf\u961f\u5217\u90ae\u7bb1\u4e8b\u4ef6\u7ec4\u4fe1\u53f7\u91cf\u4e92\u65a5\u9501\u5185\u5b58\u6c60<\/tr>\n<tbody>\n<tr>\n<td>FreeRTOS<\/td>\n<td>xQueue*<\/td>\n<td>\u2014&#xff08;\u957f\u5ea61\u961f\u5217&#xff09;<\/td>\n<td>xEventGroup*<\/td>\n<td>xSemaphore*<\/td>\n<td>xSemaphoreCreateMutex<\/td>\n<td>pvPortMalloc \/ \u9759\u6001\u5206\u914d<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-II<\/td>\n<td>OSQ*<\/td>\n<td>OSMbox*<\/td>\n<td>OSFlag*<\/td>\n<td>OSSem*<\/td>\n<td>OSMutex*<\/td>\n<td>OSMem*<\/td>\n<\/tr>\n<tr>\n<td>\u03bcC\/OS-III<\/td>\n<td>OSQ* \/ OSTaskQ*<\/td>\n<td>\u2014<\/td>\n<td>OSFlag*<\/td>\n<td>OSSem* \/ OSTaskSem*<\/td>\n<td>OSMutex*<\/td>\n<td>OSMem*<\/td>\n<\/tr>\n<tr>\n<td>RT-Thread<\/td>\n<td>rt_mq_*<\/td>\n<td>rt_mb_*<\/td>\n<td>rt_event_*<\/td>\n<td>rt_sem_*<\/td>\n<td>rt_mutex_*<\/td>\n<td>rt_mp_*<\/td>\n<\/tr>\n<tr>\n<td>Zephyr<\/td>\n<td>k_msgq_* \/ k_fifo_*<\/td>\n<td>k_mbox_*<\/td>\n<td>k_event_*<\/td>\n<td>k_sem_*<\/td>\n<td>k_mutex_*<\/td>\n<td>k_mem_slab_* \/ k_heap_*<\/td>\n<\/tr>\n<tr>\n<td>ThreadX<\/td>\n<td>tx_queue_*<\/td>\n<td>\u2014&#xff08;\u6df1\u5ea61\u961f\u5217&#xff09;<\/td>\n<td>tx_event_flags_*<\/td>\n<td>tx_semaphore_*<\/td>\n<td>tx_mutex_*<\/td>\n<td>tx_block_pool_* \/ tx_byte_pool_*<\/td>\n<\/tr>\n<tr>\n<td>NuttX<\/td>\n<td>mq_*<\/td>\n<td>\u2014<\/td>\n<td>\u2014<\/td>\n<td>sem_*<\/td>\n<td>pthread_mutex_*<\/td>\n<td>malloc \/ \u9759\u6001<\/td>\n<\/tr>\n<tr>\n<td>LiteOS<\/td>\n<td>LOS_Queue*<\/td>\n<td>\u2014<\/td>\n<td>LOS_Event*<\/td>\n<td>LOS_Sem*<\/td>\n<td>LOS_Mux*<\/td>\n<td>LOS_Membox* \/ LOS_Mem*<\/td>\n<\/tr>\n<tr>\n<td>AliOS Things<\/td>\n<td>krhino_queue_*<\/td>\n<td>\u2014<\/td>\n<td>krhino_event_*<\/td>\n<td>krhino_sem_*<\/td>\n<td>krhino_mutex_*<\/td>\n<td>krhino_mblk_pool_* \/ krhino_mm_*<\/td>\n<\/tr>\n<tr>\n<td>Linux<\/td>\n<td>mq_* \/ msg*<\/td>\n<td>\u2014<\/td>\n<td>\u2014&#xff08;eventfd \u8fd1\u4f3c&#xff09;<\/td>\n<td>sem_*<\/td>\n<td>pthread_mutex_*<\/td>\n<td>malloc \/ shm_open<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n","protected":false},"excerpt":{"rendered":"<p>\u5e38\u89c1\u5d4c\u5165\u5f0f\u64cd\u4f5c\u7cfb\u7edf\u4e2d\u7684\u7ebf\u7a0b&#xff08;\u4efb\u52a1&#xff09;\u95f4\u901a\u4fe1\u673a\u5236 \u76ee\u5f55<br \/>\n1. \u6982\u8ff0&#xff1a;\u7ebf\u7a0b\u95f4\u901a\u4fe1\u89e3\u51b3\u4ec0\u4e48\u95ee\u98982. \u673a\u5236\u5168\u666f\u4e0e\u9009\u578b\u7ef4\u5ea63. \u6570\u636e\u4f20\u9012\u7c7b\u673a\u5236 3.1 \u6d88\u606f\u961f\u5217&#xff08;Message Queue&#xff09;3.2 \u90ae\u7bb1&#xff08;Mailbox&#xff09;3.3 \u7ba1\u9053\u4e0e\u5b57\u8282\u6d41&#xff08;Pipe \/ Stream Buffer&#xff09;3.4 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