{"id":98036,"date":"2026-08-31T00:40:48","date_gmt":"2026-08-30T16:40:48","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/98036.html"},"modified":"2026-08-31T00:40:48","modified_gmt":"2026-08-30T16:40:48","slug":"freertos%e8%b0%83%e5%ba%a6%e5%99%a8%e8%af%a6%e8%a7%a3%ef%bc%9a%e4%bb%bb%e5%8a%a1%e4%bc%98%e5%85%88%e7%ba%a7%e3%80%81%e6%97%b6%e9%97%b4%e7%89%87%e8%bd%ae%e8%bd%ac%e4%b8%8e%e6%8a%a2%e5%8d%a0%e5%bc%8f","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/98036.html","title":{"rendered":"FreeRTOS\u8c03\u5ea6\u5668\u8be6\u89e3\uff1a\u4efb\u52a1\u4f18\u5148\u7ea7\u3001\u65f6\u95f4\u7247\u8f6e\u8f6c\u4e0e\u62a2\u5360\u5f0f\u8c03\u5ea6"},"content":{"rendered":"<h2>\u8c03\u5ea6\u5668<\/h2>\n<h3>1. \u4e3a\u4ec0\u4e48\u9700\u8981\u8c03\u5ea6\u5668<\/h3>\n<h4>1.1 \u5355\u6838 CPU \u7684\u9650\u5236<\/h4>\n<p>\u7531\u4e8e\u5355\u6838 CPU \u7684\u7269\u7406\u9650\u5236&#xff0c;\u5728 FreeRTOS 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\u4ea4\u7ed9\u8c01\u201d\u7684\u673a\u5236&#xff0c;\u5c31\u662f\u8c03\u5ea6\u673a\u5236\u3002<\/p>\n<p>\u8c03\u5ea6\u5668\u8981\u89e3\u51b3\u7684\u95ee\u9898&#xff0c;\u5c31\u662f\u5728\u591a\u4e2a\u5904\u4e8e Ready \u72b6\u6001\u7684\u4efb\u52a1\u4e2d\u9009\u62e9\u4e00\u4e2a\u8fd0\u884c&#xff0c;\u4f7f\u5176\u8fdb\u5165 Running \u72b6\u6001\u3002<\/p>\n<hr \/>\n<h4>1.2 \u4e3a\u4ec0\u4e48\u4e0d\u80fd\u8ba9\u6bcf\u4e2a\u4efb\u52a1\u81ea\u5df1\u51b3\u5b9a\u662f\u5426\u8fd0\u884c<\/h4>\n<p>\u5047\u8bbe\u6ca1\u6709\u7edf\u4e00\u8c03\u5ea6\u5668&#xff0c;\u8ba9\u6bcf\u4e2a\u4efb\u52a1\u81ea\u5df1\u51b3\u5b9a\u4ec0\u4e48\u65f6\u5019\u8fd0\u884c&#xff0c;\u5e76\u4e0d\u53ef\u884c\u3002<\/p>\n<p>\u56e0\u4e3a\u6bcf\u4e2a\u4efb\u52a1\u53ea\u77e5\u9053\u81ea\u5df1\u7684\u4e1a\u52a1\u9700\u6c42&#xff0c;\u4f46\u5b83\u4eec\u4e0d\u77e5\u9053\u5b8c\u6574\u7684\u7cfb\u7edf\u72b6\u6001&#xff0c;\u4f8b\u5982&#xff1a;<\/p>\n<ul>\n<li>\u8fd8\u6709\u54ea\u4e9b\u4efb\u52a1\u5904\u4e8e Ready<\/li>\n<li>\u5176\u4ed6\u4efb\u52a1\u7684\u4f18\u5148\u7ea7\u662f\u591a\u5c11<\/li>\n<li>\u5f53\u524d\u6b63\u5728\u8fd0\u884c\u54ea\u4e2a\u4efb\u52a1<\/li>\n<li>\u662f\u5426\u9700\u8981\u7acb\u5373\u5207\u6362\u4efb\u52a1<\/li>\n<li>\u540c\u4f18\u5148\u7ea7\u4efb\u52a1\u5e94\u8be5\u600e\u6837\u5904\u7406<\/li>\n<li>\u662f\u5426\u5141\u8bb8\u5f53\u524d\u4efb\u52a1\u7ee7\u7eed\u8fd0\u884c<\/li>\n<\/ul>\n<p>\u5982\u679c\u8ba9\u4efb\u52a1\u81ea\u5df1\u51b3\u5b9a&#xff0c;\u5c31\u4f1a\u51fa\u73b0\u591a\u4e2a\u5206\u6563\u7684\u51b3\u7b56\u8005&#xff0c;\u800c CPU \u53ea\u6709\u4e00\u4e2a\u6267\u884c\u6743&#xff0c;\u56e0\u6b64\u5fc5\u987b\u6709\u552f\u4e00\u3001\u7edf\u4e00\u7684\u51b3\u7b56\u673a\u5236\u3002<\/p>\n<hr \/>\n<h4>1.3 \u8c03\u5ea6\u5668\u89e3\u51b3\u7684\u672c\u8d28\u95ee\u9898<\/h4>\n<p>\u5f53\u591a\u4e2a\u4efb\u52a1\u90fd\u5177\u5907\u8fd0\u884c\u6761\u4ef6&#xff0c;\u800c CPU \u540c\u4e00\u65f6\u523b\u53ea\u80fd\u8fd0\u884c\u4e00\u4e2a\u4efb\u52a1\u65f6&#xff0c;\u8c03\u5ea6\u5668\u8d1f\u8d23\u51b3\u5b9a CPU \u6267\u884c\u6743\u5f52\u8c01\u3002<\/p>\n<p>FreeRTOS \u8fd0\u884c\u5728\u5355\u6838 MCU \u4e0a&#xff0c;\u540c\u4e00\u65f6\u523b\u53ea\u80fd\u6709\u4e00\u4e2a\u4efb\u52a1\u5360\u7528 CPU\u3002\u5f53\u591a\u4e2a\u4efb\u52a1\u540c\u65f6\u5904\u4e8e Ready \u72b6\u6001\u65f6&#xff0c;\u9700\u8981\u8c03\u5ea6\u5668\u6839\u636e\u8c03\u5ea6\u89c4\u5219\u9009\u62e9\u5176\u4e2d\u4e00\u4e2a\u4efb\u52a1\u8fdb\u5165 Running \u72b6\u6001&#xff0c;\u4ece\u800c\u5b8c\u6210 CPU \u6267\u884c\u6743\u7684\u5206\u914d\u3002<\/p>\n<p>\u7528\u66f4\u5de5\u7a0b\u5316\u7684\u8868\u8fbe&#xff1a;<\/p>\n<p>\u8f93\u5165&#xff1a;<br \/>\n\u5f53\u524d\u7cfb\u7edf\u4e2d\u5177\u5907\u8fd0\u884c\u8d44\u683c\u7684\u4efb\u52a1\u96c6\u5408<\/p>\n<p>\u5904\u7406&#xff1a;<br \/>\n\u6309\u7167 FreeRTOS \u7684\u8c03\u5ea6\u89c4\u5219\u8fdb\u884c\u9009\u62e9<\/p>\n<p>\u8f93\u51fa&#xff1a;<br \/>\n\u4e0b\u4e00\u4e2a\u5e94\u5f53\u5904\u4e8e Running \u72b6\u6001\u7684\u4efb\u52a1<\/p>\n<p>\u6682\u65f6\u53ef\u4ee5\u5199\u6210\u62bd\u8c61\u6a21\u578b&#xff1a;<\/p>\n<p>Scheduler(Ready \u4efb\u52a1\u96c6\u5408)<br \/>\n        \u2193<br \/>\n\u9009\u62e9\u4e00\u4e2a\u4efb\u52a1<br \/>\n        \u2193<br \/>\n\u8be5\u4efb\u52a1\u83b7\u5f97 CPU \u6267\u884c\u6743<\/p>\n<p>\u8fd9\u91cc\u7684\u201c\u8c03\u5ea6\u5668\u201d\u4e0d\u662f\u666e\u901a\u5e94\u7528\u4efb\u52a1&#xff0c;\u800c\u662f FreeRTOS \u5185\u6838\u4e2d\u7684\u8c03\u5ea6\u673a\u5236\u3002<\/p>\n<p>\u5b83\u5982\u4f55\u88ab\u89e6\u53d1\u3001\u5982\u4f55\u627e\u5230\u4efb\u52a1\u3001\u600e\u6837\u5b8c\u6210\u4efb\u52a1\u5207\u6362&#xff0c;\u90fd\u5c5e\u4e8e\u540e\u7eed\u7ae0\u8282\u3002<\/p>\n<hr \/>\n<h3>2. \u76f8\u5173\u95ee\u9898<\/h3>\n<h4>2.1 \u5e38\u89c1\u9519\u8bef\u7406\u89e3<\/h4>\n<h5>\u9519\u8bef\u4e00&#xff1a;\u4efb\u52a1\u521b\u5efa\u540e\u5c31\u4f1a\u540c\u65f6\u8fd0\u884c<\/h5>\n<p>\u9519\u8bef\u3002<\/p>\n<p>\u4efb\u52a1\u521b\u5efa\u540e\u901a\u5e38\u5148\u5177\u5907\u8fdb\u5165 Ready \u72b6\u6001\u7684\u6761\u4ef6&#xff1b;\u771f\u6b63\u7531\u54ea\u4e2a\u4efb\u52a1\u5360\u7528 CPU&#xff0c;\u9700\u8981\u8c03\u5ea6\u673a\u5236\u51b3\u5b9a\u3002<\/p>\n<hr \/>\n<h5>\u9519\u8bef\u4e8c&#xff1a;Ready \u7b49\u4e8e\u6b63\u5728\u8fd0\u884c<\/h5>\n<p>\u9519\u8bef\u3002<\/p>\n<p>Ready&#xff1a;<br \/>\n\u6709\u8d44\u683c\u8fd0\u884c&#xff0c;\u4f46\u6b63\u5728\u7b49\u5f85 CPU<\/p>\n<p>Running&#xff1a;<br \/>\n\u5df2\u7ecf\u83b7\u5f97 CPU&#xff0c;\u6b63\u5728\u6267\u884c<\/p>\n<p>\u5728\u5355\u6838\u7cfb\u7edf\u4e2d\u53ef\u4ee5\u5b58\u5728\u591a\u4e2a Ready \u4efb\u52a1&#xff0c;\u4f46\u901a\u5e38\u53ea\u6709\u4e00\u4e2a\u4efb\u52a1\u5904\u4e8e Running \u72b6\u6001\u3002<\/p>\n<hr \/>\n<h5>\u9519\u8bef\u4e09&#xff1a;\u8c03\u5ea6\u5668\u8ba9 CPU \u8fd0\u884c\u5f97\u66f4\u5feb<\/h5>\n<p>\u9519\u8bef\u3002<\/p>\n<p>\u8c03\u5ea6\u5668\u4e0d\u4f1a\u63d0\u9ad8 CPU \u4e3b\u9891&#xff0c;\u4e5f\u4e0d\u4f1a\u8ba9\u4e00\u6761\u6307\u4ee4\u6267\u884c\u5f97\u66f4\u5feb\u3002<\/p>\n<p>\u5b83\u89e3\u51b3\u7684\u662f&#xff1a;<\/p>\n<p>\u6709\u9650 CPU \u65f6\u95f4\u5982\u4f55\u5206\u914d\u7ed9\u591a\u4e2a\u4efb\u52a1<\/p>\n<p>\u800c\u4e0d\u662f&#xff1a;<\/p>\n<p>\u5982\u4f55\u63d0\u9ad8 CPU \u786c\u4ef6\u6027\u80fd<\/p>\n<hr \/>\n<h5>\u9519\u8bef\u56db&#xff1a;\u6bcf\u4e2a\u4efb\u52a1\u81ea\u5df1\u51b3\u5b9a\u4ec0\u4e48\u65f6\u5019\u8fd0\u884c<\/h5>\n<p>\u9519\u8bef\u3002<\/p>\n<p>\u4efb\u52a1\u53ef\u4ee5\u901a\u8fc7\u5ef6\u65f6\u3001\u7b49\u5f85\u4e8b\u4ef6\u7b49\u65b9\u5f0f\u6539\u53d8\u81ea\u5df1\u7684\u72b6\u6001&#xff0c;\u4f46 CPU \u6700\u7ec8\u6267\u884c\u54ea\u4e2a Ready \u4efb\u52a1&#xff0c;\u7531\u5185\u6838\u8c03\u5ea6\u89c4\u5219\u51b3\u5b9a\u3002<\/p>\n<hr \/>\n<h5>\u9519\u8bef\u4e94&#xff1a;\u8c03\u5ea6\u5668\u5c31\u662f\u4e00\u4e2a while(1) \u4efb\u52a1<\/h5>\n<p>\u8fd9\u79cd\u7406\u89e3\u4e0d\u51c6\u786e\u3002<\/p>\n<p>\u8c03\u5ea6\u5668\u4e0d\u662f\u4f60\u521b\u5efa\u7684\u666e\u901a\u4e1a\u52a1\u4efb\u52a1&#xff0c;\u4f8b\u5982&#xff1a;<\/p>\n<p><span class=\"token keyword\">void<\/span> <span class=\"token function\">Scheduler_Task<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">void<\/span> <span class=\"token operator\">*<\/span>pvParameters<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u5b83\u5c5e\u4e8e FreeRTOS \u5185\u6838\u673a\u5236\u3002<\/p>\n<p>\u5177\u4f53\u5982\u4f55\u8fdb\u5165\u8c03\u5ea6\u6d41\u7a0b\u3001\u5982\u4f55\u9009\u62e9\u4efb\u52a1\u3001\u5982\u4f55\u501f\u52a9 PendSV \u5b8c\u6210\u5207\u6362&#xff0c;\u5c06\u5728\u540e\u7eed\u7ae0\u8282\u4e2d\u9010\u6b65\u5b66\u4e60\u3002<\/p>\n<hr \/>\n<h4>2.2 \u9762\u8bd5\u57fa\u7840\u8868\u8fbe<\/h4>\n<p>FreeRTOS \u4e3a\u4ec0\u4e48\u9700\u8981\u8c03\u5ea6\u5668&#xff1f;<\/p>\n<p>STM32F103 \u662f\u5355\u6838 MCU&#xff0c;\u540c\u4e00\u65f6\u523b\u53ea\u80fd\u6267\u884c\u4e00\u4e2a\u4efb\u52a1&#xff0c;\u4f46\u7cfb\u7edf\u4e2d\u53ef\u80fd\u540c\u65f6\u5b58\u5728\u591a\u4e2a Ready \u4efb\u52a1\u3002<\/p>\n<p>\u4efb\u52a1\u72b6\u6001\u53ea\u80fd\u8bf4\u660e\u4efb\u52a1\u5f53\u524d\u662f\u5426\u5177\u5907\u8fd0\u884c\u6761\u4ef6&#xff0c;\u4e0d\u80fd\u89e3\u51b3\u591a\u4e2a Ready \u4efb\u52a1\u4e4b\u95f4\u7531\u8c01\u83b7\u5f97 CPU \u7684\u95ee\u9898\u3002<\/p>\n<p>\u56e0\u6b64 FreeRTOS \u9700\u8981\u8c03\u5ea6\u5668&#xff0c;\u6839\u636e\u65e2\u5b9a\u8c03\u5ea6\u89c4\u5219\u4ece Ready \u4efb\u52a1\u4e2d\u9009\u51fa\u4e00\u4e2a&#xff0c;\u4f7f\u5176\u8fdb\u5165 Running \u72b6\u6001\u5e76\u83b7\u5f97 CPU \u6267\u884c\u6743\u3002<\/p>\n<p>\u8c03\u5ea6\u5668\u5b9e\u73b0\u7684\u662f\u591a\u4efb\u52a1\u4e4b\u95f4\u7684 CPU \u65f6\u95f4\u5206\u914d&#xff0c;\u5e76\u4e0d\u4f1a\u8ba9\u5355\u6838 CPU \u771f\u6b63\u5e76\u884c\u6267\u884c\u591a\u4e2a\u4efb\u52a1\u3002<\/p>\n<hr \/>\n<h3>3. \u8c03\u5ea6\u5668\u7684\u804c\u8d23<\/h3>\n<p>\u7ba1\u7406 CPU \u6267\u884c\u6743&#xff0c;\u5e76\u5728\u591a\u4e2a\u4efb\u52a1\u4e4b\u95f4\u8fdb\u884c\u5206\u914d\u3002<\/p>\n<h4>3.1 \u5224\u65ad\u4efb\u52a1\u662f\u5426\u5177\u5907\u8fd0\u884c\u8d44\u683c<\/h4>\n<p>\u8fd9\u91cc\u4e0d\u662f\u9009\u62e9\u8c01&#xff0c;\u800c\u662f\u7b5b\u9009\u5019\u9009\u8005&#xff0c;\u5373\u7b5b\u9009\u5904\u4e8e Ready \u72b6\u6001\u7684\u4efb\u52a1\u3002<\/p>\n<p>\u4efb\u52a1\u72b6\u6001\u8d1f\u8d23\u63d0\u4f9b\u4fe1\u606f&#xff0c;\u8c03\u5ea6\u5668\u5229\u7528\u8fd9\u4e9b\u4fe1\u606f\u3002<\/p>\n<hr \/>\n<h4>3.2 \u6839\u636e\u8c03\u5ea6\u89c4\u5219\u9009\u62e9\u4efb\u52a1<\/h4>\n<p>\u5728 Ready \u72b6\u6001\u7684\u4efb\u52a1\u4e2d\u8fdb\u884c\u9009\u62e9&#xff0c;\u6b64\u65f6\u6d89\u53ca&#xff1a;<\/p>\n<ul>\n<li>\u4f18\u5148\u7ea7<\/li>\n<li>\u65f6\u95f4\u7247<\/li>\n<li>\u62a2\u5360\u89c4\u5219<\/li>\n<\/ul>\n<p>\u8c03\u5ea6\u5668\u8d1f\u8d23\u505a\u9009\u62e9&#xff0c;\u4f46\u9009\u62e9\u4f9d\u636e\u7531\u8c03\u5ea6\u7b56\u7565\u51b3\u5b9a\u3002<\/p>\n<hr \/>\n<h4>3.3 \u7ef4\u62a4\u5f53\u524d\u8fd0\u884c\u4efb\u52a1<\/h4>\n<p>\u7cfb\u7edf\u5fc5\u987b\u77e5\u9053&#xff1a;<\/p>\n<p>\u5f53\u524d CPU \u6b63\u5728\u6267\u884c\u8c01&#xff0c;\u4e5f\u5c31\u662f\u5f53\u524d\u5904\u4e8e Running \u72b6\u6001\u7684\u4efb\u52a1\u662f\u8c01\u3002<\/p>\n<p>\u5f53\u4efb\u52a1\u88ab\u5207\u6362\u51fa\u53bb&#xff0c;\u4e4b\u540e\u518d\u5207\u6362\u56de\u6765\u65f6&#xff0c;\u8fd8\u5fc5\u987b\u77e5\u9053\u4e4b\u524d\u8fd0\u884c\u5230\u4e86\u54ea\u91cc\u3002<\/p>\n<p>\u56e0\u6b64 FreeRTOS \u5185\u90e8\u9700\u8981\u4fdd\u5b58\u5f53\u524d\u4efb\u52a1\u76f8\u5173\u4fe1\u606f\u3002<\/p>\n<p>\u8fd9\u91cc\u5148\u5efa\u7acb\u6982\u5ff5&#xff1a;<\/p>\n<p>\u8c03\u5ea6\u5668&#xff1a;<br \/>\n\u7ba1\u7406\u4efb\u52a1\u6267\u884c\u5173\u7cfb<\/p>\n<p>TCB&#xff1a;<br \/>\n\u4fdd\u5b58\u4efb\u52a1\u76f8\u5173\u4fe1\u606f<\/p>\n<hr \/>\n<h3>4. \u4efb\u52a1\u4e0e\u8c03\u5ea6\u5668\u7684\u5173\u7cfb<\/h3>\n<p>\u53ef\u4ee5\u5efa\u7acb\u4ee5\u4e0b\u6a21\u578b&#xff1a;<\/p>\n<p>                \u5e94\u7528\u5c42<br \/>\n&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8211;<br \/>\nADC \u4efb\u52a1<br \/>\nCAN \u4efb\u52a1<br \/>\nOLED \u4efb\u52a1<br \/>\nFault \u4efb\u52a1<\/p>\n<p>             FreeRTOS \u5185\u6838<br \/>\n&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8211;<br \/>\n\u4efb\u52a1\u72b6\u6001\u7ba1\u7406<br \/>\nTCB \u7ba1\u7406<br \/>\n\u8c03\u5ea6\u5668<\/p>\n<p>               CPU \u786c\u4ef6<br \/>\n&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8212;&#8211;<br \/>\nCortex-M3<\/p>\n<p>\u5173\u7cfb&#xff1a;<\/p>\n<p>\u4efb\u52a1&#xff1a;\u6211\u8981\u5b8c\u6210\u4ec0\u4e48\u5de5\u4f5c\u3002<\/p>\n<p>\u8c03\u5ea6\u5668&#xff1a;CPU \u73b0\u5728\u7ed9\u8c01\u3002<\/p>\n<p>CPU&#xff1a;\u6267\u884c\u88ab\u9009\u62e9\u4efb\u52a1\u7684\u6307\u4ee4\u3002<\/p>\n<hr \/>\n<h4>4.1 FreeRTOS \u8c03\u5ea6\u5668\u7684\u4f5c\u7528\u662f\u4ec0\u4e48&#xff1f;<\/h4>\n<p>FreeRTOS \u8fd0\u884c\u5728\u5355\u6838 MCU \u4e0a&#xff0c;\u540c\u4e00\u65f6\u523b\u53ea\u80fd\u6709\u4e00\u4e2a\u4efb\u52a1\u6267\u884c\u3002<\/p>\n<p>\u7cfb\u7edf\u4e2d\u53ef\u80fd\u540c\u65f6\u5b58\u5728\u591a\u4e2a Ready \u4efb\u52a1&#xff0c;\u56e0\u6b64\u9700\u8981\u8c03\u5ea6\u5668\u7ba1\u7406 CPU \u6267\u884c\u6743\u3002<\/p>\n<p>\u8c03\u5ea6\u5668\u6839\u636e\u4efb\u52a1\u72b6\u6001\u548c\u8c03\u5ea6\u89c4\u5219&#xff0c;\u4ece\u5177\u5907\u8fd0\u884c\u6761\u4ef6\u7684\u4efb\u52a1\u4e2d\u9009\u62e9\u4e00\u4e2a\u4efb\u52a1\u8fdb\u5165 Running \u72b6\u6001\u3002<\/p>\n<p>\u8c03\u5ea6\u5668\u672c\u8eab\u4e0d\u8d1f\u8d23\u6267\u884c\u4efb\u52a1\u4e1a\u52a1\u903b\u8f91&#xff0c;\u53ea\u8d1f\u8d23\u4efb\u52a1\u4e4b\u95f4 CPU \u8d44\u6e90\u7684\u5206\u914d\u3002<\/p>\n<hr \/>\n<h3>5. \u8c03\u5ea6\u5668\u89e6\u53d1<\/h3>\n<h4>5.1 \u8c03\u5ea6\u5668\u4e0d\u662f\u6301\u7eed\u8fd0\u884c<\/h4>\n<p>\u8c03\u5ea6\u5668\u53ea\u5728\u9700\u8981\u91cd\u65b0\u9009\u62e9\u4efb\u52a1\u65f6\u53c2\u4e0e\u8c03\u5ea6\u5224\u65ad\u3002<\/p>\n<p>\u8c03\u5ea6\u5668\u4e0d\u662f\u6301\u7eed\u8fd0\u884c&#xff0c;\u800c\u662f\u5728\u9700\u8981\u91cd\u65b0\u5206\u914d CPU \u6267\u884c\u6743\u65f6\u8fdb\u5165\u8c03\u5ea6\u6d41\u7a0b\u3002<\/p>\n<hr \/>\n<h4>5.2 \u91cd\u65b0\u8c03\u5ea6\u6761\u4ef6<\/h4>\n<p>\u5e38\u89c1\u60c5\u51b5\u5305\u62ec&#xff1a;<\/p>\n<li>\u5f53\u524d\u4efb\u52a1\u4e3b\u52a8\u653e\u5f03 CPU<\/li>\n<li>\u5f53\u524d\u4efb\u52a1\u8fdb\u5165\u963b\u585e\u72b6\u6001&#xff0c;\u8ba9\u5176\u4ed6\u4efb\u52a1\u83b7\u5f97 CPU<\/li>\n<li>\u65b0\u7684\u4efb\u52a1\u8fdb\u5165 Ready&#xff0c;\u9700\u8981\u91cd\u65b0\u5224\u65ad\u7ee7\u7eed\u5f53\u524d\u4efb\u52a1\u8fd8\u662f\u8fd0\u884c\u65b0\u4efb\u52a1<\/li>\n<li>\u7cfb\u7edf\u5468\u671f\u8282\u62cd\u5230\u6765<\/li>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p>\u7cfb\u7edf Tick \u5230\u6765<br \/>\n        \u2193<br \/>\nFreeRTOS \u65f6\u95f4\u63a8\u8fdb<br \/>\n        \u2193<br \/>\n\u68c0\u67e5\u5ef6\u65f6\u4efb\u52a1\u662f\u5426\u5230\u671f<\/p>\n<hr \/>\n<h4>5.3 \u8c03\u5ea6\u89e6\u53d1\u603b\u7ed3<\/h4>\n<p>                \u4efb\u52a1\u72b6\u6001\u53d8\u5316<br \/>\n                     \u2502<br \/>\n        \u250c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u253c\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2500\u2510<br \/>\n        \u2502            \u2502            \u2502<br \/>\n    \u4e3b\u52a8\u5ef6\u65f6      \u7b49\u5f85\u4e8b\u4ef6      \u65f6\u95f4\u5230\u671f<br \/>\n        \u2502            \u2502            \u2502<br \/>\n        \u2193            \u2193            \u2193<\/p>\n<p>              \u8c03\u5ea6\u673a\u5236\u89e6\u53d1<br \/>\n                    \u2193<br \/>\n             \u91cd\u65b0\u5224\u65ad CPU \u7ed9\u8c01<\/p>\n<hr \/>\n<h4>5.4 FreeRTOS \u4ec0\u4e48\u65f6\u5019\u89e6\u53d1\u8c03\u5ea6&#xff1f;<\/h4>\n<p>FreeRTOS \u4e0d\u4f1a\u4e00\u76f4\u8fd0\u884c\u8c03\u5ea6\u5668&#xff0c;\u800c\u662f\u5728\u7cfb\u7edf\u72b6\u6001\u53d1\u751f\u53d8\u5316\u3001\u9700\u8981\u91cd\u65b0\u5206\u914d CPU \u6267\u884c\u6743\u65f6\u8fdb\u5165\u8c03\u5ea6\u6d41\u7a0b\u3002<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<ul>\n<li>\u5f53\u524d\u4efb\u52a1\u4e3b\u52a8\u8c03\u7528\u5ef6\u65f6\u6216\u7b49\u5f85\u63a5\u53e3\u8fdb\u5165 Blocked<\/li>\n<li>\u5176\u4ed6\u4efb\u52a1\u7531 Blocked \u53d8\u4e3a Ready<\/li>\n<li>\u7cfb\u7edf Tick \u5bfc\u81f4\u5ef6\u65f6\u4efb\u52a1\u5230\u671f\u6062\u590d Ready<\/li>\n<\/ul>\n<p>\u8fd9\u4e9b\u60c5\u51b5\u90fd\u53ef\u80fd\u89e6\u53d1\u8c03\u5ea6\u3002<\/p>\n<p>\u8c03\u5ea6\u5668\u968f\u540e\u6839\u636e\u8c03\u5ea6\u89c4\u5219\u91cd\u65b0\u9009\u62e9\u8fd0\u884c\u4efb\u52a1\u3002<\/p>\n<hr \/>\n<h3>6. \u4efb\u52a1\u8c03\u5ea6\u673a\u5236<\/h3>\n<h4>6.1 \u4efb\u52a1\u4f18\u5148\u7ea7<\/h4>\n<p>\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u4e2d&#xff0c;\u4e0d\u540c\u4efb\u52a1\u7684\u91cd\u8981\u7a0b\u5ea6\u548c\u5b9e\u65f6\u6027\u8981\u6c42\u4e0d\u540c\u3002<\/p>\n<p>\u4f8b\u5982 BMS \u4e2d&#xff0c;\u6545\u969c\u68c0\u6d4b\u4efb\u52a1\u9700\u8981\u6bd4\u663e\u793a\u4efb\u52a1\u66f4\u53ca\u65f6\u6267\u884c\u3002<\/p>\n<p>\u5982\u679c\u6240\u6709\u4efb\u52a1\u5e73\u7b49\u7ade\u4e89 CPU&#xff0c;\u5c31\u65e0\u6cd5\u4fdd\u8bc1\u5173\u952e\u4efb\u52a1\u53ca\u65f6\u54cd\u5e94\u3002<\/p>\n<p>\u56e0\u6b64 FreeRTOS \u4e3a\u4efb\u52a1\u63d0\u4f9b\u4f18\u5148\u7ea7\u5c5e\u6027&#xff0c;\u4f7f\u8c03\u5ea6\u5668\u5728\u591a\u4e2a\u4efb\u52a1\u540c\u65f6\u5177\u5907\u8fd0\u884c\u6761\u4ef6\u65f6&#xff0c;\u53ef\u4ee5\u6839\u636e\u4efb\u52a1\u4f18\u5148\u7ea7\u8fdb\u884c\u9009\u62e9\u3002<\/p>\n<hr \/>\n<h4>6.2 \u4e3a\u4ec0\u4e48\u9700\u8981\u4f18\u5148\u7ea7<\/h4>\n<p>\u5f53\u591a\u4e2a\u4efb\u52a1\u8fdb\u5165 Ready \u540e&#xff0c;\u8c03\u5ea6\u5668\u5fc5\u987b\u9009\u62e9\u4e00\u4e2a\u4efb\u52a1\u8fd0\u884c\u3002<\/p>\n<p>\u56e0\u6b64\u9700\u8981\u901a\u8fc7\u4efb\u52a1\u4f18\u5148\u7ea7\u544a\u8bc9\u8c03\u5ea6\u5668&#xff1a;<\/p>\n<p>\u591a\u4e2a\u4efb\u52a1\u4e4b\u95f4\u7684\u8c03\u5ea6\u4f18\u5148\u5173\u7cfb\u3002<\/p>\n<p>\u4efb\u52a1\u4f18\u5148\u7ea7\u9700\u8981\u5408\u7406\u89c4\u5212\u3002<\/p>\n<p>\u5bf9\u7cfb\u7edf\u5b9e\u65f6\u6027\u548c\u5b89\u5168\u6027\u5f71\u54cd\u66f4\u5927\u7684\u4efb\u52a1&#xff0c;\u901a\u5e38\u9700\u8981\u66f4\u9ad8\u7684\u8c03\u5ea6\u4f18\u5148\u7ea7\u3002<\/p>\n<p>\u4f18\u5148\u7ea7\u7684\u672c\u8d28\u53ef\u4ee5\u7406\u89e3\u4e3a&#xff1a;<\/p>\n<p>\u7ed9\u4efb\u52a1\u589e\u52a0\u4e00\u4e2a\u8c03\u5ea6\u4f18\u5148\u7ea7\u6807\u7b7e&#xff0c;\u8ba9\u8c03\u5ea6\u5668\u80fd\u591f\u533a\u5206\u591a\u4e2a\u4efb\u52a1\u3002<\/p>\n<hr \/>\n<h4>6.3 \u4f18\u5148\u7ea7\u6570\u5b57\u89c4\u5219<\/h4>\n<p>FreeRTOS \u4e2d&#xff1a;<\/p>\n<p>\u6570\u5b57\u8d8a\u5927&#xff0c;\u4f18\u5148\u7ea7\u8d8a\u9ad8\u3002<\/p>\n<p>\u4f18\u5148\u7ea7\u6570\u91cf\u7531 configMAX_PRIORITIES \u51b3\u5b9a\u3002<\/p>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">configMAX_PRIORITIES<\/span> <span class=\"token expression\"><span class=\"token number\">5<\/span><\/span><\/span><\/p>\n<p>\u8868\u793a\u7cfb\u7edf\u5171\u6709 5 \u4e2a\u4f18\u5148\u7ea7&#xff1a;<\/p>\n<p>0<br \/>\n1<br \/>\n2<br \/>\n3<br \/>\n4<\/p>\n<hr \/>\n<h4>6.4 \u8c03\u5ea6\u5668\u5982\u4f55\u6839\u636e\u4f18\u5148\u7ea7\u9009\u62e9\u4efb\u52a1<\/h4>\n<p>\u5f53\u7cfb\u7edf\u9700\u8981\u8fdb\u884c\u4efb\u52a1\u8c03\u5ea6\u65f6&#xff0c;FreeRTOS \u9996\u5148\u4ece\u5f53\u524d\u5904\u4e8e Ready \u72b6\u6001\u7684\u4efb\u52a1\u4e2d\u8fdb\u884c\u9009\u62e9\u3002<\/p>\n<p>\u7136\u540e\u6bd4\u8f83\u8fd9\u4e9b\u4efb\u52a1\u7684\u4f18\u5148\u7ea7&#xff1a;<\/p>\n<p>\u591a\u4e2a Ready \u4efb\u52a1<br \/>\n      \u2193<br \/>\n\u6bd4\u8f83\u4f18\u5148\u7ea7<br \/>\n      \u2193<br \/>\n\u9009\u62e9\u6700\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1<br \/>\n      \u2193<br \/>\n\u4efb\u52a1\u8fdb\u5165 Running<br \/>\n      \u2193<br \/>\n\u83b7\u5f97 CPU<\/p>\n<p>\u5982\u679c\u591a\u4e2a\u4efb\u52a1\u4f18\u5148\u7ea7\u76f8\u540c&#xff0c;\u5219\u9700\u8981\u4f9d\u9760\u540c\u4f18\u5148\u7ea7\u8c03\u5ea6\u673a\u5236\u8fdb\u884c\u5904\u7406\u3002<\/p>\n<hr \/>\n<h3>7. \u540c\u4f18\u5148\u7ea7\u8c03\u5ea6<\/h3>\n<h4>7.1 \u65f6\u95f4\u7247\u8f6e\u8f6c<\/h4>\n<p>FreeRTOS \u5bf9\u4e8e\u540c\u4f18\u5148\u7ea7\u4efb\u52a1&#xff0c;\u53ef\u4ee5\u91c7\u7528&#xff1a;<\/p>\n<p>\u65f6\u95f4\u7247\u8f6e\u8f6c&#xff08;Time Slicing&#xff09;<\/p>\n<p>\u5373\u591a\u4e2a\u76f8\u540c\u4f18\u5148\u7ea7\u7684 Ready \u4efb\u52a1\u8f6e\u6d41\u83b7\u5f97 CPU \u6267\u884c\u65f6\u95f4\u3002<\/p>\n<hr \/>\n<h4>7.2 \u65f6\u95f4\u7247\u548c vTaskDelay() \u7684\u533a\u522b<\/h4>\n<p>\u65f6\u95f4\u7247\u4e0d\u662f\u4efb\u52a1\u5ef6\u65f6\u3002<\/p>\n<p>vTaskDelay() \u662f\u4efb\u52a1\u4e3b\u52a8\u8fdb\u5165\u963b\u585e&#xff0c;\u800c\u65f6\u95f4\u7247\u5c5e\u4e8e\u5185\u6838\u7684\u8c03\u5ea6\u673a\u5236\u3002<\/p>\n<table>\n<tr>\u5bf9\u6bd4\u9879vTaskDelay()\u65f6\u95f4\u7247<\/tr>\n<tbody>\n<tr>\n<td>\u8c01\u4e3b\u52a8<\/td>\n<td>\u4efb\u52a1<\/td>\n<td>\u5185\u6838<\/td>\n<\/tr>\n<tr>\n<td>\u539f\u56e0<\/td>\n<td>\u7b49\u5f85<\/td>\n<td>\u5206\u914d CPU<\/td>\n<\/tr>\n<tr>\n<td>\u72b6\u6001\u53d8\u5316<\/td>\n<td>Running \u2192 Blocked<\/td>\n<td>Running \u2192 Ready<\/td>\n<\/tr>\n<tr>\n<td>\u76ee\u7684<\/td>\n<td>\u7b49\u5f85\u4e00\u6bb5\u65f6\u95f4<\/td>\n<td>\u540c\u4f18\u5148\u7ea7\u4efb\u52a1\u8f6e\u6d41\u8fd0\u884c<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<hr \/>\n<h4>7.3 \u65f6\u95f4\u7247\u914d\u7f6e<\/h4>\n<p>\u65f6\u95f4\u7247\u76f8\u5173\u914d\u7f6e&#xff1a;<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">configUSE_TIME_SLICING<\/span> <span class=\"token expression\"><span class=\"token number\">1<\/span><\/span><\/span><\/p>\n<p>\u8868\u793a\u5f00\u542f\u65f6\u95f4\u7247\u3002<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">configUSE_TIME_SLICING<\/span> <span class=\"token expression\"><span class=\"token number\">0<\/span><\/span><\/span><\/p>\n<p>\u8868\u793a\u5173\u95ed\u65f6\u95f4\u7247\u3002<\/p>\n<hr \/>\n<h4>7.4 \u5982\u679c\u4e24\u4e2a FreeRTOS \u4efb\u52a1\u4f18\u5148\u7ea7\u76f8\u540c&#xff0c;\u4f1a\u5982\u4f55\u8fd0\u884c&#xff1f;<\/h4>\n<p>\u5f53\u591a\u4e2a\u4efb\u52a1\u5904\u4e8e Ready \u72b6\u6001\u4e14\u4f18\u5148\u7ea7\u76f8\u540c\u65f6&#xff0c;FreeRTOS \u53ef\u4ee5\u901a\u8fc7\u65f6\u95f4\u7247\u8f6e\u8f6c\u673a\u5236\u8ba9\u8fd9\u4e9b\u4efb\u52a1\u5171\u4eab CPU \u6267\u884c\u65f6\u95f4\u3002<\/p>\n<p>\u6bcf\u4e2a\u4efb\u52a1\u8fd0\u884c\u4e00\u4e2a\u65f6\u95f4\u7247\u540e&#xff0c;\u8c03\u5ea6\u5668\u53ef\u4ee5\u5207\u6362\u5230\u540c\u4f18\u5148\u7ea7\u7684\u5176\u4ed6\u4efb\u52a1\u3002<\/p>\n<hr \/>\n<h4>7.5 \u4e0d\u5efa\u8bae\u5927\u91cf\u4efb\u52a1\u8bbe\u7f6e\u540c\u4e00\u4e2a\u4f18\u5148\u7ea7<\/h4>\n<p>1. \u5b9e\u65f6\u6027\u96be\u4fdd\u8bc1<\/p>\n<p>2. \u7cfb\u7edf\u884c\u4e3a\u96be\u9884\u6d4b<\/p>\n<p>3. \u5931\u53bb\u4f18\u5148\u7ea7\u8bbe\u8ba1\u610f\u4e49<\/p>\n<hr \/>\n<h3>8. \u62a2\u5360\u5f0f\u8c03\u5ea6<\/h3>\n<h4>8.1 \u62a2\u5360\u57fa\u672c\u6982\u5ff5<\/h4>\n<p>\u62a2\u5360\u662f\u6307&#xff1a;<\/p>\n<p>\u4e00\u4e2a\u6b63\u5728\u8fd0\u884c\u7684\u4efb\u52a1&#xff0c;\u53ef\u4ee5\u88ab\u4e00\u4e2a\u66f4\u9ad8\u4f18\u5148\u7ea7\u3001\u5df2\u7ecf\u5904\u4e8e Ready \u72b6\u6001\u7684\u4efb\u52a1\u593a\u8d70 CPU \u6267\u884c\u6743\u3002<\/p>\n<p>\u62a2\u5360\u4e3b\u8981\u89e3\u51b3&#xff1a;<\/p>\n<p>\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u53ca\u65f6\u54cd\u5e94\u7684\u95ee\u9898\u3002<\/p>\n<hr \/>\n<h4>8.2 \u62a2\u5360\u5f00\u5173<\/h4>\n<p>\u5f00\u542f\u62a2\u5360&#xff1a;<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">configUSE_PREEMPTION<\/span> <span class=\"token expression\"><span class=\"token number\">1<\/span><\/span><\/span><\/p>\n<p>\u5173\u95ed\u62a2\u5360&#xff1a;<\/p>\n<p><span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name\">configUSE_PREEMPTION<\/span> <span class=\"token expression\"><span class=\"token number\">0<\/span><\/span><\/span><\/p>\n<hr \/>\n<h4>8.3 \u62a2\u5360\u5f0f\u8c03\u5ea6<\/h4>\n<p>\u62a2\u5360\u5f0f\u8c03\u5ea6\u662f\u6307&#xff1a;<\/p>\n<p>\u5f53\u4e00\u4e2a\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u8fdb\u5165 Ready \u72b6\u6001&#xff0c;\u800c\u5f53\u524d\u8fd0\u884c\u4efb\u52a1\u4f18\u5148\u7ea7\u8f83\u4f4e\u65f6&#xff0c;\u8c03\u5ea6\u5668\u53ef\u4ee5\u6682\u505c\u5f53\u524d\u4efb\u52a1&#xff0c;\u5c06 CPU \u6267\u884c\u6743\u4ea4\u7ed9\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u3002<\/p>\n<p>\u8fd9\u6837\u53ef\u4ee5\u4fdd\u8bc1\u5173\u952e\u4efb\u52a1\u66f4\u52a0\u53ca\u65f6\u5730\u54cd\u5e94&#xff0c;\u63d0\u9ad8\u7cfb\u7edf\u5b9e\u65f6\u6027\u3002<\/p>\n<hr \/>\n<h3>9. \u53d1\u751f\u62a2\u5360\u7684\u6838\u5fc3\u6761\u4ef6<\/h3>\n<p>\u6761\u4ef6 1&#xff1a;\u5b58\u5728\u66f4\u9ad8\u4f18\u5148\u7ea7\u7684 Ready \u4efb\u52a1\u3002<\/p>\n<p>\u6761\u4ef6 2&#xff1a;\u7cfb\u7edf\u8fdb\u5165\u8c03\u5ea6\u5224\u65ad\u70b9\u3002<\/p>\n<h4>9.1 \u8c03\u5ea6\u5224\u65ad\u70b9<\/h4>\n<p>FreeRTOS \u9700\u8981\u6709\u673a\u4f1a\u5224\u65ad\u5f53\u524d\u662f\u5426\u5e94\u8be5\u5207\u6362\u4efb\u52a1\u3002<\/p>\n<p>\u5e38\u89c1\u6765\u6e90\u5305\u62ec&#xff1a;<\/p>\n<p>Tick<\/p>\n<p>\u4efb\u52a1\u4e3b\u52a8\u963b\u585e<\/p>\n<p>ISR \u5524\u9192\u4efb\u52a1<\/p>\n<p>\u624b\u52a8\u8bf7\u6c42\u8c03\u5ea6<\/p>\n<hr \/>\n<h4>9.2 \u5e38\u89c1\u62a2\u5360\u60c5\u51b5<\/h4>\n<p>\u60c5\u51b5 1&#xff1a;<br \/>\n\u7cfb\u7edf Tick \u89e6\u53d1\u8c03\u5ea6\u5224\u65ad<\/p>\n<p>\u60c5\u51b5 2&#xff1a;<br \/>\n\u5f53\u524d\u4efb\u52a1\u4e3b\u52a8\u8fdb\u5165 Blocked<\/p>\n<p>\u60c5\u51b5 3&#xff1a;<br \/>\n\u4e2d\u65ad\u5524\u9192\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1<\/p>\n<p>\u60c5\u51b5 4&#xff1a;<br \/>\n\u4efb\u52a1\u4e3b\u52a8\u8bf7\u6c42\u8c03\u5ea6<\/p>\n<hr \/>\n<h4>9.3 \u62a2\u5360\u5b8c\u6574\u6d41\u7a0b<\/h4>\n<p>\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u8fdb\u5165 Ready<br \/>\n        \u2193<br \/>\n\u53d1\u751f\u8c03\u5ea6\u89e6\u53d1\u4e8b\u4ef6<br \/>\n        \u2193<br \/>\nFreeRTOS \u68c0\u67e5&#xff1a;<\/p>\n<p>\u662f\u5426\u5b58\u5728\u66f4\u9ad8\u4f18\u5148\u7ea7 Ready \u4efb\u52a1&#xff1f;<br \/>\n        \u2193<br \/>\n       \u662f<br \/>\n        \u2193<br \/>\n\u89e6\u53d1\u4efb\u52a1\u5207\u6362<br \/>\n        \u2193<br \/>\n\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1 Running<\/p>\n<hr \/>\n<h4>9.4 \u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u4e0d\u4e00\u5b9a\u7acb\u5373\u8fd0\u884c\u7684\u60c5\u51b5<\/h4>\n<p>\u53ef\u80fd\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u6ca1\u6709\u8fdb\u5165\u8c03\u5ea6\u5224\u65ad<\/li>\n<li>\u62a2\u5360\u88ab\u5173\u95ed<\/li>\n<li>\u5904\u4e8e\u4e34\u754c\u533a<\/li>\n<li>\u53d7\u5230\u4e2d\u65ad\u4e0a\u4e0b\u6587\u9650\u5236<\/li>\n<\/ul>\n<p>\u4f8b\u5982&#xff1a;<\/p>\n<p><span class=\"token function\">taskENTER_CRITICAL<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><\/p>\n<p>\u8fdb\u5165\u4e34\u754c\u533a\u540e&#xff0c;\u4f1a\u5bf9\u8c03\u5ea6\u548c\u4e2d\u65ad\u4ea7\u751f\u9650\u5236\u3002<\/p>\n<hr \/>\n<h4>9.5 FreeRTOS \u4ec0\u4e48\u65f6\u5019\u53d1\u751f\u62a2\u5360&#xff1f;<\/h4>\n<p>\u5f53\u4e00\u4e2a\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u8fdb\u5165 Ready \u72b6\u6001&#xff0c;\u5e76\u4e14\u7cfb\u7edf\u8fdb\u5165\u8c03\u5ea6\u5224\u65ad\u6d41\u7a0b\u65f6&#xff0c;FreeRTOS \u4f1a\u68c0\u67e5\u8be5\u4efb\u52a1\u7684\u4f18\u5148\u7ea7\u3002<\/p>\n<p>\u5982\u679c\u8be5\u4efb\u52a1\u4f18\u5148\u7ea7\u9ad8\u4e8e\u5f53\u524d\u8fd0\u884c\u4efb\u52a1&#xff0c;\u5e76\u4e14\u6ee1\u8db3\u62a2\u5360\u6761\u4ef6&#xff0c;\u90a3\u4e48\u5f53\u524d\u4efb\u52a1\u4f1a\u88ab\u62a2\u5360&#xff0c;\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u83b7\u5f97 CPU \u6267\u884c\u6743\u3002<\/p>\n<p>\u5e38\u89c1\u89e6\u53d1\u6765\u6e90\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u7cfb\u7edf Tick<\/li>\n<li>ISR \u5524\u9192\u4efb\u52a1<\/li>\n<li>\u5f53\u524d\u4efb\u52a1\u4e3b\u52a8\u963b\u585e<\/li>\n<li>\u4e3b\u52a8\u8bf7\u6c42\u4efb\u52a1\u5207\u6362<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u8c03\u5ea6\u5668<br \/>\n1. \u4e3a\u4ec0\u4e48\u9700\u8981\u8c03\u5ea6\u5668<br \/>\n1.1 \u5355\u6838 CPU \u7684\u9650\u5236<br \/>\n\u7531\u4e8e\u5355\u6838 CPU \u7684\u7269\u7406\u9650\u5236&#xff0c;\u5728 FreeRTOS \u4e2d&#xff0c;\u540c\u4e00\u65f6\u523b\u53ea\u80fd\u6709\u4e00\u4e2a\u4efb\u52a1\u5904\u4e8e Running \u72b6\u6001\u3002<br \/>\n\u4ece\u8f83\u957f\u65f6\u95f4\u8303\u56f4\u89c2\u5bdf&#xff0c;\u8fd9\u4e9b\u4efb\u52a1\u53ef\u80fd\u90fd\u5728\u63a8\u8fdb&#xff0c;\u56e0\u6b64\u8868\u73b0\u4e3a\u5e76\u53d1&#xff1b;\u4f46\u5728\u4efb\u610f\u4e00\u4e2a\u5177\u4f53 CPU \u6267\u884c\u65f6\u523b&#xff0c;\u4ecd\u7136\u53ea\u80fd\u6709\u4e00\u4e2a\u4efb\u52a1\u5904\u4e8e Running \u72b6\u6001\u3002<br \/>\n\u591a\u4e2a\u4efb\u52a1\u90fd\u60f3\u8fd0\u884c\u2193<br \/>\n\u4f46 CPU \u540c\u4e00\u65f6\u523b\u53ea\u80fd\u6267\u884c\u4e00\u4e2a\u4efb\u52a1\u2193<br \/>\n\u5fc5\u987b\u51b3\u5b9a\u73b0\u5728\u628a CPU <\/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":[10187,174,822,217,269],"topic":[],"class_list":["post-98036","post","type-post","status-publish","format-standard","hentry","category-server","tag-codingplan","tag-c","tag-mcu","tag-stm32","tag-269"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ 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