{"id":42,"date":"2025-05-02T22:11:55","date_gmt":"2025-05-02T14:11:55","guid":{"rendered":"https:\/\/monykate.com\/?p=42"},"modified":"2026-03-31T19:22:02","modified_gmt":"2026-03-31T11:22:02","slug":"freertos%e7%9a%84task","status":"publish","type":"post","link":"https:\/\/monykate.com\/index.php\/2025\/05\/02\/freertos%e7%9a%84task\/","title":{"rendered":"FreeRTOS\u7684Task"},"content":{"rendered":"\n

FreeRTOS\u521b\u5efa\u4efb\u52a1
\u521b\u5efa\u4efb\u52a1\u5b9e\u9645\u4e0a\u662f\u65b0\u589e\u4e00\u4e2aTCB\uff0c\u5e76\u5c06\u5176\u6dfb\u52a0\u5230\u5c31\u7eea\u8868\u4e2d\u53c2\u52a0\u8c03\u5ea6\u3002<\/p>\n\n\n\n

    \n
  1. \u7533\u8bf7\u4e00\u4e2a\u4efb\u52a1\u63a7\u5236\u5757TCB\uff0c\u5305\u542b\u4e00\u4e2a\u4efb\u52a1\u7684\u5c5e\u6027\u548c\u63a7\u5236\u72b6\u6001\u4fe1\u606f<\/li>\n\n\n\n
  2. \u7533\u8bf7\u4efb\u52a1\u6808Stack\uff0c\u6bcf\u4e2a\u4efb\u52a1\u62e5\u6709\u4e00\u7247\u72ec\u7acb\u7684\u6808\u7a7a\u95f4<\/li>\n\n\n\n
  3. \u521d\u59cb\u5316TCB\u4ee5\u53ca\u7ed1\u5b9aTCB\u548cStack<\/li>\n\n\n\n
  4. \u5c06TCB\u6dfb\u52a0\u5230\u7cfb\u7edf\u7684\u5c31\u7eea\u8868<\/li>\n<\/ol>\n\n\n\n

    \u521b\u5efa\u4efb\u52a1\u53c2\u6570<\/p>\n\n\n\n

      \n
    1. pxTaskCode\uff0c\u4efb\u52a1\u4e3b\u4f53\u51fd\u6570\u6307\u9488<\/li>\n\n\n\n
    2. pcName\uff0c\u51fd\u6570\u540d\u79f0\uff0c\u4ec5debug\u7528<\/li>\n\n\n\n
    3. usStackDepth\uff0c\u5806\u6808\u6df1\u5ea6\uff08\u5927\u5c0f\uff09<\/li>\n\n\n\n
    4. pvParameters\uff0c\u51fd\u6570\u4f20\u53c2<\/li>\n\n\n\n
    5. uxPrioity\uff0c\u4efb\u52a1\u4f18\u5148\u7ea7<\/li>\n\n\n\n
    6. \u4efb\u52a1Handle<\/li>\n<\/ol>\n\n\n\n

      \u4efb\u52a1\u7684\u521b\u5efa\u6d41\u7a0b<\/p>\n\n\n\n

        \n
      1. TCB_t *pxNewTCB = pvPortMalloc(sizeof(TCB_t));\u5b9a\u4e49\u548c\u7533\u8bf7\u4efb\u52a1\u63a7\u5236\u5757\u5185\u5b58\u3002<\/li>\n\n\n\n
      2. pxNewTCB->pxStack = pvPortMalloc(usStackDepth * sizeof(StackType_t));\u7533\u8bf7\u4efb\u52a1\u6808\u7a7a\u95f4\uff0c\u5e76\u7ed1\u5b9a\u5230TCB\u4e2d<\/li>\n\n\n\n
      3. prvInitialiseNewTask\uff0c\u521d\u59cb\u5316\u4efb\u52a1\uff0c\u5b9e\u8d28\u662f\u5c06\u521b\u5efa\u4efb\u52a1\u63a5\u53e3\u7684\u53c2\u6570\u8bbe\u7f6eTCB\u4e2d\u7684\u5185\u5bb9\uff0c\u6bd4\u5982TCB\u5bf9\u5e94\u4efb\u52a1\u7684\u5165\u53e3\u3001\u4f18\u5148\u7ea7\u3001\u6808\u6307\u9488\u3001\u8ba1\u7b97\u6808\u9876\u6307\u9488\u3001\u4efb\u52a1\u540d\u79f0\u7b49\uff1b
        a. pxTopOfStack = pxNewTCB->pxStack + (ulStackDepth – (uint32_t)1);\u5411\u4e0b\u589e\u957f\u7c7b\u578b\uff1a\u6808\u9876\u6307\u9488 = \u6808\u6307\u9488 + \u6808\u6df1\u5ea6\uff1b
        b. pxTopOfStack = pxNewTCB->pxStack\uff1b\u5411\u4e0a\u589e\u957f\u7c7b\u578b\uff1a\u6808\u9876\u6307\u9488 = \u6808\u6307\u9488
        c. loop\uff1apxNewTCB->pcTaskName[x] = pcName[x]\uff0c\u8bbe\u7f6e\u4efb\u52a1\u540d\u5b57\uff0c\u7ed3\u5c3e\u5904\u8865’\\0’\uff1b
        d. pxNewTCB->uxPrioity = uxPrioity\uff1b\u8bbe\u7f6e\u4efb\u52a1\u7684\u4f18\u5148\u7ea7;
        e. vListInitialiseItem( ( pxNewTCB->xStateListItem ) );\u521d\u59cb\u5316TCB\u4e2d\u7684\u72b6\u6001\u94fe\u8868\uff0c\u5e76\u5c06\u94fe\u8868linkback\u5230TCB\u4e0a
        f. vListInitialiseItem( ( pxNewTCB->xEventListItem ) );\u521d\u59cb\u5316TCB\u4e2d\u7684\u4e8b\u4ef6\u94fe\u8868\uff0c\u8bbe\u7f6e\u94fe\u8868\u503c\u5173\u8054\u4efb\u52a1\u4f18\u5148\u7ea7\uff0c\u5e76\u5c06\u94fe\u8868linkback\u5230TCB\u4e0a
        g. pxNewTCB->uxCriticalNesting = 0\uff1b\u8bbe\u7f6e\u4e2d\u65ad\u5d4c\u5957\u5c42\u7ea7\uff0c\u7528\u4e8e\u4e34\u754c\u533a\u7684\u63a7\u5236<\/li>\n\n\n\n
      4. prvAddNewTaskToReadyList\uff08pxNewTCB\uff09\uff1b\u5c06\u65b0\u4efb\u52a1\u7684TCB\u63d2\u5165\u5c31\u7eea\u8868\uff1b
        a. taskENTER_CRITICAL()\uff1b\u8fdb\u5165\u4e34\u754c\u533a\uff0c\u5173\u95ed\u7cfb\u7edf\u8c03\u7528\u4e2d\u65ad191
        b. \u5168\u5c40\u53d8\u91cf\u5f53\u524d\u4efb\u52a1\u6570\u52a01\uff1auxCurrentNumberOfTask++;
        c. \u5224\u65ad\u5168\u5c40\u53d8\u91cf\u5f53\u524d\u4efb\u52a1\u662f\u5426\u4e3a\u7a7a
        i. \u662f\u5219\u8868\u793a\u9996\u6b21\u521b\u5efa\u4efb\u52a1\uff0c\u5e76\u5c06pxNewTCB\u8d4b\u7ed9pxCurrentTCB
        ii. \u5426\u5219\u68c0\u67e5xSchedulerRunning\u8c03\u5ea6\u5668\u6709\u6ca1\u6709\u8fd0\u884c\uff0c\u6ca1\u6709\u7684\u8bdd\u518d\u5224\u65adpxCurrentTCB\u662f\u5426\u4f4e\u4e8epxNewTCB\u7684\u4f18\u5148\u7ea7\uff0c\u4f4e\u4e8e\u5219\u5c06pxNewTCB\u66f4\u65b0\u5230pxCurrentTCB
        d. \u4efb\u52a1\u6570\u52a01\uff1auxTaskNumber++\uff0c\u6ce8\u610f\u533a\u5206\u4e0d\u662fuxCurrentNumberOfTask\uff0c\u8fd9\u91cc\u662f\u603b\u7684\u4efb\u52a1\u6570\uff0c\u7528\u4e8e\u8ddf\u8e2a\u8c03\u8bd5
        e. \u6dfb\u52a0\u4efb\u52a1TCB\u5230\u5c31\u7eea\u8868\uff1aprvAddTaskToReadyList(pxNewTCB);
        f. \u8bbe\u7f6e\u4efb\u52a1TCB\uff1aportSETUP_TCB(pxNewTCB);
        g. \u5224\u65ad\u8c03\u5ea6\u5668\u662f\u5426\u5df2\u8fd0\u884c\uff0cxSchedulerRunning
        i. xSchedulerRunning != pdFALSE\uff0c\u8c03\u5ea6\u5668\u5df2\u7ecf\u8fd0\u884c\uff0c\u9700\u8981\u5224\u65ad\u5f53\u524d\u4efb\u52a1\u7684\u4f18\u5148\u7ea7\u662f\u5426\u4f4e\u4e8e\u65b0\u4efb\u52a1\uff0c\u662f\u5219\u5c06\u65b0\u4efb\u52a1\u66ff\u6362\u5f53\u524d\u4efb\u52a1\uff1b
        h. \u9000\u51fa\u4e34\u754c\u533a\uff1ataskEXIT_CRITICAL()<\/li>\n\n\n\n
      5. \u5c0f\u7ed3\u4e00\u4e0b
        \u521b\u5efa\u4efb\u52a1\u7684\u672c\u8d28\u662f\u521b\u5efa\u4efb\u52a1\u7684TCB\uff0c\u5e76\u5c06TCB\u52a0\u5165\u8c03\u5ea6\u3002\u5728\u8fc7\u7a0b\u4e2d\u4f1a\u6709\u4e24\u4e2a\u70b9\u503c\u5f97\u6ce8\u610f\uff0c\u4e00\u4e2a\u662f\u6dfb\u52a0\u5c31\u7eea\u8868\u65f6\u8c03\u5ea6\u5668\u662f\u5426\u5df2\u7ecf\u8fd0\u884c\uff0c\u6bd4\u5982\u5728\u8c03\u5ea6\u5668\u8fd0\u884c\u524d\u521b\u5efa\u591a\u4e2a\u4efb\u52a1\u7684\u573a\u666f\uff0c\u53ea\u6709\u4e00\u4e2a\u4efb\u52a1\u4f1a\u88ab\u6302\u5230\u5f53\u524d\u4efb\u52a1\uff0c\u6240\u4ee5\u521b\u5efa\u65f6\u9700\u8981\u5bf9\u6bd4\u4efb\u52a1\u7684\u4f18\u5148\u7ea7\uff0c\u628a\u4f18\u5148\u7ea7\u6700\u9ad8\u7684\u4efb\u52a1\u6302\u5230\u5f53\u524d\u4efb\u52a1\u4e0a\u3002\u5982\u679c\u8c03\u5ea6\u5668\u5df2\u7ecf\u8fd0\u884c\u5219\u5728\u4efb\u52a1\u521b\u5efa\u5b8c\u6210\u9000\u51fa\u4e34\u754c\u533a\u4e4b\u540e\uff0c\u5224\u65ad\u65b0\u4efb\u52a1\u4f18\u5148\u7ea7\u662f\u5426\u6bd4\u5f53\u524d\u4efb\u52a1\u9ad8\uff0c\u662f\u5219\u547c\u53eb\u4e00\u6b21\u7cfb\u7edf\u8c03\u5ea6\u4ea7\u751f\u4efb\u52a1\u5207\u6362\uff0c\u5426\u5219\u4e0d\u9700\u8981\u5207\u6362\u4efb\u52a1\u3002\u53e6\u4e00\u4e2a\u70b9\u662f\u6808\u7684\u751f\u957f\u65b9\u5411\uff0c\u5411\u4e0b\u751f\u957f\u7684\u6808\u9876\u6307\u9488\u7b49\u4e8e\u6808\u9996\u6307\u9488\u52a0\u4e0a\u6808\u6df1\u5ea6\uff0c\u4f7f\u7528\u65f6\u6808\u5730\u5740\u662f\u9012\u51cf\u7684\uff1b\u5411\u4e0a\u589e\u957f\u7684\u6808\u6808\u9876\u6307\u9488\u5373\u6808\u9996\u6307\u9488\uff0c\u4f7f\u7528\u65f6\u6808\u5730\u5740\u662f\u9012\u589e\u7684\u3002<\/li>\n<\/ol>\n\n\n\n

        \u4efb\u52a1\u7684\u5220\u9664\u6d41\u7a0b<\/p>\n\n\n\n

          \n
        1. \u4efb\u52a1\u5220\u9664\u65f6\u4efb\u52a1\u7684\u4f9d\u636e\u662ftaskhandle\uff0c\u8fd9\u4e2a\u5728\u521b\u5efa\u4efb\u52a1\u65f6\u662fTCB\u7684\u9996\u5730\u5740\u5f3a\u5236\u8f6c\u6362\u7684\uff0c\u9700\u8981\u5220\u9664\u65f6\u5c06\u5176\u5f3a\u5236\u8f6c\u56deTCB\u7c7b\u578b\u5730\u5740\u5373\u53ef\u3002TCB_t *pxTCB = prvGetTCBFromHandle(xTaskToDelete);<\/li>\n\n\n\n
        2. \u5c06pxTCB\u4ece\u72b6\u6001\u94fe\u8868\u4e2d\u79fb\u9664\uff1auxListRemove(&(pxTCB->xStateListItem))<\/li>\n\n\n\n
        3. \u5c31\u7eea\u8868\u4f18\u5148\u7ea7\u67e5\u8be2\u503c\u6e050\uff0ctaskRESET_READY_PRIOITY(pxTCB->uxPriority)<\/li>\n\n\n\n
        4. \u91ca\u653e\u5185\u5b58\u7a7a\u95f4vPortFree<\/li>\n<\/ol>\n\n\n\n

          <\/p>\n","protected":false},"excerpt":{"rendered":"

          FreeRTOS\u521b\u5efa\u4efb\u52a1\u521b\u5efa\u4efb\u52a1\u5b9e\u9645\u4e0a\u662f\u65b0\u589e\u4e00\u4e2aTCB\uff0c\u5e76\u5c06\u5176\u6dfb\u52a0\u5230\u5c31\u7eea\u8868\u4e2d\u53c2\u52a0\u8c03\u5ea6\u3002 \u521b\u5efa\u4efb\u52a1\u53c2\u6570 \u4efb\u52a1\u7684\u521b […]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_gspb_post_css":"","footnotes":""},"categories":[1,30],"tags":[],"class_list":["post-42","post","type-post","status-publish","format-standard","hentry","category-uncategorized","category-30"],"blocksy_meta":[],"_links":{"self":[{"href":"https:\/\/monykate.com\/index.php\/wp-json\/wp\/v2\/posts\/42","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/monykate.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/monykate.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/monykate.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/monykate.com\/index.php\/wp-json\/wp\/v2\/comments?post=42"}],"version-history":[{"count":3,"href":"https:\/\/monykate.com\/index.php\/wp-json\/wp\/v2\/posts\/42\/revisions"}],"predecessor-version":[{"id":70,"href":"https:\/\/monykate.com\/index.php\/wp-json\/wp\/v2\/posts\/42\/revisions\/70"}],"wp:attachment":[{"href":"https:\/\/monykate.com\/index.php\/wp-json\/wp\/v2\/media?parent=42"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/monykate.com\/index.php\/wp-json\/wp\/v2\/categories?post=42"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/monykate.com\/index.php\/wp-json\/wp\/v2\/tags?post=42"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}