<一>TCB链接:
<二>Tick中断处理过程:
<三>pendsv中断处理过程:
pendsv中断处理程序主要处理context switch,目前freertos的切换策略是在ready list选择优先级最高的task运行
任务调度算法:
#define taskSELECT_HIGHEST_PRIORITY_TASK() \
{ \
/* Find the highest priority queue that contains ready tasks. */ \
while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopReadyPriority ] ) ) ) \
{ \
configASSERT( uxTopReadyPriority ); \
--uxTopReadyPriority; \
} \
\
/* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
the same priority get an equal share of the processor time. */ \
listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopReadyPriority ] ) ); \
} /* taskSELECT_HIGHEST_PRIORITY_TASK */