freeRtos源码解析(二)–任务调度

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最新推荐文章于 2024-06-22 16:01:26 发布

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分类专栏： freeRtos源码解析文章标签：内核操作系统嵌入式 c语言

本文链接：https://blog.csdn.net/chenlonglong2014/article/details/119706659

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本文详细解析了FreeRTOS任务调度的启动过程，包括启动第一个任务、进入svc中断服务函数、PendSV中断用于任务切换。通过Cortex-M3的双堆栈机制，保证任务上下文的顺利保存和切换，实现任务的无缝切换。

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freeRtos源码解析(二)–任务调度

一、启动任务调度器
启动任务调度器之后，CPU正式进入任务模式调度各任务（CPU在中断模式和任务模式之间不断轮转）。
freeRtos任务调度依赖于内核的三个中断，中断服务函数已由freeRtos开发人员用汇编根据不同芯片实现了，定义在port.c中，其中前两个设置为最低优先级，这三个函数分别是：

/*
 * Exception handlers.
 */
void xPortPendSVHandler( void ) __attribute__ (( naked ));
void xPortSysTickHandler( void );
void vPortSVCHandler( void ) __attribute__ (( naked ));

启动任务调度器函数定义如下：

void vTaskStartScheduler( void )
{
   
BaseType_t xReturn;

	/* Add the idle task at the lowest priority. */
	#if( configSUPPORT_STATIC_ALLOCATION == 1 )
	{
   
		StaticTask_t *pxIdleTaskTCBBuffer = NULL;
		StackType_t *pxIdleTaskStackBuffer = NULL;
		uint32_t ulIdleTaskStackSize;

		/* The Idle task is created using user provided RAM - obtain the
		address of the RAM then create the idle task. */
		vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
		xIdleTaskHandle = xTaskCreateStatic(	prvIdleTask,
												configIDLE_TASK_NAME,
												ulIdleTaskStackSize,
												( void * ) NULL, /*lint !e961.  The cast is not redundant for all compilers. */
												portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
												pxIdleTaskStackBuffer,
												pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */

		if( xIdleTaskHandle != NULL )
		{
   
			xReturn = pdPASS;
		}
		else
		{
   
			xReturn = pdFAIL;
		}
	}
	#else
	{
   
		/* The Idle task is being created using dynamically allocated RAM. */
		xReturn = xTaskCreate(	prvIdleTask,
								configIDLE_TASK_NAME,
								configMINIMAL_STACK_SIZE,
								( void * ) NULL,
								portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
								&xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
	}
	#endif /* configSUPPORT_STATIC_ALLOCATION */

	#if ( configUSE_TIMERS == 1 )
	{
   
		if( xReturn == pdPASS )
		{
   
			xReturn = xTimerCreateTimerTask();
		}
		else
		{
   
			mtCOVERAGE_TEST_MARKER();
		}
	}
	#endif /* configUSE_TIMERS */

	if( xReturn == pdPASS )
	{
   
		/* freertos_tasks_c_additions_init() should only be called if the user
		definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
		the only macro called by the function. */