【无标题】FreeRTOS中断中执行上下文切换方法

/* 定时器 ISR */
void vTimerISR( voidvoid * pvParameters )
{
static unsigned char ucLocalTickCount = 0;
static signed BaseType_txHigherPriorityTaskWoken;

/*定时器中断发生 */  

  ...执行其它代码  

/*需要vATask() 运行吗? */  
xHigherPriorityTaskWoken = pdFALSE;  
ucLocalTickCount++;  
if( ucLocalTickCount >= TICKS_TO_WAIT )  
{  
    /* 释放信号量，解除vATask任务阻塞状态 */  
    xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );  

    /* 复位计数器 */  
    ucLocalTickCount = 0;  
}  

/* 如果 xHigherPriorityTaskWoken 表达式为真，需要执行一次上下文切换*/  
portYIELD_FROM_ISR( xHigherPriorityTaskWoken );  

}