FreeRTOS常见知识点

FreeRTOS常见知识点

1、临界段代码

       临界段代码也叫做临界区，是指那些必须完整运行，不能被打断的代码段，比如某些外设的初始化需要严格的时序，且不能被打断。FreeRTOS提供的解决方案是在进入临界区时关闭中断，在离开时恢复中断，这就是临界段代码保护。
       FreeRTOS提供了四个API来实现临界段代码保护：taskENTER_CRITICAL()、taskEXIT_CRITICAL()、taskENTER_CRITICAL_FROM_ISR()、taskEXIT_CRITICAL_FROM_ISR()。可以从名字上看出这四个API成两对，前两个是任务级的临界段代码保护，后两个是中断级的临界段代码保护。他们都在task.h中定义，且都是宏定义。

/**
 * task. h
 *
 * Macro to mark the start of a critical code region.  Preemptive context
 * switches cannot occur when in a critical region.
 *
 * NOTE: This may alter the stack (depending on the portable implementation)
 * so must be used with care!
 *
 * \defgroup taskENTER_CRITICAL taskENTER_CRITICAL
 * \ingroup SchedulerControl
 */
#define taskENTER_CRITICAL() portENTER_CRITICAL()
#define taskENTER_CRITICAL_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR()

/**
 * task. h
 *
 * Macro to mark the end of a critical code region.  Preemptive context
 * switches cannot occur when in a critical region.
 *
 * NOTE: This may alter the stack (depending on the portable implementation)
 * so must be used with care!
 *
 * \defgroup taskEXIT_CRITICAL taskEXIT_CRITICAL
 * \ingroup SchedulerControl
 */
#define taskEXIT_CRITICAL()