分析下portYIELD_FROM_ISR()任务切换的时机。
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
BaseType_t ret;
BaseType_t pxHigherPriorityTaskWoken;
if(huart->Instance==USART6)
{
//加上自己的代码
if(BinarySemaphore != NULL)
{
ret = xSemaphoreGiveFromISR(BinarySemaphore,&pxHigherPriorityTaskWoken);
if(ret == pdTRUE)
{
}
else
{
printf("Semaphore Send ISR Fail!\r\n");
}
portYIELD_FROM_ISR(pxHigherPriorityTaskWoken);
}
HAL_UART_Receive_IT(&huart6,Rx_HAL_Buff_Temp,1);
}
}
1. 此处调用了,portYIELD_FROM_ISR(pxHigherPriorityTaskWoken);
看这个定义
#define portEND_SWITCHING_ISR( xSwitchRequired ) if( xSwitchRequired != pdFALSE ) portYIELD()
#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )