在Cortex-M内核中,系统节拍由Systick时钟提供,当配置好系统滴答时钟后,每次时钟中断就会触发中断处理数xPortSysTickHandler()。
void xPortSysTickHandler( void )
{
/* The SysTick runs at the lowest interrupt priority, so when this interrupt
* executes all interrupts must be unmasked. There is therefore no need to
* save and then restore the interrupt mask value as its value is already
* known - therefore the slightly faster vPortRaiseBASEPRI() function is used
* in place of portSET_INTERRUPT_MASK_FROM_ISR(). */
vPortRaiseBASEPRI();//屏蔽归属FreeRTOS的中断优先级
{
/* Increment the RTOS tick. */
if( xTaskIncrementTick() != pdFALSE )//时钟计数处理
{
/* A context switch is required. Context switching is performed in
* the PendSV interrupt. Pend the PendSV interrupt. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;//如果需要切换上下文操作,PendSV标记置位
}
}
vPortClearBASEPRIFromISR();
}
这部分主要是依靠 xTaskIncrementTick(),来判断任务切换是否在此次系统时钟中断时被需要。如果是,则PendSV标记置位,等待触发PendSV中断。来看看 xTaskIncrementTick()。
BaseType_t xTaskIncrementTick( void )
{
TCB_t * pxTCB;
TickType_t xItemValue;
BaseType_t xSwitchRequired = pdFALSE;
/* Called by the portable layer each time a tick interrupt occurs.
* Increments the tick then checks to see if the new tick value will cause any
* tasks to be unblocked. */
traceTASK_INCREMENT_TICK( xTickCount );
if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE ) //调度是否被挂起,默认为否
{
/* Minor optimisation. The tick count cannot change in this
* block. */
const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
/* Increment the RTOS tick, switching the delayed and overflowed
* delayed lists if it wraps to 0. */
xTickCount = xConstTickCount;
if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. 如果xConstTickCount为0,说明溢出了*/
{
taskSWITCH_DELAYED_LISTS();/*切换延迟列表*/
}
else
{
mtCOVERAGE_TEST_MARKER();
}
/* See if this tick has made a timeout expire. Tasks are stored in
* the queue in the order of their wake time - meaning once one task
* has been found whose block time has not expired there is no need to
* look any further down the list. */
if( xConstTickCount >= xNextTaskUnblockTime )
{
for( ; ; )
{
if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
{
/* The delayed list is empty. Set xNextTaskUnblockTime
* to the maximum possible value so it is extremely
* unlikely that the
* if( xTickCount >= xNextTaskUnblockTime ) test will pass
* next time through. */
xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
break;
}
else
{
/* The delayed list is not empty, get the value of the
* item at the head of the delayed list. This is the time
* at which the task at the head of the delayed list must
* be removed from the Blocked state. */
pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
关键问题是,这个函数使用到了 pxDelayedTaskList, 这定义在本文件
PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList;
该变量初始化为0,该变量正常初始化位置在创建 Task 对象等的函数中, 也就是说,如果在Tick中断到来时,如果还没有任务被创建,就会导致不可预期的结果,中断服务函数会使用这个野指针,执行任务切换。这会导致触发栈溢出钩子函数,或者是直接Hardfault。
有些硬件初始化需要借助delay功能,不得不在初始化之前配置SysTick。而又不希望在硬件初始化阶段触发这个Bug。
所以在配置SysTick之前,先创建一个初始化任务,初始化 pxDelayedTaskList 这个指针,在初始化任务里配置SysTick,和其他初始化,这样能够避免此类问题。或者是在配置SysTick的时候屏蔽中断,一切准备就绪后,开启中断。执行vTaskStartScheduler()默认创建一个空闲任务。
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平台:博客园
作者:ficusdxx