嵌入式学习（2）-FreeRTOS--任务调度器开启过程分析

vTaskStartScheduler()；–代码分析

void vTaskStartScheduler( void )
{
BaseType_t xReturn;
		/* The Idle task is being created using dynamically allocated RAM. */
		xReturn = xTaskCreate(	prvIdleTask,
								"IDLE", configMINIMAL_STACK_SIZE,
								( void * ) NULL,
								( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
								&xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
	
	#if ( configUSE_TIMERS == 1 )
	{
		if( xReturn == pdPASS )
		{
			xReturn = xTimerCreateTimerTask();
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}
	}
	#endif /* configUSE_TIMERS */

	if( xReturn == pdPASS )
	{
		/* Interrupts are turned off here, to ensure a tick does not occur
		before or during the call to xPortStartScheduler().  The stacks of
		the created tasks contain a status word with interrupts switched on
		so interrupts will automatically get re-enabled when the first task
		starts to run. */
		portDISABLE_INTERRUPTS();

		#if ( configUSE_NEWLIB_REENTRANT == 1 )
		{
			/* Switch Newlib's _impure_ptr variable to point to the _reent
			structure specific to the task that will run first. */
			_impure_ptr = &( pxCurrentTCB->xNewLib_reent );
		}
		#endif /* configUSE_NEWLIB_REENTRANT */

		xNextTaskUnblockTime = portMAX_DELAY;
		xSchedulerRunning = pdTRUE;
		xTickCount = ( TickType_t ) 0U;

		/* If configGENERATE_RUN_TIME_STATS is defined then the following
		macro must be defined to configure the timer/counter used to generate
		the run time counter time base. */
		portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();

		/* Setting up the timer tick is hardware specific and thus in the
		portable interface. */
		if( xPortStartScheduler() != pdFALSE )
		{
			/* Should not reach here as if the scheduler is running the
			function will not return. */
		}
		else
		{
			/* Should only reach here if a task calls xTaskEndScheduler(). */
		}
	}
	else
	{
		/* This line will only be reached if the kernel could not be started,
		because there was not enough FreeRTOS heap to create the idle task
		or the timer task. */
		configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
	}

	/* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
	meaning xIdleTaskHandle is not used anywhere else. */
	( void ) xIdleTaskHandle;
}

从上面代码可以看到，整个开启任务调度一共分为以下几步

1：创建空闲任务。（此处我默认的动态创建）

xReturn = xTaskCreate(	prvIdleTask,
								"IDLE", configMINIMAL_STACK_SIZE,
								( void * ) NULL,
								( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
								&xIdleTaskHandle );

2：判断是否开启软件定时器，是，则创建软件定时器

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

关于定时器里面的具体实现，留到日后再写。
3：关闭中断，初始化一些全局变量

portDISABLE_INTERRUPTS();

		xNextTaskUnblockTime = portMAX_DELAY;
		xSchedulerRunning = pdTRUE;
		xTickCount = ( TickType_t ) 0U;

4：开启全局的一个时间计数的函数，函数具体需要自己实现，

portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();

5：执行xPortStartScheduler，下面进入分析该函数。

	if( xPortStartScheduler() != pdFALSE )
		{
			/* Should not reach here as if the scheduler is running the
			function will not return. */
		}

5.1：设置PendSV中断和滴答定时器中断优先级为最低。

	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;

5.2 ：设置滴答寄存器的寄存器。

	vPortSetupTimerInterrupt();

	void vPortSetupTimerInterrupt( void )
	{
		/* Calculate the constants required to configure the tick interrupt. */
		#if configUSE_TICKLESS_IDLE == 1
		{
			ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
			xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
			ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
		}
		#endif /* configUSE_TICKLESS_IDLE */

		/* Configure SysTick to interrupt at the requested rate. */
		portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
		portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT );
	}

5.3：初始化嵌套技术变量。

uxCriticalNesting = 0;

5.4：如果芯片有FPU，则使能FPU。（F103没有）

5.5：开始第一个任务，下面分析开始第一个任务函数

	prvStartFirstTask();

5.5.1：先获取MSP初始值

	ldr r0, =0xE000ED08
	ldr r0, [r0]
	ldr r0, [r0]

5.5.2：然后复位MSP

	msr msp, r0

5.5.3：使能中断，数据同步屏障，指令同步屏障

	cpsie i
	cpsie f
	dsb
	isb

5.5.4：触发SVC中断，SVC中断处理函数在FreeRTOSConfig.h里面进行了定义。下面分析该韩式

	svc 0

5.5.4.1：获取当前正在运行的任务的任务栈顶指针，

	ldr	r3, =pxCurrentTCB	
	ldr r1, [r3]			
	ldr r0, [r1]		

5.5.4.2：R4-R11,R14 寄存器出栈，

	ldmia r0!, {r4-r11}

5.5.4.3：将PSP设置为任务的堆栈。

msr psp, r0	

5.5.4.4：指令同步屏障，然后开启中断，

	isb
	mov r0, #0
	msr	basepri, r0

5.5.4.5：操作R14寄存器与0X0D或，表示退出异常后CPU进入线程模式，并使用进程栈。

orr r14, #0xd

5.5.4.6:恢复寄存器R0-R3,R12,LR,PC,xPSR的值。堆栈使用进程栈PSP，然后执行PC中的任务函数。

bx r14

其中一些汇编的寄存器操作还不是特别清楚，还需要进一步去学习。