FreeRTOS vTaskStartScheduler流程

1. FreeRTOS是通过vTaskStartScheduler()函数来启动运行的。

（1）在该流程中首先创建了idleTask
（2）创建TimerTask
（3）关中断portDISABLE_INTERRUPTS();

void vTaskStartScheduler( void )
{
BaseType_t xReturn;

	/* Add the idle task at the lowest priority. */
	#if( configSUPPORT_STATIC_ALLOCATION == 1 )  /*如果使用静态内存分配任务堆栈和任务TCB,则需要为空闲任务预先定义好任务内存和任务TCB空间*/
	{
		StaticTask_t *pxIdleTaskTCBBuffer = NULL;
		StackType_t *pxIdleTaskStackBuffer = NULL;
		uint32_t ulIdleTaskStackSize;

		/* The Idle task is created using user provided RAM - obtain the
		address of the RAM then create the idle task. */
		vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
		xIdleTaskHandle = xTaskCreateStatic(	prvIdleTask,
												configIDLE_TASK_NAME,
												ulIdleTaskStackSize,
												( void * ) NULL, /*lint !e961.  The cast is not redundant for all compilers. */
												( tskIDLE_PRIORITY | portPRIVILEGE_BIT ),
												pxIdleTaskStackBuffer,
												pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */

		if( xIdleTaskHandle != NULL )
		{
			xReturn = pdPASS;
		}
		else
		{
			xReturn = pdFAIL;
		}
	}
	#else
	{
		/* The Idle task is being created using dynamically allocated RAM. */
        /* 创建空闲任务,使用最低优先级*/
		xReturn = xTaskCreate(	prvIdleTask,
								configIDLE_TASK_NAME,
								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. */
	}
	#endif /* configSUPPORT_STATIC_ALLOCATION */

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

	if( xReturn == pdPASS )
	{
		/* freertos_tasks_c_additions_init() should only be called if the user
		definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
		the only macro called by the function. */
		#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
		{
			freertos_tasks_c_additions_init();
		}
		#endif

		/* 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. */
         /* 先关闭中断,确保节拍定时器中断不会在调用xPortStartScheduler()时或之前发生.
          当第一个任务启动时,会重新启动中断*/
		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 */

        /* 初始化静态变量 */
		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.   NOTE:  If configGENERATE_RUN_TIME_STATS
		is set to 0 and the following line fails to build then ensure you do not
		have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
		FreeRTOSConfig.h file. */
        /* 如果宏configGENERATE_RUN_TIME_STATS被定义,
          表示使用运行时间统计功能,则下面这个宏必须被定义,用于初始化一个基础定时器/计数器.*/
		portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();

		/* Setting up the timer tick is hardware specific and thus in the
		portable interface. */
      /* 调用函数xPortStartScheduler()来启动系统节拍定时器并启动第一个任务. 因为设置系统节拍定时器涉及到硬件特性， 
      因此函数xPortStartScheduler()由移植层提供，不同的硬件架构，这个函数的代码也不相同。*/
		if( xPortStartScheduler() != pdFALSE )
		{
			/* Should not reach here as if the scheduler is running the
			function will not return. */
           /* 如果调度器正确运行,则不会执行到这里,函数也不会返回*/
		}
		else
		{
			/* Should only reach here if a task calls xTaskEndScheduler(). */
           /* 仅当任务调用API函数xTaskEndScheduler()后,会执行到这里.*/
		}
	}
	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;
}

2. xPortStartScheduler()：内核相关硬件初始化函数

（1）关中断，portCPU_IRQ_DISABLE();
（2）启动定时器，configSETUP_TICK_INTERRUPT();
（3）启动第一个task，vPortRestoreTaskContext();

BaseType_t xPortStartScheduler( void )
{
uint32_t ulAPSR;

	#if( configASSERT_DEFINED == 1 )
	{
		volatile uint32_t ulOriginalPriority;
     /* 中断优先级寄存器0:IPR0 */
		volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET );
		volatile uint8_t ucMaxPriorityValue;

    /* 这一大段代码用来确定一个最高ISR(Interrupt Service Routines)优先级,在这个ISR或者更低优先级的ISR中可以安全的调用以FromISR结尾的API函数.*/

		/* Determine how many priority bits are implemented in the GIC.    
		Save the interrupt priority value that is about to be clobbered. */
      /* 保存中断优先级值,因为下面要覆写这个寄存器(IPR0) */
		ulOriginalPriority = *pucFirstUserPriorityRegister;

		/* Determine the number of priority bits available.  First write to
		all possible bits. */
        /* 确定有效的优先级位个数. 首先向所有位写1,然后再读出来,由于无效的优先级位读出为0,然后数一数有多少个1,就能知道有多少位优先级.*/
		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;

		/* Read the value back to see how many bits stuck. */
		ucMaxPriorityValue = *pucFirstUserPriorityRegister;

		/* Shift to the least significant bits. */
		while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET )
		{
			ucMaxPriorityValue >>= ( uint8_t ) 0x01;
		}

		/* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read
		value. */
		configASSERT( ucMaxPriorityValue == portLOWEST_INTERRUPT_PRIORITY );

		/* Restore the clobbered interrupt priority register to its original
		value. */
		*pucFirstUserPriorityRegister = ulOriginalPriority;
	}
	#endif /* conifgASSERT_DEFINED */


	/* Only continue if the CPU is not in User mode.  The CPU must be in a
	Privileged mode for the scheduler to start. */
	__asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR ) );
	ulAPSR &= portAPSR_MODE_BITS_MASK;
	configASSERT( ulAPSR != portAPSR_USER_MODE );

	if( ulAPSR != portAPSR_USER_MODE )
	{
		/* Only continue if the binary point value is set to its lowest possible
		setting.  See the comments in vPortValidateInterruptPriority() below for
		more information. */
		configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );

		if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE )
		{
			/* Interrupts are turned off in the CPU itself to ensure tick does
			not execute	while the scheduler is being started.  Interrupts are
			automatically turned back on in the CPU when the first task starts
			executing. */
			portCPU_IRQ_DISABLE();

			/* Start the timer that generates the tick ISR. */
           /* 启动系统节拍定时器,即SysTick定时器,初始化中断周期并使能定时器*/
			configSETUP_TICK_INTERRUPT();

			/* Start the first task executing. */
           /* 启动第一个任务 */
			vPortRestoreTaskContext();
		}
	}

	/* Will only get here if vTaskStartScheduler() was called with the CPU in
	a non-privileged mode or the binary point register was not set to its lowest
	possible value.  prvTaskExitError() is referenced to prevent a compiler
	warning about it being defined but not referenced in the case that the user
	defines their own exit address. */
	( void ) prvTaskExitError;
	return 0;
}

3. 启动定时器

（1）使能GIC中断控制器

pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );
xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );

（2）注册Timer中断

xStatus = XScuGic_Connect( &xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer );

（3）初始化Timer

pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID );
xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr );
XScuTimer_EnableAutoReload( &xTimer );

【注意】XSCUTIMER_CLOCK_HZ 为Timer始终频率，即1s有多少个tick计数，通过配置configTICK_RATE_HZ设置timer中断间隔，configTICK_RATE_HZ 的宏定义可以在FreeRTOSConfig.h中进行配置，一般默认值为100，即Timer中断间隔为10ms

/* Load the timer counter register. */
XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ );
#define configSETUP_TICK_INTERRUPT() FreeRTOS_SetupTickInterrupt()

void FreeRTOS_SetupTickInterrupt( void )
{
BaseType_t xStatus;
extern void FreeRTOS_Tick_Handler( void );
XScuTimer_Config *pxTimerConfig;
XScuGic_Config *pxGICConfig;
const uint8_t ucRisingEdge = 3;

	/* This function is called with the IRQ interrupt disabled, and the IRQ
	interrupt should be left disabled.  It is enabled automatically when the
	scheduler is started. */

	/* Ensure XScuGic_CfgInitialize() has been called.  In this demo it has
	already been called from prvSetupHardware() in main(). */
	pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );
	xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );
	configASSERT( xStatus == XST_SUCCESS );
	( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */

	/* The priority must be the lowest possible. */
	XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_SCUTIMER_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );

	/* Install the FreeRTOS tick handler. */
	xStatus = XScuGic_Connect( &xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer );
	configASSERT( xStatus == XST_SUCCESS );
	( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */

	/* Initialise the timer. */
	pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID );
	xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr );
	configASSERT( xStatus == XST_SUCCESS );
	( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */

	/* Enable Auto reload mode. */
	XScuTimer_EnableAutoReload( &xTimer );

	/* Ensure there is no prescale. */
	XScuTimer_SetPrescaler( &xTimer, 0 );

	/* Load the timer counter register. */
	XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ );

	/* Start the timer counter and then wait for it to timeout a number of
	times. */
	XScuTimer_Start( &xTimer );

	/* Enable the interrupt for the xTimer in the interrupt controller. */
	XScuGic_Enable( &xInterruptController, XPAR_SCUTIMER_INTR );

	/* Enable the interrupt in the xTimer itself. */
	FreeRTOS_ClearTickInterrupt();
	XScuTimer_EnableInterrupt( &xTimer );
}

4. 启动第一个task

/*
 * Starts the first task executing.  This function is necessarily written in
 * assembly code so is implemented in portASM.s.
 */
extern void vPortRestoreTaskContext( void );


/******************************************************************************
 * vPortRestoreTaskContext is used to start the scheduler.
 *****************************************************************************/
.type vPortRestoreTaskContext, %function
vPortRestoreTaskContext:
	/* Switch to system mode. */
	CPS		#SYS_MODE
	portRESTORE_CONTEXT

.align 4
.type FreeRTOS_IRQ_Handler, %function
FreeRTOS_IRQ_Handler:
	/* Return to the interrupted instruction. */
	SUB		lr, lr, #4

	/* Push the return address and SPSR. */
	PUSH	{lr}
	MRS		lr, SPSR
	PUSH	{lr}

	/* Change to supervisor mode to allow reentry. */
	CPS		#SVC_MODE

	/* Push used registers. */
	PUSH	{r0-r4, r12}

	/* Increment nesting count.  r3 holds the address of ulPortInterruptNesting
	for future use.  r1 holds the original ulPortInterruptNesting value for
	future use. */
	LDR		r3, ulPortInterruptNestingConst
	LDR		r1, [r3]
	ADD		r4, r1, #1
	STR		r4, [r3]

	/* Read value from the interrupt acknowledge register, which is stored in r0
	for future parameter and interrupt clearing use. */
	LDR 	r2, ulICCIARConst
	LDR		r2, [r2]
	LDR		r0, [r2]

	/* Ensure bit 2 of the stack pointer is clear.  r2 holds the bit 2 value for
	future use.  _RB_ Does this ever actually need to be done provided the start
	of the stack is 8-byte aligned? */
	MOV		r2, sp
	AND		r2, r2, #4
	SUB		sp, sp, r2

	/* Call the interrupt handler.  r4 pushed to maintain alignment. */
	PUSH	{r0-r4, lr}
	LDR		r1, FreeRTOS_ApplicationIRQHandlerConst
	BLX		r1
	POP		{r0-r4, lr}
	ADD		sp, sp, r2

	CPSID	i
	DSB
	ISB

	/* Write the value read from ICCIAR to ICCEOIR. */
	LDR 	r4, ulICCEOIRConst
	LDR		r4, [r4]
	STR		r0, [r4]

	/* Restore the old nesting count. */
	STR		r1, [r3]

	/* A context switch is never performed if the nesting count is not 0. */
	CMP		r1, #0
	BNE		exit_without_switch

	/* Did the interrupt request a context switch?  r1 holds the address of
	ulPortYieldRequired and r0 the value of ulPortYieldRequired for future
	use. */
	LDR		r1, =ulPortYieldRequired
	LDR		r0, [r1]
	CMP		r0, #0
	BNE		switch_before_exit

exit_without_switch:
	/* No context switch.  Restore used registers, LR_irq and SPSR before
	returning. */
	POP		{r0-r4, r12}
	CPS		#IRQ_MODE
	POP		{LR}
	MSR		SPSR_cxsf, LR
	POP		{LR}
	MOVS	PC, LR

switch_before_exit:
	/* A context swtich is to be performed.  Clear the context switch pending
	flag. */
	MOV		r0, #0
	STR		r0, [r1]

	/* Restore used registers, LR-irq and SPSR before saving the context
	to the task stack. */
	POP		{r0-r4, r12}
	CPS		#IRQ_MODE
	POP		{LR}
	MSR		SPSR_cxsf, LR
	POP		{LR}
	portSAVE_CONTEXT

	/* Call the function that selects the new task to execute.
	vTaskSwitchContext() if vTaskSwitchContext() uses LDRD or STRD
	instructions, or 8 byte aligned stack allocated data.  LR does not need
	saving as a new LR will be loaded by portRESTORE_CONTEXT anyway. */
	LDR		R0, vTaskSwitchContextConst
	BLX		R0

	/* Restore the context of, and branch to, the task selected to execute
	next. */
	portRESTORE_CONTEXT

【参考文档】

https://www.jianshu.com/p/4266541bc16b
https://blog.csdn.net/weixin_42385536/article/details/80639842