FreeRTOS之中断管理

1.中断简介：

2.中断优先级分组：

注意，中断优先级数值越低，其优先级越高。而在任务优先级数值越高，其优先级越大。

3.中断相关寄存器介绍：

4.系统中断优先级设置：

FreeRTOS管理中断的两个函数：portDISABLE_INTERRUPTS()、portENABLE_INTERRUPTS()。

在设置FreeRTOS的中断时需要注意宏定义configMAX_SYSCALL_INTERRUPT_PRIORITY：

宏定义configMAX_SYSCALL_INTERRUPT_PRIORITY表明FreeRTOS能够管理的最高中断优先级，所有中断优先级数值小于等于configMAX_SYSCALL_INTERRUPT_PRIORITY的中断，都无法被FreeRTOS管理。

将191转为二进制便是1011 1111，又因为Cortex-M只使用高四位来配置中断优先级，则191实际有效位为1011，即为0Xb0。所以在本文中，所有中断优先级数值小于等于11的中断都不受FreeRTOS的管理。

portDISABLE_INTERRUPTS()关中断。

portENABLE_INTERRUPTS()开中断。

4.代码：本文只展示定时器中断相关和main的代码，完整代码可将本文内容和前面的动态创建任务相结合。在定时器中断服务函数来打印输出，并通过任务开关中断。

（1）中断相关代码：

#include "time.h"
#include "usart.h"

void TIME_Init(u16 arr,u16 psc)
{
	//¶¨Ò嶨ʱÆ÷ºÍÖжϽṹÌ壺
	TIM_TimeBaseInitTypeDef TIM_TimBaseStructure;
	NVIC_InitTypeDef NVIC_InitStructure;
	
	//1.ʹÄܶ¨Ê±Æ÷ʱÖÓ;
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3 | RCC_APB1Periph_TIM4,ENABLE);
	
	//2.³õʼ»¯time3£º
	TIM_TimBaseStructure.TIM_Period = arr;						//ÉèÖÃ×Ô¶¯ÖØ×°ÔؼĴæÆ÷µÄÖµ
	TIM_TimBaseStructure.TIM_Prescaler = psc;
	TIM_TimBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimBaseStructure.TIM_CounterMode = TIM_CounterMode_Down;
	TIM_TimeBaseInit(TIM3,&TIM_TimBaseStructure);
	
	//2.³õʼ»¯time4£º
	TIM_TimBaseStructure.TIM_Period = arr;						//ÉèÖÃ×Ô¶¯ÖØ×°ÔؼĴæÆ÷µÄÖµ
	TIM_TimBaseStructure.TIM_Prescaler = psc;
	TIM_TimBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
	TIM_TimBaseStructure.TIM_CounterMode = TIM_CounterMode_Down;
	TIM_TimeBaseInit(TIM4,&TIM_TimBaseStructure);
	
	TIM_ITConfig(TIM3 ,TIM_IT_Update,ENABLE);								//ÔÊÐí¸üÐÂÖжÏ
	TIM_ITConfig(TIM4 ,TIM_IT_Update,ENABLE);								//ÔÊÐí¸üÐÂÖжÏ
	
	//3.TIME3ÖжÏÅäÖãº
	NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 12;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
	NVIC_Init(&NVIC_InitStructure);
	
	//4.TIME4ÖжÏÅäÖãº
	NVIC_InitStructure.NVIC_IRQChannel = TIM4_IRQn;
	NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
	NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 4;
	NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
	
	NVIC_Init(&NVIC_InitStructure);
	
	//4.ʹÄܶ¨Ê±Æ÷£º
	TIM_Cmd(TIM3,ENABLE);
	TIM_Cmd(TIM4,ENABLE);
}
//ÖØдtime3µÄÖжϷþÎñº¯Êý£º
void TIM3_IRQHandler(void)
{
	//¼ì²éÊÇ·ñ·¢ÉúÖжϣº
	if(TIM_GetITStatus(TIM3,TIM_IT_Update) != RESET)
	{
	
		//Çå³ýtimeµÄ¸üÐÂÖжϱê־λ
		TIM_ClearITPendingBit(TIM3,TIM_IT_Update);
		printf("TIM3ÖжÏÓÅÏȼ¶Îª6ÕýÔÚÔËÐÐ\r\n");
	}
}

void TIM4_IRQHandler(void)
{
	//¼ì²éÊÇ·ñ·¢ÉúÖжϣº
	if(TIM_GetITStatus(TIM4,TIM_IT_Update) != RESET)
	{
	
		//Çå³ýtimeµÄ¸üÐÂÖжϱê־λ
		TIM_ClearITPendingBit(TIM4,TIM_IT_Update);
		printf("TIM4ÖжÏÓÅÏȼ¶Îª4ÕýÔÚÔËÐÐ!!!!!!\r\n");
	}
}

（2）main():
 

#include "stm32f10x.h"
#include "led.h"
#include "delay.h"
#include "FreeRTOS.h"
#include "task.h"
#include "key.h"
#include "sys.h"
#include "usart.h"
#include "time.h"

//¶¨Òåstart_taskµÄÅäÖã¬ÈÎÎñ¾ä±ú£¬ÈÎÎñÓÅÏȼ¶£¬¶ÑÕ»´óС£¬ÈÎÎñÉùÃ÷£º
#define START_TASK_PRIO 1
#define START_TASK_STACK_SIZE 64
TaskHandle_t start_handler;
void start_task(void);

//¶¨ÒåÈÎÎñ1µÄÅäÖã¬ÈÎÎñ¾ä±ú£¬ÈÎÎñÓÅÏȼ¶£¬¶ÑÕ»´óС£¬ÈÎÎñÉùÃ÷£º
#define TASK1_PRIO 2
#define TASK1_STACK_SIZE 64
TaskHandle_t task1_handler;
void task1(void);

int flag = 0;

int main(void)
{
	NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);// ÉèÖÃÖжÏÓÅÏȼ¶·Ö×é4,×ÓÓÅÏȼ¶Îª0
	LED_Init();
	KEY_Init();
	delay_init();
	usart_init(9600);
	TIME_Init(10000-1,7200-1);
	
	xTaskCreate((TaskFunction_t) start_task,																//ÈÎÎñº¯Êý
							(const char *)"start_task",																	//ÈÎÎñÃû³Æ
							(uint16_t)START_TASK_STACK_SIZE,											      //ÈÎÎñ¶ÑÕ»´óС
							(void *)NULL,																								//´«µÝ¸øÈÎÎñº¯ÊýµÄ²ÎÊý
							(UBaseType_t)START_TASK_PRIO,																//ÈÎÎñÓÅÏȼ¶
							(TaskHandle_t *)&start_handler);														//ÈÎÎñ¾ä±ú
	
			
	vTaskStartScheduler();																								//¿ªÊ¼ÈÎÎñµ÷¶È
}

/*´´½¨¿ªÊ¼ÈÎÎñ£º*/
void start_task(void)
{
//	taskENTER_CRITICAL();	
	/*´´½¨ÈÎÎñ*/
	if(flag == 0)
	{
		xTaskCreate((TaskFunction_t) task1,																		//ÈÎÎñº¯Êý
								(const char *)"task1",																		//ÈÎÎñÃû³Æ
								(uint16_t)TASK1_STACK_SIZE,											      		//ÈÎÎñ¶ÑÕ»´óС
								(void *)NULL,																							//´«µÝ¸øÈÎÎñº¯ÊýµÄ²ÎÊý
								(UBaseType_t)TASK1_PRIO,																	//ÈÎÎñÓÅÏȼ¶
								(TaskHandle_t *)&task1_handler);													//ÈÎÎñ¾ä±ú
	 flag = 1;
	}
	 vTaskDelay(500);										
	 vTaskDelete(NULL);											//ɾ³ýµ±Ç°ÈÎÎñ
//	 taskEXIT_CRITICAL();
}

void task1(void)
{
	u32 i = 0; 
	while(1)
	{
		if((i++) == 5)
		{
			printf("¹ØÖжϣ¡£¡£¡\r\n");
			portDISABLE_INTERRUPTS();
			delay_us(5000000);
			printf("¿ªÖжϣ¡£¡£¡\r\n");
			portENABLE_INTERRUPTS();
			delay_us(5000000);
			i = 0;
		}
		vTaskDelay(500);
	}
}

5.运行结果：

6.总结：

FreeRTOS通过portDISABLE_INTERRUPTS()和portENABLE_INTERRUPTS()来开关中断。需要注意的是在关闭中断后，不要轻易的调用vTaskDelay()，因为调用vTaskDelay()后会重新开启系统的中断。

此外，若想要通过FreeRTOS来管理中断，则中断的优先级数值一定要大于宏定义configMAX_SYSCALL_INTERRUPT_PRIORITY的取值。