freertos 源码详解六任务的切换

最新推荐文章于 2024-09-28 13:29:24 发布

terastudio

最新推荐文章于 2024-09-28 13:29:24 发布

阅读量729

点赞数

本文链接：https://blog.csdn.net/terastudio/article/details/106794916

版权

本文详细介绍了FreeRTOS中任务切换的过程，包括在PenSV中断服务函数中的具体步骤，如设置 PendSV 异常、任务堆栈的保存与恢复、中断的开启与关闭，以及在vTaskSwitchContext函数中的任务选择逻辑。通过这些步骤，理解了FreeRTOS如何在不同任务间进行上下文切换。

摘要由CSDN通过智能技术生成

PenSV异常

1、任务切换的具体过程在PenSV中断服务函数里
2、ICSR寄存器bit28置1，则引起PenSV中断

#define portYIELD()
{
/* Set a PendSV to request a context switch. /
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;

/ Barriers are normally not required but do ensure the code is completely
within the specified behaviour for the architecture. */
__dsb( portSY_FULL_READ_WRITE );
__isb( portSY_FULL_READ_WRITE );
}

#define portNVIC_PENDSVSET_BIT ( 1UL << 28UL )

在这里插入图片描述

3、任务切换场合：
1.执行系统调用，如：taskYIELD() vTaskDelay->portYIELD_WITHIN_API();
2.systick中断服务函数里：
SysTick_Handler->xPortSysTickHandler->portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;

PendSV_Handler
FREERTOS_CONFIG_H中
#define xPortPendSVHandler PendSV_Handler

__asm void xPortPendSVHandler( void )
{
extern uxCriticalNesting;
extern pxCurrentTCB;
extern vTaskSwitchContext;

PRESERVE8

mrs r0, psp
isb
/* Get the location of the current TCB. */
ldr	r3, =pxCurrentTCB
ldr	r2, [r3]

/* Is the task using the FPU context?  If so, push high vfp registers. */
tst r14, #0x10
it eq
vstmdbeq r0!, {s16-s31}

/* Save the core registers. */
stmdb r0!, {r4-r11, r14}

/* Save the new top of stack into the first member of the TCB. */
str r0, [r2]

stmdb sp!, {r3}
mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
msr basepri, r0
dsb
isb
bl vTaskSwitchContext
mov r0, #0
msr basepri, r0
ldmia sp!