freertos任务启动和切换的核心函数

第一：void vPortSVCHandler( void );

__asm void prvStartFirstTask( void )
{
/* *INDENT-OFF* */
    PRESERVE8

    /* Use the NVIC offset register to locate the stack. */
    ldr r0, =0xE000ED08
    ldr r0, [ r0 ]
    ldr r0, [ r0 ]

    /* Set the msp back to the start of the stack. */
    msr msp, r0
    /* Globally enable interrupts. */
    cpsie i
    cpsie f
    dsb
    isb
    /* Call SVC to start the first task. */
    svc 0  
    nop
    nop
/* *INDENT-ON* */

__asm void vPortSVCHandler( void )
{
/* *INDENT-OFF* */
    PRESERVE8

    ldr r3, = pxCurrentTCB   /* Restore the context. */
    ldr r1, [ r3 ] /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
    ldr r0, [ r1 ]           /* The first item in pxCurrentTCB is the task top of stack. */
    ldmia r0 !, { r4 - r11 } /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
    msr psp, r0 /* Restore the task stack pointer. */
    isb
    mov r0, # 0
    msr basepri, r0
    orr r14, # 0xd
    bx r14
/* *INDENT-ON* */
}

 主要是用来启动第一个任务的的，启动的代码是 SVC 0,进入系统调用中断，之后这个中断函数就不再被调用了，函数体主要实现了第一个任务的现场恢复，核心代码就是最后两句，切换到线程模式；

    /* Make PendSV and SysTick the lowest priority interrupts. */
    portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;

    portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;

    /* Start the timer that generates the tick ISR.  Interrupts are disabled
     * here already. */
    vPortSetupTimerInterrupt();

    /* Initialise the critical nesting count ready for the first task. */
    uxCriticalNesting = 0;

启动第一个任务之前，设置了定时器中断，所以接下来的运行就交给了systick了

第二：void xPortSysTickHandler( void );

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();
    {
        /* Increment the RTOS tick. */
        if( xTaskIncrementTick() != pdFALSE )
        {
            /* A context switch is required.  Context switching is performed in
             * the PendSV interrupt.  Pend the PendSV interrupt. */
            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
        }
    }

    vPortClearBASEPRIFromISR();
}

         这个函数的核心是 xTaskIncrementTick()，如果返回值是pdture，代表需要切换任务，这设置portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;  打开pendsv中断，这样就是在pendsv中实现任务的切换了；

          所以这个中断服务函数的任务就是判断是否需要切换任务，如果不需要，就继续执行当前任务，如果需要，就到pendsv中去切换；

第三：void xPortPendSVHandler( void );

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

/* *INDENT-OFF* */
    PRESERVE8

    mrs r0, psp
    isb

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

    stmdb r0 !, { r4 - r11 } /* Save the remaining registers. */
    str r0, [ r2 ] /* Save the new top of stack into the first member of the TCB. */

    stmdb sp !, { r3, r14 }
    mov r0, #configMAX_SYSCALL_INTERRUPT_PRIORITY
    msr basepri, r0
    dsb
    isb
    bl vTaskSwitchContext
    mov r0, #0
    msr basepri, r0
    ldmia sp !, { r3, r14 }

    ldr r1, [ r3 ]
    ldr r0, [ r1 ] /* The first item in pxCurrentTCB is the task top of stack. */
    ldmia r0 !, { r4 - r11 } /* Pop the registers and the critical nesting count. */
    msr psp, r0
    isb
    bx r14
    nop
/* *INDENT-ON* */
}

这个中断服务函数，是任务切换的核心，里面包含了三部分：

1.保存旧任务的现场

2.修改xpcurrentTCB实现上下文的切换

3.恢复新任务的现场

具体的在上一篇博文中已经讲过了