FreeRTOS实现调度器

调度器是操作系统的核心，主要功能是实现任务的切换，即从就绪列表里面找到优先级最高的任务，然后去执行该任务。
调度器函数实现：

void vTaskStartScheduler( void )
{
BaseType_t xReturn;

	/* 添加空闲任务，这块先不看，还没学到 */
	#if( configSUPPORT_STATIC_ALLOCATION == 1 )
	{
		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,
												"IDLE",
												ulIdleTaskStackSize,
												( void * ) NULL,
												( 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. */
		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. */
	}
	#endif /* configSUPPORT_STATIC_ALLOCATION */

	#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. */
		//在port.c文件里启动调度器函数，具体实现如下
		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;
}

//调度器启动函数：

BaseType_t xPortStartScheduler( void )
{
	#if( configASSERT_DEFINED == 1 )
	{
		volatile uint32_t ulOriginalPriority;
		volatile uint8_t * const pucFirstUserPriorityRegister = ( uint8_t * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );
		volatile uint8_t ucMaxPriorityValue;

		/* Determine the maximum priority from which ISR safe FreeRTOS API
		functions can be called.  ISR safe functions are those that end in
		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to
		ensure interrupt entry is as fast and simple as possible.

		Save the interrupt priority value that is about to be clobbered. */
		ulOriginalPriority = *pucFirstUserPriorityRegister;

		/* Determine the number of priority bits available.  First write to all
		possible bits. */
		*pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;

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

		/* Use the same mask on the maximum system call priority. */
		ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;

		/* Calculate the maximum acceptable priority group value for the number
		of bits read back. */
		ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS;
		while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
		{
			ulMaxPRIGROUPValue--;
			ucMaxPriorityValue <<= ( uint8_t ) 0x01;
		}

		/* Shift the priority group value back to its position within the AIRCR
		register. */
		ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
		ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;

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

	/* 配置 pendsv 和 Systick 的中断优先级为最低 */
	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;
	portNVIC_SYSPRI2_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，不在返回*/
	prvStartFirstTask();

	/* Should not get here! */
	return 0;
}

为什么配置 pendsv 和 Systick 的中断优先级为最低，在任务切换的时候是在pendsv中断中进行的，Pendsv是一个可挂起的中断，当发生任务切换的时候，进入到Pendsv中断中，将当前任务保存到任务栈中，并且切换到下一个任务。
Systick是一个系统时基，驱动系统的运行。
pendsv 和 Systick 都会涉及到系统的调度，要让系统优先响应硬件中断，系统调度的优先级要低于硬件中断优先级，即系统要优先响应其他硬件中断，所以他俩要配置成最低，防止抢占了系统其他外部中断。
FreeRTOS通过直接操作寄存器来控制的，Pendsv 和 Ststick是内核中断，可以直接操作寄存器
如下图：
系统中断优先级寄存器3，基地址为 0XE000ED20，可知 23 ~ 16 位是PendSV的中断优先级，31 ~ 24 是SysTick的中断优先级
并且只有高四位有效（低四位只读）

#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			15                      //中断最低优先级
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	5                       //系统可管理的最高中断优先级
#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
//要操作的寄存器的基地址
#define portNVIC_SYSPRI2_REG				( * ( ( volatile uint32_t * ) 0xe000ed20 ) )
//设定PendSV的中断优先级
#define portNVIC_PENDSV_PRI					( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )//240左移16位，240最大的优先编号，就是最小的优先级了
//设置SysTick的中断优先级
#define portNVIC_SYSTICK_PRI				( ( ( uint32_t ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )