FreeRTOS自学笔记

FreeRTOS自学笔记（一）

本文档参考FreeRTOS V10.1.1代码。

（1）FreeRTOS的任务

在学习FreeRTOS中第一个绕不开的便是任务，让我们来逐步揭开任务的神秘面纱。

【1】不得不说的结构体--------任务控制块（TCB_t）

/*
 * Task control block.  A task control block (TCB) is allocated for each task,
 * and stores task state information, including a pointer to the task's context
 * (the task's run time environment, including register values)
 */
typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
{
	volatile StackType_t	*pxTopOfStack;	/*指向当前任务堆栈的的栈顶， 这必须是该结构体的第一个成员。*/

	#if ( portUSING_MPU_WRAPPERS == 1 )
		xMPU_SETTINGS	xMPUSettings;		/*< MPU设置，必须位于结构体的第二项 */
	#endif

	ListItem_t			xStateListItem;	/*任务的状态列表项，以引用的方式表示任务的状态 */
	ListItem_t			xEventListItem;		/*事件列表项，用于将任务以引用的方式挂接到事件列表*/
	UBaseType_t			uxPriority;			/*保存任务优先级，0表示最低优先级 */
	StackType_t			*pxStack;			/*指向堆栈的起始位置 */
	char				pcTaskName[ configMAX_TASK_NAME_LEN ];/*任务创建时为任务指定的描述性名称。 仅用于调试。 */

	#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
		StackType_t		*pxEndOfStack;		/*指向堆栈的最高有效地址 */
	#endif

	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
		UBaseType_t		uxCriticalNesting;	/*< 保存临界区嵌套深度 */
	#endif

	#if ( configUSE_TRACE_FACILITY == 1 )
		UBaseType_t		uxTCBNumber;		/*<存储每次创建TCB时递增的数字。 它允许调试器确定何时删除任务然后重新创建。 */
		UBaseType_t		uxTaskNumber;		/*<存储专门供第三方跟踪代码使用的编号。 */
	#endif

	#if ( configUSE_MUTEXES == 1 )
		UBaseType_t		uxBasePriority;		/*< 上次分配给任务的优先级 - 由优先级继承机制使用。*/
		UBaseType_t		uxMutexesHeld;
	#endif

	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
		TaskHookFunction_t pxTaskTag;
	#endif

	#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
		void			*pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
	#endif

	#if( configGENERATE_RUN_TIME_STATS == 1 )
		uint32_t		ulRunTimeCounter;	/*< Stores the amount of time the task has spent in the Running state. */
	#endif

	#if ( configUSE_NEWLIB_REENTRANT == 1 )
		/* Allocate a Newlib reent structure that is specific to this task.
		Note Newlib support has been included by popular demand, but is not
		used by the FreeRTOS maintainers themselves.  FreeRTOS is not
		responsible for resulting newlib operation.  User must be familiar with
		newlib and must provide system-wide implementations of the necessary
		stubs. Be warned that (at the time of writing) the current newlib design
		implements a system-wide malloc() that must be provided with locks. */
		struct	_reent xNewLib_reent;
	#endif

	#if( configUSE_TASK_NOTIFICATIONS == 1 )
		volatile uint32_t ulNotifiedValue;
		volatile uint8_t ucNotifyState;
	#endif

	/* See the comments above the definition of
	tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
	#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
		uint8_t	ucStaticallyAllocated; 		/*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
	#endif

	#if( INCLUDE_xTaskAbortDelay == 1 )
		uint8_t ucDelayAborted;
	#endif

	#if( configUSE_POSIX_ERRNO == 1 )
		int iTaskErrno;
	#endif

} tskTCB;

/* The old tskTCB name is maintained above then typedefed to the new TCB_t name
below to enable the use of older kernel aware debuggers. */
typedef tskTCB TCB_t;

重要的参数都已经注释说明。
【2】任务创建

	BaseType_t xTaskCreate(	TaskFunction_t pxTaskCode,
							const char * const pcName,		/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
							const configSTACK_DEPTH_TYPE usStackDepth,
							void * const pvParameters,
							UBaseType_t uxPriority,
							TaskHandle_t * const pxCreatedTask )
	{
	TCB_t *pxNewTCB;
	BaseType_t xReturn;

		/* If the stack grows down then allocate the stack then the TCB so the stack
		does not grow into the TCB.  Likewise if the stack grows up then allocate
		the TCB then the stack. */
		#if( portSTACK_GROWTH > 0 )
		{
			/* Allocate space for the TCB.  Where the memory comes from depends on
			the implementation of the port malloc function and whether or not static
			allocation is being used. */
			pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );

			if( pxNewTCB != NULL )
			{
				/* Allocate space for the stack used by the task being created.
				The base of the stack memory stored in the TCB so the task can
				be deleted later if required. */
				pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

				if( pxNewTCB->pxStack == NULL )
				{
					/* Could not allocate the stack.  Delete the allocated TCB. */
					vPortFree( pxNewTCB );
					pxNewTCB = NULL;
				}
			}
		}
		#else /* portSTACK_GROWTH */
		{
		StackType_t *pxStack;

			/* Allocate space for the stack used by the task being created. */
			pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */

			if( pxStack != NULL )
			{
				/* Allocate space for the TCB. */
				pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */

				if( pxNewTCB != NULL )
				{
					/* Store the stack location in the TCB. */
					pxNewTCB->pxStack = pxStack;
				}
				else
				{
					/* The stack cannot be used as the TCB was not created.  Free
					it again. */
					vPortFree( pxStack );
				}
			}
			else
			{
				pxNewTCB = NULL;
			}
		}
		#endif /* portSTACK_GROWTH */

		if( pxNewTCB != NULL )
		{
			#if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
			{
				/* Tasks can be created statically or dynamically, so note this
				task was created dynamically in case it is later deleted. */
				pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
			}
			#endif /* configSUPPORT_STATIC_ALLOCATION */

			prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
			prvAddNewTaskToReadyList( pxNewTCB );
			xReturn = pdPASS;
		}
		else
		{
			xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
		}

		return xReturn;
	}

在任务创建的函数中，第一步，为防止堆栈增长到TCB，判断栈的生长方向，如果向上增长，则先申请TCB,在申请堆栈；如果向下增长，则先申请堆栈，在申请TCB。当然，如果申请不成功，释放已经申请过的动态内存，这里就不再赘述。第二步，初始化这个新任务。具体代码如下：

static void prvInitialiseNewTask( 	TaskFunction_t pxTaskCode,
									const char * const pcName,		/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
									const uint32_t ulStackDepth,
									void * const pvParameters,
									UBaseType_t uxPriority,
									TaskHandle_t * const pxCreatedTask,
									TCB_t *pxNewTCB,
									const MemoryRegion_t * const xRegions )
{
StackType_t *pxTopOfStack;
UBaseType_t x;

	#if( portUSING_MPU_WRAPPERS == 1 )
		/* Should the task be created in privileged mode? */
		BaseType_t xRunPrivileged;
		if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
		{
			xRunPrivileged = pdTRUE;
		}
		else
		{
			xRunPrivileged = pdFALSE;
		}
		uxPriority &= ~portPRIVILEGE_BIT;
	#endif /* portUSING_MPU_WRAPPERS == 1 */

	configASSERT( pcName );

	/* Avoid dependency on memset() if it is not required. */
	#if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
	{
		/* Fill the stack with a known value to assist debugging. */
		( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
	}
	#endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */

	/* Calculate the top of stack address.  This depends on whether the stack
	grows from high memory to low (as per the 80x86) or vice versa.
	portSTACK_GROWTH is used to make the result positive or negative as required
	by the port. */
	#if( portSTACK_GROWTH < 0 )
	{
		pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
		pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception.  Avoiding casts between pointers and integers is not practical.  Size differences accounted for using portPOINTER_SIZE_TYPE type.  Checked by assert(). */

		/* Check the alignment of the calculated top of stack is correct. */
		configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );

		#if( configRECORD_STACK_HIGH_ADDRESS == 1 )
		{
			/* Also record the stack's high address, which may assist
			debugging. */
			pxNewTCB->pxEndOfStack = pxTopOfStack;
		}
		#endif /* configRECORD_STACK_HIGH_ADDRESS */
	}
	#else /* portSTACK_GROWTH */
	{
		pxTopOfStack = pxNewTCB->pxStack;

		/* Check the alignment of the stack buffer is correct. */
		configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );

		/* The other extreme of the stack space is required if stack checking is
		performed. */
		pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
	}
	#endif /* portSTACK_GROWTH */

	/* Store the task name in the TCB. */
	for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
	{
		pxNewTCB->pcTaskName[ x ] = pcName[ x ];

		/* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
		configMAX_TASK_NAME_LEN characters just in case the memory after the
		string is not accessible (extremely unlikely). */
		if( pcName[ x ] == ( char ) 0x00 )
		{
			break;
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}
	}

	/* Ensure the name string is terminated in the case that the string length
	was greater or equal to configMAX_TASK_NAME_LEN. */
	pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';

	/* This is used as an array index so must ensure it's not too large.  First
	remove the privilege bit if one is present. */
	if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
	{
		uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
	}
	else
	{
		mtCOVERAGE_TEST_MARKER();
	}

	pxNewTCB->uxPriority = uxPriority;
	#if ( configUSE_MUTEXES == 1 )
	{
		pxNewTCB->uxBasePriority = uxPriority;
		pxNewTCB->uxMutexesHeld = 0;
	}
	#endif /* configUSE_MUTEXES */

	vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
	vListInitialiseItem( &( pxNewTCB->xEventListItem ) );

	/* Set the pxNewTCB as a link back from the ListItem_t.  This is so we can get
	back to	the containing TCB from a generic item in a list. */
	listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );

	/* Event lists are always in priority order. */
	listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
	listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );

	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
	{
		pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
	}
	#endif /* portCRITICAL_NESTING_IN_TCB */

	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
	{
		pxNewTCB->pxTaskTag = NULL;
	}
	#endif /* configUSE_APPLICATION_TASK_TAG */

	#if ( configGENERATE_RUN_TIME_STATS == 1 )
	{
		pxNewTCB->ulRunTimeCounter = 0UL;
	}
	#endif /* configGENERATE_RUN_TIME_STATS */

	#if ( portUSING_MPU_WRAPPERS == 1 )
	{
		vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
	}
	#else
	{
		/* Avoid compiler warning about unreferenced parameter. */
		( void ) xRegions;
	}
	#endif

	#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
	{
		for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
		{
			pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
		}
	}
	#endif

	#if ( configUSE_TASK_NOTIFICATIONS == 1 )
	{
		pxNewTCB->ulNotifiedValue = 0;
		pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
	}
	#endif

	#if ( configUSE_NEWLIB_REENTRANT == 1 )
	{
		/* Initialise this task's Newlib reent structure. */
		_REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
	}
	#endif

	#if( INCLUDE_xTaskAbortDelay == 1 )
	{
		pxNewTCB->ucDelayAborted = pdFALSE;
	}
	#endif

	/* Initialize the TCB stack to look as if the task was already running,
	but had been interrupted by the scheduler.  The return address is set
	to the start of the task function. Once the stack has been initialised
	the top of stack variable is updated. */
	#if( portUSING_MPU_WRAPPERS == 1 )
	{
		pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
	}
	#else /* portUSING_MPU_WRAPPERS */
	{
		pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
	}
	#endif /* portUSING_MPU_WRAPPERS */

	if( pxCreatedTask != NULL )
	{
		/* Pass the handle out in an anonymous way.  The handle can be used to
		change the created task's priority, delete the created task, etc.*/
		*pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
	}
	else
	{
		mtCOVERAGE_TEST_MARKER();
	}
}
/*-----------------------------------------------------------*/

第一步，根据堆栈的增长方向确定刚刚申请的堆栈的栈顶位置，如果堆栈向下增长，则栈顶的位置为pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ]，如果堆栈为向上增长，则栈顶的位置便是pxNewTCB->pxStack，注意要8字节对齐。
第二步，将任务的拷贝到该任务控制块中的pxNewTCB->pcTaskName中。
第三步，判断任务的优先级不超限，同时将优先级赋值给该任务控制块中的pxNewTCB->uxPriority。
第四步，初始化列表项。
第五步，根据第一步的栈顶，初始化栈顶。

未完，待续。。。。。。。。