FREERTOS学习笔记，资源管理二

互斥体与任务调度

当两个需要使用同一个共享资源的任务优先级不同时，高优先级会在低优先级任务刚释放互斥体时打断低优先级任务。但当两个任务优先级相同时，任务二不会在任务一刚释放互斥体时马上抢占，而会等待任务一时间片执行完后再执行，此时会产生如下一种情况，

即当任务二释放互斥体后的时间片执行完前又开始了第二次循环，从而再次获取互斥体，此时会导致切换到任务一后，任务一无法得到互斥体而再次进入阻塞，从而任务二继续执行。
为了解决这个问题应采用调用taskYIELD() 接口的方法，即在释放互斥体后直接调度任务调度器。
例程如下：

void vFunction( void *pvParameter )
{
   
	extern SemaphoreHandle_t xMutex;
	char cTextBuffer[ 128 ];
	TickType_t xTimeAtWhichMutexWasTaken;
	for( ;; )
	{
   
		/* Generate the text string – this is a fast operation. */
		vGenerateTextInALocalBuffer( cTextBuffer );
		/* Obtain the mutex that is protecting access to the display. */
		xSemaphoreTake( xMutex, portMAX_DELAY );
		/* Record the time at which the mutex was taken. */
		xTimeAtWhichMutexWasTaken = xTaskGetTickCount();
		/* Write the generated text to the display – this is a slow operation. */
		vCopyTextToFrameBuffer( cTextBuffer );
		/* The text has been written to the display, so return the mutex. */
		xSemaphoreGive( xMutex );
		/* If taskYIELD() was called on each iteration then this task would only ever
		remain in the Running state for a short period of time, and processing time
		would be wasted by rapidly switching between tasks. Therefore, only call
		taskYIELD() if the tick count changed while the mutex was held. */
		if( xTaskGetTickCount() != xTimeAtWhichMutexWasTaken )
		{
   
			taskYIELD(