{"id":1287,"date":"2024-10-27T16:31:37","date_gmt":"2024-10-27T08:31:37","guid":{"rendered":"https:\/\/aoofoo.com\/?p=1287"},"modified":"2024-10-31T21:01:36","modified_gmt":"2024-10-31T13:01:36","slug":"3-4-freertos%e4%bb%bb%e5%8a%a1%e5%88%9b%e5%bb%ba%e5%92%8c%e5%88%a0%e9%99%a4","status":"publish","type":"post","link":"https:\/\/aoofoo.com\/index.php\/2024\/10\/27\/3-4-freertos%e4%bb%bb%e5%8a%a1%e5%88%9b%e5%bb%ba%e5%92%8c%e5%88%a0%e9%99%a4\/","title":{"rendered":"3.4 FreeRTOS\u4efb\u52a1\u521b\u5efa\u548c\u5220\u9664"},"content":{"rendered":"<h2>\u4efb\u52a1\u521b\u5efa\u548c\u5220\u9664API<\/h2>\n<p>\u4efb\u52a1\u521b\u5efa\u662f\u6211\u4eec\u8981\u5b66\u4e60\u7684\u7b2c\u4e00\u4e2aAPI\u51fd\u6570\uff0c\u800c\u4efb\u52a1\u521b\u5efa\u4e5f\u662f\u4f17\u591aAPI\u51fd\u6570\u4e2d\uff0c\u6700\u590d\u6742\u7684\u4e00\u4e2a\u3002<\/p>\n<p>\u4efb\u52a1\u7684\u521b\u5efa\u548c\u5220\u9664\u672c\u8d28\u5c31\u662f\u8c03\u7528FreeRTOS\u7684API\u51fd\u6570\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1353\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/10\/\u5c4f\u5e55\u622a\u56fe-2024-10-30-113600.png\" alt=\"\" width=\"952\" height=\"277\" \/><\/p>\n<p>\u52a8\u6001\u521b\u5efa\u4efb\u52a1\uff1a\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757\u4ee5\u53ca\u4efb\u52a1\u7684\u6808\u7a7a\u95f4\u6240\u9700\u7684\u5185\u5b58\uff0c\u5747\u7531 FreeRTOS \u4ece FreeRTOS \u7ba1\u7406\u7684\u5806\u4e2d\u5206\u914d \u3002\u52a8\u6001\u4efb\u52a1\u521b\u5efa\u6240\u7533\u8bf7\u7684\u7a7a\u95f4\uff0c\u662f\u7531FreeRTOS\u6240\u7ba1\u7406\u7684\u3002<\/p>\n<p>\u9759\u6001\u521b\u5efa\u4efb\u52a1\uff1a\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757\u4ee5\u53ca\u4efb\u52a1\u7684\u6808\u7a7a\u95f4\u6240\u9700\u7684\u5185\u5b58\uff0c\u9700\u7528\u6237\u5206\u914d\u63d0\u4f9b \u3002<\/p>\n<h3>\u52a8\u6001\u521b\u5efa\u4efb\u52a1\u51fd\u6570<\/h3>\n<pre class=\"corepress-code-pre\"><code>BaseType_t xTaskCreate\r\n( \r\n\tTaskFunction_t \t\t\t\tpxTaskCode,\t\/* \u6307\u5411\u4efb\u52a1\u51fd\u6570\u7684\u6307\u9488 *\/\t\t\t\t\r\n\tconst char * const \t\t\tpcName, \t\/* \u4efb\u52a1\u540d\u5b57\uff0c\u6700\u5927\u957f\u5ea6configMAX_TASK_NAME_LEN *\/\r\n\tconst \tconfigSTACK_DEPTH_TYPE \t\tusStackDepth, \t\/* \u4efb\u52a1\u5806\u6808\u5927\u5c0f\uff0c\u6ce8\u610f\u5b57\u4e3a\u5355\u4f4d *\/\r\n\tvoid * const \t\t\t\tpvParameters,\t\/* \u4f20\u9012\u7ed9\u4efb\u52a1\u51fd\u6570\u7684\u53c2\u6570 *\/\r\n\tUBaseType_t \t\t\t\tuxPriority,\t\/* \u4efb\u52a1\u4f18\u5148\u7ea7\uff0c\u8303\u56f4\uff1a0 ~ configMAX_PRIORITIES - 1 *\/\r\n\tTaskHandle_t * const \t\t\tpxCreatedTask \t\/* \u4efb\u52a1\u53e5\u67c4\uff0c\u5c31\u662f\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757 *\/\r\n)<\/code><\/pre>\n<p>pxTaskCode\uff1a\u6307\u5411\u4efb\u52a1\u51fd\u6570\u7684\u6307\u9488\uff0c\u6bd4\u5982\u6211\u4eec\u521b\u5efa\u4e86\u4e00\u4e2a\u4efb\u52a1\uff0c\u6211\u4eec\u8fd9\u4e2a\u4efb\u52a1\u6240\u5b9e\u73b0\u7684\u529f\u80fd\uff0c\u5c31\u662f\u653e\u5728\u8fd9\u4e2a\u51fd\u6570\u91cc\u9762\u3002<\/p>\n<p>pcName\uff1a\u8fd9\u4e2a\u5c31\u662f\u4efb\u52a1\u540d\u5b57\uff0c\u4efb\u52a1\u540d\u5b57\u7684\u957f\u5ea6\u53d6\u51b3\u4e8e\u5728FreeRTOSConfig\u4e2dconfigMAX_TASK_NAME_LEN\u5b8f\u7684\u5b9a\u4e49\uff0c\u6211\u4eec\u5728\u5176\u4e2d\u5b9a\u4e49\u4e8616\uff0c\u6240\u4ee5\u4efb\u52a1\u540d\u5b57\u6700\u5927\u7684\u957f\u5ea6\u5c31\u662f16\u5b57\u7b26\u3002<\/p>\n<p>usStackDepth\uff1a\u4efb\u52a1\u7684\u5806\u6808\u5927\u5c0f\uff0c\u6ce8\u610f\u662f\u201c\u5b57\u201d\u4e3a\u5355\u4f4d\uff0c\u6bd4\u5982\u6211\u4eec\u4f20\u53c2\u7684\u6570\u636e\u662f100\uff0c\u5b9e\u9645\u662f100\u5b57\uff0c400\u5b57\u8282\u3002<\/p>\n<p>pvParameters\uff1a\u4f20\u9012\u7ed9\u4efb\u52a1\u51fd\u6570\u7684\u53c2\u6570\uff0c\u8fd9\u4e2a\u6211\u4eec\u4e00\u822c\u7528\u4e0d\u5230\uff0c\u6240\u4ee5\u5199NULL\u3002<\/p>\n<p>uxPriority\uff1a\u6bcf\u4e2a\u4efb\u52a1\u90fd\u6709\u81ea\u5df1\u7684\u4f18\u5148\u7ea7\uff0c\u53d6\u503c\u8303\u56f4\uff0c\u5982\u679c\u662f\u786c\u4ef6\uff0c\u5e76\u4e14\u4f60\u5728\u8bbe\u7f6e\u7684FreeRTOSConfig\u4e2d\u8bbe\u7f6e\u7684\u662f0~31\uff0c\u90a3\u4e48\u8fd9\u91cc\u5c31\u53ef\u4ee5\u9009\u62e90~31\u3002<\/p>\n<p>pxCreatedTask\uff1a\u6211\u4eec\u8fdb\u884c\u5220\u9664\u4efb\u52a1\uff0c\u5c31\u662f\u901a\u8fc7\u4efb\u52a1\u53e5\u67c4\u6765\u64cd\u4f5c\u7684\uff0c\u4efb\u52a1\u53e5\u67c4\u5176\u5b9e\u5c31\u662f\u4efb\u52a1\u63a7\u5236\u5757\uff0c\u540e\u7eed\u6211\u4eec\u4f1a\u8bb2\u89e3\u4efb\u52a1\u63a7\u5236\u5757\u662f\u4ec0\u4e48\u3002<\/p>\n<p>\u6211\u4eec\u53ef\u4ee5\u770b\u5230\u8fd9\u4e2a\u51fd\u6570\u662f\u6709\u8fd4\u56de\u503c\u7684\uff0c\u8fd4\u56de\u7684\u7c7b\u578b\u662fBaseType\uff1a<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1360\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/10\/\u5c4f\u5e55\u622a\u56fe-2024-10-31-093642.png\" alt=\"\" width=\"1213\" height=\"193\" \/><\/p>\n<p>\u9519\u8bef\u7684\u4e3b\u8981\u539f\u56e0\u5c31\u662f\uff0c\u5206\u914d\u7684\u5806\u6808\u592a\u5927\uff0c\u6211\u4eec\u8bf4\u8fc7\uff0c\u52a8\u6001\u521b\u5efa\u5b9e\u5728FreeRTOS\u6240\u7ba1\u7406\u7684\u5806\u6808\u4e2d\u53bb\u7533\u8bf7\u7684\uff0c\u5982\u679c\u8d85\u8fc7\u4e86FreeRTOS\u6240\u80fd\u627f\u53d7\u7684\u7a7a\u95f4\uff0c\u5c31\u4f1a\u7533\u8bf7\u5931\u8d25\u3002<\/p>\n<p>\u5b9e\u73b0\u52a8\u6001\u521b\u5efa\u4efb\u52a1\u7684\u6d41\u7a0b\u4e09\u6b65\u9aa4\uff1a<\/p>\n<p>1.\u5c06\u5b8f\uff0c\u652f\u6301\u52a8\u6001\u7533\u8bf7\u5185\u5b58 configSUPPORT_DYNAMIC_ALLOCATION \u914d\u7f6e\u4e3a 1\u3002\uff08FreeRTOSConfig\uff09<\/p>\n<p>2.\u5b9a\u4e49\u51fd\u6570\u7684\u5165\u53e3\u53c2\u6570\uff0c\u6211\u4eec\u521a\u624d\u6240\u8bf4\u7684\u90a36\u4e2a\u5165\u53e3\u53c2\u6570\u3002<\/p>\n<p>3.\u7f16\u5199\u4efb\u52a1\u51fd\u6570\uff0c\u6211\u4eec\u521b\u5efa\u8fd9\u4e2a\u4efb\u52a1\uff0c\u5177\u4f53\u8981\u5b9e\u73b0\u54ea\u4e9b\u529f\u80fd\u3002<\/p>\n<p>\u4f7f\u7528xTaskCreate\u51fd\u6570\u521b\u5efa\u7684\u4efb\u52a1\uff0c\u4f1a\u7acb\u523b\u8fdb\u5165\u5c31\u7eea\u6001\uff0c\u7531\u4efb\u52a1\u8c03\u5ea6\u5668\u8c03\u5ea6\u8fd0\u884c\u3002<\/p>\n<p>\u5f53\u7136\uff0c\u4e0a\u9762\u7684\u4e09\u4e2a\u6b65\u9aa4\u53ea\u662f\u6211\u4eec\u5199\u4ee3\u7801\u4f1a\u4f7f\u7528\u5230\u7684\uff0c\u5176\u4e2d\u7684\u5185\u90e8\u5b9e\u73b0\u6211\u4eec\u8fd9\u91cc\u7b80\u5355\u56fe\u793a\u4e00\u4e0b\uff1a<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1361\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/10\/\u5c4f\u5e55\u622a\u56fe-2024-10-31-094431.png\" alt=\"\" width=\"1200\" height=\"263\" \/><\/p>\n<p>\u4efb\u52a1\u63a7\u5236\u5757\u7ed3\u6784\u4f53\u6210\u5458\u4ecb\u7ecd\uff08TCB\u7ed3\u6784\u4f53\uff09\uff1a<\/p>\n<pre class=\"corepress-code-pre\"><code>typedef struct tskTaskControlBlock       \r\n{\r\n    \tvolatile StackType_t \t\t* pxTopOfStack; \/* \u4efb\u52a1\u6808\u6808\u9876\uff0c\u5fc5\u987b\u4e3aTCB\u7684\u7b2c\u4e00\u4e2a\u6210\u5458 *\/\r\n   \tListItem_t \t\t\txStateListItem; \/* \u4efb\u52a1\u72b6\u6001\u5217\u8868\u9879 *\/      \r\n\tListItem_t \t\t\txEventListItem; \/* \u4efb\u52a1\u4e8b\u4ef6\u5217\u8868\u9879 *\/     \r\n    \tUBaseType_t \t\t\tuxPriority; \/* \u4efb\u52a1\u4f18\u5148\u7ea7\uff0c\u6570\u503c\u8d8a\u5927\uff0c\u4f18\u5148\u7ea7\u8d8a\u5927 *\/\r\n    \tStackType_t \t\t\t* pxStack;\/* \u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740 *\/\r\n    \tchar \t\t\t\tpcTaskName[ configMAX_TASK_NAME_LEN ]; \t\/* \u4efb\u52a1\u540d\u5b57 *\/\t\t\r\n\t\u2026\r\n\t\u7701\u7565\u5f88\u591a\u6761\u4ef6\u7f16\u8bd1\u7684\u6210\u5458\r\n} tskTCB;\r\n<\/code><\/pre>\n<p>\u7b2c\u4e00\u4e2a\u6210\u5458\u662f\u6808\u9876\u6307\u9488\uff0c\u5fc5\u987b\u662fTCB\u7684\u7b2c\u4e00\u6210\u5458\uff0c\u56e0\u4e3a\u540e\u7eed\u6211\u4eec\u4efb\u52a1\u7684\u5207\u6362\u3001\u4e0a\u4e0b\u6587\u4fdd\u5b58\u3001\u6062\u590d\u90fd\u606f\u606f\u76f8\u5173\u3002<\/p>\n<p>\u72b6\u6001\u5217\u8868\u9879\uff0c\u5f53\u524d\u4efb\u52a1\u5904\u4e8e\u4ec0\u4e48\u72b6\u6001\uff0c\u5c31\u4fdd\u5b58\u5728\u8fd9\u91cc\u3002<\/p>\n<p>\u4e8b\u4ef6\u5217\u8868\u9879\uff0c\u5982\u679c\u5f53\u524d\u6b63\u5728\u7b49\u5f85\u67d0\u4e9b\u4e8b\u4ef6\uff0c\u90a3\u4e48\u5c31\u4f1a\u4f7f\u7528\u7684\u4e8b\u4ef6\u5217\u8868\u9879\u3002<\/p>\n<p>\u4efb\u52a1\u4f18\u5148\u7ea7\uff0c\u6570\u503c\u8d8a\u5927\u4f18\u5148\u7ea7\u8d8a\u5927\u3002<\/p>\n<p>\u4efb\u52a1\u6808\u8d77\u59cb\u5730\u5740\uff0c\u5c31\u662f\u4efb\u52a1\u7684\u5806\u6808\u7684\u9996\u5730\u5740\u4f1a\u4fdd\u5b58\u5728\u8fd9\u91cc\u3002<\/p>\n<p>&#8230;<\/p>\n<p>\u7b80\u5355\u5730\u8bb2\uff0c<span style=\"color: #ff9900;\"><strong>\u4efb\u52a1\u63a7\u5236\u5757<\/strong><\/span>\u5c31\u76f8\u5f53\u4e8e\u4efb\u52a1\u7684\u8eab\u4efd\u8bc1\uff0c\u4fdd\u7559\u4e86\u8fd9\u4e2a\u4efb\u52a1\u7684\u7279\u5f81\u3002<\/p>\n<h3>\u9759\u6001\u521b\u5efa\u4efb\u52a1\u51fd\u6570<\/h3>\n<pre class=\"corepress-code-pre\"><code>TaskHandle_t xTaskCreateStatic\r\n(\r\n    \tTaskFunction_t\t\tpxTaskCode,\t\t\/* \u6307\u5411\u4efb\u52a1\u51fd\u6570\u7684\u6307\u9488 *\/\r\n    \tconst char * const\tpcName,\t\t\t\/* \u4efb\u52a1\u51fd\u6570\u540d *\/\r\n    \tconst uint32_t\t\tulStackDepth, \t\t\/* \u4efb\u52a1\u5806\u6808\u5927\u5c0f\u6ce8\u610f\u5b57\u4e3a\u5355\u4f4d *\/\r\n    \tvoid * const\t\tpvParameters, \t        \/* \u4f20\u9012\u7684\u4efb\u52a1\u51fd\u6570\u53c2\u6570 *\/\r\n    \tUBaseType_t\t\tuxPriority, \t\t\/* \u4efb\u52a1\u4f18\u5148\u7ea7 *\/\r\n    \tStackType_t * const\tpuxStackBuffer, \t\/* \u4efb\u52a1\u5806\u6808\uff0c\u4e00\u822c\u4e3a\u6570\u7ec4\uff0c\u7531\u7528\u6237\u5206\u914d *\/\r\n    \tStaticTask_t * const\tpxTaskBuffer\t\t\/* \u4efb\u52a1\u63a7\u5236\u5757\u6307\u9488\uff0c\u7531\u7528\u6237\u5206\u914d *\/\r\n); \t<\/code><\/pre>\n<p>\u6211\u4eec\u53ef\u4ee5\u770b\u5230\uff0c\u9759\u6001\u521b\u5efa\u4efb\u52a1\u51fd\u6570\u7684\u5165\u53e3\u53c2\u6570\u540c\u6837\u4e5f\u662f\u975e\u5e38\u591a\u7684\uff0c\u5927\u90e8\u5206\u662f\u548c\u52a8\u6001\u521b\u5efa\u4efb\u52a1\u51fd\u6570\u662f\u7c7b\u4f3c\u7684\u3002<\/p>\n<p>\u4e0d\u540c\u70b9\u6709\u4e24\u4e2a\uff1a<\/p>\n<p>\u4efb\u52a1\u5806\u6808\uff0c\u4efb\u52a1\u5806\u6808\u4e00\u822c\u662f\u6570\u7ec4\uff0c\u662f\u7531\u7528\u6237\u81ea\u5df1\u5b9a\u4e49\u7684\uff0c\u8fd9\u5c31\u548c\u52a8\u6001\u4e0d\u4e00\u6837\u4e86\uff0c\u52a8\u6001\u6211\u4eec\u53ea\u9700\u8981\u7ed9\u4e00\u4e2a\u4efb\u52a1\u5806\u6808\u5927\u5c0f\uff0c\u5269\u4e0b\u7684\u7531FreeRTOS\u81ea\u5df1\u6765\u64cd\u4f5c\u3002<\/p>\n<p>\u63a7\u5236\u5757\u7684\u6307\u9488\uff0c\u5c31\u662f\u63a7\u5236\u5757\u7684\u5730\u5740\uff0c\u8fd9\u4e5f\u662f\u7531\u6211\u4eec\u81ea\u5df1\u5206\u914d\u7684\u3002<\/p>\n<p>\u6211\u4eec\u53ef\u4ee5\u770b\u5230\u8fd9\u4e2a\u51fd\u6570\u662f\u6709\u8fd4\u56de\u503c\u7684\uff0c\u8fd4\u56de\u7684\u7c7b\u578b\u662fTaskHandle_t\uff1a<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1362\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/10\/\u5c4f\u5e55\u622a\u56fe-2024-10-31-100009.png\" alt=\"\" width=\"1214\" height=\"185\" \/><\/p>\n<p>\u5b9e\u73b0\u9759\u6001\u521b\u5efa\u4efb\u52a1\u7684\u6d41\u7a0b\u4e94\u6b65\u9aa4\uff1a<\/p>\n<p>1.\u9700\u5c06\u5b8f\uff0c\u652f\u6301\u9759\u6001\u7533\u8bf7\u5185\u5b58configSUPPORT_STATIC_ALLOCATION \u914d\u7f6e\u4e3a 1\u3002<\/p>\n<p>2.\u5b9a\u4e49\u7a7a\u95f2\u4efb\u52a1&amp;\u8f6f\u4ef6\u5b9a\u65f6\u5668\u4efb\u52a1\u7684\u4efb\u52a1\u5806\u6808\u53caTCB\uff08\u4efb\u52a1\u63a7\u5236\u5757\uff09\u3002<\/p>\n<p>\u7a7a\u95f2\u4efb\u52a1\u662f\u5fc5\u987b\u8981\u6709\u7684\uff0c\u56e0\u4e3a\u5728\u6211\u4eecRTOS\u4e2d\uff0c\u6211\u4eec\u7684CPU\u662f\u4e0d\u80fd\u505c\u6b62\u7684\uff0c\u7a7a\u95f2\u7684\u65f6\u5019\u5c31\u9700\u8981\u53bb\u6267\u884c\u7a7a\u95f2\u4efb\u52a1\u3002<\/p>\n<p>\u8f6f\u4ef6\u5b9a\u65f6\u5668\u4efb\u52a1\uff0c\u4ed6\u662f\u53ef\u9009\u7684\uff0c\u5982\u679c\u4f60\u4f7f\u80fd\u4e86\u8f6f\u4ef6\u5b9a\u65f6\u5668\uff0c\u5c31\u9700\u8981\uff0c\u8fd9\u4e5f\u662f\u5728FreeRTOSConfig\u4e2d\u4f7f\u80fd\u3002<\/p>\n<p>3.\u5b9e\u73b0\u4e24\u4e2a\u63a5\u53e3\u51fd\u6570\uff1a<\/p>\n<p>vApplicationGetIdleTaskMemory( )\uff1b\u7a7a\u95f2\u4efb\u52a1\u7684\u5185\u5b58\u8d4b\u503c\u3002<\/p>\n<p>vApplicationGetTimerTaskMemory ( )*\uff08\u53ef\u9009\uff09\uff1b\u8f6f\u4ef6\u5b9a\u65f6\u5668\u7684\u5185\u5b58\u8d4b\u503c\u3002<\/p>\n<p>4.\u5b9a\u4e49\u51fd\u6570\u7684\u5165\u53e3\u53c2\u6570\u3002<\/p>\n<p>5.\u7f16\u5199\u4efb\u52a1\u51fd\u6570\u3002<\/p>\n<p>xTaskCreateStatic()\u51fd\u6570\u521b\u5efa\u5b8c\u6210\u540e\u4f1a\u7acb\u523b\u8fdb\u5165\u5c31\u7eea\u6001\uff0c\u7531\u4efb\u52a1\u8c03\u5ea6\u5668\u8c03\u5ea6\u8fd0\u884c\u3002<\/p>\n<p>\u5f53\u7136\uff0c\u4e0a\u9762\u7684\u4e94\u4e2a\u6b65\u9aa4\u53ea\u662f\u6211\u4eec\u5199\u4ee3\u7801\u4f1a\u4f7f\u7528\u5230\u7684\uff0c\u5176\u4e2d\u7684\u5185\u90e8\u5b9e\u73b0\u6211\u4eec\u8fd9\u91cc\u7b80\u5355\u56fe\u793a\u4e00\u4e0b\uff1a<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1364\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/10\/\u5c4f\u5e55\u622a\u56fe-2024-10-31-100913.png\" alt=\"\" width=\"1491\" height=\"183\" \/><\/p>\n<h3>\u4efb\u52a1\u5220\u9664\u51fd\u6570<\/h3>\n<p>\u7528\u4e8e\u5220\u9664\u5df2\u88ab\u521b\u5efa\u7684\u4efb\u52a1 \uff0c\u88ab\u5220\u9664\u7684\u4efb\u52a1\u5c06\u4ece\u5c31\u7eea\u6001\u4efb\u52a1\u5217\u8868\u3001\u963b\u585e\u6001\u4efb\u52a1\u5217\u8868\u3001\u6302\u8d77\u6001\u4efb\u52a1\u5217\u8868\u548c\u4e8b\u4ef6\u5217\u8868\u4e2d\u79fb\u9664 \u3002<\/p>\n<pre class=\"corepress-code-pre\"><code>void vTaskDelete(TaskHandle_t xTaskToDelete);<\/code><\/pre>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1365\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/10\/\u5c4f\u5e55\u622a\u56fe-2024-10-31-101038.png\" alt=\"\" width=\"1109\" height=\"140\" \/><\/p>\n<p>\u6ce8\u610f\uff1a<\/p>\n<p>1.<\/p>\n<p>\u5f53\u4f20\u5165\u7684\u53c2\u6570\u4e3aNULL\uff0c\u5219\u4ee3\u8868\u5220\u9664\u4efb\u52a1\u81ea\u8eab\uff08\u5f53\u524d\u6b63\u5728\u8fd0\u884c\u7684\u4efb\u52a1\uff09\u3002<\/p>\n<p>\u6bd4\u5982\u8bf4\uff0c\u6211\u4eec\u521b\u5efa\u4e86\u4e24\u4e2a\u4efb\u52a1\uff1aTask1\u3001Task2\uff0c\u6211\u4eec\u5728Task1\u7684\u4efb\u52a1\u51fd\u6570\u4e2d\u8c03\u7528\u4e86\u4e00\u4e2a\u4efb\u52a1\u5220\u9664\uff0c\u4efb\u52a1\u5220\u9664\u7684\u53e5\u67c4\u662fTask2\uff0c\u5c31\u4f1a\u5220\u9664Task2\u4efb\u52a1\uff1b\u5982\u679c\u4efb\u52a1\u5220\u9664\u7684\u53e5\u67c4\u662fNULL\uff0c\u90a3\u4e48\u5220\u9664\u81ea\u8eab\u5373Task1\u3002<\/p>\n<p>2.<\/p>\n<p>\u52a8\u6001\uff1a\u7a7a\u95f2\u4efb\u52a1\u4f1a\u8d1f\u8d23\u91ca\u653e\u88ab\u5220\u9664\u4efb\u52a1\u4e2d\u7531\u7cfb\u7edf\u5206\u914d\u7684\u5185\u5b58\uff0c\u6211\u4eec\u52a8\u6001\u521b\u5efa\u4efb\u52a1\uff0c\u4ed6\u7684\u5185\u5b58\u662f\u7531FreeRTOS\u5206\u914d\u7684\uff0c\u9759\u6001\u5206\u914d\uff0c\u4e5f\u5c31\u662f\u8bf4\uff0c\u5f53\u4f60\u7684\u4efb\u52a1\u662f\u52a8\u6001\u4efb\u52a1\uff0c\u662f\u7531\u7a7a\u95f2\u4efb\u52a1\u91ca\u653e\u5185\u5b58\u7684\u3002\u4f46\u662f\u6709\u4e2a\u6761\u4ef6\uff0c\u90a3\u5c31\u662f\u4f60\u662f\u5728\u5220\u9664\u4efb\u52a1\u672c\u8eab\u7684\u65f6\u5019\uff08NULL\uff09\uff0c\u4f60\u624d\u4f1a\u5728\u7a7a\u95f2\u4efb\u52a1\u4e2d\uff0c\u6267\u884c\u91ca\u653e\u3002 \u5982\u679c\u4f60\u5220\u9664\u7684\u662f\u5176\u4ed6\u4efb\u52a1\uff0c\u90a3\u4e48\u4f60\u5c31\u662f\u5728\u5f53\u524d\u4efb\u52a1\u88ab\u5220\u9664\u7684\uff0c\u800c\u4e0d\u662f\u5728\u7a7a\u95f2\u4efb\u52a1\u88ab\u5220\u9664\u3002<\/p>\n<p>\u9759\u6001\uff1a\u662f\u7531\u7528\u6237\u81ea\u5df1\u5b9a\u4e49\u7684\uff0c\u4f46\u662f\u7531\u7528\u6237\u5728\u4efb\u52a1\u5220\u9664\u524d\u7533\u8bf7\u7684\u5185\u5b58\uff0c \u5219\u9700\u8981\u7531\u7528\u6237\u5728\u4efb\u52a1\u88ab\u5220\u9664\u524d\u63d0\u524d\u91ca\u653e\uff0c\u5426\u5219\u5c06\u5bfc\u81f4\u5185\u5b58\u6cc4\u9732\u3002<\/p>\n<p>\u5b9e\u73b0\u4efb\u52a1\u5220\u9664\u7684\u6d41\u7a0b\u4e24\u6b65\u9aa4\uff1a<\/p>\n<p>1.\u4f7f\u7528\u5220\u9664\u4efb\u52a1\u51fd\u6570\uff0c\u9700\u5c06\u5b8fINCLUDE_vTaskDelete \u914d\u7f6e\u4e3a 1\u3002<\/p>\n<p>2.\u5165\u53e3\u53c2\u6570\u8f93\u5165\u9700\u8981\u5220\u9664\u7684\u4efb\u52a1\u53e5\u67c4\uff08NULL\u4ee3\u8868\u5220\u9664\u672c\u8eab\uff09 \u3002<\/p>\n<p>\u5f53\u7136\uff0c\u4e0a\u9762\u7684\u4e24\u4e2a\u6b65\u9aa4\u53ea\u662f\u6211\u4eec\u5199\u4ee3\u7801\u4f1a\u4f7f\u7528\u5230\u7684\uff0c\u5176\u4e2d\u7684\u5185\u90e8\u5b9e\u73b0\u6211\u4eec\u8fd9\u91cc\u7b80\u5355\u56fe\u793a\u4e00\u4e0b\uff1a<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1366\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/10\/\u5c4f\u5e55\u622a\u56fe-2024-10-31-102439.png\" alt=\"\" width=\"1524\" height=\"438\" \/><\/p>\n<h2>\u52a8\u6001\u4efb\u52a1\u8be6\u89e3<\/h2>\n<h3>\u521b\u5efa\u548c\u5220\u9664\u5b9e\u73b0<\/h3>\n<p>\u5b66\u4e60\u76ee\u7684\uff1a\u5b66\u4f1a xTaskCreate( ) \u548c vTaskDelete( ) \u7684\u4f7f\u7528\u3002<\/p>\n<p>\u76ee\u6807\u8bbe\u8ba1\uff1a\u5c06\u8bbe\u8ba1\u56db\u4e2a\u4efb\u52a1\uff1astart_task\u3001task1\u3001task2\u3001task3\u3002<\/p>\n<p>\u56db\u4e2a\u4efb\u52a1\u7684\u529f\u80fd\u5982\u4e0b\uff1a<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-1368\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/10\/\u5c4f\u5e55\u622a\u56fe-2024-10-31-103304.png\" alt=\"\" width=\"579\" height=\"234\" \/><\/p>\n<p>start_task\u6211\u4eec\u53ea\u6267\u884c1\u6b21\uff0c\u4e3a\u4ec0\u4e48\uff1f<\/p>\n<p>\u56e0\u4e3a\u6211\u4eec\u521b\u5efa\u7684\u4efb\u52a1\uff0c\u6211\u4eec\u53ea\u9700\u8981\u521b\u5efa\u4e00\u6b21\uff0c\u5982\u679c\u6211\u4eec\u91cd\u590d\u521b\u5efa\u4f1a\u5bfc\u81f4\u4ec0\u4e48\uff1f<\/p>\n<p>\u52a8\u6001\u521b\u5efa\u5b83\u7684\u5806\u6808\u662f\u5728FreeRTOS\u6240\u7ba1\u7406\u7684\u5185\u5b58\u8fdb\u884c\u7533\u8bf7\u7684\uff0c\u5982\u679c\u6211\u4eec\u4e00\u76f4\u91cd\u590d\u521b\u5efa\uff0c\u5806\u6808\u5c31\u80af\u5b9a\u4e0d\u591f\u4e86\u3002<\/p>\n<p>\u6240\u4ee5\u5f00\u59cb\u4efb\u52a1\u5c31\u53ea\u6267\u884c\u4e00\u6b21\uff0c\u7136\u540e\u8c03\u7528\u4efb\u52a1\u5220\u9664\uff0c\u628a\u81ea\u5df1\u7ed9\u5220\u6389\u3002<\/p>\n<div class=\"sc-star-plane sc-star-plane--1\"><div class=\"sc-star-plane__content\"><\/p>\n<p>\u5b9e\u73b0\u52a8\u6001\u521b\u5efa\u4efb\u52a1\u7684\u6d41\u7a0b\u4e09\u6b65\u9aa4\uff1a<\/p>\n<p>1.\u5c06\u5b8f\uff0c\u652f\u6301\u52a8\u6001\u7533\u8bf7\u5185\u5b58 configSUPPORT_DYNAMIC_ALLOCATION \u914d\u7f6e\u4e3a 1\u3002\uff08FreeRTOSConfig\uff09<\/p>\n<p>2.\u5b9a\u4e49\u51fd\u6570\u7684\u5165\u53e3\u53c2\u6570\uff0c\u6211\u4eec\u521a\u624d\u6240\u8bf4\u7684\u90a36\u4e2a\u5165\u53e3\u53c2\u6570\u3002<\/p>\n<p>3.\u7f16\u5199\u4efb\u52a1\u51fd\u6570\uff0c\u6211\u4eec\u521b\u5efa\u8fd9\u4e2a\u4efb\u52a1\uff0c\u5177\u4f53\u8981\u5b9e\u73b0\u54ea\u4e9b\u529f\u80fd\u3002<\/p>\n<p>\u4f7f\u7528xTaskCreate\u51fd\u6570\u521b\u5efa\u7684\u4efb\u52a1\uff0c\u4f1a\u7acb\u523b\u8fdb\u5165\u5c31\u7eea\u6001\uff0c\u7531\u4efb\u52a1\u8c03\u5ea6\u5668\u8c03\u5ea6\u8fd0\u884c\u3002<\/p>\n<p><\/div><\/div>\n<p>\u6839\u636e\u6211\u4eec\u4e0a\u9762\u6240\u5b66\u7684\u4e09\u6b65\u8d70\uff0c\u5f00\u59cb\u7b2c\u4e00\u6b65\u9aa4\uff0c\u5c06\u5b8f\u6539\u4e3a1\uff1a<\/p>\n<pre class=\"corepress-code-pre\"><code>#define configSUPPORT_DYNAMIC_ALLOCATION    1       \/* 1: \u652f\u6301\u52a8\u6001\u7533\u8bf7\u5185\u5b58, \u9ed8\u8ba4: 1 *\/<\/code><\/pre>\n<p>\u7b2c\u4e8c\u6b65\uff0c\u5b9e\u73b0\u51fd\u6570\u7684\u5165\u53e3\u53c2\u6570\uff1a<\/p>\n<p>\u5728\u8fd9\u4e00\u6b65\u6211\u4eec\u9700\u8981\u6ce8\u610f\uff0c\u6709\u4e0b\u9762\u51e0\u4e2a\u4ee3\u7801\uff0c\u6211\u4eec\u7b2c\u4e00\u6b21\u770b\u5230\uff1a<\/p>\n<p>vTaskStartScheduler()\uff0c\u8fd9\u662f\u5f00\u542f\u4efb\u52a1\u8c03\u5ea6\u5668\uff0c\u6211\u4eec\u521b\u5efa\u5b8c\u4efb\u52a1\uff0c\u8fd9\u4e2a\u51fd\u6570\u5fc5\u987b\u8981\u5f00\u542f\uff0c\u4e0d\u7136\u4efb\u52a1\u662f\u65e0\u6cd5\u8c03\u5ea6\u7684\u3002<\/p>\n<p>taskENTER_CRITICAL(),taskEXIT_CRITICAL()\uff0c\u8fd9\u662f\u8fdb\u5165\u4e34\u754c\u533a\u548c\u9000\u51fa\u4e34\u754c\u533a\uff0c\u8fdb\u5165\u4e34\u754c\u533a\u6709\u4ec0\u4e48\u4f5c\u7528\u5462\uff1f\u8fdb\u5165\u4e34\u754c\u533a\u4e4b\u540e\uff0c\u65b0\u521b\u5efa\u7684\u4efb\u52a1\u5c31\u7b97\u4f18\u5148\u7ea7\u6bd4\u8f83\u9ad8\u4e5f\u4e0d\u4f1a\u6253\u65ad\u6b63\u5728\u8fd0\u884c\u7684\u4efb\u52a1\uff0c\u6b63\u5728\u8fd0\u884c\u7684\u4efb\u52a1\u9000\u51fa\u4e34\u754c\u533a\u540e\uff0c\u4efb\u52a1\u8c03\u5ea6\u5668\u624d\u5f00\u59cb\u8d77\u4f5c\u7528\uff0c\u4fdd\u62a4\u5173\u952e\u4ee3\u7801\u4e0d\u88ab\u4e2d\u65ad\u3002<\/p>\n<pre class=\"corepress-code-pre\"><code>\/*\u4e3a\u4ec0\u4e48\u8981\u5806\u6808\u5b9a\u4e49128\uff1f\u6211\u4eec\u8fd9\u91cc\u662f\u504f\u5927\u5b9a\u4e49\u7684\uff0c\u56e0\u4e3a\u4f60\u4fdd\u8bc1\u4e0d\u4e86\u4f60\u5728\u540e\u7eed\u5728\u8fd9\u4e2a\u4efb\u52a1\u91cc\u8981\u64cd\u4f5c\u4ec0\u4e48\uff0c\u53ef\u80fd\u4f1a\u5b9a\u4e49\u4e00\u4e2a\u6bd4\u8f83\u5927\u7684\u6570\u7ec4\u3002\r\n\u6bcf\u4e2a\u4efb\u52a1\u90fd\u5b9a\u4e49\u7684\u504f\u5927\uff0c\u4f46\u603b\u7684\u7a7a\u95f4\u5c31\u8fd9\u4e48\u5927\uff0c\u4efb\u52a1\u592a\u591a\u7a7a\u95f4\u80af\u5b9a\u662f\u4e0d\u591f\u7684\uff0c\u6240\u4ee5FreeRTOS\u5c31\u6709\u4e2aAPI\u51fd\u6570\uff0c\u4ed6\u662f\u53ef\u4ee5\u67e5\u8be2\u8be5\u4efb\u52a1\u6240\u5269\u4f59\u7684\u5386\u53f2\u6700\u5c0f\u5806\u6808\u3002\r\n\u6211\u4eec\u53ef\u4ee5\u6839\u636e\u4ed6\u6240\u5269\u4f59\u7684\u5927\u5c0f\uff0c\u518d\u6765\u91cd\u65b0\u5b9a\u4e49\u5806\u6808\u5927\u5c0f\u3002*\/\r\n\r\n\/\/\u5f00\u59cb\u4efb\u52a1\u53c2\u6570\r\n#define START_TASK_STACK_SIZE 128 \/\/\u5b9a\u4e49\u5806\u6808\u5927\u5c0f\u662f128\u5b57\uff0c\u5373512\u5b57\u8282\r\n#define START_TASK_PRIO \t\t\t\t1 \/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\nTaskHandle_t start_task_handler;\r\n\r\n\/\/\u4efb\u52a11\u53c2\u6570\r\n#define TASK1_STACK_SIZE 128 \/\/\u5b9a\u4e49\u5806\u6808\u5927\u5c0f\u662f128\u5b57\uff0c\u5373512\u5b57\u8282\r\n#define TASK1_PRIO \t\t\t\t2  \/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\nTaskHandle_t task1_handler;\r\n\r\n\/\/\u4efb\u52a12\u53c2\u6570\r\n#define TASK2_STACK_SIZE 128 \/\/\u5b9a\u4e49\u5806\u6808\u5927\u5c0f\u662f128\u5b57\uff0c\u5373512\u5b57\u8282\r\n#define TASK2_PRIO \t\t\t\t3  \/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\nTaskHandle_t task2_handler;\r\n\r\n\/\/\u4efb\u52a13\u53c2\u6570\r\n#define TASK3_STACK_SIZE 128 \/\/\u5b9a\u4e49\u5806\u6808\u5927\u5c0f\u662f128\u5b57\uff0c\u5373512\u5b57\u8282\r\n#define TASK3_PRIO \t\t\t\t4  \/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\nTaskHandle_t task3_handler;\r\n\r\n\r\n\r\nvoid freertos_demo(void)\r\n{\r\n\t\r\n\txTaskCreate( (TaskFunction_t) start_task, \/\/\u5f00\u59cb\u4efb\u52a1\u51fd\u6570\u6307\u9488\r\n               (char *) \"start_task\", \/\/\u4efb\u52a1\u540d\u79f0\r\n               (configSTACK_DEPTH_TYPE)START_TASK_STACK_SIZE,\/\/\u5806\u6808\u5927\u5c0f\r\n               (void *) NULL, \/\/\u6211\u4eec\u4e00\u822c\u4e0d\u7528\uff0cNULL\r\n               (UBaseType_t) START_TASK_PRIO,\/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\n               (TaskHandle_t *) &amp;start_task_handler );\/\/\u8be5\u4efb\u52a1\u7684\u53e5\u67c4\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\r\n\tvTaskStartScheduler();\/\/\u5f00\u542f\u4efb\u52a1\u8c03\u5ea6\u5668\uff0c\u6211\u4eec\u521b\u5efa\u5b8c\u4efb\u52a1\uff0c\u8fd9\u4e2a\u51fd\u6570\u5fc5\u987b\u8981\u5f00\u542f\uff0c\u4e0d\u7136\u4efb\u52a1\u662f\u65e0\u6cd5\u8c03\u5ea6\u7684\u3002\r\n\t\r\n}\r\n\r\n\/\/\u5f00\u59cb\u4efb\u52a1\u51fd\u6570\r\nvoid start_task(void *pvParameters)\r\n{\r\n\t\ttaskENTER_CRITICAL();\/\/\u8fdb\u5165\u4e34\u754c\u533a\r\n\t\r\n\t\/\/\u521b\u5efa\u4efb\u52a11\r\n\t\txTaskCreate( (TaskFunction_t) task1, \/\/\u5f00\u59cb\u4efb\u52a1\u51fd\u6570\u6307\u9488\r\n               (char *) \"task1\", \/\/\u4efb\u52a1\u540d\u79f0\r\n               (configSTACK_DEPTH_TYPE)TASK1_STACK_SIZE,\/\/\u5806\u6808\u5927\u5c0f\r\n               (void *) NULL, \/\/\u6211\u4eec\u4e00\u822c\u4e0d\u7528\uff0cNULL\r\n               (UBaseType_t) TASK1_PRIO,\/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\n               (TaskHandle_t *) &amp;task1_handler );\/\/\u8be5\u4efb\u52a1\u7684\u53e5\u67c4\r\n\t\/\/\u521b\u5efa\u4efb\u52a12\r\n\t\txTaskCreate( (TaskFunction_t) task2, \/\/\u5f00\u59cb\u4efb\u52a1\u51fd\u6570\u6307\u9488\r\n               (char *) \"task2\", \/\/\u4efb\u52a1\u540d\u79f0\r\n               (configSTACK_DEPTH_TYPE)TASK2_STACK_SIZE,\/\/\u5806\u6808\u5927\u5c0f\r\n               (void *) NULL, \/\/\u6211\u4eec\u4e00\u822c\u4e0d\u7528\uff0cNULL\r\n               (UBaseType_t) TASK2_PRIO,\/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\n               (TaskHandle_t *) &amp;task2_handler );\/\/\u8be5\u4efb\u52a1\u7684\u53e5\u67c4\r\n\t\/\/\u521b\u5efa\u4efb\u52a13\t\t \r\n\t\txTaskCreate( (TaskFunction_t) task3, \/\/\u5f00\u59cb\u4efb\u52a1\u51fd\u6570\u6307\u9488\r\n               (char *) \"task3\", \/\/\u4efb\u52a1\u540d\u79f0\r\n               (configSTACK_DEPTH_TYPE)TASK3_STACK_SIZE,\/\/\u5806\u6808\u5927\u5c0f\r\n               (void *) NULL, \/\/\u6211\u4eec\u4e00\u822c\u4e0d\u7528\uff0cNULL\r\n               (UBaseType_t) TASK3_PRIO,\/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\n               (TaskHandle_t *) &amp;task3_handler );\/\/\u8be5\u4efb\u52a1\u7684\u53e5\u67c4\r\n\t\t\t\t\t\t\t \r\n\t\/\/\u5220\u9664\u81ea\u8eab\u4efb\u52a1\r\n\t\tvTaskDelete(NULL);\r\n\t\r\n\ttaskEXIT_CRITICAL();\/\/\u9000\u51fa\u4e34\u754c\u533a\t\t\t\t\t \r\n}<\/code><\/pre>\n<p>\u7b2c\u4e09\u6b65\uff0c\u7f16\u5199\u4efb\u52a1\u51fd\u6570\uff0c\u5b9e\u73b0\u5177\u4f53\u529f\u80fd\uff1a<\/p>\n<pre class=\"corepress-code-pre\"><code>\/\/\u4efb\u52a11\uff0c\u5b9e\u73b0LED0\u6bcf500ms\u7ffb\u8f6c\u4e00\u6b21\u3002\r\nvoid task1(void *pvParameters)\r\n{\r\n\twhile(1)\r\n\t{\r\n\t\tLED0_turn();\r\n\t\tvTaskDelay(500);\/\/\u4f7f\u7528FreeRTOS\u81ea\u5e26\u7684\u5ef6\u65f6\u51fd\u6570\r\n\t}\r\n}\r\n\/\/\u4efb\u52a12\uff0c\u5b9e\u73b0LED1\u6bcf500ms\u7ffb\u8f6c\u4e00\u6b21\u3002\r\nvoid task2(void *pvParameters)\r\n{\r\n\twhile(1)\r\n\t{\r\n\t\tLED1_turn();\r\n\t\tvTaskDelay(500);\/\/\u4f7f\u7528FreeRTOS\u81ea\u5e26\u7684\u5ef6\u65f6\u51fd\u6570\r\n\t}\r\n}\r\n\/\/\u4efb\u52a13\uff0c\u5224\u65ad\u6309\u952eKEY0\uff0c\u6309\u4e0bKEY0\uff0c\u5220\u9664task1\u3002\r\nvoid task3(void *pvParameters)\r\n{\r\n\tuint8_t key = 0;\r\n\twhile(1)\r\n\t{\r\n\t\tkey = Key_Scan();\r\n\t\tif(key == 1)\r\n\t\t{\r\n\t\t\t\/\/\u5220\u9664\u4efb\u52a11\r\n\t\t\tvTaskDelete(task1_handler);\r\n\t\t}\r\n\t\tvTaskDelay(10);\/\/\u6309\u952e\u5ef6\u65f6\r\n\t}\r\n}\r\n<\/code><\/pre>\n<p>\u4ee5\u4e0a\uff0c\u6211\u4eec\u7684\u4e09\u6b65\u8d70\u5c31\u5b8c\u6210\u4e86\uff0c\u53ea\u9700\u8981\u5728\u4e3b\u903b\u8f91\u51fd\u6570\u8c03\u7528freertos_demo(),\u7a0b\u5e8f\u5c31\u53ef\u4ee5\u8fd0\u884c\u5566~<\/p>\n<pre class=\"corepress-code-pre\"><code>#include \"FreeRTOS.h\"\r\n#include \"task.h\"\r\n#include \"stm32f4xx.h\"                  \/\/ Device header\r\n#include \"FreeRTOS_Demo.h\"\r\n#include \"LED.h\"\r\n#include \"Key.h\"\r\n\r\n int main(void)\r\n {\r\n\tLED_Init();\r\n\tKey_Init();\r\n\t \r\n\tfreertos_demo();\r\n}<\/code><\/pre>\n<div class=\"sc-collapse\"><div class=\"sc-collapse__header\"><svg class=\"sc-collapse__arrow\" viewBox=\"0 0 24 24\" fill=\"none\" stroke=\"currentColor\" stroke-width=\"2\" stroke-linecap=\"round\" stroke-linejoin=\"round\"><polyline points=\"6 9 12 15 18 9\"\/><\/svg>\u5176\u4ed6\u521d\u59cb\u5316\u4ee3\u7801<\/div><div class=\"sc-collapse__body\"><div class=\"sc-collapse__content\"><\/p>\n<p>LED\u521d\u59cb\u5316<\/p>\n<pre class=\"corepress-code-pre\"><code>void LED_Init(void){\r\n\t    \/\/ \u4f7f\u80fdGPIOF\u65f6\u949f\r\n    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);\r\n\r\n    \/\/ \u521d\u59cb\u5316\u7ed3\u6784\u4f53\r\n    GPIO_InitTypeDef GPIO_InitStructure;\r\n    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9 | GPIO_Pin_10; \/\/ \u66ff\u6362\u4e3a\u5b9e\u9645\u5f15\u811a\r\n    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT; \/\/ \u8f93\u51fa\u6a21\u5f0f\r\n    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz; \/\/ \u901f\u5ea6\r\n    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP; \/\/ \u63a8\u633d\u8f93\u51fa\r\n    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL; \/\/ \u65e0\u4e0a\u62c9\u4e0b\u62c9\r\n    GPIO_Init(GPIOF, &amp;GPIO_InitStructure);\t\r\n\t\r\n\t\tGPIO_SetBits(GPIOF,GPIO_Pin_9); \/\/\u9ed8\u8ba4LED9\u5173\u95ed\r\n\t\tGPIO_SetBits(GPIOF,GPIO_Pin_10); \/\/\u9ed8\u8ba4LED10\u5173\u95ed\r\n}\r\nvoid LED0_turn(void){\r\n\tif(GPIO_ReadInputDataBit(GPIOF, GPIO_Pin_9))\r\n\t{\r\n\t\tGPIO_ResetBits(GPIOF,GPIO_Pin_9);\r\n\t}\r\n\telse\r\n\t{\r\n\t\tGPIO_SetBits(GPIOF,GPIO_Pin_9);\r\n\t}\r\n}\r\nvoid LED1_turn(void){\r\n\tif(GPIO_ReadInputDataBit(GPIOF, GPIO_Pin_10))\r\n\t{\r\n\t\tGPIO_ResetBits(GPIOF,GPIO_Pin_10);\r\n\t}\r\n\telse\r\n\t{\r\n\t\tGPIO_SetBits(GPIOF,GPIO_Pin_10);\r\n\t}\r\n}\r\n<\/code><\/pre>\n<p>\u6309\u952e\u521d\u59cb\u5316<\/p>\n<pre class=\"corepress-code-pre\"><code>void Key_Init(void)\r\n{\r\n\t\t\/\/ \u4f7f\u80fdGPIOE\u3001GPIOA\u65f6\u949f\r\n    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);\r\n  \tRCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);\r\n\r\n    \/\/ \u521d\u59cb\u5316\u7ed3\u6784\u4f53\r\n    GPIO_InitTypeDef GPIO_InitStructure;\r\n    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;\/\/KEY1\r\n    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;\/\/\u8f93\u5165\u6a21\u5f0f\r\n    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; \/\/ \u4e0a\u62c9\r\n    GPIO_Init(GPIOE, &amp;GPIO_InitStructure);\t\r\n\t\r\n    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_2;\/\/KEY2\r\n    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;\r\n    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; \/\/ \u4e0a\u62c9\r\n    GPIO_Init(GPIOE, &amp;GPIO_InitStructure);\t\r\n\t\r\n    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4; \/\/KEY0\r\n    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;\r\n    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP; \/\/ \u4e0a\u62c9\r\n    GPIO_Init(GPIOE, &amp;GPIO_InitStructure);\t\r\n\t\t\r\n    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;\/\/KEY_UP\r\n    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;\r\n    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN; \/\/ \u4e0b\u62c9\r\n    GPIO_Init(GPIOA, &amp;GPIO_InitStructure);\t\r\n}\r\n\r\nuint8_t Key_Scan(void){\r\n\t\r\n    static uint8_t key_up = 1;  \/* \u6309\u952e\u6309\u677e\u5f00\u6807\u5fd7 *\/\r\n\t\r\n    uint8_t keyval = 0;\r\n\r\n    if (key_up &amp;&amp; (KEY0 == 0 || KEY1 == 0 || KEY2 == 0 || WK_UP == 1))  \/* \u6309\u952e\u677e\u5f00\u6807\u5fd7\u4e3a1, \u4e14\u6709\u4efb\u610f\u4e00\u4e2a\u6309\u952e\u6309\u4e0b\u4e86 *\/\r\n    {\r\n        delay_ms(10);           \/* \u53bb\u6296\u52a8 *\/\r\n        key_up = 0; \/\/key_up\u7f6e0\uff0c\u9632\u6b62\u591a\u6b21\u89e6\u53d1\u3002\r\n\r\n        if (KEY0 == 0)  keyval = 1;  \/* KEY0\u6309\u4e0b *\/    \r\n        if (KEY1 == 0)  keyval = 2;  \/* KEY1\u6309\u4e0b *\/   \r\n        if (KEY2 == 0)  keyval = 3;  \/* KEY2\u6309\u4e0b *\/\r\n        if (WK_UP == 1) keyval = 4;  \/* KEY_UP\u6309\u4e0b(\u5373WK_UP) *\/\r\n    }\r\n    else if (KEY0 == 1 &amp;&amp; KEY1 == 1 &amp;&amp; KEY2 == 1 &amp;&amp; WK_UP == 0)         \/* \u6ca1\u6709\u4efb\u4f55\u6309\u952e\u6309\u4e0b, \u6807\u8bb0\u6309\u952e\u677e\u5f00 *\/\r\n    {\r\n        key_up = 1;\r\n    }\r\n\r\n    return keyval;              \/* \u8fd4\u56de\u952e\u503c *\/\r\n\t\r\n}<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><\/div><\/div><\/div>\n<h3>\u521b\u5efa\u548c\u5220\u9664\u8be6\u89e3<\/h3>\n<p>\u6211\u4eec\u5df2\u7ecf\u5b66\u4f1a\u4e86\u600e\u4e48\u4f7f\u7528\u52a8\u6001\u521b\u5efa\u548c\u5220\u9664\u7684API\u51fd\u6570\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u5bf9\u52a8\u6001\u521b\u5efa\u548c\u5220\u9664\u8fdb\u884c\u8be6\u7ec6\u7684\u89e3\u91ca\uff0c\u5982\u679c\u4f60\u53ea\u662f\u60f3\u8981\u4f7f\u7528\u8be5API\u51fd\u6570\uff0c\u800c\u4e0d\u60f3\u4e86\u89e3\u5176\u662f\u5982\u4f55\u5b9e\u73b0\u7684\uff0c\u53ef\u4ee5\u8df3\u8fc7\u4e00\u90e8\u5206\u3002<\/p>\n<p>\u6211\u8fd9\u4e00\u90e8\u5206\u5148\u9e3d\u4e86\uff0c\u6709\u65f6\u95f4\u518d\u5b66\u00a0 :\uff09<\/p>\n<h2>\u9759\u6001\u4efb\u52a1\u8be6\u89e3<\/h2>\n<h3>\u521b\u5efa\u548c\u5220\u9664\u5b9e\u73b0<\/h3>\n<p>\u5b66\u4e60\u76ee\u7684\uff1a\u5b66\u4f1a xTaskCreateStatic( ) \u7684\u4f7f\u7528\u3002<\/p>\n<p>\u76ee\u6807\u8bbe\u8ba1\uff1a\u5c06\u8bbe\u8ba1\u56db\u4e2a\u4efb\u52a1\uff1astart_task\u3001task1\u3001task2\u3001task3\u3002<\/p>\n<p>\u56db\u4e2a\u4efb\u52a1\u7684\u529f\u80fd\u5982\u4e0b\uff1a<\/p>\n<p><a class=\"core-next-img\" href=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/10\/%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE-2024-10-31-103304.png\" data-group=\"nogroup\" data-id=\"7\" data-index=\"7\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-1368\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/10\/%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE-2024-10-31-103304.png\" alt=\"\" width=\"579\" height=\"234\" \/><\/a><\/p>\n<p>\u5176\u5b9e\u53ef\u4ee5\u53d1\u73b0\uff0c\u548c\u52a8\u6001\u521b\u5efa\u4efb\u52a1\u7684\u65b9\u5f0f\u552f\u4e00\u533a\u522b\u5c31\u662f\uff0c\u521b\u5efa\u7684\u65b9\u5f0f\u4e0d\u4e00\u6837\uff0c\u6240\u4ee5\u6211\u4eec\u8fd9\u4e09\u4e2a\u4efb\u52a1\u51fd\u6570\u662f\u4e0d\u9700\u8981\u4fee\u6539\u7684\uff0c\u53ea\u9700\u8981\u4fee\u6539start_task()\u548cfreertos_demo()\u3002<\/p>\n<div class=\"sc-star-plane sc-star-plane--1\"><div class=\"sc-star-plane__content\"><\/p>\n<p>\u5b9e\u73b0\u9759\u6001\u521b\u5efa\u4efb\u52a1\u7684\u6d41\u7a0b\u4e94\u6b65\u9aa4\uff1a<\/p>\n<p>1.\u9700\u5c06\u5b8f\uff0c\u652f\u6301\u9759\u6001\u7533\u8bf7\u5185\u5b58configSUPPORT_STATIC_ALLOCATION \u914d\u7f6e\u4e3a 1\u3002<\/p>\n<p>2.\u5b9a\u4e49\u7a7a\u95f2\u4efb\u52a1&amp;\u8f6f\u4ef6\u5b9a\u65f6\u5668\u4efb\u52a1\u7684\u4efb\u52a1\u5806\u6808\u53caTCB\uff08\u4efb\u52a1\u63a7\u5236\u5757\uff09\u3002<\/p>\n<p>\u7a7a\u95f2\u4efb\u52a1\u662f\u5fc5\u987b\u8981\u6709\u7684\uff0c\u56e0\u4e3a\u5728\u6211\u4eecRTOS\u4e2d\uff0c\u6211\u4eec\u7684CPU\u662f\u4e0d\u80fd\u505c\u6b62\u7684\uff0c\u7a7a\u95f2\u7684\u65f6\u5019\u5c31\u9700\u8981\u53bb\u6267\u884c\u7a7a\u95f2\u4efb\u52a1\u3002<\/p>\n<p>\u8f6f\u4ef6\u5b9a\u65f6\u5668\u4efb\u52a1\uff0c\u4ed6\u662f\u53ef\u9009\u7684\uff0c\u5982\u679c\u4f60\u4f7f\u80fd\u4e86\u8f6f\u4ef6\u5b9a\u65f6\u5668\uff0c\u5c31\u9700\u8981\uff0c\u8fd9\u4e5f\u662f\u5728FreeRTOSConfig\u4e2d\u4f7f\u80fd\u3002<\/p>\n<p>3.\u5b9e\u73b0\u4e24\u4e2a\u63a5\u53e3\u51fd\u6570\uff1a<\/p>\n<p>vApplicationGetIdleTaskMemory( )\uff1b\u7a7a\u95f2\u4efb\u52a1\u7684\u5185\u5b58\u8d4b\u503c\u3002<\/p>\n<p>vApplicationGetTimerTaskMemory ( )*\uff08\u53ef\u9009\uff09\uff1b\u8f6f\u4ef6\u5b9a\u65f6\u5668\u7684\u5185\u5b58\u8d4b\u503c\u3002<\/p>\n<p>4.\u5b9a\u4e49\u51fd\u6570\u7684\u5165\u53e3\u53c2\u6570\u3002<\/p>\n<p>5.\u7f16\u5199\u4efb\u52a1\u51fd\u6570\u3002<\/p>\n<p><\/div><\/div>\n<p>\u7b2c\u4e00\u6b65\uff0c\u5c06\u652f\u6301\u9759\u6001\u7533\u8bf7\u5185\u5b58\u7684\u5b8f\u914d\u7f6e\u4e3a1.<\/p>\n<pre class=\"corepress-code-pre\"><code>#define configSUPPORT_STATIC_ALLOCATION   1        \/* 1: \u652f\u6301\u9759\u6001\u7533\u8bf7\u5185\u5b58, \u9ed8\u8ba4: 0 *\/<\/code><\/pre>\n<p>\u6211\u4eec\u914d\u7f6e\u597d\u8fd9\u4e2a\u5b8f\u4e4b\u540e\uff0c\u7f16\u8bd1\u4e00\u4e0b\uff0c\u53ef\u4ee5\u53d1\u73b0\u6709\u4e24\u4e2a\u62a5\u9519\uff1a<\/p>\n<div class=\"sc-alert sc-alert--warning\"><span class=\"sc-alert__icon\"><svg viewBox=\"0 0 24 24\" fill=\"none\" stroke=\"currentColor\" stroke-width=\"2\" stroke-linecap=\"round\" stroke-linejoin=\"round\"><path d=\"M10.29 3.86L1.82 18a2 2 0 001.71 3h16.94a2 2 0 001.71-3L13.71 3.86a2 2 0 00-3.42 0z\"\/><line x1=\"12\" y1=\"9\" x2=\"12\" y2=\"13\"\/><line x1=\"12\" y1=\"17\" x2=\"12.01\" y2=\"17\"\/><\/svg><\/span><div class=\"sc-alert__content\"><\/p>\n<p>Error: L6218E: Undefined symbol vApplicationGetIdleTaskMemory (referred from tasks.o).<\/p>\n<p>Error: L6218E: Undefined symbol vApplicationGetTimerTaskMemory (referred from timers.o).<\/p>\n<p><\/div><\/div>\n<p>\u8fd9\u5c31\u662f\u6211\u4eec\u7684\u7b2c\u4e8c\u3001\u4e09\u6b65\u9aa4\uff0c\u5b9a\u4e49\u7a7a\u95f2\u4efb\u52a1&amp;\u8f6f\u4ef6\u5b9a\u65f6\u5668\u4efb\u52a1\u7684\u4efb\u52a1\u5806\u6808\u53caTCB\u5e76\u5b9e\u73b0\u4e24\u4e2a\u63a5\u53e3\u51fd\u6570\uff1a<\/p>\n<p>\u53ef\u4ee5\u770b\u5230\u8fd9\u4e2a\u62a5\u9519\u662f\u51fa\u73b0\u5728tasks.c\u8fd9\u4e2a\u6587\u4ef6\u4e2d\uff0c\u6211\u4eec\u627e\u5230\u8fd9\u4e2a\u6587\u4ef6\uff0c\u641c\u7d22\u8fd9\u4e2a\u62a5\u9519\u51fd\u6570\uff0c\u8fd9\u4e2a\u51fd\u6570\u5176\u5b9e\u662f\u6211\u4eec\u5f00\u542f\u4efb\u52a1\u8c03\u5ea6\u5668\u91cc\u9762\u4f1a\u8c03\u7528\u7684\uff0c\u5f53\u6211\u4eec\u628a\u652f\u6301\u9759\u6001\u7533\u8bf7\u5185\u5b58\u7684\u5b8f\u914d\u7f6e\u4e3a1\u65f6\uff0c\u90a3\u4e48\u4efb\u52a1\u8c03\u5ea6\u5668\u5c31\u4f1a\u8c03\u7528\u8fd9\u4e24\u4e2a\u51fd\u6570\u3002<\/p>\n<p>\u8fd9\u4e2aIdleTaskMemory\u51fd\u6570\u6709\u4ec0\u4e48\u4f5c\u7528\u5462\uff1f<\/p>\n<p>\u6211\u4eec\u8bf4\u8fc7\uff0cFreeRTOS\u4ed6\u5728\u7a7a\u95f2\u7684\u65f6\u5019\uff0c\u4f1a\u6267\u884c\u4e00\u4e2a\u7a7a\u95f2\u4efb\u52a1\uff0c\u8fd9\u662fFreeRTOS\u7684\u57fa\u7840\u4efb\u52a1\uff0c\u5fc5\u987b\u8981\u521b\u5efa\u7684\u3002<\/p>\n<p>\u52a8\u6001\u521b\u5efa\u65f6\uff0c\u7a7a\u95f2\u4efb\u52a1\u7684\u4efb\u52a1\u5806\u6808\u548c\u4efb\u52a1\u63a7\u5236\u5757\u662f\u7531FreeRTOS\u81ea\u52a8\u5206\u914d\u7684\u3002<\/p>\n<p>\u9759\u6001\u521b\u5efa\u65f6\uff0c\u7a7a\u95f2\u4efb\u52a1\u7684\u4efb\u52a1\u5806\u6808\u548c\u4efb\u52a1\u63a7\u5236\u5757\u9700\u8981\u4eba\u4e3a\u7684\u624b\u52a8\u63d0\u4f9b\u7ed9\u4ed6\u3002<\/p>\n<p>\u9759\u6001\u521b\u5efa\u65f6\uff0c\u901a\u8fc7\u4ec0\u4e48\u5206\u914d\u7a7a\u95f2\u4efb\u52a1\u7684\u5185\u5b58\uff1f\u5c31\u662fvApplicationGetIdleTaskMemory\u3002<\/p>\n<pre class=\"corepress-code-pre\"><code>vApplicationGetIdleTaskMemory(&amp;pxIdleTaskTCBBuffer,&amp;pxIdleTaskStackBuffer, &amp;ulIdleTaskStackSize );<\/code><\/pre>\n<p>&amp;pxIdleTaskTCBBuffer\uff1a\u6307\u5411\u4efb\u52a1\u63a7\u5236\u5757\u7684\u6307\u9488\u3002<\/p>\n<p>&amp;pxIdleTaskStackBuffer\uff1a\u6307\u5411\u4efb\u52a1\u5806\u6808\u7684\u6307\u9488\u3002<\/p>\n<p>&amp;ulIdleTaskStackSize\uff1a\u4efb\u52a1\u5806\u6808\u7684\u5927\u5c0f\u3002<\/p>\n<p>\u6211\u4eec\u8981\u4eba\u4e3a\u7684\u53bb\u5b9e\u73b0\u8fd9\u4e2a\u51fd\u6570\uff1a<\/p>\n<pre class=\"corepress-code-pre\"><code>\/\/\u7a7a\u95f2\u4efb\u52a1\u5185\u5b58\u5206\u914d\r\n\/\/\u5b9a\u4e49\u4efb\u52a1\u63a7\u5236\u5757\r\nStaticTask_t idle_task_tcb;\r\n\/\/\u7a7a\u95f2\u4efb\u52a1\u7684\u4efb\u52a1\u5806\u6808\uff0c128\u5b57\r\nStackType_t idle_task_stack[configMINIMAL_STACK_SIZE];\r\nvoid vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer, \r\n\t                                  StackType_t ** ppxIdleTaskStackBuffer, \r\n                                    uint32_t *pulIdleTaskStackSize )\r\n{\r\n\t* ppxIdleTaskTCBBuffer = &amp;idle_task_tcb;\r\n\t* ppxIdleTaskStackBuffer = idle_task_stack;\r\n\t*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;\r\n}\r\n\t<\/code><\/pre>\n<p>\u8fd9\u4e2aTimerTaskMemory \u51fd\u6570\u6709\u4ec0\u4e48\u4f5c\u7528\u5462\uff1f<\/p>\n<p>\u8fd9\u4e2a\u662f\u5b9a\u65f6\u5668\u4efb\u52a1\u7684\u5185\u5b58\u5206\u914d\uff0c\u5728\u9759\u6001\u521b\u5efa\u4e0b\uff0c\u4e5f\u662f\u9700\u8981\u6211\u4eec\u4eba\u4e3a\u7684\u53bb\u5206\u914d\u7684\u3002<\/p>\n<pre class=\"corepress-code-pre\"><code>\/\/*************************************\r\n\/\/\u8f6f\u4ef6\u5b9a\u65f6\u5668\u5185\u5b58\u5206\u914d\r\n\/\/\u5b9a\u4e49\u4efb\u52a1\u63a7\u5236\u5757\r\nStaticTask_t timer_task_tcb;\r\n\/\/\u8f6f\u4ef6\u5b9a\u65f6\u5668\u7684\u4efb\u52a1\u5806\u6808\uff0c128\u5b57\r\nStackType_t timer_task_stack[configTIMER_TASK_STACK_DEPTH];\r\nvoid vApplicationGetTimerTaskMemory(StaticTask_t ** ppxTimerTaskTCBBuffer,\r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tStackType_t ** ppxTimerTaskStackBuffer, \r\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\tuint32_t *pulTimerTaskStackSize )\r\n{\r\n\t*ppxTimerTaskTCBBuffer = &amp;timer_task_tcb;\r\n\t*ppxTimerTaskStackBuffer = timer_task_stack;\r\n\t*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;\r\n}\r\n\/\/*************************************<\/code><\/pre>\n<p>\u7b2c\u56db\u6b65\uff0c\u5b9a\u4e49\u51fd\u6570\u5165\u53e3\u53c2\u6570\uff1a<\/p>\n<pre class=\"corepress-code-pre\"><code>void freertos_demo(void)\r\n{\r\n\t\r\n\tstart_task_handler = xTaskCreateStatic( (TaskFunction_t) start_task,\/\/\u5f00\u59cb\u4efb\u52a1\r\n                     (char*) \"start_task\", \/\/\u4efb\u52a1\u540d\u79f0\r\n                     (uint32_t) START_TASK_STACK_SIZE,\/\/\u4efb\u52a1\u5806\u6808\u5927\u5c0f\r\n                     (void*) NULL,\r\n                     (UBaseType_t)START_TASK_PRIO,\/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\n                     (StackType_t *)  start_task_stack,\/\/\u4efb\u52a1\u5806\u6808\uff0c\u6211\u4eec\u81ea\u5df1\u5b9a\u4e49\r\n                     (StaticTask_t *) &amp;start_task_tcb );\/\/\u4efb\u52a1\u63a7\u5236\u5757\uff0c\u6211\u4eec\u81ea\u5df1\u5b9a\u4e49\r\n\t\t\t\t\t\t\t \r\n\tvTaskStartScheduler();\/\/\u5f00\u542f\u4efb\u52a1\u8c03\u5ea6\u5668\uff0c\u6211\u4eec\u521b\u5efa\u5b8c\u4efb\u52a1\uff0c\u8fd9\u4e2a\u51fd\u6570\u5fc5\u987b\u8981\u5f00\u542f\uff0c\u4e0d\u7136\u4efb\u52a1\u662f\u65e0\u6cd5\u8c03\u5ea6\u7684\u3002\r\n\t\r\n}\r\n\r\n\/\/\u5f00\u59cb\u4efb\u52a1\u51fd\u6570\r\nvoid start_task(void *pvParameters)\r\n{\r\n\t\ttaskENTER_CRITICAL();\/\/\u8fdb\u5165\u4e34\u754c\u533a\r\n\t\r\n\t\/\/\u4efb\u52a11\r\n\t\t\ttask1_handler = xTaskCreateStatic( (TaskFunction_t) task1,\/\/\u5f00\u59cb\u4efb\u52a1\r\n                     (char*) \"task1\", \/\/\u4efb\u52a1\u540d\u79f0\r\n                     (uint32_t) TASK1_STACK_SIZE,\/\/\u4efb\u52a1\u5806\u6808\u5927\u5c0f\r\n                     (void*) NULL,\r\n                     (UBaseType_t)TASK1_PRIO,\/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\n                     (StackType_t *)  task1_stack,\/\/\u4efb\u52a1\u5806\u6808\uff0c\u6211\u4eec\u81ea\u5df1\u5b9a\u4e49\r\n                     (StaticTask_t *) &amp;task_tcb1 );\/\/\u4efb\u52a1\u63a7\u5236\u5757\uff0c\u6211\u4eec\u81ea\u5df1\u5b9a\u4e49\r\n\t\t\t\t\t\t\t\t\t\t \r\n\t\/\/\u4efb\u52a12\t\t\t\t\t \r\n\t\t\ttask2_handler = xTaskCreateStatic( (TaskFunction_t) task2,\/\/\u5f00\u59cb\u4efb\u52a1\r\n                     (char*) \"task2\", \/\/\u4efb\u52a1\u540d\u79f0\r\n                     (uint32_t) TASK2_STACK_SIZE,\/\/\u4efb\u52a1\u5806\u6808\u5927\u5c0f\r\n                     (void*) NULL,\r\n                     (UBaseType_t)TASK2_PRIO,\/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\n                     (StackType_t *)  task2_stack,\/\/\u4efb\u52a1\u5806\u6808\uff0c\u6211\u4eec\u81ea\u5df1\u5b9a\u4e49\r\n                     (StaticTask_t *) &amp;task_tcb2 );\/\/\u4efb\u52a1\u63a7\u5236\u5757\uff0c\u6211\u4eec\u81ea\u5df1\u5b9a\u4e49\r\n\r\n\t\t\t\t\t\t\t\t\t\t \r\n\t\/\/\u4efb\u52a13\t\t\t\t\t\t \r\n\t\t\ttask3_handler = xTaskCreateStatic( (TaskFunction_t) task3,\/\/\u5f00\u59cb\u4efb\u52a1\r\n                     (char*) \"task3\", \/\/\u4efb\u52a1\u540d\u79f0\r\n                     (uint32_t) TASK3_STACK_SIZE,\/\/\u4efb\u52a1\u5806\u6808\u5927\u5c0f\r\n                     (void*) NULL,\r\n                     (UBaseType_t)TASK3_PRIO,\/\/\u4efb\u52a1\u4f18\u5148\u7ea7\r\n                     (StackType_t *)  task3_stack,\/\/\u4efb\u52a1\u5806\u6808\uff0c\u6211\u4eec\u81ea\u5df1\u5b9a\u4e49\r\n                     (StaticTask_t *) &amp;task_tcb3 );\/\/\u4efb\u52a1\u63a7\u5236\u5757\uff0c\u6211\u4eec\u81ea\u5df1\u5b9a\u4e49\r\n\t\t\t\t\t\t\t\t\t\t \r\n\t\/\/\u5220\u9664\u81ea\u8eab\u4efb\u52a1\r\n\t\tvTaskDelete(NULL);\r\n\t\r\n\ttaskEXIT_CRITICAL();\/\/\u9000\u51fa\u4e34\u754c\u533a\t\t\t\t\t \r\n}<\/code><\/pre>\n<p>\u7b2c\u4e94\u6b65\uff0c\u7f16\u5199\u4efb\u52a1\u51fd\u6570\uff1a<\/p>\n<pre class=\"corepress-code-pre\"><code>\/\/\u4efb\u52a11\uff0c\u5b9e\u73b0LED0\u6bcf500ms\u7ffb\u8f6c\u4e00\u6b21\u3002\r\nvoid task1(void *pvParameters)\r\n{\r\n\twhile(1)\r\n\t{\r\n\t\tLED0_turn();\r\n\t\tvTaskDelay(500);\/\/\u4f7f\u7528FreeRTOS\u81ea\u5e26\u7684\u5ef6\u65f6\u51fd\u6570\r\n\t}\r\n}\r\n\/\/\u4efb\u52a12\uff0c\u5b9e\u73b0LED1\u6bcf500ms\u7ffb\u8f6c\u4e00\u6b21\u3002\r\nvoid task2(void *pvParameters)\r\n{\r\n\twhile(1)\r\n\t{\r\n\t\tLED1_turn();\r\n\t\tvTaskDelay(500);\/\/\u4f7f\u7528FreeRTOS\u81ea\u5e26\u7684\u5ef6\u65f6\u51fd\u6570\r\n\t}\r\n}\r\n\/\/\u4efb\u52a13\uff0c\u5224\u65ad\u6309\u952eKEY0\uff0c\u6309\u4e0bKEY0\uff0c\u5220\u9664task1\u3002\r\nvoid task3(void *pvParameters)\r\n{\r\n\tuint8_t key = 0;\r\n\twhile(1)\r\n\t{\r\n\t\tkey = Key_Scan();\r\n\t\tif(key == 1)\r\n\t\t{\r\n\t\t\t\/\/\u5220\u9664\u4efb\u52a11\r\n\t\t\tvTaskDelete(task1_handler);\r\n\t\t}\r\n\t\tvTaskDelay(10);\/\/\u6309\u952e\u5ef6\u65f6\r\n\t}\r\n}\r\n<\/code><\/pre>\n<h2>\u603b\u7ed3<\/h2>\n<p>\u5927\u5bb6\u4e5f\u4e0d\u96be\u53d1\u73b0\uff0c\u52a8\u6001\u4efb\u52a1\u6bd4\u9759\u6001\u4efb\u52a1\u521b\u5efa\u8d77\u6765\u8212\u670d\u5f88\u591a\uff0c\u6b65\u9aa4\u4e0d\u4f1a\u90a3\u4e48\u7e41\u7410\uff0c\u6240\u4ee5\u5728\u6211\u4eec\u540e\u7eed\u7684\u5b66\u4e60\u4e2d\uff0c\u4e5f\u90fd\u662f\u7528\u52a8\u6001\u521b\u5efa\u4efb\u52a1\u4e86\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4efb\u52a1\u521b\u5efa\u548c\u5220\u9664API \u4efb\u52a1\u521b\u5efa\u662f\u6211\u4eec\u8981\u5b66\u4e60\u7684\u7b2c\u4e00\u4e2aAPI\u51fd\u6570\uff0c\u800c\u4efb\u52a1\u521b\u5efa\u4e5f\u662f\u4f17\u591aAPI\u51fd\u6570\u4e2d\uff0c\u6700\u590d\u6742\u7684\u4e00\u4e2a\u3002  [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[12],"tags":[],"class_list":["post-1287","post","type-post","status-publish","format-standard","hentry","category-rtos"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1287","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/comments?post=1287"}],"version-history":[{"count":20,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1287\/revisions"}],"predecessor-version":[{"id":1384,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1287\/revisions\/1384"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=1287"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=1287"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=1287"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}