{"id":1397,"date":"2024-11-04T21:01:23","date_gmt":"2024-11-04T13:01:23","guid":{"rendered":"https:\/\/aoofoo.com\/?p=1397"},"modified":"2024-11-07T18:06:42","modified_gmt":"2024-11-07T10:06:42","slug":"3-6-freertos%e4%b8%ad%e6%96%ad%e7%ae%a1%e7%90%86","status":"publish","type":"post","link":"https:\/\/aoofoo.com\/index.php\/2024\/11\/04\/3-6-freertos%e4%b8%ad%e6%96%ad%e7%ae%a1%e7%90%86\/","title":{"rendered":"3.6 FreeRTOS\u4e2d\u65ad\u7ba1\u7406"},"content":{"rendered":"<h2>\u4e2d\u65ad\u77e5\u8bc6\u56de\u987e<\/h2>\n<div class=\"sc-star-plane sc-star-plane--1\"><div class=\"sc-star-plane__content\">\u6ce8\u610f\uff1a\u4e2d\u65ad\u4f18\u5148\u7ea7\u6570\u503c\u8d8a\u5c0f\u8d8a\u4f18\u5148 <\/div><\/div>\n<p>\u6211\u4eec\u4e4b\u524d\u5b66\u4e60\u8fc7\u88f8\u673a\uff0c\u5e94\u8be5\u5f88\u660e\u767d\u4e2d\u65ad\u7684\u6982\u5ff5\uff0c\u8fd9\u91cc\u518d\u590d\u4e60\u4e00\u4e0b\u76f8\u5173\u77e5\u8bc6\uff0c\u8ba9CPU\u6253\u65ad\u6b63\u5e38\u8fd0\u884c\u7684\u7a0b\u5e8f\uff0c\u8f6c\u800c\u53bb\u5904\u7406\u7d27\u6025\u7684\u4e8b\u4ef6\uff08\u7a0b\u5e8f\uff09\uff0c\u5c31\u53eb\u4e2d\u65ad \u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone wp-image-1398\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-02-160847.png\" alt=\"\" width=\"508\" height=\"158\" \/><\/p>\n<p>ARM Cortex-M \u4f7f\u7528\u4e86 8 \u4f4d\u5bbd\u7684\u5bc4\u5b58\u5668\u6765\u914d\u7f6e\u4e2d\u65ad\u7684\u4f18\u5148\u7b49\u7ea7\uff0c\u8fd9\u4e2a\u5bc4\u5b58\u5668\u5c31\u662f\u4e2d\u65ad\u4f18\u5148\u7ea7\u914d\u7f6e\u5bc4\u5b58\u5668\u3002\u4f46STM32\uff0c\u53ea\u7528\u4e86\u4e2d\u65ad\u4f18\u5148\u7ea7\u914d\u7f6e\u5bc4\u5b58\u5668\u7684\u9ad84\u4f4d [7 : 4]\uff0c\u5373bit4~bit7\u8fd9\u56db\u4f4d\uff0c\u6240\u4ee5STM32\u63d0\u4f9b\u4e86\u6700\u592716\u7ea7\u7684\u4e2d\u65ad\u4f18\u5148\u7b49\u7ea7\u3002<\/p>\n<p>STM32 \u7684\u4e2d\u65ad\u4f18\u5148\u7ea7\u53ef\u4ee5\u5206\u4e3a\u62a2\u5360\u4f18\u5148\u7ea7\u548c\u5b50\u4f18\u5148\u7ea7\uff1a<\/p>\n<p>\u62a2\u5360\u4f18\u5148\u7ea7\uff1a \u62a2\u5360\u4f18\u5148\u7ea7\u9ad8\u7684\u4e2d\u65ad\u53ef\u4ee5\u6253\u65ad\u6b63\u5728\u6267\u884c\u4f46\u62a2\u5360\u4f18\u5148\u7ea7\u4f4e\u7684\u4e2d\u65ad\u3002<\/p>\n<p>\u5b50\u4f18\u5148\u7ea7\uff1a\u5f53\u540c\u65f6\u53d1\u751f\u5177\u6709\u76f8\u540c\u62a2\u5360\u4f18\u5148\u7ea7\u7684\u4e24\u4e2a\u4e2d\u65ad\u65f6\uff0c\u5b50\u4f18\u5148\u7ea7\u6570\u503c\u5c0f\u7684\u4f18\u5148\u6267\u884c\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1400\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-04-160537.png\" alt=\"\" width=\"1091\" height=\"438\" \/><\/p>\n<p>FreeRTOS\u4e3a\u4e86\u65b9\u4fbf\u7ba1\u7406\uff0c\u5206\u7ec4\u65b9\u5f0f\u8981\u9009\u62e9NVIC_PriorityGroup_4\uff1a<\/p>\n<pre class=\"corepress-code-pre\"><code>NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);<\/code><\/pre>\n<h2>FreeRTOS\u4e2d\u65ad\u7ba1\u7406<\/h2>\n<p>FreeRTOS\u4e2d\u65ad\u7279\u70b9\uff1a<\/p>\n<p>1\u3001\u4f4e\u4e8econfigMAX_SYSCALL_INTERRUPT_PRIORITY\u4f18\u5148\u7ea7\u7684\u4e2d\u65ad\u91cc\u624d\u5141\u8bb8\u8c03\u7528FreeRTOS \u7684API\u51fd\u6570\u3002<\/p>\n<p>2\u3001\u5efa\u8bae\u5c06\u6240\u6709\u4f18\u5148\u7ea7\u4f4d\u6307\u5b9a\u4e3a\u62a2\u5360\u4f18\u5148\u7ea7\u4f4d\uff0c\u65b9\u4fbfFreeRTOS\u7ba1\u7406\u3002<\/p>\n<p>3\u3001\u4e2d\u65ad\u4f18\u5148\u7ea7\u6570\u503c\u8d8a\u5c0f\u8d8a\u4f18\u5148\uff0c\u4efb\u52a1\u4f18\u5148\u7ea7\u6570\u503c\u8d8a\u5927\u8d8a\u4f18\u5148\u3002<\/p>\n<h3>\u7cfb\u7edf\u4e2d\u65ad\u4f18\u5148\u7ea7\u914d\u7f6e<\/h3>\n<p>\u4e09\u4e2a\u7cfb\u7edf\u4e2d\u65ad\u4f18\u5148\u7ea7\u914d\u7f6e\u5bc4\u5b58\u5668\uff0c\u5206\u522b\u4e3a SHPR1\u3001 SHPR2\u3001 SHPR3\u3002<\/p>\n<p>\u8fd9\u4e2a SHPR3(0xE000ED20 )\u5bc4\u5b58\u5668\uff0c\u53ef\u4ee5\u914d\u7f6e\u6ef4\u7b54\u5b9a\u65f6\u5668\u3001PendSV\u7684\u4f18\u5148\u7ea7\uff0c\u6ef4\u7b54\u5b9a\u65f6\u5668\u662f\u4e3a\u6211\u4eec\u7cfb\u7edf\u63d0\u4f9b\u5fc3\u8df3\u8282\u62cd\uff0c\u800cPendSV\u662f\u4efb\u52a1\u5207\u6362\u3001\u4efb\u52a1\u8c03\u5ea6\u90fd\u662f\u5728PendSV\u4e2d\u5b9e\u73b0\u7684\u3002<\/p>\n<p>\u5728FreeRTOS\u4e2d\u662f\u5982\u4f55\u914d\u7f6ePendSV\u548cSystick\u4e2d\u65ad\u4f18\u5148\u7ea7\u7684\uff1f<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1402\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-04-162610.png\" alt=\"\" width=\"1341\" height=\"664\" \/><\/p>\n<p>\u5176\u5b9e\u6ca1\u6709\u4ec0\u4e48\u5185\u5bb9\uff0c\u53ea\u662f\u5b8f\u5b9a\u4e49\u6bd4\u8f83\u591a\uff0c\u5c31\u662f\u628a\u5bc4\u5b58\u5668\u7684bit4~bit7\u7ed9\u586b\u5145\u4e0a\uff0c\u8ba9\u8fd9\u4e9b\u6709\u4e86\u4f18\u5148\u7ea7\uff0cSystick\u548cPendSV\u7684\u4e2d\u65ad\u4f18\u5148\u7ea7\u90fd\u662f15\uff0c\u5c31\u662f\u6700\u4f4e\u7684\u4e2d\u65ad\u4f18\u5148\u7ea7\u3002<\/p>\n<p>\u4e3a\u4ec0\u4e48\u8981\u8bbe\u7f6e\u6210\u6700\u4f4e\u4f18\u5148\u7ea7\u5462\uff1f<\/p>\n<p>\u662f\u4e3a\u4e86\u4fdd\u8bc1\u7cfb\u7edf\u4efb\u52a1\u5207\u6362\u4e0d\u4f1a\u963b\u585e\u7cfb\u7edf\u5176\u4ed6\u4e2d\u65ad\u7684\u54cd\u5e94\u3002\u5c31\u662f\u6211\u4e2d\u65ad\u53ef\u4ee5\u6253\u65ad\u4f60\u4efb\u52a1\uff0c\u4f46\u662f\u4f60\u4efb\u52a1\u65e0\u6cd5\u6253\u65ad\u6211\u4e2d\u65ad\u3002<\/p>\n<h3>\u4e2d\u65ad\u5c4f\u853d\u5bc4\u5b58\u5668<\/h3>\n<p>\u4e09\u4e2a\u4e2d\u65ad\u5c4f\u853d\u5bc4\u5b58\u5668\uff0c\u5206\u522b\u4e3a PRIMASK\u3001 FAULTMASK \u548cBASEPRI\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1403\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-04-163408.png\" alt=\"\" width=\"1116\" height=\"340\" \/><\/p>\n<p>\u6211\u4eec\u7684FreeRTOS\u5c31\u662f\u5229\u7528BASEPRI\u5bc4\u5b58\u5668\u6765\u7ba1\u7406\u4e2d\u65ad\u7684\uff0c\u5c31\u662f\u4e2d\u65ad\u4f18\u5148\u7ea7\u5c0f\u4e8e\u6211\u4eec\u8fd9\u91cc\u8bbe\u7f6e\u7684\u9608\u503c\uff0c\u5c31\u4f1a\u88ab\u5173\u95ed\u3002<\/p>\n<p>\u6bd4\u5982\uff1a BASEPRI\u8bbe\u7f6e\u4e3a0x50\uff0c\u4ee3\u8868\u4e2d\u65ad\u4f18\u5148\u7ea7\u57285~15\u5185\u7684\u5747\u88ab\u5c4f\u853d\uff0c0~4\u7684\u4e2d\u65ad\u4f18\u5148\u7ea7\u6b63\u5e38\u6267\u884c\u3002<\/p>\n<p>\u53ef\u4ee5\u770b\u51fa\uff0c\u6211\u4eec\u7684FreeRTOS\u76f8\u5f53\u4e8e\u63a5\u7ba1\u4e865~15\u7684\u4e2d\u65ad\uff0c\u8ba9\u539f\u672c\u76845~15\u88ab\u5c4f\u853d\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1404\" src=\"https:\/\/aoofoo.com\/wp-content\/uploads\/2024\/11\/\u5c4f\u5e55\u622a\u56fe-2024-11-04-164058.png\" alt=\"\" width=\"921\" height=\"376\" \/><\/p>\n<p>\u5728\u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u4e2d\u8c03\u5ea6FreeRTOS\u7684API\u51fd\u6570\u9700\u6ce8\u610f\uff1a<\/p>\n<p>1\u3001\u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u7684\u4f18\u5148\u7ea7\u9700\u5728FreeRTOS\u6240\u7ba1\u7406\u7684\u8303\u56f4\u5185\u3002<\/p>\n<p>2\u3001\u5728\u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u91cc\u8fb9\u9700\u8c03\u7528FreeRTOS\u7684API\u51fd\u6570\uff0c\u5fc5\u987b\u4f7f\u7528\u5e26\u201cFromISR\u201d\u540e\u7f00\u7684\u51fd\u6570\u3002<\/p>\n<h3>\u4e2d\u65ad\u7ba1\u7406\u5b9e\u9a8c<\/h3>\n<p>\u5b9e\u9a8c\u76ee\u7684\uff1a\u5b66\u4f1a\u4f7f\u7528FreeRTOS\u7684\u4e2d\u65ad\u7ba1\u7406\u3002<\/p>\n<p>\u672c\u5b9e\u9a8c\u4f1a\u4f7f\u7528\u4e24\u4e2a\u5b9a\u65f6\u5668\uff0c\u4e00\u4e2a\u4f18\u5148\u7ea7\u4e3a4\uff0c\u4e00\u4e2a\u4f18\u5148\u7ea7\u4e3a6\uff0c\u6ce8\u610f\uff1a\u7cfb\u7edf\u6240\u7ba1\u7406\u7684\u4f18\u5148\u7ea7\u8303\u56f4\uff1a5~15\u3002\u6240\u4ee5\u4e2d\u65ad\u4f18\u5148\u7ea7\u4e3a4\u7684\u5b9a\u65f6\u5668\uff0c\u7406\u8bba\u4e0aFreeRTOS\u662f\u65e0\u6cd5\u8fdb\u884c\u63a7\u5236\u7684\uff0c\u6240\u4ee5\u6211\u4eec\u6765\u6d4b\u8bd5\u4e00\u4e0b\uff0c\u5230\u5e95\u80fd\u4e0d\u80fd\u63a7\u5236\u3002\uff08\u63d0\u524d\u900f\u9732\u7b54\u6848\uff1a\u4e0d\u80fd\uff09<\/p>\n<p>\u76ee\u6807\u8bbe\u8ba1\uff1a<\/p>\n<p>\u5c06\u8bbe\u8ba12\u4e2a\u4efb\u52a1\uff1astart_task\u3001task1\u3002<\/p>\n<p>start_task\uff1a\u7528\u6765\u521b\u5efatask1\u4efb\u52a1 \u3002<\/p>\n<p>task1\uff1a\u4e2d\u65ad\u6d4b\u8bd5\u4efb\u52a1\uff0c\u4efb\u52a1\u4e2d\u5c06\u8c03\u7528\u5173\u4e2d\u65ad\u548c\u5f00\u4e2d\u65ad\u51fd\u6570\u6765\u4f53\u73b0\u5bf9\u4e2d\u65ad\u7684\u7ba1\u7406\u4f5c\u7528\u3002<\/p>\n<p>\u8fd9\u4e00\u8282\u8bfe\u6211\u4eec\u9700\u8981\u7528\u5230\u5b9a\u65f6\u5668\uff0c\u6240\u4ee5\u6211\u4eec\u5148\u628a\u5b9a\u65f6\u5668\u7684\u521d\u59cb\u5316\u4ee3\u7801\u5199\u4e00\u4e0b\uff1a<\/p>\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>\u5b9a\u65f6\u5668\/\u4e2d\u65ad\u521d\u59cb\u5316<\/div><div class=\"sc-collapse__body\"><div class=\"sc-collapse__content\"><\/p>\n<pre class=\"corepress-code-pre\"><code>void Timer_Init(void)\r\n{\r\n\t\/\/\u5f00\u542f\u901a\u7528\u5b9a\u65f6\u5668TIM2\u3001TIM3\u7684\u65f6\u949f\r\n\tRCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2,ENABLE);\r\n\tRCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3,ENABLE);\r\n\t\r\n\t\/\/\u9009\u62e9\u65f6\u57fa\u5355\u5143\u7684\u65f6\u949f\u662f\u5185\u90e8\u65f6\u949f\uff08168MHz\uff09\r\n\tTIM_InternalClockConfig(TIM2);\r\n\tTIM_InternalClockConfig(TIM3);\r\n\t\r\n\t\/\/\u914d\u7f6e\u65f6\u57fa\u5355\u5143\r\n\tTIM_TimeBaseInitTypeDef TIM_TimeBaseInitStrcture;\r\n\tTIM_TimeBaseInitStrcture.TIM_ClockDivision=TIM_CKD_DIV1; \/\/\u6307\u5b9a\u91c7\u6837\u5206\u9891\u3002\r\n\tTIM_TimeBaseInitStrcture.TIM_CounterMode=TIM_CounterMode_Up;\/\/\u6307\u5b9a\u8ba1\u6570\u5668\u6a21\u5f0f\r\n\tTIM_TimeBaseInitStrcture.TIM_Period=10000-1;\/\/\u81ea\u52a8\u91cd\u88c5\u5bc4\u5b58\u5668ARR\u7684\u503c\r\n\tTIM_TimeBaseInitStrcture.TIM_Prescaler=16800-1;\/\/\u9884\u5206\u9891\u5668PSC\u7684\u503c\r\n\tTIM_TimeBaseInitStrcture.TIM_RepetitionCounter=0;\/\/\u901a\u7528\u5b9a\u65f6\u5668\u6ca1\u6709\u91cd\u590d\u8ba1\u6570\u5668\uff0c\u586b0\r\n\tTIM_TimeBaseInit(TIM2,&amp;TIM_TimeBaseInitStrcture);\r\n\t\r\n\tTIM_TimeBaseInitStrcture.TIM_ClockDivision=TIM_CKD_DIV1; \/\/\u6307\u5b9a\u91c7\u6837\u5206\u9891\u3002\r\n\tTIM_TimeBaseInitStrcture.TIM_CounterMode=TIM_CounterMode_Up;\/\/\u6307\u5b9a\u8ba1\u6570\u5668\u6a21\u5f0f\r\n\tTIM_TimeBaseInitStrcture.TIM_Period=10000-1;\/\/\u81ea\u52a8\u91cd\u88c5\u5bc4\u5b58\u5668ARR\u7684\u503c\r\n\tTIM_TimeBaseInitStrcture.TIM_Prescaler=16800-1;\/\/\u9884\u5206\u9891\u5668PSC\u7684\u503c\r\n\tTIM_TimeBaseInitStrcture.TIM_RepetitionCounter=0;\/\/\u901a\u7528\u5b9a\u65f6\u5668\u6ca1\u6709\u91cd\u590d\u8ba1\u6570\u5668\uff0c\u586b0\r\n\tTIM_TimeBaseInit(TIM3,&amp;TIM_TimeBaseInitStrcture);\r\n\t\r\n\t\/\/ \u6e05\u9664\u66f4\u65b0\u4e2d\u65ad\u6807\u5fd7\u4f4d\r\n  TIM_ClearITPendingBit(TIM2, TIM_IT_Update);\r\n\tTIM_ClearITPendingBit(TIM3, TIM_IT_Update);\r\n\t\r\n\t\/\/\u914d\u7f6e\u8f93\u51fa\u4e2d\u65ad\u63a7\u5236\r\n\tTIM_ITConfig(TIM2,TIM_IT_Update,ENABLE);\r\n\tTIM_ITConfig(TIM3,TIM_IT_Update,ENABLE);\r\n\t\r\n\t\/\/\u914d\u7f6eNVIC\r\n\tNVIC_InitTypeDef NVIC_InitStructure;\r\n\tNVIC_InitStructure.NVIC_IRQChannel=TIM2_IRQn;\/\/NVIC\u901a\u9053\r\n\tNVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;\/\/\u4f7f\u80fd\u8be5\u4e2d\u65ad\u901a\u9053\r\n\tNVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=4;\r\n\tNVIC_InitStructure.NVIC_IRQChannelSubPriority=0;\r\n\tNVIC_Init(&amp;NVIC_InitStructure);\r\n\t\r\n\tNVIC_InitStructure.NVIC_IRQChannel=TIM3_IRQn;\/\/NVIC\u901a\u9053\r\n\tNVIC_InitStructure.NVIC_IRQChannelCmd=ENABLE;\/\/\u4f7f\u80fd\u8be5\u4e2d\u65ad\u901a\u9053\r\n\tNVIC_InitStructure.NVIC_IRQChannelPreemptionPriority=6;\r\n\tNVIC_InitStructure.NVIC_IRQChannelSubPriority=0;\r\n\tNVIC_Init(&amp;NVIC_InitStructure);\r\n\t\r\n\t\/\/\u542f\u52a8\u5b9a\u65f6\u5668\r\n\tTIM_Cmd(TIM2,ENABLE);\r\n\tTIM_Cmd(TIM3,ENABLE);\r\n}\r\n\r\n\r\nvoid TIM2_IRQHandler(){\r\n\tif (TIM_GetITStatus(TIM2,TIM_IT_Update) == SET)\r\n\t{\r\n\t\tprintf(\"\u4f18\u5148\u7ea74\uff0cTIM2\uff0c\u6b63\u5728\u8fd0\u884c\uff01\uff01\\r\\n\");\r\n\t\tTIM_ClearITPendingBit(TIM2,TIM_IT_Update);\r\n\t}\r\n}\r\n\r\nvoid TIM3_IRQHandler(){\r\n\tif (TIM_GetITStatus(TIM3,TIM_IT_Update) == SET)\r\n\t{\r\n\t\tprintf(\"\u4f18\u5148\u7ea76\uff0cTIM3\uff0c\u6b63\u5728\u8fd0\u884c\uff01\uff01\\r\\n\");\r\n\t\tTIM_ClearITPendingBit(TIM3,TIM_IT_Update);\r\n\t}\r\n}<\/code><\/pre>\n<p>&nbsp;<\/p>\n<p><\/div><\/div><\/div>\n<p>\u6709\u4e86\u4e0a\u9762\u7684\u521d\u59cb\u5316\u4ee3\u7801\uff0c\u6211\u4eec\u7684\u4e2d\u65ad\u76ee\u524d\u6765\u8bb2\uff0c\u662f\u90fd\u53ef\u4ee5\u5728\u4e32\u53e3\u6bcf\u96941s\u8fdb\u884c\u4e00\u6b21\u6253\u5370\u7684\uff0c\u63a5\u4e0b\u6765\u6211\u4eec\u6765\u5b9e\u73b0FreeRTOS\u7684\u4efb\u52a1\u51fd\u6570\uff0c\u5728FreeRTOS\u4e2d\u6211\u4eec\u8981\u5b9e\u73b0\u5f00\u5173\u4e2d\u65ad\u7684\u64cd\u4f5c\u6765\u8bc1\u660eFreeRTOS\u662f\u53ef\u4ee5\u63a7\u5236\u4e2d\u65ad\u7684\uff0c\u6240\u4ee5\u6211\u4eec\u8981\u8ba4\u8bc6\u4e00\u4e2a\u65b0\u7684FreeRTOS\u7684API\u51fd\u6570\uff1a<\/p>\n<pre class=\"corepress-code-pre\"><code>portDISABLE_INTERRUPTS(); \/\/\u5173\u95ed\u4e2d\u65ad\u51fd\u6570\r\nportENABLE_INTERRUPTS(); \/\/\u5f00\u542f\u4e2d\u65ad\u51fd\u6570<\/code><\/pre>\n<pre class=\"corepress-code-pre\"><code>void task1(void *pvParameters)\r\n{\r\n\tuint8_t task1_num = 0;\r\n\r\n\twhile(1)\r\n\t{\r\n\t\ttask1_num++;\r\n\t\tif(task1_num == 5)\r\n\t\t{\r\n\t\t\ttask1_num = 0;\r\n\t\t\t printf(\"\u5173\u95ed\u4e2d\u65ad\\r\\n\");\r\n\t\t\t portDISABLE_INTERRUPTS();\r\n\t\t\tdelay_ms(5000);\r\n\t\t   printf(\"\u5f00\u542f\u4e2d\u65ad\\r\\n\");\r\n\t\t\tportENABLE_INTERRUPTS();\r\n\t\t}\r\n\t\tLED0_turn();\r\n\t\tvTaskDelay(1000);\/\/\u4f7f\u7528FreeRTOS\u81ea\u5e26\u7684\u5ef6\u65f6\u51fd\u6570\r\n\t}\r\n}<\/code><\/pre>\n<p>\u6ce8\u610f\uff0c\u6211\u4eec\u8fd9\u91cc\u4f7f\u7528\u7684\u662fdelay_ms\u800c\u4e0d\u662fvTaskDelay\uff0c\u8fd9\u662f\u4e3a\u4ec0\u4e48\u5462\uff1f<\/p>\n<p>\u56e0\u4e3avTaskDelay\u7684\u5b9e\u73b0\u6709\u95ee\u9898\uff0c\u5b83\u91cc\u9762\u8c03\u7528\u4e86\u4e34\u754c\u533a\uff0c\u4e34\u754c\u533a\u4e2d\u7684\u9000\u51fa\u4e34\u754c\u533a\u7684\u51fd\u6570\u4f1a\u8c03\u7528\u5230<code>portENABLE_INTERRUPTS();<\/code><\/p>\n<p>\u5373\u5f00\u4e2d\u65ad\uff0c\u5c31\u662fvTaskDelay\u51fd\u6570\u4f1a\u53d8\u76f8\u7684\u5f00\u542f\u4e2d\u65ad\uff0c\u6240\u4ee5\u4e0d\u80fd\u7528vTaskDelay\u3002<\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e2d\u65ad\u77e5\u8bc6\u56de\u987e \u6211\u4eec\u4e4b\u524d\u5b66\u4e60\u8fc7\u88f8\u673a\uff0c\u5e94\u8be5\u5f88\u660e\u767d\u4e2d\u65ad\u7684\u6982\u5ff5\uff0c\u8fd9\u91cc\u518d\u590d\u4e60\u4e00\u4e0b\u76f8\u5173\u77e5\u8bc6\uff0c\u8ba9CPU\u6253\u65ad\u6b63\u5e38\u8fd0\u884c\u7684\u7a0b\u5e8f\uff0c\u8f6c [&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-1397","post","type-post","status-publish","format-standard","hentry","category-rtos"],"_links":{"self":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1397","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=1397"}],"version-history":[{"count":6,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1397\/revisions"}],"predecessor-version":[{"id":1426,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/posts\/1397\/revisions\/1426"}],"wp:attachment":[{"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/media?parent=1397"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/categories?post=1397"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aoofoo.com\/index.php\/wp-json\/wp\/v2\/tags?post=1397"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}