{"id":10020728,"date":"2025-04-13T23:24:24","date_gmt":"2025-04-13T15:24:24","guid":{"rendered":"https:\/\/itmax.cn\/?p=10020728"},"modified":"2025-04-13T23:24:24","modified_gmt":"2025-04-13T15:24:24","slug":"freertos%e5%a4%a7%e5%ae%b6%e9%83%bd%e6%98%af%e6%80%8e%e4%b9%88%e5%ad%a6%e7%9a%84%e5%91%80%ef%bc%9f","status":"publish","type":"post","link":"https:\/\/itmax.cn\/?p=10020728","title":{"rendered":"FreeRTOS\u5927\u5bb6\u90fd\u662f\u600e\u4e48\u5b66\u7684\u5440\uff1f"},"content":{"rendered":"<p>\u4f5c\u4e3a\u4e00\u4e2a\u6df1\u8015\u5d4c\u5165\u5f0f\u9886\u57df\u591a\u5e74\u7684\u5f00\u53d1\u8005\uff0c\u6211\u7ecf\u5e38\u6536\u5230\u8fd9\u4e2a\u95ee\u9898\uff1a&#8221;FreeRTOS\u5230\u5e95\u5e94\u8be5\u600e\u4e48\u5b66\uff1f&#8221;\u8bf4\u5b9e\u8bdd\uff0c\u5f53\u521d\u6211\u4e5f\u662f\u4e00\u5934\u96fe\u6c34\uff0c\u4ece\u5b8c\u5168\u4e0d\u61c2\u5230\u80fd\u591f\u719f\u7ec3\u5e94\u7528\uff0c\u8fd9\u4e2a\u8fc7\u7a0b\u5145\u6ee1\u4e86\u632b\u6298\u4e0e\u6210\u957f\u3002<\/p>\n<p>\u6211\u5728\u5f55\u5236<a href=\"https:\/\/link.segmentfault.com\/?enc=zJx2ihdwvhRw%2BgHbVKWB1g%3D%3D.OVgkDObFLNghRrVjbusNZYvGYtrm1S92NkYC%2BfPtJrLnoIP4hx8BKVfnW5HV9Rxl\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">\u300aSTM32\u5b9e\u6218\u5feb\u901f\u5165\u95e8\u300b\uff08\u70b9\u51fb\u76f4\u8fbe\uff09<\/a>\u8bfe\u7a0b\u65f6\u7279\u522b\u6ce8\u91cdFreeRTOS\u7684\u8bb2\u89e3\uff0c\u56e0\u4e3a\u770b\u5230\u592a\u591a\u521d\u5b66\u8005\u5728\u8fd9\u4e2a\u77e5\u8bc6\u70b9\u4e0a\u53cd\u590d\u53d7\u632b\u3002\u8bfe\u7a0b\u4e2d\u6211\u8bbe\u8ba1\u4e86\u4ece\u6700\u7b80\u5355\u7684\u4efb\u52a1\u521b\u5efa\u5230\u590d\u6742\u7684\u540c\u6b65\u901a\u4fe1\u673a\u5236\uff0c\u5faa\u5e8f\u6e10\u8fdb\u5730\u5e26\u9886\u5b66\u5458\u7406\u89e3RTOS\u7684\u7cbe\u9ad3\u300215\u4e2a\u5b9e\u6218\u9879\u76ee\u4e2d\u67095\u4e2a\u4e13\u95e8\u57fa\u4e8eFreeRTOS\u8bbe\u8ba1\uff0c\u8ba9\u5b66\u5458\u80fd\u591f\u5728\u5b9e\u8df5\u4e2d\u638c\u63e1\u8fd9\u4e2a\u5f3a\u5927\u7684\u5de5\u5177\u3002<\/p>\n<p>\u5176\u5b9e\uff0cFreeRTOS\u5b66\u4e60\u4e4b\u8def\u6709\u5f88\u591a\u79cd\u8def\u5f84\uff0c\u6211\u60f3\u5206\u4eab\u4e00\u4e0b\u6211\u7684\u7ecf\u9a8c\u548c\u89c2\u5bdf\u5230\u7684\u4e00\u4e9b\u6709\u6548\u65b9\u6cd5\u3002<\/p>\n<h2>1. 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Kernel\u300b<\/strong>\uff1a\u8fd9\u662f\u4f5c\u8005\u5199\u7684\u6559\u7a0b\uff0c\u975e\u5e38\u7cfb\u7edf<\/li>\n<\/ol>\n<p>\u8fd8\u6709\u4e00\u672c\u975e\u5e38\u5b9e\u7528\u7684\u4e66\u662f\u300aFreeRTOS\u5b9e\u65f6\u5185\u6838\u5b9e\u73b0\u4e0e\u5e94\u7528\u5f00\u53d1\u5b9e\u6218\u6307\u5357\u300b\uff0c\u56fd\u5185\u4f5c\u8005\u5199\u7684\uff0c\u7ed3\u5408\u4e86STM32\u7684\u5b9e\u8df5\uff0c\u5bf9\u4e2d\u6587\u8bfb\u8005\u66f4\u53cb\u597d\u3002<\/p>\n<p>FreeRTOS\u90e8\u5206\u65f6\uff0c\u5c31\u53c2\u8003\u4e86\u8fd9\u4e9b\u8d44\u6599\uff0c\u5e76\u4e14\u7ed3\u5408\u4e86\u6211\u5728\u5b9e\u9645\u9879\u76ee\u4e2d\u79ef\u7d2f\u7684\u7ecf\u9a8c\uff0c\u5c3d\u91cf\u7528\u901a\u4fd7\u6613\u61c2\u7684\u8bed\u8a00\u89e3\u91ca\u590d\u6742\u6982\u5ff5\u3002<\/p>\n<h3>2.2 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href=\"https:\/\/link.segmentfault.com\/?enc=Dch6g6UclIkg%2FDoAzT8jDw%3D%3D.YMqKnsEJBvkEsqKRjsYt9c0lcuPWjIt85X9%2BLuhAESHcmRQvP%2FWhMPy6l2YObbv3\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">\u300aSTM32\u5b9e\u6218\u5feb\u901f\u5165\u95e8\u300b<\/a>\u8bfe\u7a0b\u4e2d\uff0c\u5c24\u5176\u662f\u6700\u540e\u51e0\u4e2a\u7efc\u5408\u9879\u76ee\uff0c\u5c31\u662f\u6a21\u62df\u4e86\u5b9e\u9645\u5de5\u4f5c\u4e2d\u4f1a\u9047\u5230\u7684\u590d\u6742\u573a\u666f\u3002<\/p>\n<h2>3. \u4ece\u96f6\u5f00\u59cb\u5b66\u4e60FreeRTOS\u7684\u8be6\u7ec6\u6b65\u9aa4<\/h2>\n<p>\u63a5\u4e0b\u6765\uff0c\u6211\u60f3\u5206\u4eab\u4e00\u4e2a\u6211\u8ba4\u4e3a\u6bd4\u8f83\u5408\u7406\u7684\u4ece\u96f6\u5f00\u59cb\u5b66\u4e60FreeRTOS\u7684\u8def\u5f84\uff1a<\/p>\n<h3>3.1 \u7406\u89e3RTOS\u7684\u57fa\u672c\u6982\u5ff5<\/h3>\n<p>\u9996\u5148\uff0c\u8981\u7406\u89e3\u4e00\u4e9b\u57fa\u672c\u6982\u5ff5\uff1a<\/p>\n<p><strong>\u4ec0\u4e48\u662fRTOS<\/strong>\uff1a<br \/>\u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf(Real-Time Operating System)\u662f\u4e13\u4e3a\u9700\u8981\u5728\u786e\u5b9a\u65f6\u95f4\u5185\u5b8c\u6210\u7279\u5b9a\u529f\u80fd\u7684\u5d4c\u5165\u5f0f\u7cfb\u7edf\u8bbe\u8ba1\u7684\u64cd\u4f5c\u7cfb\u7edf\u3002\u4e0e\u901a\u7528\u64cd\u4f5c\u7cfb\u7edf\u4e0d\u540c\uff0cRTOS\u5f3a\u8c03\u7684\u662f\u786e\u5b9a\u6027\u548c\u53ef\u9884\u6d4b\u6027\uff0c\u800c\u4e0d\u4ec5\u4ec5\u662f\u9ad8\u541e\u5410\u91cf\u3002<\/p>\n<p><strong>\u4e3a\u4ec0\u4e48\u9700\u8981RTOS<\/strong>\uff1a<br \/>\u968f\u7740\u5d4c\u5165\u5f0f\u7cfb\u7edf\u529f\u80fd\u8d8a\u6765\u8d8a\u590d\u6742\uff0c\u7b80\u5355\u7684\u5faa\u73af\u7ed3\u6784\u5df2\u7ecf\u96be\u4ee5\u6ee1\u8db3\u8981\u6c42\u3002\u60f3\u8c61\u4e00\u4e0b\uff0c\u4f60\u9700\u8981\u540c\u65f6\u5904\u7406\u4f20\u611f\u5668\u8bfb\u53d6\u3001\u7f51\u7edc\u901a\u4fe1\u3001\u7528\u6237\u754c\u9762\u66f4\u65b0\u7b49\u591a\u4e2a\u4efb\u52a1\uff0c\u5982\u679c\u7528\u88f8\u673a\u7f16\u7a0b\uff0c\u4ee3\u7801\u5f88\u5feb\u5c31\u4f1a\u53d8\u5f97\u6df7\u4e71\u4e0d\u582a\u3002<\/p>\n<p><strong>RTOS\u7684\u6838\u5fc3\u6982\u5ff5<\/strong>\uff1a<\/p>\n<ul>\n<li>\u4efb\u52a1(Task)\uff1a\u72ec\u7acb\u7684\u7a0b\u5e8f\u6267\u884c\u5355\u5143\uff0c\u6709\u81ea\u5df1\u7684\u6808\u7a7a\u95f4<\/li>\n<li>\u8c03\u5ea6\u5668(Scheduler)\uff1a\u51b3\u5b9a\u54ea\u4e2a\u4efb\u52a1\u5e94\u8be5\u8fd0\u884c<\/li>\n<li>\u4e0a\u4e0b\u6587\u5207\u6362(Context Switch)\uff1a\u4fdd\u5b58\u5f53\u524d\u4efb\u52a1\u72b6\u6001\u5e76\u6062\u590d\u53e6\u4e00\u4e2a\u4efb\u52a1\u72b6\u6001\u7684\u8fc7\u7a0b<\/li>\n<li>\u4f18\u5148\u7ea7(Priority)\uff1a\u51b3\u5b9a\u4efb\u52a1\u8fd0\u884c\u987a\u5e8f\u7684\u91cd\u8981\u56e0\u7d20<\/li>\n<li>\u62a2\u5360(Preemption)\uff1a\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u53ef\u4ee5\u4e2d\u65ad\u4f4e\u4f18\u5148\u7ea7\u4efb\u52a1<\/li>\n<\/ul>\n<p>\u6211\u8bb0\u5f97\u5b66\u4e60\u8fd9\u4e9b\u6982\u5ff5\u65f6\uff0c\u6700\u6709\u5e2e\u52a9\u7684\u65b9\u6cd5\u662f\u7c7b\u6bd4\uff1a\u628a\u4efb\u52a1\u60f3\u8c61\u6210\u5de5\u4eba\uff0c\u8c03\u5ea6\u5668\u662f\u5de5\u5934\uff0c\u4f18\u5148\u7ea7\u662f\u5de5\u4f5c\u7684\u7d27\u6025\u7a0b\u5ea6\uff0c\u4e0a\u4e0b\u6587\u5207\u6362\u5c31\u662f\u5de5\u4eba\u4ea4\u63a5\u73ed\u3002\u8fd9\u79cd\u5f62\u8c61\u7684\u7c7b\u6bd4\u8ba9\u62bd\u8c61\u6982\u5ff5\u53d8\u5f97\u6613\u4e8e\u7406\u89e3\u3002<\/p>\n<h3>3.2 \u642d\u5efaFreeRTOS\u5f00\u53d1\u73af\u5883<\/h3>\n<p>\u5b66\u4e60\u4efb\u4f55\u6280\u672f\uff0c\u73af\u5883\u642d\u5efa\u90fd\u662f\u7b2c\u4e00\u5173\uff1a<\/p>\n<p><strong>\u9009\u62e9\u5f00\u53d1\u677f<\/strong>\uff1a<br \/>\u5efa\u8bae\u9009\u62e9\u8d44\u6599\u4e30\u5bcc\u7684\u4e3b\u6d41\u5f00\u53d1\u677f\uff0c\u5982STM32F103\u3001STM32F407\u7b49\u3002\u8fd9\u4e9b\u677f\u5b50\u4ef7\u683c\u5b9e\u60e0\uff0c\u793e\u533a\u652f\u6301\u597d\uff0c\u9047\u5230\u95ee\u9898\u5bb9\u6613\u627e\u5230\u89e3\u51b3\u65b9\u6848\u3002<\/p>\n<p><strong>\u5f00\u53d1\u73af\u5883\u914d\u7f6e<\/strong>\uff1a<\/p>\n<ul>\n<li>\u4f7f\u7528STM32CubeMX\u751f\u6210\u57fa\u7840\u5de5\u7a0b\uff0c\u76f4\u63a5\u96c6\u6210FreeRTOS<\/li>\n<li>\u6216\u8005\u624b\u52a8\u5c06FreeRTOS\u6e90\u7801\u96c6\u6210\u5230\u73b0\u6709\u9879\u76ee\u4e2d<\/li>\n<\/ul>\n<p><strong>\u914d\u7f6eFreeRTOS<\/strong>\uff1a<br \/>\u4fee\u6539FreeRTOSConfig.h\u6587\u4ef6\uff0c\u8bbe\u7f6e\u4efb\u52a1\u5806\u6808\u5927\u5c0f\u3001\u65f6\u949f\u6ef4\u7b54\u9891\u7387\u7b49\u53c2\u6570\u3002<\/p>\n<p>\u6211\u82b1\u4e86\u4e00\u6574\u8282\u8bfe\u4e13\u95e8\u8bb2\u89e3\u5982\u4f55\u4ece\u96f6\u642d\u5efaFreeRTOS\u73af\u5883\uff0c\u5305\u62ec\u4e24\u79cd\u65b9\u5f0f\uff1a\u7528CubeMX\u81ea\u52a8\u751f\u6210\u548c\u624b\u52a8\u96c6\u6210\u3002\u4e24\u79cd\u65b9\u6cd5\u5404\u6709\u4f18\u7f3a\u70b9\uff0c\u5b66\u5458\u53ef\u4ee5\u6839\u636e\u81ea\u5df1\u7684\u9700\u6c42\u9009\u62e9\u3002<\/p>\n<h3>3.3 \u638c\u63e1\u4efb\u52a1\u7ba1\u7406<\/h3>\n<p>\u4efb\u52a1\u662fFreeRTOS\u7684\u6838\u5fc3\u6982\u5ff5\uff0c\u9996\u5148\u8981\u638c\u63e1\uff1a<\/p>\n<p><strong>\u521b\u5efa\u4efb\u52a1<\/strong>\uff1a<\/p>\n<pre><code class=\"c\">TaskHandle_t xTaskHandle = NULL;\n\nvoid vTaskFunction(void *pvParameters) {\n    while(1) {\n        \/\/ \u4efb\u52a1\u4ee3\u7801\n        vTaskDelay(pdMS_TO_TICKS(1000));\n    }\n}\n\n\/\/ \u521b\u5efa\u4efb\u52a1\nxTaskCreate(\n    vTaskFunction,       \/\/ \u4efb\u52a1\u51fd\u6570\n    &quot;TaskName&quot;,          \/\/ \u4efb\u52a1\u540d\u79f0\n    128,                 \/\/ \u5806\u6808\u5927\u5c0f\uff08\u4ee5\u5b57\u4e3a\u5355\u4f4d\uff09\n    NULL,                \/\/ \u4efb\u52a1\u53c2\u6570\n    1,                   \/\/ \u4f18\u5148\u7ea7\n    &amp;xTaskHandle         \/\/ \u4efb\u52a1\u53e5\u67c4\n);<\/code><\/pre>\n<p><strong>\u7406\u89e3\u4efb\u52a1\u72b6\u6001<\/strong>\uff1a<br \/>\u4efb\u52a1\u53ef\u80fd\u5904\u4e8e\u8fd0\u884c(Running)\u3001\u5c31\u7eea(Ready)\u3001\u963b\u585e(Blocked)\u6216\u6302\u8d77(Suspended)\u72b6\u6001\u3002\u7406\u89e3\u8fd9\u4e9b\u72b6\u6001\u4e4b\u95f4\u7684\u8f6c\u6362\u5bf9\u4e8e\u8c03\u8bd5\u7cfb\u7edf\u95ee\u9898\u81f3\u5173\u91cd\u8981\u3002<\/p>\n<p><strong>\u63a7\u5236\u4efb\u52a1<\/strong>\uff1a<br \/>\u5b66\u4e60\u5982\u4f55\u5220\u9664\u3001\u6302\u8d77\u548c\u6062\u590d\u4efb\u52a1\u3002\u8fd9\u4e9bAPI\u770b\u4f3c\u7b80\u5355\uff0c\u4f46\u4f7f\u7528\u4e0d\u5f53\u4f1a\u5bfc\u81f4\u4e25\u91cd\u95ee\u9898\uff0c\u5982\u5185\u5b58\u6cc4\u6f0f\u6216\u7cfb\u7edf\u4e0d\u7a33\u5b9a\u3002<\/p>\n<p>\u6211\u5728\u5f00\u53d1\u4e00\u4e2a\u5de5\u4e1a\u63a7\u5236\u7cfb\u7edf\u65f6\uff0c\u66fe\u7ecf\u9519\u8bef\u5730\u5220\u9664\u4e86\u4e00\u4e2a\u4ecd\u6301\u6709\u8d44\u6e90\u7684\u4efb\u52a1\uff0c\u5bfc\u81f4\u7cfb\u7edf\u95f4\u6b47\u6027\u6b7b\u9501\u3002\u8fd9\u4e2a\u6559\u8bad\u8ba9\u6211\u6df1\u523b\u7406\u89e3\u4e86\u4efb\u52a1\u751f\u547d\u5468\u671f\u7ba1\u7406\u7684\u91cd\u8981\u6027\u3002<\/p>\n<h3>3.4 \u6df1\u5165\u7406\u89e3\u8c03\u5ea6\u5668<\/h3>\n<p>\u8c03\u5ea6\u5668\u662fRTOS\u7684\u6838\u5fc3\uff0c\u51b3\u5b9a\u54ea\u4e2a\u4efb\u52a1\u4f55\u65f6\u8fd0\u884c\uff1a<\/p>\n<p><strong>\u8c03\u5ea6\u7b56\u7565<\/strong>\uff1a<br \/>FreeRTOS\u4f7f\u7528\u57fa\u4e8e\u4f18\u5148\u7ea7\u7684\u62a2\u5360\u5f0f\u8c03\u5ea6\u3002\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u4e00\u65e6\u5c31\u7eea\uff0c\u4f1a\u7acb\u5373\u62a2\u5360\u4f4e\u4f18\u5148\u7ea7\u4efb\u52a1\u3002\u540c\u4f18\u5148\u7ea7\u4efb\u52a1\u5219\u91c7\u7528\u65f6\u95f4\u7247\u8f6e\u8f6c\u8c03\u5ea6\u3002<\/p>\n<p><strong>\u65f6\u95f4\u7247\u914d\u7f6e<\/strong>\uff1a<br \/>\u901a\u8fc7configTICK_RATE_HZ\u8bbe\u7f6e\u7cfb\u7edf\u6ef4\u7b54\u9891\u7387\uff0c\u8fd9\u76f4\u63a5\u5f71\u54cd\u8c03\u5ea6\u7cbe\u5ea6\u548c\u7cfb\u7edf\u5f00\u9500\u3002<\/p>\n<p><strong>\u4e34\u754c\u533a\u4fdd\u62a4<\/strong>\uff1a<br \/>\u5b66\u4e60taskENTER_CRITICAL()\u548ctaskEXIT_CRITICAL()\u7684\u4f7f\u7528\uff0c\u9632\u6b62\u5173\u952e\u4ee3\u7801\u88ab\u4e2d\u65ad\u3002<\/p>\n<p>\u6211\u66fe\u7ecf\u9047\u5230\u8fc7\u4e00\u4e2a\u6709\u8da3\u7684\u95ee\u9898\uff1a\u7cfb\u7edf\u4e2d\u7684\u4e00\u4e2a\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u8fd0\u884c\u65f6\u95f4\u8fc7\u957f\uff0c\u5bfc\u81f4\u4f4e\u4f18\u5148\u7ea7\u4efb\u52a1\u51e0\u4e4e\u6ca1\u6709\u673a\u4f1a\u6267\u884c\u3002\u8fd9\u63d0\u9192\u6211\u4eec\uff1a\u4f18\u5148\u7ea7\u8bbe\u8ba1\u5e94\u8be5\u8c28\u614e\uff0c\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u5e94\u8be5\u77ed\u5c0f\u7cbe\u608d\uff0c\u6267\u884c\u5b8c\u5c31\u8fdb\u5165\u963b\u585e\u72b6\u6001\u3002<\/p>\n<h3>3.5 \u4f7f\u7528\u961f\u5217\u8fdb\u884c\u4efb\u52a1\u901a\u4fe1<\/h3>\n<p>\u961f\u5217\u662fFreeRTOS\u4e2d\u6700\u57fa\u672c\u7684\u4efb\u52a1\u95f4\u901a\u4fe1\u673a\u5236\uff1a<\/p>\n<p><strong>\u521b\u5efa\u961f\u5217<\/strong>\uff1a<\/p>\n<pre><code class=\"c\">QueueHandle_t xQueue;\nxQueue = xQueueCreate(5, sizeof(uint32_t)); \/\/ \u521b\u5efa\u4e00\u4e2a\u53ef\u5bb9\u7eb35\u4e2auint32_t\u7684\u961f\u5217<\/code><\/pre>\n<p><strong>\u53d1\u9001\u548c\u63a5\u6536\u6570\u636e<\/strong>\uff1a<\/p>\n<pre><code class=\"c\">\/\/ \u53d1\u9001\u6570\u636e\nuint32_t value = 100;\nxQueueSend(xQueue, &amp;value, portMAX_DELAY);\n\n\/\/ \u63a5\u6536\u6570\u636e\nuint32_t receivedValue;\nxQueueReceive(xQueue, &amp;receivedValue, portMAX_DELAY);<\/code><\/pre>\n<p><strong>\u961f\u5217\u7684\u963b\u585e\u884c\u4e3a<\/strong>\uff1a<br \/>\u7406\u89e3xQueueSend\u548cxQueueReceive\u7684\u963b\u585e\u53c2\u6570\uff08\u7b2c\u4e09\u4e2a\u53c2\u6570\uff09\u662f\u5982\u4f55\u5f71\u54cd\u4efb\u52a1\u884c\u4e3a\u7684\u3002<\/p>\n<p>\u6709\u4e00\u4e2a\u4e13\u95e8\u7684\u9879\u76ee\u662f\u6784\u5efa\u4e00\u4e2a\u57fa\u4e8e\u961f\u5217\u7684\u4f20\u611f\u5668\u6570\u636e\u91c7\u96c6\u7cfb\u7edf\uff0c\u901a\u8fc7\u5b9e\u9645\u7684\u5e94\u7528\u8ba9\u5b66\u5458\u638c\u63e1\u961f\u5217\u7684\u4f7f\u7528\u573a\u666f\u548c\u6280\u5de7\u3002<\/p>\n<h3>3.6 \u638c\u63e1\u4fe1\u53f7\u91cf\u548c\u4e92\u65a5\u91cf<\/h3>\n<p>\u4fe1\u53f7\u91cf\u7528\u4e8e\u540c\u6b65\uff0c\u4e92\u65a5\u91cf\u7528\u4e8e\u4fdd\u62a4\u5171\u4eab\u8d44\u6e90\uff1a<\/p>\n<p><strong>\u4e8c\u503c\u4fe1\u53f7\u91cf<\/strong>\uff1a<br \/>\u7c7b\u4f3c\u4e8e\u4e00\u4e2a\u6807\u5fd7\uff0c\u53ea\u6709\u4e24\u79cd\u72b6\u6001\uff1a\u53ef\u7528\u548c\u4e0d\u53ef\u7528\u3002\u5e38\u7528\u4e8e\u4efb\u52a1\u95f4\u7684\u7b80\u5355\u540c\u6b65\u3002<\/p>\n<pre><code class=\"c\">SemaphoreHandle_t xBinarySemaphore;\nxBinarySemaphore = xSemaphoreCreateBinary();\n\n\/\/ \u4efb\u52a1A\u7b49\u5f85\u4fe1\u53f7\u91cf\nxSemaphoreTake(xBinarySemaphore, portMAX_DELAY);\n\n\/\/ \u4efb\u52a1B\u6216\u4e2d\u65ad\u91ca\u653e\u4fe1\u53f7\u91cf\nxSemaphoreGive(xBinarySemaphore);<\/code><\/pre>\n<p><strong>\u8ba1\u6570\u4fe1\u53f7\u91cf<\/strong>\uff1a<br \/>\u53ef\u4ee5\u6709\u591a\u4e2a&#8221;\u8ba1\u6570&#8221;\u7684\u4fe1\u53f7\u91cf\uff0c\u5e38\u7528\u4e8e\u8d44\u6e90\u8ba1\u6570\u6216\u4e8b\u4ef6\u8ba1\u6570\u3002<\/p>\n<p><strong>\u4e92\u65a5\u91cf<\/strong>\uff1a<br \/>\u7279\u6b8a\u7c7b\u578b\u7684\u4e8c\u503c\u4fe1\u53f7\u91cf\uff0c\u5e26\u6709\u4f18\u5148\u7ea7\u7ee7\u627f\u673a\u5236\uff0c\u7528\u4e8e\u9632\u6b62\u4f18\u5148\u7ea7\u53cd\u8f6c\u95ee\u9898\u3002<\/p>\n<pre><code class=\"c\">SemaphoreHandle_t xMutex;\nxMutex = xSemaphoreCreateMutex();\n\n\/\/ \u4fdd\u62a4\u5171\u4eab\u8d44\u6e90\nif(xSemaphoreTake(xMutex, portMAX_DELAY) == pdTRUE) {\n    \/\/ \u8bbf\u95ee\u5171\u4eab\u8d44\u6e90\n    \/\/ ...\n    xSemaphoreGive(xMutex);\n}<\/code><\/pre>\n<p>\u6211\u66fe\u7ecf\u5728\u4e00\u4e2a\u7cfb\u7edf\u4e2d\u9047\u5230\u8fc7\u4f18\u5148\u7ea7\u53cd\u8f6c\u95ee\u9898\uff1a\u4f4e\u4f18\u5148\u7ea7\u4efb\u52a1\u6301\u6709\u4e92\u65a5\u91cf\uff0c\u4e2d\u7b49\u4f18\u5148\u7ea7\u4efb\u52a1\u62a2\u5360\u4e86\u4f4e\u4f18\u5148\u7ea7\u4efb\u52a1\uff0c\u800c\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u7b49\u5f85\u4e92\u65a5\u91cf\uff0c\u5bfc\u81f4\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u88ab\u4e2d\u7b49\u4f18\u5148\u7ea7\u4efb\u52a1\u95f4\u63a5\u963b\u585e\u3002\u4f7f\u7528\u4e92\u65a5\u91cf\u800c\u4e0d\u662f\u4e8c\u503c\u4fe1\u53f7\u91cf\u6210\u529f\u89e3\u51b3\u4e86\u8fd9\u4e2a\u95ee\u9898\u3002<\/p>\n<h3>3.7 \u5b66\u4e60\u4e8b\u4ef6\u7ec4\u548c\u4efb\u52a1\u901a\u77e5<\/h3>\n<p>\u4e8b\u4ef6\u7ec4\u548c\u4efb\u52a1\u901a\u77e5\u662f\u66f4\u9ad8\u7ea7\u7684\u540c\u6b65\u673a\u5236\uff1a<\/p>\n<p><strong>\u4e8b\u4ef6\u7ec4<\/strong>\uff1a<br \/>\u5141\u8bb8\u4efb\u52a1\u7b49\u5f85\u591a\u4e2a\u4e8b\u4ef6\u7684\u7ec4\u5408\uff0c\u6216\u8005\u4e00\u6b21\u901a\u77e5\u591a\u4e2a\u4efb\u52a1\u3002<\/p>\n<pre><code class=\"c\">EventGroupHandle_t xEventGroup;\nxEventGroup = xEventGroupCreate();\n\n\/\/ \u7b49\u5f85\u591a\u4e2a\u4e8b\u4ef6\nEventBits_t xBits = xEventGroupWaitBits(\n    xEventGroup,\n    BIT_0 | BIT_1,  \/\/ \u7b49\u5f85\u7684\u4e8b\u4ef6\u4f4d\n    pdTRUE,         \/\/ \u6e05\u9664\u4e8b\u4ef6\u4f4d\n    pdTRUE,         \/\/ \u7b49\u5f85\u6240\u6709\u6307\u5b9a\u7684\u4f4d\n    portMAX_DELAY   \/\/ \u65e0\u9650\u7b49\u5f85\n);\n\n\/\/ \u8bbe\u7f6e\u4e8b\u4ef6\u4f4d\nxEventGroupSetBits(xEventGroup, BIT_0);<\/code><\/pre>\n<p><strong>\u4efb\u52a1\u901a\u77e5<\/strong>\uff1a<br \/>\u8f7b\u91cf\u7ea7\u7684\u4efb\u52a1\u95f4\u901a\u4fe1\u673a\u5236\uff0c\u6bd4\u961f\u5217\u548c\u4fe1\u53f7\u91cf\u66f4\u9ad8\u6548\uff0c\u4f46\u529f\u80fd\u6709\u9650\u3002<\/p>\n<pre><code class=\"c\">\/\/ \u53d1\u9001\u901a\u77e5\nxTaskNotify(xTaskHandle, 0x01, eSetBits);\n\n\/\/ \u7b49\u5f85\u901a\u77e5\nuint32_t ulNotifiedValue;\nxTaskNotifyWait(0, 0xFFFFFFFF, &amp;ulNotifiedValue, portMAX_DELAY);<\/code><\/pre>\n<p>\u5728\u8d44\u6e90\u53d7\u9650\u7684\u7cfb\u7edf\u4e2d\uff0c\u4efb\u52a1\u901a\u77e5\u6bd4\u961f\u5217\u548c\u4fe1\u53f7\u91cf\u66f4\u9ad8\u6548\uff0c\u6211\u5728\u4e00\u4e2a\u4f4e\u529f\u8017\u9879\u76ee\u4e2d\u6210\u529f\u7528\u4efb\u52a1\u901a\u77e5\u66ff\u6362\u4e86\u5927\u90e8\u5206\u961f\u5217\u64cd\u4f5c\uff0c\u51cf\u5c11\u4e86RAM\u4f7f\u7528\u5e76\u63d0\u9ad8\u4e86\u6027\u80fd\u3002<\/p>\n<h3>3.8 \u5185\u5b58\u7ba1\u7406\u4e0e\u8c03\u8bd5\u6280\u672f<\/h3>\n<p>\u6700\u540e\uff0c\u8981\u638c\u63e1\u4e00\u4e9b\u9ad8\u7ea7\u4e3b\u9898\uff1a<\/p>\n<p><strong>\u5185\u5b58\u7ba1\u7406\u65b9\u6848<\/strong>\uff1a<br \/>FreeRTOS\u63d0\u4f9b\u4e86\u51e0\u79cd\u5806\u5b9e\u73b0(heap_1\u5230heap_5)\uff0c\u4e86\u89e3\u5b83\u4eec\u7684\u5dee\u5f02\u5bf9\u4e8e\u9009\u62e9\u5408\u9002\u7684\u5185\u5b58\u7ba1\u7406\u7b56\u7565\u5f88\u91cd\u8981\u3002<\/p>\n<p><strong>\u8f6f\u4ef6\u5b9a\u65f6\u5668<\/strong>\uff1a<br \/>\u4e86\u89e3\u5982\u4f55\u4f7f\u7528FreeRTOS\u7684\u8f6f\u4ef6\u5b9a\u65f6\u5668\u6267\u884c\u5468\u671f\u6027\u4efb\u52a1\uff0c\u800c\u4e0d\u9700\u8981\u521b\u5efa\u4e13\u95e8\u7684\u4efb\u52a1\u3002<\/p>\n<p><strong>\u8c03\u8bd5\u6280\u672f<\/strong>\uff1a<\/p>\n<ul>\n<li>\u4f7f\u7528vTaskList\u548cvTaskGetRunTimeStats\u76d1\u63a7\u4efb\u52a1\u72b6\u6001<\/li>\n<li>\u914d\u7f6e\u5185\u5b58\u6ea2\u51fa\u94a9\u5b50\u51fd\u6570<\/li>\n<li>\u4f7f\u7528\u8c03\u8bd5\u5668\u89c2\u5bdf\u4efb\u52a1\u6808\u4f7f\u7528\u60c5\u51b5<\/li>\n<\/ul>\n<p>\u6211\u5206\u4eab\u4e86\u4e00\u4e9b\u5b9e\u7528\u7684FreeRTOS\u8c03\u8bd5\u6280\u5de7\uff0c\u8fd9\u4e9b\u6280\u5de7\u90fd\u662f\u6211\u5728\u5b9e\u9645\u9879\u76ee\u4e2d\u603b\u7ed3\u51fa\u6765\u7684\u3002\u6bd4\u5982\u5982\u4f55\u5224\u65ad\u4efb\u52a1\u6808\u6ea2\u51fa\uff0c\u5982\u4f55\u8ddf\u8e2a\u5185\u5b58\u5206\u914d\u5931\u8d25\uff0c\u8fd9\u4e9b\u5f80\u5f80\u662f\u5d4c\u5165\u5f0f\u7cfb\u7edf\u6700\u68d8\u624b\u7684\u95ee\u9898\u3002<\/p>\n<h2>4. \u5e38\u89c1\u5b66\u4e60\u8bef\u533a\u4e0e\u89e3\u51b3\u65b9\u6848<\/h2>\n<p>\u5728\u6307\u5bfc\u5b66\u5458\u5b66\u4e60FreeRTOS\u7684\u8fc7\u7a0b\u4e2d\uff0c\u6211\u53d1\u73b0\u4e86\u4e00\u4e9b\u5e38\u89c1\u7684\u8bef\u533a\uff1a<\/p>\n<h3>4.1 \u8fc7\u5ea6\u4f9d\u8d56\u8303\u4f8b\u4ee3\u7801<\/h3>\n<p>\u5f88\u591a\u4eba\u559c\u6b22\u590d\u5236\u7c98\u8d34\u793a\u4f8b\u4ee3\u7801\uff0c\u4f46\u4e0d\u7406\u89e3\u80cc\u540e\u7684\u539f\u7406\u3002\u8fd9\u5bfc\u81f4\u4e00\u65e6\u51fa\u73b0\u95ee\u9898\uff0c\u5c31\u65e0\u6cd5\u6392\u67e5\u3002<\/p>\n<p><strong>\u89e3\u51b3\u65b9\u6848<\/strong>\uff1a<\/p>\n<ul>\n<li>\u5148\u7406\u89e3\u4ee3\u7801\u662f\u505a\u4ec0\u4e48\u7684\uff0c\u518d\u8003\u8651\u600e\u4e48\u505a<\/li>\n<li>\u5c1d\u8bd5\u4fee\u6539\u793a\u4f8b\u4ee3\u7801\uff0c\u89c2\u5bdf\u7cfb\u7edf\u884c\u4e3a\u53d8\u5316<\/li>\n<li>\u4ece\u96f6\u5f00\u59cb\u5b9e\u73b0\u4e00\u4e2a\u7b80\u5355\u529f\u80fd\uff0c\u800c\u4e0d\u662f\u76f4\u63a5\u590d\u5236\u590d\u6742\u793a\u4f8b<\/li>\n<\/ul>\n<h3>4.2 \u5ffd\u89c6\u7cfb\u7edf\u53c2\u6570\u914d\u7f6e<\/h3>\n<p>FreeRTOSConfig.h\u4e2d\u7684\u53c2\u6570\u76f4\u63a5\u5f71\u54cd\u7cfb\u7edf\u884c\u4e3a\uff0c\u5f88\u591a\u521d\u5b66\u8005\u4f7f\u7528\u9ed8\u8ba4\u914d\u7f6e\u800c\u4e0d\u4e86\u89e3\u5176\u5f71\u54cd\u3002<\/p>\n<p><strong>\u89e3\u51b3\u65b9\u6848<\/strong>\uff1a<\/p>\n<ul>\n<li>\u4e86\u89e3\u6bcf\u4e2a\u914d\u7f6e\u9879\u7684\u542b\u4e49<\/li>\n<li>\u6839\u636e\u5e94\u7528\u9700\u6c42\u8c03\u6574\u53c2\u6570<\/li>\n<li>\u6d4b\u8bd5\u4e0d\u540c\u914d\u7f6e\u4e0b\u7cfb\u7edf\u7684\u884c\u4e3a\u5dee\u5f02<\/li>\n<\/ul>\n<h3>4.3 \u4efb\u52a1\u8bbe\u8ba1\u4e0d\u5408\u7406<\/h3>\n<p>\u5e38\u89c1\u95ee\u9898\u5305\u62ec\uff1a<\/p>\n<ul>\n<li>\u4efb\u52a1\u4f18\u5148\u7ea7\u8bbe\u7f6e\u4e0d\u5408\u7406<\/li>\n<li>\u4efb\u52a1\u5806\u6808\u5927\u5c0f\u4f30\u8ba1\u9519\u8bef<\/li>\n<li>\u4efb\u52a1\u95f4\u901a\u4fe1\u673a\u5236\u9009\u62e9\u4e0d\u5f53<\/li>\n<\/ul>\n<p><strong>\u89e3\u51b3\u65b9\u6848<\/strong>\uff1a<\/p>\n<ul>\n<li>\u9075\u5faa&#8221;\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u5e94\u8be5\u77ed\u5c0f\u7cbe\u608d&#8221;\u7684\u539f\u5219<\/li>\n<li>\u4f7f\u7528\u8c03\u8bd5\u5de5\u5177\u76d1\u63a7\u5806\u6808\u4f7f\u7528\u60c5\u51b5<\/li>\n<li>\u4e86\u89e3\u4e0d\u540c\u901a\u4fe1\u673a\u5236\u7684\u9002\u7528\u573a\u666f<\/li>\n<\/ul>\n<h3>4.4 \u8fc7\u65e9\u4f18\u5316\u6216\u8fc7\u5ea6\u590d\u6742\u5316<\/h3>\n<p>\u6709\u4e9b\u5f00\u53d1\u8005\u4e00\u5f00\u59cb\u5c31\u8ffd\u6c42\u6781\u81f4\u4f18\u5316\u6216\u4f7f\u7528\u590d\u6742\u7279\u6027\uff0c\u53cd\u800c\u589e\u52a0\u4e86\u5b66\u4e60\u96be\u5ea6\u3002<\/p>\n<p><strong>\u89e3\u51b3\u65b9\u6848<\/strong>\uff1a<\/p>\n<ul>\n<li>\u5148\u5b9e\u73b0\u529f\u80fd\uff0c\u518d\u8003\u8651\u4f18\u5316<\/li>\n<li>\u4ece\u7b80\u5355\u7684\u4efb\u52a1\u548c\u961f\u5217\u5f00\u59cb<\/li>\n<li>\u53ea\u6709\u5728\u786e\u5b9e\u9700\u8981\u65f6\u624d\u4f7f\u7528\u9ad8\u7ea7\u7279\u6027<\/li>\n<\/ul>\n<p>\u6211\u6709\u4e2a\u5b66\u5458\u66fe\u7ecf\u5728\u4e00\u4e2a\u7b80\u5355\u9879\u76ee\u4e2d\u4f7f\u7528\u4e86\u4e8b\u4ef6\u7ec4\u3001\u4efb\u52a1\u901a\u77e5\u3001\u961f\u5217\u96c6\u7b49\u591a\u79cd\u901a\u4fe1\u673a\u5236\uff0c\u5bfc\u81f4\u7cfb\u7edf\u903b\u8f91\u6df7\u4e71\u96be\u4ee5\u7ef4\u62a4\u3002\u540e\u6765\u6211\u4eec\u91cd\u6784\u4e3a\u53ea\u4f7f\u7528\u961f\u5217\u7684\u8bbe\u8ba1\uff0c\u4ee3\u7801\u91cf\u51cf\u5c11\u4e8630%\uff0c\u53ef\u8bfb\u6027\u5927\u5927\u63d0\u9ad8\u3002<\/p>\n<h2>5. \u5b9e\u9645\u9879\u76ee\u4e2d\u7684FreeRTOS\u5e94\u7528\u6a21\u5f0f<\/h2>\n<p>\u901a\u8fc7\u591a\u5e74\u7684\u9879\u76ee\u7ecf\u9a8c\uff0c\u6211\u603b\u7ed3\u4e86\u4e00\u4e9bFreeRTOS\u7684\u5e38\u7528\u5e94\u7528\u6a21\u5f0f\uff1a<\/p>\n<h3>5.1 \u751f\u4ea7\u8005-\u6d88\u8d39\u8005\u6a21\u5f0f<\/h3>\n<p>\u8fd9\u662f\u6700\u57fa\u672c\u4e5f\u662f\u6700\u5e38\u7528\u7684\u6a21\u5f0f\uff1a<\/p>\n<p><strong>\u6a21\u5f0f\u63cf\u8ff0<\/strong>\uff1a<br \/>\u4e00\u4e2a\u6216\u591a\u4e2a\u4efb\u52a1(\u751f\u4ea7\u8005)\u4ea7\u751f\u6570\u636e\uff0c\u653e\u5165\u961f\u5217\uff1b\u53e6\u4e00\u4e2a\u6216\u591a\u4e2a\u4efb\u52a1(\u6d88\u8d39\u8005)\u4ece\u961f\u5217\u53d6\u51fa\u6570\u636e\u5904\u7406\u3002<\/p>\n<p><strong>\u5178\u578b\u5e94\u7528<\/strong>\uff1a<\/p>\n<ul>\n<li>\u4f20\u611f\u5668\u6570\u636e\u91c7\u96c6\u4e0e\u5904\u7406<\/li>\n<li>\u901a\u4fe1\u6570\u636e\u63a5\u6536\u4e0e\u89e3\u6790<\/li>\n<li>\u7528\u6237\u8f93\u5165\u5904\u7406\u4e0e\u54cd\u5e94<\/li>\n<\/ul>\n<p><strong>\u793a\u4f8b\u4ee3\u7801<\/strong>\uff1a<\/p>\n<pre><code class=\"c\">\/\/ \u751f\u4ea7\u8005\u4efb\u52a1\nvoid vProducerTask(void *pvParameters) {\n    DataItem_t item;\n    while(1) {\n        \/\/ \u4ea7\u751f\u6570\u636e\n        item = generateData();\n        \/\/ \u53d1\u9001\u5230\u961f\u5217\n        xQueueSend(xDataQueue, &amp;item, portMAX_DELAY);\n        vTaskDelay(pdMS_TO_TICKS(100));\n    }\n}\n\n\/\/ \u6d88\u8d39\u8005\u4efb\u52a1\nvoid vConsumerTask(void *pvParameters) {\n    DataItem_t receivedItem;\n    while(1) {\n        \/\/ \u4ece\u961f\u5217\u63a5\u6536\u6570\u636e\n        if(xQueueReceive(xDataQueue, &amp;receivedItem, portMAX_DELAY) == pdTRUE) {\n            \/\/ \u5904\u7406\u6570\u636e\n            processData(receivedItem);\n        }\n    }\n}<\/code><\/pre>\n<h3>5.2 \u4e8b\u4ef6\u5904\u7406\u6a21\u5f0f<\/h3>\n<p>\u9002\u7528\u4e8e\u9700\u8981\u54cd\u5e94\u591a\u79cd\u4e8b\u4ef6\u7684\u7cfb\u7edf\uff1a<\/p>\n<p><strong>\u6a21\u5f0f\u63cf\u8ff0<\/strong>\uff1a<br \/>\u4f7f\u7528\u4e8b\u4ef6\u7ec4\u6216\u4efb\u52a1\u901a\u77e5\u6765\u6807\u8bc6\u4e0d\u540c\u7c7b\u578b\u7684\u4e8b\u4ef6\uff0c\u4e00\u4e2a\u6216\u591a\u4e2a\u4efb\u52a1\u7b49\u5f85\u5e76\u5904\u7406\u8fd9\u4e9b\u4e8b\u4ef6\u3002<\/p>\n<p><strong>\u5178\u578b\u5e94\u7528<\/strong>\uff1a<\/p>\n<ul>\n<li>\u7528\u6237\u754c\u9762\u4e8b\u4ef6\u5904\u7406<\/li>\n<li>\u591a\u79cd\u4e2d\u65ad\u4e8b\u4ef6\u54cd\u5e94<\/li>\n<li>\u72b6\u6001\u53d8\u5316\u76d1\u63a7<\/li>\n<\/ul>\n<p><strong>\u793a\u4f8b\u4ee3\u7801<\/strong>\uff1a<\/p>\n<pre><code class=\"c\">\/\/ \u4e8b\u4ef6\u5904\u7406\u4efb\u52a1\nvoid vEventHandlerTask(void *pvParameters) {\n    EventBits_t xBits;\n    while(1) {\n        \/\/ \u7b49\u5f85\u4efb\u610f\u4e8b\u4ef6\n        xBits = xEventGroupWaitBits(\n            xEventGroup,\n            ALL_EVENT_BITS,\n            pdTRUE,         \/\/ \u6e05\u9664\u4e8b\u4ef6\u4f4d\n            pdFALSE,        \/\/ \u7b49\u5f85\u4efb\u610f\u4e00\u4e2a\u4f4d\n            portMAX_DELAY\n        );\n        \n        \/\/ \u5904\u7406\u4e8b\u4ef6\n        if(xBits &amp; EVENT_BUTTON) handleButtonEvent();\n        if(xBits &amp; EVENT_TIMER) handleTimerEvent();\n        if(xBits &amp; EVENT_COMM) handleCommEvent();\n    }\n}<\/code><\/pre>\n<h3>5.3 \u8d44\u6e90\u7ba1\u7406\u6a21\u5f0f<\/h3>\n<p>\u9002\u7528\u4e8e\u591a\u4efb\u52a1\u5171\u4eab\u8d44\u6e90\u7684\u60c5\u51b5\uff1a<\/p>\n<p><strong>\u6a21\u5f0f\u63cf\u8ff0<\/strong>\uff1a<br \/>\u4f7f\u7528\u4e92\u65a5\u91cf\u6216\u4fe1\u53f7\u91cf\u4fdd\u62a4\u5bf9\u5171\u4eab\u8d44\u6e90\u7684\u8bbf\u95ee\uff0c\u9632\u6b62\u6570\u636e\u635f\u574f\u3002<\/p>\n<p><strong>\u5178\u578b\u5e94\u7528<\/strong>\uff1a<\/p>\n<ul>\n<li>\u5171\u4eab\u5185\u5b58\u8bbf\u95ee<\/li>\n<li>\u5916\u8bbe\u5171\u4eab\uff08\u5982SPI\u3001I2C\u7b49\u603b\u7ebf\uff09<\/li>\n<li>\u6587\u4ef6\u7cfb\u7edf\u64cd\u4f5c<\/li>\n<\/ul>\n<p><strong>\u793a\u4f8b\u4ee3\u7801<\/strong>\uff1a<\/p>\n<pre><code class=\"c\">\/\/ \u4f7f\u7528\u4e92\u65a5\u91cf\u4fdd\u62a4SPI\u603b\u7ebf\nvoid vTask1(void *pvParameters) {\n    while(1) {\n        \/\/ \u8bf7\u6c42SPI\u603b\u7ebf\u8bbf\u95ee\u6743\n        if(xSemaphoreTake(xSPIMutex, pdMS_TO_TICKS(100)) == pdTRUE) {\n            \/\/ \u914d\u7f6eSPI\n            SPI_Config();\n            \/\/ \u8fdb\u884c\u6570\u636e\u4f20\u8f93\n            SPI_Transfer();\n            \/\/ \u91ca\u653eSPI\u603b\u7ebf\n            xSemaphoreGive(xSPIMutex);\n        }\n        vTaskDelay(pdMS_TO_TICKS(500));\n    }\n}<\/code><\/pre>\n<p>\u5728\u6211\u7684<a href=\"https:\/\/link.segmentfault.com\/?enc=DMy9%2FqAleWpkRp%2BShAz0%2BA%3D%3D.7dtYeOGKhIxQyVNQCRL6740qGwzey1sMkFK27Y0mMJm%2B0c9J4hCmCDnqq0TQ%2FUwT\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">\u300aSTM32\u5b9e\u6218\u5feb\u901f\u5165\u95e8\u300b<\/a>\u8bfe\u7a0b\u7684\u9879\u76ee\u5b9e\u6218\u90e8\u5206\uff0c\u6211\u8bbe\u8ba1\u4e86\u4e00\u4e2a\u7efc\u5408\u5e94\u7528\u8fd9\u4e9b\u6a21\u5f0f\u7684\u9879\u76ee\uff1a\u4e00\u4e2a\u591a\u4f20\u611f\u5668\u6570\u636e\u91c7\u96c6\u4e0e\u63a7\u5236\u7cfb\u7edf\uff0c\u5b66\u5458\u53ef\u4ee5\u770b\u5230\u8fd9\u4e9b\u6a21\u5f0f\u5982\u4f55\u5728\u5b9e\u9645\u9879\u76ee\u4e2d\u534f\u540c\u5de5\u4f5c\u3002<\/p>\n<h2>6. \u5b66\u4e60\u8fc7\u7a0b\u4e2d\u7684\u5e38\u89c1\u95ee\u9898\u4e0e\u89e3\u51b3\u65b9\u6848<\/h2>\n<p>\u6700\u540e\uff0c\u5206\u4eab\u4e00\u4e9b\u5b66\u4e60\u8fc7\u7a0b\u4e2d\u5e38\u89c1\u7684\u95ee\u9898\u548c\u89e3\u51b3\u65b9\u6cd5\uff1a<\/p>\n<h3>6.1 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\u5b9e\u65f6\u6027\u4e0d\u6ee1\u8db3\u8981\u6c42<\/h3>\n<p><strong>\u53ef\u80fd\u539f\u56e0<\/strong>\uff1a<\/p>\n<ul>\n<li>\u4efb\u52a1\u4f18\u5148\u7ea7\u8bbe\u7f6e\u4e0d\u5408\u7406<\/li>\n<li>\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u6267\u884c\u65f6\u95f4\u8fc7\u957f<\/li>\n<li>\u4e2d\u65ad\u670d\u52a1\u7a0b\u5e8f\u5360\u7528\u8fc7\u591a\u65f6\u95f4<\/li>\n<li>\u7cfb\u7edf\u6ef4\u7b54\u9891\u7387\u8bbe\u7f6e\u8fc7\u4f4e<\/li>\n<\/ul>\n<p><strong>\u8bca\u65ad\u65b9\u6cd5<\/strong>\uff1a<\/p>\n<ul>\n<li>\u6d4b\u91cf\u5173\u952e\u8def\u5f84\u7684\u54cd\u5e94\u65f6\u95f4<\/li>\n<li>\u76d1\u63a7\u4efb\u52a1\u8fd0\u884c\u65f6\u95f4\u7edf\u8ba1<\/li>\n<li>\u5206\u6790\u4efb\u52a1\u963b\u585e\u7684\u539f\u56e0<\/li>\n<\/ul>\n<p><strong>\u89e3\u51b3\u7b56\u7565<\/strong>\uff1a<\/p>\n<ul>\n<li>\u8c03\u6574\u4efb\u52a1\u4f18\u5148\u7ea7<\/li>\n<li>\u5206\u89e3\u957f\u65f6\u95f4\u8fd0\u884c\u7684\u4efb\u52a1<\/li>\n<li>\u4f18\u5316\u4e2d\u65ad\u670d\u52a1\u7a0b\u5e8f<\/li>\n<li>\u589e\u52a0\u7cfb\u7edf\u6ef4\u7b54\u9891\u7387<\/li>\n<\/ul>\n<h3>6.3 \u5185\u5b58\u4f7f\u7528\u8fc7\u9ad8<\/h3>\n<p><strong>\u53ef\u80fd\u539f\u56e0<\/strong>\uff1a<\/p>\n<ul>\n<li>\u4efb\u52a1\u6808\u5927\u5c0f\u8bbe\u7f6e\u8fc7\u5927<\/li>\n<li>\u961f\u5217\u957f\u5ea6\u8fc7\u5927<\/li>\n<li>\u52a8\u6001\u5185\u5b58\u5206\u914d\u672a\u91ca\u653e<\/li>\n<li>\u7f13\u51b2\u533a\u5927\u5c0f\u8fc7\u5927<\/li>\n<\/ul>\n<p><strong>\u8bca\u65ad\u65b9\u6cd5<\/strong>\uff1a<\/p>\n<ul>\n<li>\u4f7f\u7528vTaskList\u67e5\u770b\u4efb\u52a1\u6808\u4f7f\u7528\u60c5\u51b5<\/li>\n<li>\u76d1\u63a7\u5806\u5185\u5b58\u4f7f\u7528<\/li>\n<li>\u8ddf\u8e2a\u5185\u5b58\u5206\u914d\u548c\u91ca\u653e<\/li>\n<\/ul>\n<p><strong>\u89e3\u51b3\u7b56\u7565<\/strong>\uff1a<\/p>\n<ul>\n<li>\u4f18\u5316\u4efb\u52a1\u6808\u5927\u5c0f<\/li>\n<li>\u8c03\u6574\u961f\u5217\u957f\u5ea6<\/li>\n<li>\u68c0\u67e5\u5185\u5b58\u5206\u914d\u4e0e\u91ca\u653e\u662f\u5426\u5339\u914d<\/li>\n<li>\u4f7f\u7528\u9759\u6001\u5206\u914d\u4ee3\u66ff\u52a8\u6001\u5206\u914d<\/li>\n<\/ul>\n<p>\u5728\u6211\u7684<a href=\"https:\/\/link.segmentfault.com\/?enc=amfuGvckbLIeDXO1jibPUQ%3D%3D.zOazvdVhP2YlgMe9VHeY3RgYLwLSofnSNkCUJEVJsIjUfdugYAWZThrVqRw%2BqFbD\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">\u300aSTM32\u5b9e\u6218\u5feb\u901f\u5165\u95e8\u300b\uff08\u70b9\u51fb\u76f4\u8fbe\uff09<\/a>\u8bfe\u7a0b\u4e2d\uff0c\u6709\u4e13\u95e8\u7684\u7ae0\u8282\u8bb2\u89e3\u5982\u4f55\u8bca\u65ad\u548c\u89e3\u51b3\u8fd9\u4e9b\u5e38\u89c1\u95ee\u9898\uff0c\u901a\u8fc7\u5b9e\u9645\u6848\u4f8b\u5c55\u793a\u6392\u67e5\u6b65\u9aa4\u548c\u4f18\u5316\u65b9\u6cd5\u3002<\/p>\n<h2>\u603b\u7ed3<\/h2>\n<p>\u5b66\u4e60FreeRTOS\u662f\u4e00\u6bb5\u5145\u6ee1\u6311\u6218\u4f46\u4e5f\u5f88\u6709\u6536\u83b7\u7684\u65c5\u7a0b\u3002\u6211\u7684\u5efa\u8bae\u662f\uff1a<\/p>\n<ol>\n<li><strong>\u6253\u597d\u57fa\u7840<\/strong>\uff1a\u5148\u638c\u63e1C\u8bed\u8a00\u548c\u5355\u7247\u673a\u57fa\u7840\u77e5\u8bc6<\/li>\n<li><strong>\u7406\u89e3\u539f\u7406<\/strong>\uff1a\u4e0d\u8981\u53ea\u8bb0\u5fc6API\uff0c\u8981\u7406\u89e3\u80cc\u540e\u7684\u539f\u7406<\/li>\n<li><strong>\u5faa\u5e8f\u6e10\u8fdb<\/strong>\uff1a\u4ece\u7b80\u5355\u4efb\u52a1\u5f00\u59cb\uff0c<\/li>\n<\/ol>\n<hr>\n<p><strong>\u53e6\u5916\uff0c\u60f3\u8fdb\u5927\u5382\u7684\u540c\u5b66\uff0c\u4e00\u5b9a\u8981\u597d\u597d\u5b66\u7b97\u6cd5\uff0c\u8fd9\u662f\u9762\u8bd5\u5fc5\u5907\u7684\u3002\u8fd9\u91cc\u51c6\u5907\u4e86\u4e00\u4efd BAT \u5927\u4f6c\u603b\u7ed3\u7684 LeetCode \u5237\u9898\u5b9d\u5178\uff0c\u5f88\u591a\u4eba\u9760\u5b83\u4eec\u8fdb\u4e86\u5927\u5382\u3002<\/strong><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" width=\"286\" height=\"83\" referrerpolicy=\"no-referrer\" src=\"https:\/\/segmentfault.com\/img\/bVdaCCY\" alt=\"\" title=\"\"><\/p>\n<p><a href=\"https:\/\/link.segmentfault.com\/?enc=9JDrvO7sFxXWceGVT8Rk9g%3D%3D.eN%2Bjnnkwg%2Bnq7XXMigsgWKkVaBH1uXZrRyX5Pm2XGW7hZHbHyQOIhAIfaKbtd%2FBT\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">\u5237\u9898 | LeetCode\u7b97\u6cd5\u5237\u9898\u795e\u5668\uff0c\u770b\u5b8c BAT \u968f\u4f60\u6311\uff01<\/a><\/p>\n<h3>\u6709\u6536\u83b7\uff1f\u5e0c\u671b\u8001\u94c1\u4eec\u6765\u4e2a\u4e09\u8fde\u51fb\uff0c\u7ed9\u66f4\u591a\u7684\u4eba\u770b\u5230\u8fd9\u7bc7\u6587\u7ae0<\/h3>\n<p><strong>\u63a8\u8350\u9605\u8bfb\uff1a<\/strong><\/p>\n<ul>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=Pxs3hEgAB0IHYrDqPfCarw%3D%3D.UOyAx4S9gwUFgRuJfnteoxh1APXsClqXK3WZS3xurba1g2r9M3wZw1pNOXwd0T13\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">\u3010\u826f\u8bb8\u5b66\u5802\u30112025\u5e74\u5d4c\u5165\u5f0f\u5982\u4f55\u9ad8\u85aa\u5165\u884c\uff1f<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=FDvbz473%2BICA4JIiI%2Bfz7Q%3D%3D.GQWDOiT9wLQQLGXHkZomSSA5p0Oxq9pz9arhWmveUjsgiRg2GA4ssxkpCqwz5h3Q\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">\u7a0b\u5e8f\u5458\u5fc5\u5907\u7f16\u7a0b\u8d44\u6599\u5927\u5168<\/a><\/li>\n<li><a href=\"https:\/\/link.segmentfault.com\/?enc=7UmRU7DdPDx76lhfchTDuQ%3D%3D.TfOuCbzB31%2BESWHku0nKKgRMwWClabpMdYTncDzky7IcC3mQZu3KALULbsE8pKgg\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">\u7a0b\u5e8f\u5458\u5fc5\u5907\u8f6f\u4ef6\u8d44\u6e90<\/a><\/li>\n<\/ul>\n<p>\u6b22\u8fce\u5173\u6ce8\u6211\u7684\u535a\u5ba2\uff1a<a href=\"https:\/\/link.segmentfault.com\/?enc=IaBw%2FwYNNtZDXJDLHmNv0w%3D%3D.SKoE14AsxzQcpWNrx%2FtXgENeSrjP9ohQzgy8lIbnVi8%3D\" rel=\"nofollow noopener noreferrer\" target=\"_blank\">\u826f\u8bb8\u5d4c\u5165\u5f0f\u6559\u7a0b\u7f51<\/a>\uff0c\u6ee1\u6ee1\u90fd\u662f\u5e72\u8d27\uff01<\/p>\n<p><a href=\"https:\/\/segmentfault.com\/a\/1190000046441724\">https:\/\/segmentfault.com\/a\/1190000046441724<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4f5c\u4e3a\u4e00\u4e2a\u6df1\u8015\u5d4c\u5165\u5f0f\u9886\u57df\u591a\u5e74\u7684\u5f00\u53d1\u8005\uff0c\u6211\u7ecf\u5e38\u6536\u5230\u8fd9\u4e2a\u95ee\u9898\uff1a&#8221;FreeRTOS\u5230\u5e95\u5e94\u8be5\u600e\u4e48\u5b66\uff1f&#038;#82 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_jetpack_memberships_contains_paid_content":false,"footnotes":""},"categories":[4],"tags":[],"class_list":["post-10020728","post","type-post","status-publish","format-standard","hentry","category-share"],"jetpack_sharing_enabled":true,"jetpack_featured_media_url":"","_links":{"self":[{"href":"https:\/\/itmax.cn\/index.php?rest_route=\/wp\/v2\/posts\/10020728","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/itmax.cn\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/itmax.cn\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/itmax.cn\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/itmax.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=10020728"}],"version-history":[{"count":0,"href":"https:\/\/itmax.cn\/index.php?rest_route=\/wp\/v2\/posts\/10020728\/revisions"}],"wp:attachment":[{"href":"https:\/\/itmax.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=10020728"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/itmax.cn\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=10020728"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/itmax.cn\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=10020728"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}