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秋招中关于FreeRTOS的知识点总结

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秋招中关于FreeRTOS的知识点总结
前言
类别 RTOS 开发
文档名 FreeRTOS 完全开发手册之快速入门
当前版本
V2.0
日期
2021.12.10
编辑 深圳百问网科技有限公司
审核 韦东山
百问网提供嵌入式软件开发的全栈式培训，涉及：
单片机：HAL 库开发、寄存器开发+ARM 架构、RTOS 快速入门、RTOS 内部实现
Linux：嵌入式 Linux 应用开发基础、嵌入式 Linux 驱动开发基础、嵌入式 Linux 驱动
大全、Linux 项目开发
Android
本文档属于"FreeRTOS 完全开发手册之快速入门"，正在编写"FreeRTOS 完全开发手册
之内部实现"。
本文档参考 FreeRTOS 官方文档：
161204_Mastering_the_FreeRTOS_Real_Time_Kernel-A_Hands-On_Tutorial_Guide.pdf
可以关注下面右边的二维码以获得最新的文档、源码：
更多信息请关注：
官网：www.100ask.net
淘宝：100ask.taobao.com
前言 .......................................................................................................................................... 1
第一章 FreeRTOS 概述与体验 .......................................................................................... 5
1.1 FreeRTOS 目录结构 .......................................................................................................... 5
1.2 核心文件 ................................................................................................................................ 6
1.3 移植时涉及的文件 ............................................................................................................. 6
1.4 头文件相关 ........................................................................................................................... 7
1.5 内存管理 ................................................................................................................................ 8
1.6 Demo ....................................................................................................................................... 9
1.7 数据类型和编程规范 ..................................................................................................... 10
1.8 安装 Keil .............................................................................................................................. 12
1.9 使用模拟器运行第 1 个程序 ...................................................................................... 19
1.10 使用逻辑分析仪 ............................................................................................................ 22
第二章 内存管理 ................................................................................................................ 25
2.1 为什么要自己实现内存管理 ...................................................................................... 25
2.2 FreeRTOS 的 5 中内存管理方法 .............................................................................. 26
2.3 Heap 相关的函数 ............................................................................................................ 31
第三章 任务管理 ................................................................................................................ 33
3.1 基本概念 ............................................................................................................................. 33
3.2 任务创建与删除 ............................................................................................................... 35
3.3 任务优先级和 Tick ......................................................................................................... 45
3.4 任务状态 ............................................................................................................................. 53
3.5 Delay 函数 .......................................................................................................................... 56
3.6 空闲任务及其钩子函数 ................................................................................................ 60
3.7 调度算法 ............................................................................................................................. 62
第四章 同步互斥与通信 ................................................................................................... 71
4.1 同步与互斥的概念 .......................................................................................................... 71
4.2 同步与互斥并不简单 ..................................................................................................... 73
4.3 各类方法的对比 ............................................................................................................... 73
第五章 队列(queue) ......................................................................................................... 76
5.1 队列的特性 ........................................................................................................................ 76
5.2 队列函数 ............................................................................................................................. 79
5.3 示例 8: 队列的基本使用............................................................................................... 85
5.4 示例 9: 分辨数据源 ........................................................................................................ 89
5.5 示例 10: 传输大块数据 ................................................................................................. 94
5.6 示例 11: 邮箱(Mailbox) ................................................................................................ 99
第六章 信号量(semaphore) ......................................................................................... 102
6.1 信号量的特性 ................................................................................................................ 102
6.2 信号量函数 ..................................................................................................................... 104
6.3 示例 12: 使用二进制信号量来同步 ..................................................................... 108
6.4 示例 13: 防止数据丢失 .............................................................................................. 110
6.5 示例 14: 使用计数型信号量 .................................................................................... 113
第七章 互斥量(mutex) ................................................................................................... 115
7.1 互斥量的使用场合 ....................................................................................................... 116
7.2 互斥量函数 ..................................................................................................................... 118
7.3 示例 15: 互斥量基本使用 ......................................................................................... 120
7.4 示例 16: 谁上锁就由谁解锁？ ............................................................................... 122
7.5 示例 17: 优先级反转 ................................................................................................... 123
7.6 示例 18: 优先级继承 ................................................................................................... 127
7.7 递归锁 ............................................................................................................................... 129
7.8 常见问题 .......................................................................................................................... 133
第八章 事件组(event group) ....................................................................................... 134
8.1 事件组概念与操作 ....................................................................................................... 134
8.2 事件组函数 ..................................................................................................................... 137
8.3 示例 20: 等待多个事件 .............................................................................................. 142
8.3 示例 21: 任务同步 ....................................................................................................... 144
第九章 任务通知(Task Notifications) ....................................................................... 147
9.1 任务通知的特性 ............................................................................................................ 147
9.2 任务通知的使用 ............................................................................................................ 150
9.3 示例 22: 传输计数值 ................................................................................................... 154
9.4 示例 23: 传输任意值 ................................................................................................... 156
第十章 软件定时器(software timer) ......................................................................... 158
10.1 软件定时器的特性 .................................................................................................... 158
10.2 软件定时器的上下文 ............................................................................................... 160
10.3 软件定时器的函数 .................................................................................................... 164
10.4 示例 24: 一般使用 ..................................................................................................... 170
10.5 示例 25: 消除抖动 ..................................................................................................... 173
第十一章 中断管理(Interrupt Management) ......................................................... 176
11.1 两套 API 函数 ............................................................................................................. 177
11.2 中断的延迟处理 ......................................................................................................... 183
11.3 中断与任务间的通信 ............................................................................................... 185
第十二章 资源管理(Resource Management) ......................................................... 186
12.1 屏蔽中断 ....................................................................................................................... 186
12.2 暂停调度器 ................................................................................................................... 188
第十三章 调试与优化 ...................................................................................................... 189
13.1 调试 ................................................................................................................................. 189
13.2 优化 ................................................................................................................................. 194
第一章 FreeRTOS 概述与体验
1.1 FreeRTOS 目录结构
以 Keil 工具下 STM32F103 芯片为例，它的 FreeRTOS 的目录如下:
主要涉及 2 个目录：
Demo
Demo 目录下是工程文件，以"芯片和编译器"组合成一个名字
比如：CORTEX_STM32F103_Keil
Source
根目录下是核心文件，这些文件是通用的
portable 目录下是移植时需要实现的文件
目录名为：[compiler]/[architecture]
比如：RVDS/ARM_CM3，这表示 cortexM3 架构在 RVDS 工具上的移植
文件

资源文件列表:

FreeRTOS.zip 大约有712个文件
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  2. FreeRTOS/FreeRTOS.assets/
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  14. FreeRTOS/FreeRTOS.md 27.5KB
  15. FreeRTOS/FreeRTOS.pdf 1.24MB
  16. FreeRTOS/FreeRTOS完全开发手册之上册_快速入门.pdf 10.67MB
  17. FreeRTOS/rtos_learn/
  18. FreeRTOS/rtos_learn/Drivers/
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  587. FreeRTOS/rtos_learn/Output/stm32f4xx_hal_timebase_tim_template.crf 1.01MB
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  589. FreeRTOS/rtos_learn/Output/stm32f4xx_hal_timebase_tim_template.o 1.11MB
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  608. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_crc.crf 18B
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  614. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_dma.crf 18B
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  626. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_fmpi2c.crf 18B
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  638. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_lptim.crf 18B
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  641. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_pwr.crf 18B
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  644. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_rcc.crf 18B
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  653. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_sdmmc.crf 1.02MB
  654. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_sdmmc.d 5.74KB
  655. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_sdmmc.o 1.17MB
  656. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_spi.crf 18B
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  659. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_tim.crf 18B
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  664. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_usart.o 6.25KB
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  668. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_utils.crf 1.05MB
  669. FreeRTOS/rtos_learn/Output/stm32f4xx_ll_utils.d 6.08KB
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  671. FreeRTOS/rtos_learn/Output/system.crf 1.06MB
  672. FreeRTOS/rtos_learn/Output/system.d 5.95KB
  673. FreeRTOS/rtos_learn/Output/system.o 1.15MB
  674. FreeRTOS/rtos_learn/Output/system_stm32f4xx.crf 1.01MB
  675. FreeRTOS/rtos_learn/Output/system_stm32f4xx.d 5.59KB
  676. FreeRTOS/rtos_learn/Output/system_stm32f4xx.o 1.1MB
  677. FreeRTOS/rtos_learn/Output/task.crf 1.06MB
  678. FreeRTOS/rtos_learn/Output/task.d 5.81KB
  679. FreeRTOS/rtos_learn/Output/task.o 1.15MB
  680. FreeRTOS/rtos_learn/Output/tasks.crf 1.1MB
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  683. FreeRTOS/rtos_learn/Output/timers.crf 1.07MB
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  692. FreeRTOS/rtos_learn/Projects/
  693. FreeRTOS/rtos_learn/Projects/.vscode/
  694. FreeRTOS/rtos_learn/Projects/.vscode/c_cpp_properties.json 3.96KB
  695. FreeRTOS/rtos_learn/Projects/.vscode/keil-assistant.log 1.6KB
  696. FreeRTOS/rtos_learn/Projects/.vscode/settings.json 532B
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  698. FreeRTOS/rtos_learn/Projects/.vscode/uv4.log.lock 18B
  699. FreeRTOS/rtos_learn/Projects/DebugConfig/
  700. FreeRTOS/rtos_learn/Projects/DebugConfig/Target_1_STM32F407ZGTx.dbgconf 2.78KB
  701. FreeRTOS/rtos_learn/Projects/DebugConfig/Template_STM32F407ZGTx.dbgconf 2.78KB
  702. FreeRTOS/rtos_learn/Projects/EventRecorderStub.scvd 339B
  703. FreeRTOS/rtos_learn/Projects/STM32F407ZGT6.uvguix.dell 184.14KB
  704. FreeRTOS/rtos_learn/Projects/STM32F407ZGT6.uvoptx 51.81KB
  705. FreeRTOS/rtos_learn/Projects/STM32F407ZGT6.uvprojx 37.67KB
  706. FreeRTOS/rtos_learn/Users/
  707. FreeRTOS/rtos_learn/Users/main.c 4.33KB
  708. FreeRTOS/rtos_learn/Users/stm32f4xx_hal_conf.h 14.54KB
  709. FreeRTOS/rtos_learn/Users/stm32f4xx_it.c 4.01KB
  710. FreeRTOS/rtos_learn/Users/stm32f4xx_it.h 1.6KB
  711. FreeRTOS/rtos_learn/Users/task.c 1.89KB
  712. FreeRTOS/rtos_learn/Users/task.h 1.16KB
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