taskDelayUntil使用问题

Mr果皮 · 发表于 2017-12-16 23:46:53

我刚入门FreeRtos，自己写了一个任务切换，以及优先级改写的实验：
具体定义三个任务：
1.任务一，任务优先级默认定义为6，每taskDelayUntil（500）输出一次字符串并输出一次本函数运行次数。
2.任务二，任务优先级默认定义为7，每taskDelayUntil（10000）修改一次任务一的任务优先级，设置为6或者4（相当于任务一是否能得到运行的开关）
3.任务三，任务优先级默认定义为5，里面就一个while（1）空循环，为了使得任务一被设置为优先级为4的时候，不给任务一运行权限。
代码如下：
#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "FreeRTOS.h"
#include "task.h"
#include "led.h"

#define StackDepth 120
TaskHandle_t LED_TASK_HANDLE;
TaskHandle_t UART_TASK_HANDLE;
TaskHandle_t TASK_HANDLE;
void LED_TASK(void *para)
{
TickType_t m;
u8 f=0;
int i=0;
m=xTaskGetTickCount();
while(1)
{
i++;
if(f==0)
{
printf("LED is on!\r\n");
LED0=!LED0;
f=1;
}
else
{
printf("LED is off!\r\n");
LED1=!LED1;
f=0;
}
printf("LED has cycled %d times!\r\n",i);
printf("LED'priority is %d!!\r\n",(u8)uxTaskPriorityGet(NULL));
vTaskDelayUntil(&m, pdMS_TO_TICKS(1000));
}
vTaskDelete(NULL);
}

void UART_TASK(void *para)
{
TickType_t m=xTaskGetTickCount();

u8 f=0;
while(1)
{

if(f==0)
{
f=1;
vTaskPrioritySet(LED_TASK_HANDLE,4);
printf("LED has been stopped!\r\n");
}
else if(f==1)
{
f=0;
vTaskPrioritySet(LED_TASK_HANDLE,6);
printf("LED has been started!\r\n");
}

vTaskDelayUntil(&m, pdMS_TO_TICKS(10000));

}
vTaskDelete(NULL);
}
void TASK(void *para)
{
u8 i=0;

while(1)
{
i=0;
}
vTaskDelete(NULL);
}

int main(void)
{
uart_init(115200);
LED_Init();
xTaskCreate( (TaskFunction_t) LED_TASK,
"LED_TASK",
StackDepth,
NULL,
6,
&LED_TASK_HANDLE );
xTaskCreate( (TaskFunction_t) UART_TASK,
"UART_TASK",
StackDepth,
NULL,
7,
&UART_TASK_HANDLE );
xTaskCreate( (TaskFunction_t) TASK,
"TASK",
StackDepth,
NULL,
5,
&TASK_HANDLE );
vTaskStartScheduler();

}

然而，运行结果如下:

LED has been stopped![2017-12-1611:40:25.518]

LED has been started![2017-12-1611:40:35.542]

LED is on![2017-12-16 11:40:35.542]

LED has cycled 1 times![2017-12-1611:40:35.542]

LED'priority is 6!![2017-12-1611:40:35.542]

LED is off![2017-12-16 11:40:36.520]

LED has cycled 2 times![2017-12-1611:40:36.520]

LED'priority is 6!![2017-12-1611:40:36.524]

LED is on![2017-12-16 11:40:37.554]

LED has cycled 3 times![2017-12-1611:40:37.554]

LED'priority is 6!![2017-12-16 11:40:37.554]

LED is off![2017-12-16 11:40:38.543]

LED has cycled 4 times![2017-12-1611:40:38.543]

LED'priority is 6!![2017-12-1611:40:38.543]

LED is on![2017-12-16 11:40:39.521]

LED has cycled 5 times![2017-12-1611:40:39.521]

LED'priority is 6!![2017-12-16 11:40:39.521]

LED is off![2017-12-16 11:40:40.524]

LED has cycled 6 times![2017-12-1611:40:40.524]

LED'priority is 6!![2017-12-1611:40:40.524]

LED is on![2017-12-16 11:40:41.522]

LED has cycled 7 times![2017-12-1611:40:41.522]

LED'priority is 6!![2017-12-1611:40:41.522]

LED is off![2017-12-16 11:40:42.521]

LED has cycled 8 times![2017-12-1611:40:42.521]

LED'priority is 6!![2017-12-1611:40:42.521]

LED is on![2017-12-16 11:40:43.522]

LED has cycled 9 times![2017-12-1611:40:43.522]

LED'priority is 6!![2017-12-1611:40:43.522]

LED is off![2017-12-16 11:40:44.526]

LED has cycled 10 times![2017-12-1611:40:44.526]

LED'priority is 6!![2017-12-1611:40:44.526]

LED has been stopped![2017-12-1611:40:45.520]

LED has been started![2017-12-1611:40:55.520]

LED is on![2017-12-16 11:40:55.520]

LED has cycled 11 times![2017-12-1611:40:55.520]

LED'priority is 6!![2017-12-1611:40:55.520]

LED is off![2017-12-16 11:40:55.532]

LED has cycled 12 times![2017-12-1611:40:55.532]

LED'priority is 6!![2017-12-16 11:40:55.532]

LED is on![2017-12-16 11:40:55.532]

LED has cycled 13 times![2017-12-1611:40:55.532]

LED'priority is 6!![2017-12-1611:40:55.532]

LED is off![2017-12-16 11:40:55.542]

LED has cycled 14 times![2017-12-1611:40:55.542]

LED'priority is 6!![2017-12-16 11:40:55.542]

LED is on![2017-12-16 11:40:55.542]

LED has cycled 15 times![2017-12-1611:40:55.542]

LED'priority is 6!![2017-12-1611:40:55.551]

LED is off![2017-12-16 11:40:55.551]

LED has cycled 16 times![2017-12-1611:40:55.551]

LED'priority is 6!![2017-12-1611:40:55.551]

LED is on![2017-12-16 11:40:55.551]

LED has cycled 17 times![2017-12-1611:40:55.551]

LED'priority is 6!![2017-12-1611:40:55.557]

LED is off![2017-12-16 11:40:55.557]

LED has cycled 18 times![2017-12-1611:40:55.564]

LED'priority is 6!![2017-12-1611:40:55.564]

LED is on![2017-12-16 11:40:55.564]

LED has cycled 19 times![2017-12-1611:40:55.564]

LED'priority is 6!![2017-12-1611:40:55.572]

LED is off![2017-12-16 11:40:55.572]

LED has cycled 20 times![2017-12-1611:40:55.572]

LED'priority is 6!![2017-12-1611:40:55.572]

LED is on![2017-12-16 11:40:55.578]

LED has cycled 21 times![2017-12-1611:40:55.578]

LED'priority is 6!![2017-12-1611:40:55.578]

LED is off![2017-12-16 11:40:56.553]

LED has cycled 22 times![2017-12-16 11:40:56.553]

LED'priority is 6!![2017-12-1611:40:56.553]

LED is on![2017-12-16 11:40:57.525]

LED has cycled 23 times![2017-12-1611:40:57.525]

LED'priority is 6!![2017-12-1611:40:57.525]

请看红色标注部分，相当于瞬间，任务一瞬间运行了10次，与我设置的逻辑出错，

出错部分，1.应该是间隔500ms

2.应该优先级为4，低于任务三的优先级5，不该被执行

3.而且瞬间十次的优先级检测为都为6

求各位大佬指点，，我询问过附近的人，也是无解。请各位帮帮忙

Mr果皮 · 发表于 2017-12-16 23:46:54

已解决，将xTaskDelayUtil中的xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
替换为xTimeToWake = xTaskGetTickCount() + xTimeIncrement;就ok，
可是这样会影响其他调用本函数的任务，修改只为找到答案，以及原因，请慎重