FreeRTOS移植-2个任务中延时不一样但是波形一样

seifguo · 发表于 2018-6-11 15:43:54

main.c
[mw_shl_code=c,true]/**/
#include "main.h"
#include "sys.h"
#include "delay.h"
#include "FreeRTOS.h"
#include "task.h"

#define START_TASK_PRIO       1    /*ÈÎÎñÓÅÏÈ¼¶*/
#define START_STK_SIZE       128 /*ÈÎÎñ¶ÑÕ»´óÐ¡*/
TaskHandle_t StartTask_Handle;       /*ÈÎÎñ¾ä±ú*/
void StartTask(void *pvParameters); /*ÈÎÎñº¯Êý*/

#define TEST1_TASK_PRIO       2
#define TEST1_STK_SIZE       50
TaskHandle_t TEST1Task_Handle;
void Test1Task(void *pvParameters);

#define TEST2_TASK_PRIO       3
#define TEST2_STK_SIZE       50
TaskHandle_t TEST2Task_Handle;
void Test2Task(void *pvParameters);

uint8_t test1, test2, test3;

/***** ÉùÃ÷ *****/
static void SystemInitial(void);

void StartTask(void *pvParameters)
{
  taskENTER_CRITICAL();          /*½øÈëÁÙ½çÇø*/

  xTaskCreate((TaskFunction_t )Test1Task,          /*ÈÎÎñº¯Êý*/
(const char * )"Test1Task",          /*ÈÎÎñÃû³Æ*/
(uint16_t    )TEST1_STK_SIZE,    /*ÈÎÎñ¶ÑÕ»´óÐ¡*/
(void *       )NULL,             /*´«µÝ¸øÈÎÎñº¯ÊýµÄ²ÎÊý*/
(UBaseType_t )TEST1_TASK_PRIO,    /*ÈÎÎñÓÅÏÈ¼¶*/
(TaskHandle_t )&TEST1Task_Handle);  /*ÈÎÎñ¾ä±ú*/

  xTaskCreate((TaskFunction_t )Test2Task,
(const char * )"Test2Task",
(uint16_t    )TEST2_STK_SIZE,
(void *       )NULL,
(UBaseType_t )TEST2_TASK_PRIO,
(TaskHandle_t )&TEST2Task_Handle);

  vTaskDelete(StartTask_Handle); /*É¾³ý¿ªÊ¼ÈÎÎñ*/
  taskEXIT_CRITICAL();             /*ÍÆ³öÁÙ½çÇø*/
}

void Test1Task(void *pvParameters)
{
  while (1)
  {
test1 = ~test1;
vTaskDelay(2);
// DelayNms(2);
  }
}

void Test2Task(void *pvParameters)
{
  while (1)
  {
test2 = ~test2;
vTaskDelay(5);
  }
}

static void SystemInitial(void)
{
  DelayInitial();
}

int main(void)
{
  SystemInitial();

  /*´´½¨¿ªÊ¼ÈÎÎñ*/
  xTaskCreate((TaskFunction_t )StartTask,          /*ÈÎÎñº¯Êý*/
(const char * )"StartTask",          /*ÈÎÎñÃû³Æ*/
(uint16_t    )START_STK_SIZE,    /*ÈÎÎñ¶ÑÕ»´óÐ¡*/
(void *       )NULL,             /*´«µÝ¸øÈÎÎñº¯ÊýµÄ²ÎÊý*/
(UBaseType_t )START_TASK_PRIO,    /*ÈÎÎñÓÅÏÈ¼¶*/
(TaskHandle_t )&StartTask_Handle);  /*ÈÎÎñ¾ä±ú*/

  /*¿ªÆôÈÎÎñµ÷¶È*/
  vTaskStartScheduler();
}

/***************************END OF FILE***************************/

[/mw_shl_code]

delay.c
[mw_shl_code=c,true]/**/
#include "delay.h"
#include "stm32f10x.h"
#include "sys.h"

#if SYSTEM_SUPPORT_OS
  #include "FreeRTOS.h"
  #include "task.h"
#endif

static uint8_t  fac_us=0; //usÑÓÊ±±¶³ËÊý
static uint16_t fac_ms=0; //msÑÓÊ±±¶³ËÊý,ÔÚucosÏÂ,´ú±íÃ¿¸ö½ÚÅÄµÄmsÊý

__IO uint32_t TimingDelay;

extern void xPortSysTickHandler(void);
extern void TimingDelayDecrement(void);

//systickÖÐ¶Ï·þÎñº¯Êý,Ê¹ÓÃFreeRTOSÊ±ÓÃµ½
void SysTick_Handler(void)
{
if(xTaskGetSchedulerState()!=taskSCHEDULER_NOT_STARTED)//ÏµÍ³ÒÑ¾ÔËÐÐ
{
      xPortSysTickHandler();
}
TimingDelayDecrement();
}


//³õÊ¼»¯ÑÓ³Ùº¯Êý
//SYSTICKµÄÊ±ÖÓ¹Ì¶¨ÎªAHBÊ±ÖÓ£¬»ù´¡Àý³ÌÀïÃæSYSTICKÊ±ÖÓÆµÂÊÎªAHB/8
//ÕâÀïÎªÁË¼æÈÝFreeRTOS£¬ËùÒÔ½«SYSTICKµÄÊ±ÖÓÆµÂÊ¸ÄÎªAHBµÄÆµÂÊ£¡
//SYSCLK:ÏµÍ³Ê±ÖÓÆµÂÊ
void DelayInitial(void)
{
/* uint32_t reload;
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);  //Ñ¡ÔñÍâ²¿Ê±ÖÓ  HCLK
fac_us=SystemCoreClock/1000000;             //²»ÂÛÊÇ·ñÊ¹ÓÃOS,fac_us¶¼ÐèÒªÊ¹ÓÃ
reload=SystemCoreClock/1000000;             //Ã¿ÃëÖÓµÄ¼ÆÊý´ÎÊý µ¥Î»ÎªM
reload*=1000000/configTICK_RATE_HZ;             //¸ù¾ÝconfigTICK_RATE_HZÉè¶¨Òç³öÊ±¼ä
                                                //reloadÎª24Î»¼Ä´æÆ÷,×î´óÖµ:16777216,ÔÚ72MÏÂ,Ô¼ºÏ0.233s×óÓÒ
fac_ms=1000/configTICK_RATE_HZ;             //´ú±íOS¿ÉÒÔÑÓÊ±µÄ×îÉÙµ¥Î»

SysTick->CTRL|=SysTick_CTRL_TICKINT_Msk;          //¿ªÆôSYSTICKÖÐ¶Ï
SysTick->LOAD=reload;                   //Ã¿1/configTICK_RATE_HZÃëÖÐ¶ÏÒ»´Î
SysTick->CTRL|=SysTick_CTRL_ENABLE_Msk;          //¿ªÆôSYSTICK */


  fac_us=SystemCoreClock/1000000;             //²»ÂÛÊÇ·ñÊ¹ÓÃOS,fac_us¶¼ÐèÒªÊ¹ÓÃ
  fac_ms=1000/configTICK_RATE_HZ;             //´ú±íOS¿ÉÒÔÑÓÊ±µÄ×îÉÙµ¥Î»

  /*
   * SystemCoreClock / 1000    1msÖÐ¶ÏÒ»´Î
   * SystemCoreClock / 100000 10usÖÐ¶ÏÒ»´Î
   * SystemCoreClock / 1000000 1usÖÐ¶ÏÒ»´Î
   */
  if (SysTick_Config(SystemCoreClock / 1000))
  {
while (1);
  }
  /*¹Ø±Õsystick timer¶¨Ê±Æ÷*/
  /* SysTick->CTRL &= ~SysTick_CTRL_ENABLE_Msk;*/

  /*Ê¹ÄÜµÎ´ð¶¨Ê±Æ÷*/
  SysTick->CTRL |= SysTick_CTRL_ENABLE_Msk;
}

//ÑÓÊ±nus
//nus:ÒªÑÓÊ±µÄusÊý.
//nus:0~204522252(×î´óÖµ¼´2^32/fac_us@fac_us=168)
void DelayNus(uint32_t nus)
{
uint32_t ticks;
uint32_t told,tnow,tcnt=0;
uint32_t reload=SysTick->LOAD; //LOADµÄÖµ
ticks=nus*fac_us; //ÐèÒªµÄ½ÚÅÄÊý
told=SysTick->VAL;         //¸Õ½øÈëÊ±µÄ¼ÆÊýÆ÷Öµ
while(1)
{
tnow=SysTick->VAL;
if(tnow!=told)
{
if(tnow<told)tcnt+=told-tnow; //ÕâÀï×¢ÒâÒ»ÏÂSYSTICKÊÇÒ»¸öµÝ¼õµÄ¼ÆÊýÆ÷¾Í¿ÉÒÔÁË.
else tcnt+=reload-tnow+told;
told=tnow;
if(tcnt>=ticks)break; //Ê±¼ä³¬¹ý/µÈÓÚÒªÑÓ³ÙµÄÊ±¼ä,ÔòÍË³ö.
}
};
}

/*
* ±¾º¯ÊýÔÚÖÐ¶Ïº¯ÊýÖÐµ÷ÓÃ£¬µÎ´ð¶¨Ê±Æ÷ÖÐ¶ÏÒ»´Îµ÷ÓÃÒ»´Î¡£
*/
void TimingDelayDecrement(void)
{
if (TimingDelay != 0x00)
{
      TimingDelay--;
}
}

/*
* TimingDelayÖµÔÚTimingDelayDecrementº¯ÊýÖÐµÝ¼õ
*/
void DelayNms(uint32_t nTimes)
{
TimingDelay = nTimes;

while (TimingDelay!=0); //µÈ´ý¼ÆÊýÍ£Ö¹
}

/* //ÑÓÊ±nms
//nms:ÒªÑÓÊ±µÄmsÊý
//nms:0~65535
void DelayNms(uint32_t nms)
{
if(xTaskGetSchedulerState()!=taskSCHEDULER_NOT_STARTED)//ÏµÍ³ÒÑ¾ÔËÐÐ
{
if(nms>=fac_ms) //ÑÓÊ±µÄÊ±¼ä´óÓÚOSµÄ×îÉÙÊ±¼äÖÜÆÚ
{
   vTaskDelay(nms/fac_ms);      //FreeRTOSÑÓÊ±
}
nms%=fac_ms; //OSÒÑ¾ÎÞ·¨Ìá¹©ÕâÃ´Ð¡µÄÑÓÊ±ÁË,²ÉÓÃÆÕÍ¨·½Ê½ÑÓÊ±
}
DelayNus((uint32_t)(nms*1000)); //ÆÕÍ¨·½Ê½ÑÓÊ±
} */

//ÑÓÊ±nms,²»»áÒýÆðÈÎÎñµ÷¶È
//nms:ÒªÑÓÊ±µÄmsÊý
void DelayXms(uint32_t nms)
{
uint32_t i;
for(i=0;i<nms;i++) DelayNus(1000);
}

/***************************END OF FILE***************************/
[/mw_shl_code]

FreeRTOSConfig.h
[mw_shl_code=c,true]/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved

VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

This file is part of the FreeRTOS distribution.

FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to    !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components    !<<
>>! outside of the FreeRTOS kernel.                                  !<<
***************************************************************************

FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE.  Full license text is available on the following
link: http://www.freertos.org/a00114.html

***************************************************************************
   *                                                                      *
   * FreeRTOS provides completely free yet professionally developed, *
   * robust, strictly quality controlled, supported, and cross       *
   * platform software that is more than just the market leader, it    *
   * is the industry's de facto standard.                            *
   *                                                                      *
   * Help yourself get started quickly while simultaneously helping    *
   * to support the FreeRTOS project by purchasing a FreeRTOS          *
   * tutorial book, reference manual, or both:                         *
   * http://www.FreeRTOS.org/Documentation                            *
   *                                                                      *
***************************************************************************

http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
the FAQ page "My application does not run, what could be wrong?".  Have you
defined configASSERT()?

http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.

http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible.  Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.

http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.

http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.

http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.

1 tab == 4 spaces!
*/

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

#include "sys.h"
//#include "usart.h"
//Õë¶Ô²»Í¬µÄ±àÒëÆ÷µ÷ÓÃ²»Í¬µÄstdint.hÎÄ¼þ
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif

/*·ÀÖ¹printf±¨´í*/
#include "stdio.h"

//¶ÏÑÔ
#define vAssertCalled(char,int) printf("Error:%s,%d\r\n",char,int)
#define configASSERT(x) if((x)==0) vAssertCalled(__FILE__,__LINE__)

/***************************************************************************************************************/
/*                                     FreeRTOS»ù´¡ÅäÖÃÅäÖÃÑ¡Ïî                                           */
/***************************************************************************************************************/
#define configUSE_PREEMPTION             1                   //1Ê¹ÓÃÇÀÕ¼Ê½ÄÚºË£¬0Ê¹ÓÃÐ³Ì
#define configUSE_TIME_SLICING             1             //1Ê¹ÄÜÊ±¼äÆ¬µ÷¶È(Ä¬ÈÏÊ½Ê¹ÄÜµÄ)
#define configUSE_PORT_OPTIMISED_TASK_SELECTION    1                   //1ÆôÓÃÌØÊâ·½·¨À´Ñ¡ÔñÏÂÒ»¸öÒªÔËÐÐµÄÈÎÎñ
                                                                     //Ò»°ãÊÇÓ²¼þ¼ÆËãÇ°µ¼ÁãÖ¸Áî£¬Èç¹ûËùÊ¹ÓÃµÄ
                                                                     //MCUÃ»ÓÐÕâÐ©Ó²¼þÖ¸ÁîµÄ»°´ËºêÓ¦¸ÃÉèÖÃÎª0£¡
#define configUSE_TICKLESS_IDLE             0                   //1ÆôÓÃµÍ¹¦ºÄticklessÄ£Ê½
#define configUSE_QUEUE_SETS             1                   //Îª1Ê±ÆôÓÃ¶ÓÁÐ
#define configCPU_CLOCK_HZ             (SystemCoreClock)    //CPUÆµÂÊ
#define configTICK_RATE_HZ             (1000)             //Ê±ÖÓ½ÚÅÄÆµÂÊ£¬ÕâÀïÉèÖÃÎª1000£¬ÖÜÆÚ¾ÍÊÇ1ms
#define configMAX_PRIORITIES             (32)                //¿ÉÊ¹ÓÃµÄ×î´óÓÅÏÈ¼¶
#define configMINIMAL_STACK_SIZE             ((unsigned short)130) //¿ÕÏÐÈÎÎñÊ¹ÓÃµÄ¶ÑÕ»´óÐ¡
#define configMAX_TASK_NAME_LEN             (16)                //ÈÎÎñÃû×Ö×Ö·û´®³¤¶È

#define configUSE_16_BIT_TICKS             0                   //ÏµÍ³½ÚÅÄ¼ÆÊýÆ÷±äÁ¿Êý¾ÝÀàÐÍ£¬
                                                                     //1±íÊ¾Îª16Î»ÎÞ·ûºÅÕûÐÎ£¬0±íÊ¾Îª32Î»ÎÞ·ûºÅÕûÐÎ
#define configIDLE_SHOULD_YIELD             1                   //Îª1Ê±¿ÕÏÐÈÎÎñ·ÅÆúCPUÊ¹ÓÃÈ¨¸øÆäËûÍ¬ÓÅÏÈ¼¶µÄÓÃ»§ÈÎÎñ
#define configUSE_TASK_NOTIFICATIONS             1                   //Îª1Ê±¿ªÆôÈÎÎñÍ¨Öª¹¦ÄÜ£¬Ä¬ÈÏ¿ªÆô
#define configUSE_MUTEXES                1                   //Îª1Ê±Ê¹ÓÃ»¥³âÐÅºÅÁ¿
#define configQUEUE_REGISTRY_SIZE             8                   //²»Îª0Ê±±íÊ¾ÆôÓÃ¶ÓÁÐ¼ÇÂ¼£¬¾ßÌåµÄÖµÊÇ¿ÉÒÔ
                                                                     //¼ÇÂ¼µÄ¶ÓÁÐºÍÐÅºÅÁ¿×î´óÊýÄ¿¡£
#define configCHECK_FOR_STACK_OVERFLOW       0                   //´óÓÚ0Ê±ÆôÓÃ¶ÑÕ»Òç³ö¼ì²â¹¦ÄÜ£¬Èç¹ûÊ¹ÓÃ´Ë¹¦ÄÜ
                                                                     //ÓÃ»§±ØÐëÌá¹©Ò»¸öÕ»Òç³ö¹³×Óº¯Êý£¬Èç¹ûÊ¹ÓÃµÄ»°
                                                                     //´ËÖµ¿ÉÒÔÎª1»òÕß2£¬ÒòÎªÓÐÁ½ÖÖÕ»Òç³ö¼ì²â·½·¨¡£
#define configUSE_RECURSIVE_MUTEXES          1                   //Îª1Ê±Ê¹ÓÃµÝ¹é»¥³âÐÅºÅÁ¿
#define configUSE_MALLOC_FAILED_HOOK          0                   //1Ê¹ÓÃÄÚ´æÉêÇëÊ§°Ü¹³×Óº¯Êý
#define configUSE_APPLICATION_TASK_TAG       0
#define configUSE_COUNTING_SEMAPHORES          1                   //Îª1Ê±Ê¹ÓÃ¼ÆÊýÐÅºÅÁ¿

/***************************************************************************************************************/
/*                               FreeRTOSÓëÄÚ´æÉêÇëÓÐ¹ØÅäÖÃÑ¡Ïî                                              */
/***************************************************************************************************************/
#define configSUPPORT_DYNAMIC_ALLOCATION       1                   //Ö§³Ö¶¯Ì¬ÄÚ´æÉêÇë
#define configTOTAL_HEAP_SIZE             ((size_t)(20*1024)) //ÏµÍ³ËùÓÐ×ÜµÄ¶Ñ´óÐ¡

/***************************************************************************************************************/
/*                               FreeRTOSÓë¹³×Óº¯ÊýÓÐ¹ØµÄÅäÖÃÑ¡Ïî                                           */
/***************************************************************************************************************/
#define configUSE_IDLE_HOOK             0                   //1£¬Ê¹ÓÃ¿ÕÏÐ¹³×Ó£»0£¬²»Ê¹ÓÃ
#define configUSE_TICK_HOOK             0                   //1£¬Ê¹ÓÃÊ±¼äÆ¬¹³×Ó£»0£¬²»Ê¹ÓÃ

/***************************************************************************************************************/
/*                               FreeRTOSÓëÔËÐÐÊ±¼äºÍÈÎÎñ×´Ì¬ÊÕ¼¯ÓÐ¹ØµÄÅäÖÃÑ¡Ïî                               */
/***************************************************************************************************************/
#define configGENERATE_RUN_TIME_STATS             0                   //Îª1Ê±ÆôÓÃÔËÐÐÊ±¼äÍ³¼Æ¹¦ÄÜ
#define configUSE_TRACE_FACILITY             1                   //Îª1ÆôÓÃ¿ÉÊÓ»¯¸ú×Ùµ÷ÊÔ
#define configUSE_STATS_FORMATTING_FUNCTIONS       1                   //ÓëºêconfigUSE_TRACE_FACILITYÍ¬Ê±Îª1Ê±»á±àÒëÏÂÃæ3¸öº¯Êý
                                                                     //prvWriteNameToBuffer(),vTaskList(),
                                                                     //vTaskGetRunTimeStats()

/***************************************************************************************************************/
/*                               FreeRTOSÓëÐ³ÌÓÐ¹ØµÄÅäÖÃÑ¡Ïî                                                 */
/***************************************************************************************************************/
#define configUSE_CO_ROUTINES                0                   //Îª1Ê±ÆôÓÃÐ³Ì£¬ÆôÓÃÐ³ÌÒÔºó±ØÐëÌí¼ÓÎÄ¼þcroutine.c
#define configMAX_CO_ROUTINE_PRIORITIES          ( 2 )                //Ð³ÌµÄÓÐÐ§ÓÅÏÈ¼¶ÊýÄ¿

/***************************************************************************************************************/
/*                               FreeRTOSÓëÈí¼þ¶¨Ê±Æ÷ÓÐ¹ØµÄÅäÖÃÑ¡Ïî                                           */
/***************************************************************************************************************/
#define configUSE_TIMERS                   1                            //Îª1Ê±ÆôÓÃÈí¼þ¶¨Ê±Æ÷
#define configTIMER_TASK_PRIORITY                (configMAX_PRIORITIES-1)       //Èí¼þ¶¨Ê±Æ÷ÓÅÏÈ¼¶
#define configTIMER_QUEUE_LENGTH                5                            //Èí¼þ¶¨Ê±Æ÷¶ÓÁÐ³¤¶È
#define configTIMER_TASK_STACK_DEPTH             (configMINIMAL_STACK_SIZE*2) //Èí¼þ¶¨Ê±Æ÷ÈÎÎñ¶ÑÕ»´óÐ¡

/***************************************************************************************************************/
/*                               FreeRTOS¿ÉÑ¡º¯ÊýÅäÖÃÑ¡Ïî                                                    */
/***************************************************************************************************************/
#define INCLUDE_xTaskGetSchedulerState          1
#define INCLUDE_vTaskPrioritySet                1
#define INCLUDE_uxTaskPriorityGet                1
#define INCLUDE_vTaskDelete                   1
#define INCLUDE_vTaskCleanUpResources             1
#define INCLUDE_vTaskSuspend                   1
#define INCLUDE_vTaskDelayUntil                1
#define INCLUDE_vTaskDelay                   1
#define INCLUDE_eTaskGetState                   1
#define INCLUDE_xTimerPendFunctionCall             1

/***************************************************************************************************************/
/*                               FreeRTOSÓëÖÐ¶ÏÓÐ¹ØµÄÅäÖÃÑ¡Ïî                                                 */
/***************************************************************************************************************/
#ifdef __NVIC_PRIO_BITS
#define configPRIO_BITS    __NVIC_PRIO_BITS
#else
#define configPRIO_BITS    4
#endif

#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY    15                   //ÖÐ¶Ï×îµÍÓÅÏÈ¼¶
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5                      //ÏµÍ³¿É¹ÜÀíµÄ×î¸ßÖÐ¶ÏÓÅÏÈ¼¶
#define configKERNEL_INTERRUPT_PRIORITY             ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
#define configMAX_SYSCALL_INTERRUPT_PRIORITY          ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )

/***************************************************************************************************************/
/*                               FreeRTOSÓëÖÐ¶Ï·þÎñº¯ÊýÓÐ¹ØµÄÅäÖÃÑ¡Ïî                                        */
/***************************************************************************************************************/
#define xPortPendSVHandler PendSV_Handler
#define vPortSVCHandler SVC_Handler

#endif /* FREERTOS_CONFIG_H */

[/mw_shl_code]