遇到，xtaskincrementtick 跳不出来

惜今1

freertos新手，第一次在项目中使用。有大佬提供思路没，或者解决，有偿！

[C] 纯文本查看 复制代码

BaseType_t xTaskIncrementTick( void )
{
TCB_t * pxTCB;
TickType_t xItemValue;
BaseType_t xSwitchRequired = pdFALSE;

	/* Called by the portable layer each time a tick interrupt occurs.
	Increments the tick then checks to see if the new tick value will cause any
	tasks to be unblocked. */
	traceTASK_INCREMENT_TICK( xTickCount );
	if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
	{
		/* Increment the RTOS tick, switching the delayed and overflowed
		delayed lists if it wraps to 0. */
		++xTickCount;

		{
			/* Minor optimisation.  The tick count cannot change in this
			block. */
			const TickType_t xConstTickCount = xTickCount;

			if( xConstTickCount == ( TickType_t ) 0U )
			{
				taskSWITCH_DELAYED_LISTS();
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}

			/* See if this tick has made a timeout expire.  Tasks are stored in
			the	queue in the order of their wake time - meaning once one task
			has been found whose block time has not expired there is no need to
			look any further down the list. */
			if( xConstTickCount >= xNextTaskUnblockTime )
			{
				for( ;; )
				{
					if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
					{
						/* The delayed list is empty.  Set xNextTaskUnblockTime
						to the maximum possible value so it is extremely
						unlikely that the
						if( xTickCount >= xNextTaskUnblockTime ) test will pass
						next time through. */
						xNextTaskUnblockTime = portMAX_DELAY;
						break;
					}
					else
					{
						/* The delayed list is not empty, get the value of the
						item at the head of the delayed list.  This is the time
						at which the task at the head of the delayed list must
						be removed from the Blocked state. */
						pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );
						xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xGenericListItem ) );

						if( xConstTickCount < xItemValue )
						{
							/* It is not time to unblock this item yet, but the
							item value is the time at which the task at the head
							of the blocked list must be removed from the Blocked
							state -	so record the item value in
							xNextTaskUnblockTime. */
							xNextTaskUnblockTime = xItemValue;
							break;
						}
						else
						{
							mtCOVERAGE_TEST_MARKER();
						}

						/* It is time to remove the item from the Blocked state. */
						( void ) uxListRemove( &( pxTCB->xGenericListItem ) );

						/* Is the task waiting on an event also?  If so remove
						it from the event list. */
						if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
						{
							( void ) uxListRemove( &( pxTCB->xEventListItem ) );
						}
						else
						{
							mtCOVERAGE_TEST_MARKER();
						}

						/* Place the unblocked task into the appropriate ready
						list. */
						prvAddTaskToReadyList( pxTCB );

						/* A task being unblocked cannot cause an immediate
						context switch if preemption is turned off. */
						#if (  configUSE_PREEMPTION == 1 )
						{
							/* Preemption is on, but a context switch should
							only be performed if the unblocked task has a
							priority that is equal to or higher than the
							currently executing task. */
							if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
							{
								xSwitchRequired = pdTRUE;
							}
							else
							{
								mtCOVERAGE_TEST_MARKER();
							}
						}
						#endif /* configUSE_PREEMPTION */
					}
				}
			}
		}

		/* Tasks of equal priority to the currently running task will share
		processing time (time slice) if preemption is on, and the application
		writer has not explicitly turned time slicing off. */
		#if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
		{
			if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
			{
				xSwitchRequired = pdTRUE;
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}
		}
		#endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */

		#if ( configUSE_TICK_HOOK == 1 )
		{
			/* Guard against the tick hook being called when the pended tick
			count is being unwound (when the scheduler is being unlocked). */
			if( uxPendedTicks == ( UBaseType_t ) 0U )
			{
				vApplicationTickHook();
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}
		}
		#endif /* configUSE_TICK_HOOK */
	}
	else
	{
		++uxPendedTicks;

		/* The tick hook gets called at regular intervals, even if the
		scheduler is locked. */
		#if ( configUSE_TICK_HOOK == 1 )
		{
			vApplicationTickHook();
		}
		#endif
	}

	#if ( configUSE_PREEMPTION == 1 )
	{
		if( xYieldPending != pdFALSE )
		{
			xSwitchRequired = pdTRUE;
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}
	}
	#endif /* configUSE_PREEMPTION */

	return xSwitchRequired;
}

惜今1

这是卡死的位置

eric2013

卡在这个位置，说明你的程序跑飞了，仅开一个任务排查下，逐步开启其它任务，如果一个任务也卡，说明程序移植有问题。

惜今1

嗯好的我试试

jixuwD

不知道你main.c里是不是一开始就启用了滴答定时器。如果是的话，是因为一开始就配置了滴答定时器，使得定时器中断触发了。然而在中断触发中，由于调用了xTaskIncrementTick函数，而实际上在该函数的pxTCB = ( TCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList );代码处，由于任务尚未创建，导致传入的pxDelayedTaskList 是个NULL，所以出现指针越界问题。程序就会进入硬件中断错误。解决办法有两个。一个是你在配置滴答定时器之前就先完成任务创建，最后一系列外设初始化完成后，再启用内核，由于任务创建在前，这样pxDelayedTaskList 就不为空，就不会出错了。第二种办法就是你仍然保持你的滴答定时器配置在先，任务创建在后的顺序不变，考虑在滴答定时器中断中加入部分代码，用来进行选择当调度器尚未开启时，就不调用xTaskIncrementTick，当调度器启用了，表明启动内核了，这个时候你再按照原先中断中的代码运行。这也不会出错。

Icathia_7

是不是你最高优先级的任务里没有进入阻塞的语句，导致其他低优先级的任务没运行。