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I (444) ESP_FREERTOS_TEST: task1 running

I (449) ESP_FREERTOS_TEST: task1 running

I (453) ESP_FREERTOS_TEST: task1 running

I (458) ESP_FREERTOS_TEST: task1 running

I (463) ESP_FREERTOS_TEST: task1 running

I (467) ESP_FREERTOS_TEST: task1 running

I (472) ESP_FREERTOS_TEST: task1 running

I (476) ESP_FREERTOS_TEST: task1 running

I (481) ESP_FREERTOS_TEST: task1 running

I (486) ESP_FREERTOS_TEST: task1 running

I (490) ESP_FREERTOS_TEST: task1 running

I (495) ESP_FREERTOS_TEST: task1 running

I (499) ESP_FREERTOS_TEST: task1 running

I (504) ESP_FREERTOS_TEST: task1 running

I (509) ESP_FREERTOS_TEST: task1 running

I (513) ESP_FREERTOS_TEST: task1 running

I (518) ESP_FREERTOS_TEST: task1 running

I (522) ESP_FREERTOS_TEST: task1 running

I (527) ESP_FREERTOS_TEST: task1 running

I (532) ESP_FREERTOS_TEST: task1 running

I (536) ESP_FREERTOS_TEST: task1 running

I (541) ESP_FREERTOS_TEST: task1 running

I (545) ESP_FREERTOS_TEST: task1 running

I (550) ESP_FREERTOS_TEST: task1 running

I (555) ESP_FREERTOS_TEST: task1 running

I (559) ESP_FREERTOS_TEST: task1 running

I (564) ESP_FREERTOS_TEST: task1 running

I (568) ESP_FREERTOS_TEST: task1 running

I (573) ESP_FREERTOS_TEST: task1 running

I (578) ESP_FREERTOS_TEST: task1 running

I (582) ESP_FREERTOS_TEST: task1 running

I (587) ESP_FREERTOS_TEST: task1 running

I (591) ESP_FREERTOS_TEST: task1 running

I (596) ESP_FREERTOS_TEST: task1 running

I (601) ESP_FREERTOS_TEST: task1 running

I (605) ESP_FREERTOS_TEST: task1 running

I (610) ESP_FREERTOS_TEST: task1 running

I (614) ESP_FREERTOS_TEST: task1 running

I (619) ESP_FREERTOS_TEST: task1 running

I (624) ESP_FREERTOS_TEST: task1 running

I (628) ESP_FREERTOS_TEST: task1 running

I (633) ESP_FREERTOS_TEST: task1 running

I (637) ESP_FREERTOS_TEST: task1 running

I (642) ESP_FREERTOS_TEST: task1 running

I (647) ESP_FREERTOS_TEST: task1 running

I (651) ESP_FREERTOS_TEST: task1 running

I (656) ESP_FREERTOS_TEST: task1 running

I (660) ESP_FREERTOS_TEST: task1 running

I (665) ESP_FREERTOS_TEST: task1 running

I (670) ESP_FREERTOS_TEST: task1 running

I (674) ESP_FREERTOS_TEST: task1 running

I (679) ESP_FREERTOS_TEST: task1 running

I (683) ESP_FREERTOS_TEST: task1 running

I (688) ESP_FREERTOS_TEST: task1 running

I (693) ESP_FREERTOS_TEST: task1 running

...

?[0;3E (5361) task_wdt: Task watchdog got triggered. The following tasks did not reset the watchdog in time:

E (5361) task_wdt: - IDLE (CPU 0)

E (5361) task_wdt: Tasks currently running:

E (5361) task_wdt: CPU 0: task1

E (5361) task_wdt: Print CPU 0 (current core) backtrace

...

從log中我們可以看到task1一直在執(zhí)行，task2沒機會執(zhí)行，而且觸發(fā)了死循環(huán)任務(wù)看門狗。

0x02 不同優(yōu)先級任務(wù)低優(yōu)先級任務(wù)不帶掛起操作測試

這次我們恢復(fù)task1的vTaskDelay(100);，去掉task2的vTaskDelay(200);，log如下：

I (305) cpu_start: Starting scheduler on PRO CPU.

======================================================================

______ _____ _____ __ _____ _______ ____ _____

| ____|/ ____| __ / _| | __ __ __/ __ / ____|

| |__ | (___ | |__) | | |_ _ __ ___ ___| |__) | | | | | | | (___

| __| ___ | ___/ | _| '__/ _ / _ _ / | | | | | |___

| |____ ____) | | | | | | | __/ __/ | | | | |__| |____) |

|______|_____/|_| |_| |_| ___|___|_| _ |_| ____/|_____/

======================================================================

I (411) ESP_FREERTOS_TEST: STARTING TEST FREERTOS

I (417) ESP_FREERTOS_TEST: create task1

I (421) ESP_FREERTOS_TEST: task2 running

I (426) ESP_FREERTOS_TEST: task2 running

I (430) ESP_FREERTOS_TEST: task2 running

I (435) ESP_FREERTOS_TEST: task2 running

I (440) ESP_FREERTOS_TEST: task2 running

I (444) ESP_FREERTOS_TEST: task2 running

I (449) ESP_FREERTOS_TEST: task2 running

I (453) ESP_FREERTOS_TEST: task2 running

I (458) ESP_FREERTOS_TEST: task2 running

I (463) ESP_FREERTOS_TEST: task2 running

I (467) ESP_FREERTOS_TEST: task2 running

I (472) ESP_FREERTOS_TEST: task2 running

I (476) ESP_FREERTOS_TEST: task2 running

I (481) ESP_FREERTOS_TEST: task2 running

I (486) ESP_FREERTOS_TEST: task2 running

I (490) ESP_FREERTOS_TEST: task2 running

I (495) ESP_FREERTOS_TEST: task2 running

I (499) ESP_FREERTOS_TEST: task2 running

I (504) ESP_FREERTOS_TEST: task2 running

I (509) ESP_FREERTOS_TEST: task2 running

I (513) ESP_FREERTOS_TEST: task2 running

I (518) ESP_FREERTOS_TEST: task2 running

I (521) ESP_FREERTOS_TEST: task1 running

I (527) ESP_FREERTOS_TEST: task2 running

I (532) ESP_FREERTOS_TEST: task2 running

I (536) ESP_FREERTOS_TEST: task2 running

I (541) ESP_FREERTOS_TEST: task2 running

I (545) ESP_FREERTOS_TEST: task2 running

I (550) ESP_FREERTOS_TEST: task2 running

I (555) ESP_FREERTOS_TEST: task2 running

I (559) ESP_FREERTOS_TEST: task2 running

I (564) ESP_FREERTOS_TEST: task2 running

I (568) ESP_FREERTOS_TEST: task2 running

I (573) ESP_FREERTOS_TEST: task2 running

I (578) ESP_FREERTOS_TEST: task2 running

I (582) ESP_FREERTOS_TEST: task2 running

I (587) ESP_FREERTOS_TEST: task2 running

I (591) ESP_FREERTOS_TEST: task2 running

I (596) ESP_FREERTOS_TEST: task2 running

I (601) ESP_FREERTOS_TEST: task2 running

I (605) ESP_FREERTOS_TEST: task2 running

I (610) ESP_FREERTOS_TEST: task2 running

I (614) ESP_FREERTOS_TEST: task2 running

I (619) ESP_FREERTOS_TEST: task2 running

I (624) ESP_FREERTOS_TEST: task2 running

I (627) ESP_FREERTOS_TEST: task1 running

I (633) ESP_FREERTOS_TEST: task2 running

I (637) ESP_FREERTOS_TEST: task2 running

I (642) ESP_FREERTOS_TEST: task2 running

從log可以看出，task1掛起之后task2開始執(zhí)行，一直到task1掛起結(jié)束。

0x03 不同優(yōu)先級任務(wù)都不帶掛起操作測試

把兩個任務(wù)vTaskDelay都去掉，log如下：

I (305) cpu_start: Starting scheduler on PRO CPU.

======================================================================

______ _____ _____ __ _____ _______ ____ _____

| ____|/ ____| __ / _| | __ __ __/ __ / ____|

| |__ | (___ | |__) | | |_ _ __ ___ ___| |__) | | | | | | | (___

| __| ___ | ___/ | _| '__/ _ / _ _ / | | | | | |___

| |____ ____) | | | | | | | __/ __/ | | | | |__| |____) |

|______|_____/|_| |_| |_| ___|___|_| _ |_| ____/|_____/

======================================================================

I (411) ESP_FREERTOS_TEST: STARTING TEST FREERTOS

I (417) ESP_FREERTOS_TEST: create task1

I (421) ESP_FREERTOS_TEST: task1 running

I (426) ESP_FREERTOS_TEST: task1 running

I (430) ESP_FREERTOS_TEST: task1 running

I (435) ESP_FREERTOS_TEST: task1 running

I (440) ESP_FREERTOS_TEST: task1 running

I (444) ESP_FREERTOS_TEST: task1 running

I (449) ESP_FREERTOS_TEST: task1 running

I (453) ESP_FREERTOS_TEST: task1 running

I (458) ESP_FREERTOS_TEST: task1 running

I (463) ESP_FREERTOS_TEST: task1 running

I (467) ESP_FREERTOS_TEST: task1 running

I (472) ESP_FREERTOS_TEST: task1 running

I (476) ESP_FREERTOS_TEST: task1 running

I (481) ESP_FREERTOS_TEST: task1 running

I (486) ESP_FREERTOS_TEST: task1 running

I (490) ESP_FREERTOS_TEST: task1 running

I (495) ESP_FREERTOS_TEST: task1 running

I (499) ESP_FREERTOS_TEST: task1 running

I (504) ESP_FREERTOS_TEST: task1 running

I (509) ESP_FREERTOS_TEST: task1 running

I (513) ESP_FREERTOS_TEST: task1 running

I (518) ESP_FREERTOS_TEST: task1 running

I (522) ESP_FREERTOS_TEST: task1 running

I (527) ESP_FREERTOS_TEST: task1 running

I (532) ESP_FREERTOS_TEST: task1 running

I (536) ESP_FREERTOS_TEST: task1 running

I (541) ESP_FREERTOS_TEST: task1 running

I (545) ESP_FREERTOS_TEST: task1 running

I (550) ESP_FREERTOS_TEST: task1 running

I (555) ESP_FREERTOS_TEST: task1 running

I (559) ESP_FREERTOS_TEST: task1 running

I (564) ESP_FREERTOS_TEST: task1 running

I (568) ESP_FREERTOS_TEST: task1 running

I (573) ESP_FREERTOS_TEST: task1 running

I (578) ESP_FREERTOS_TEST: task1 running

I (582) ESP_FREERTOS_TEST: task1 running

I (587) ESP_FREERTOS_TEST: task1 running

I (591) ESP_FREERTOS_TEST: task1 running

I (596) ESP_FREERTOS_TEST: task1 running

I (601) ESP_FREERTOS_TEST: task1 running

I (605) ESP_FREERTOS_TEST: task1 running

I (610) ESP_FREERTOS_TEST: task1 running

I (614) ESP_FREERTOS_TEST: task1 running

I (619) ESP_FREERTOS_TEST: task1 running

I (624) ESP_FREERTOS_TEST: task1 running

I (628) ESP_FREERTOS_TEST: task1 running

I (633) ESP_FREERTOS_TEST: task1 running

I (637) ESP_FREERTOS_TEST: task1 running

I (642) ESP_FREERTOS_TEST: task1 running

I (647) ESP_FREERTOS_TEST: task1 running

I (651) ESP_FREERTOS_TEST: task1 running

I (656) ESP_FREERTOS_TEST: task1 running

看log結(jié)果task1一直在運行。

0x04 對于不同優(yōu)先級任務(wù)的結(jié)論：

有的任務(wù)有可能永遠不被執(zhí)行

只有高優(yōu)先級任務(wù)掛起，低優(yōu)先級任務(wù)才能被執(zhí)行

結(jié)論

ESP freeRTOS運行在搶占+時間片輪訓(xùn)模式，高優(yōu)先級任務(wù)掛起，低優(yōu)先級任務(wù)才有機會被執(zhí)行。同優(yōu)先級任務(wù)輪訓(xùn)執(zhí)行，執(zhí)行粒度為時間片，即一個時間片結(jié)束，另一個任務(wù)才開始執(zhí)行。搶占模式在使用時一定要畫任務(wù)時序圖，不然低優(yōu)先級任務(wù)可能執(zhí)行周期過長，或者根本不能執(zhí)行！

補充

為說明執(zhí)行粒度，程序做一下修改：

void task1(void *pvParameters){

for(;;)

{

for (int i = 0; i < 1000; i++)

{

ESP_LOGI(TAG, 'task1 running');

}

}}void task2(void *pvParameters){

for(;;)

{

for (int i = 0; i < 1000; i++)

{

ESP_LOGI(TAG, 'task2 running');

}

}}void app_main(void){

PRINT_TITLE();

ESP_LOGI(TAG, ' STARTING TEST FREERTOS ');

ESP_LOGI(TAG, 'create task1');

xTaskCreate(task1, 'task1', 2048, NULL, 1, NULL);

xTaskCreate(task2, 'task2', 2048, NULL, 1, NULL);}

log如下：

I (305) cpu_start: Starting scheduler on PRO CPU.

[1] [2] [3]

關(guān)鍵字：ESP32 freeRTOS 引用地址：ESP32 freeRTOS使用測試

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<font color='red'>使用</font>寬頻率范圍矢量網(wǎng)絡(luò)分析儀應(yīng)對高速互聯(lián)<font color='red'>測試</font>的挑戰(zhàn)

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傳統(tǒng)意義上的電源功率為電壓和電流的乘積，而根據(jù)市場調(diào)查，發(fā)現(xiàn)工程師往往需要頻繁更換使用不同規(guī)格的電源以測試多種規(guī)格的產(chǎn)品，整個過程非常繁瑣，也使設(shè)備成本居高不下。如何在實驗室利用一臺電源完成多種規(guī)格產(chǎn)品的測試，并且使控制方式更加靈活多樣，是廣大研發(fā)和設(shè)計驗證人員所非常關(guān)心的問題。ITECH推出的IT6900A系列直流電源，完全針對傳統(tǒng)電源的不足而設(shè)計，一臺電源能夠替代多臺不同型號的傳統(tǒng)電源使用，覆蓋了各個不同行業(yè)不同規(guī)格產(chǎn)品的測試需求，同時可在測試中提供與線性電源相媲美的高精度。 ? 一臺電源完成多種測試的解決方案 1. 寬范圍輸出現(xiàn)有兩個待測的電源產(chǎn)品，第一個待測電源的規(guī)格為50V/2A；第二個待測電源的規(guī)格為25

[電源管理]