FreeRTOS vTaskDelayUntil 函数

 vTaskDelayUntil 使任务以一定周期调度

void vTaskDelayUntil( TickType_t *pxPreviousWakeTime,                      const TickType_t xTimeIncrement );

需要使能FreeRTOSConfig.h中的

#define INCLUDE_vTaskDelayUntil             1

1 ticks是多少ms?

#define configTICK_RATE_HZ   ((TickType_t)1000) //1000HZ即1ms

//可配置范围为1-1000

例程:http://www.freertos.org/vtaskdelayuntil.html

// Perform an action every 10 ticks. void vTaskFunction( void * pvParameters ) { TickType_t xLastWakeTime; const TickType_t xFrequency = 10;     // Initialise the xLastWakeTime variable with the current time.     xLastWakeTime = xTaskGetTickCount();//获取当前tick     for( ;; )     {         // Wait for the next cycle.         vTaskDelayUntil( &xLastWakeTime, xFrequency );         // Perform action here.     } }