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rt-thread线程调度异常在stm32f103芯片上

发布于 2017-01-24 14:40:49 浏览：4599

问题：
     程序在运行中出现有两个线程不执行了，motor_ctrl_entry和can_send_entry不执行了，而其它线程都正常执行，错误是在反复运行后偶尔出现的，不容易复现，但是存在。在调试J-link状态下运行，出现问题时，打断点，用到的中断都正常，其它执行的线程也正常，就是出问题的线程哪地方打断点都运行不到，若是说高优先级线程死循环但是低优先级线程还可以运行，不知道哪里出的问题。
   大神帮忙看看，谢谢了
```int rt_application_init(void)
{
    init_modules();
    
    rt_thread_init(&watchdog_thread, "watchdog",
                                watchdog_thread_entry, RT_NULL, watchdog_thread_stack,
                                512,  10, 5);
    rt_thread_startup(&watchdog_thread);
    
    rt_thread_init(&motor_ctrl_thread, "motor_ctrl",
                                motor_ctrl_entry, RT_NULL, motor_ctrl_thread_stack,
                                1536, 11, 5);
    rt_thread_startup(&motor_ctrl_thread);
    
    rt_thread_init(&can_send_thread, "can_send",
                                can_send_entry, RT_NULL, can_send_thread_stack,
                                1024, 12, 5);
    rt_thread_startup(&can_send_thread);
    
    rt_thread_init(&can_recv_thread, "can_recv",
                                can_recv_entry, RT_NULL, can_recv_thread_stack,
                                1536, 13, 5);
    rt_thread_startup(&can_recv_thread);
    
    rt_thread_init(&servo_comm_thread, "servo_comm",
                                servo_comm_entry, RT_NULL, servo_comm_thread_stack,
                                1536, 14, 5);
    rt_thread_startup(&servo_comm_thread);
    
    rt_thread_init(&rf_comm_thread, "rf_comm",
                                rf_comm_entry, RT_NULL, rf_comm_thread_stack,
                                1024, 15, 5);
    rt_thread_startup(&rf_comm_thread);
    
    return 0;
}```
```void can_send_entry(void *parameter)
{
    U8 ucMailbox, ucSendCnt;

while (1)
    {
        ucSendCnt = 0;
        while (usTXRead != usTXSave)
        {
            ucMailbox = CAN_Transmit(CAN1, &stTxBuff[usTXRead]);
            if(ucMailbox == CAN_TxStatus_NoMailBox)
            { 
                if(ucSendCnt < 10)
                {
                    ucSendCnt++;
                    rt_hw_us_delay(600);  //>126bit*4us
                }
                else
                {
                    rt_thread_delay(1);
                }
            }
            else
            {
                usTXRead++;
                if (usTXRead == LCAN_TX_BUFLEN) 
                {
                    usTXRead = 0;
                }
                ucTxFlag = TRUE;
            }
        }
        xgj_status_update();
        //led_indicate();
        rt_thread_delay(3);
    }
}```
motor_ctrl_entry代码：
```while(1)
    {
        ucStopFlag = FALSE;
        
        key_analysis(&ucSendFlag, &ucStopFlag);
        
        alarm_analysis();
        //rf_analysis(&ucSendFlag);
        if(g_sucModeFlag == MODE_AUTO && ucStopFlag == FALSE)
        {
            if(rt_event_recv(&event_ls_cmd, EVENT_RTC_TIMING, RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, 
                                RT_WAITING_NO, &e) == RT_EOK)
            {
                if(ucSendFlag > CTRL_PRI4_TIMING)
                {
                    ucSendFlag = CTRL_PRI4_TIMING;
                }
            }
            
            if(rt_event_recv(&event_ls_cmd, EVENT_LS_COMMOND, RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, 
                                RT_WAITING_NO, &e) == RT_EOK)
            {
                if(ucSendFlag > CTRL_PRI3_LOONGSEC)
                {
                    ucSendFlag = CTRL_PRI3_LOONGSEC;
                }
            }
            
            if(rt_event_recv(&event_ls_cmd, EVENT_RF_REMOTE, RT_EVENT_FLAG_AND | RT_EVENT_FLAG_CLEAR, 
                                RT_WAITING_NO, &e) == RT_EOK)
            {
                if(ucSendFlag > CTRL_PRI2_REMOTE)
                {
                    ucSendFlag = CTRL_PRI2_REMOTE;
                }
            }
        }
        
        if(ucSendFlag > 0 && ucSendFlag < CTRL_PRI_LOWEST && ucStopFlag == FALSE)
        {
            motor_start();
            g_sucPosition = POS_MIDDLE;
            ucSendFlag = CTRL_PRI_LOWEST;
        }

rt_thread_delay(5);
    }``` <br> <img  src="/uploads/9596_c4ea5e34393734851f1a2abd037a882a.jpg"  alt="QQ图片20170207143637.jpg"  title="">