{"id":850,"date":"2025-06-25T08:35:48","date_gmt":"2025-06-25T00:35:48","guid":{"rendered":"https:\/\/aimc.skyate.com\/?p=850"},"modified":"2025-06-25T16:53:39","modified_gmt":"2025-06-25T08:53:39","slug":"%e3%80%90aimc%e6%95%99%e7%a8%8b%e3%80%91%e3%80%90%e7%94%b5%e5%ad%90%e8%ae%be%e8%ae%a1%e5%b7%a5%e5%9d%8a%e3%80%91part3-freertos-%e6%93%8d%e4%bd%9c%e7%b3%bb%e7%bb%9f","status":"publish","type":"post","link":"https:\/\/aimc.skyate.com\/index.php\/2025\/06\/25\/%e3%80%90aimc%e6%95%99%e7%a8%8b%e3%80%91%e3%80%90%e7%94%b5%e5%ad%90%e8%ae%be%e8%ae%a1%e5%b7%a5%e5%9d%8a%e3%80%91part3-freertos-%e6%93%8d%e4%bd%9c%e7%b3%bb%e7%bb%9f\/","title":{"rendered":"\u3010AIMC\u6559\u7a0b\u3011\u3010\u7535\u5b50\u8bbe\u8ba1\u5de5\u574a\u3011Part3 FreeRTOS \u64cd\u4f5c\u7cfb\u7edf"},"content":{"rendered":"\n

\u2460 \u4efb\u52a1\u7ba1\u7406<\/p>\n\n\n\n

\u2461 \u5185\u5b58\u7ba1\u7406<\/p>\n\n\n\n

\u2462 \u5d4c\u5165\u5f0fC\u7f16\u7a0b\u89c4\u8303\u2014\u2014Arduino \u6846\u67b6\u4e0b<\/p>\n\n\n\n

1 freeRTOS\u5d4c\u5165\u5f0f\u64cd\u4f5c\u7cfb\u7edf<\/h2>\n\n\n\n

\u5f53\u6211\u4eec\u8fdb\u5165\u5d4c\u5165\u5f0f\u8fd9\u4e2a\u9886\u57df\u7684\u65f6\u5019\uff0c\u5f80\u5f80\u9996\u5148\u63a5\u89e6\u7684\u90fd\u662f\u5355\u7247\u673a\u7f16\u7a0b\uff0c\u5355\u7247\u673a\u7f16\u7a0b\u53c8 \u9996\u9009 51 \u5355\u7247\u673a\u6765\u5165\u95e8\u3002\u8fd9\u91cc\u9762\u8bf4\u7684\u5355\u7247\u673a\u7f16\u7a0b\u901a\u5e38\u90fd\u662f\u6307\u88f8\u673a\u7f16\u7a0b\uff0c\u5373\u4e0d\u52a0\u5165\u4efb\u4f55 RTOS \uff08Real Time Operating System \u5b9e\u65f6\u64cd\u4f5c\u7cfb\u7edf\uff09\u7684\u7a0b\u5e8f\u3002\u5e38\u7528\u7684 RTOS \u6709\u56fd\u5916\u7684FreeRTOS\u3001 \u03bcC\/OS\u3001RTX \u548c\u56fd\u5185\u7684 FreeRTOS\u3001Huawei LiteOS \u548c AliOS-Things \u7b49\uff0c\u5176\u4e2d\u5c24\u4ee5\u56fd\u5916\u5f00\u6e90 \u4e14\u514d\u8d39\u7684 FreeRTOS \u7684\u5e02\u573a\u5360\u6709\u7387\u6700\u9ad8\u3002<\/p>\n\n\n\n

\u64cd\u4f5c\u7cfb\u7edf\u662f\u5141\u8bb8\u591a\u4e2a\u4efb\u52a1\u201c\u540c\u65f6\u8fd0\u884c\u201d\u7684\uff0c\u64cd\u4f5c\u7cfb\u7edf\u7684\u8fd9\u4e2a\u7279\u6027\u88ab\u79f0\u4e3a\u591a\u4efb\u52a1\u3002\u7136\u800c\u5b9e\u9645\u4e0a\uff0c\u4e00\u4e2a CPU \u6838\u5fc3\u5728\u67d0\u4e00\u65f6\u523b\u53ea\u80fd\u8fd0\u884c\u4e00\u4e2a\u4efb\u52a1\uff0c\u800c\u64cd\u4f5c\u7cfb\u7edf\u4e2d\u4efb\u52a1\u8c03\u5ea6<\/strong>\u5668\u7684\u8d23\u4efb\u5c31\u662f\u51b3\u5b9a\u5728\u67d0\u4e00\u65f6\u523b CPU \u7a76\u7adf\u8981\u8fd0\u884c\u54ea\u4e00\u4e2a\u4efb\u52a1\uff0c\u4efb\u52a1\u8c03\u5ea6\u5668\u4f7f\u5f97CPU \u5728\u5404\u4e2a\u4efb\u52a1\u4e4b\u95f4\u6765\u56de\u5207\u6362\u5e76\u5904\u7406\u4efb\u52a1\uff0c\u7531\u4e8e\u5207\u6362\u5904\u7406\u4efb\u52a1\u7684\u901f\u5ea6\u975e\u5e38\u5feb\uff0c\u56e0\u6b64\u5c31\u7ed9\u4eba\u9020\u6210\u4e86\u4e00\u79cd\u540c\u4e00\u65f6\u523b\u6709\u591a\u4e2a\u4efb\u52a1\u540c\u65f6\u8fd0\u884c\u7684\u9519\u89c9\u3002<\/p>\n\n\n\n

ESP32 arduino\u5185\u5d4c\u4e86freeRTOS\u64cd\u4f5c\u7cfb\u7edf\uff0c\u5728\u7f16\u7a0b\u65f6\u53ef\u4ee5\u65b9\u4fbf\u7684\u8c03\u7528freeRTOS\u7684API\u5b9e\u73b0\u590d\u6742\u64cd\u4f5c\u3002<\/p>\n\n\n\n

1.1 freeRTOS \u4efb\u52a1\u57fa\u672c\u6982\u5ff5<\/h3>\n\n\n\n

1.1.1 \u64cd\u4f5c\u7cfb\u7edf\u6982\u8ff0<\/h4>\n\n\n\n

\uff081\uff09\u5355\u4efb\u52a1\u7cfb\u7edf<\/strong><\/p>\n\n\n\n

\u2460 \u8f6e\u8be2\u7cfb\u7edf<\/p>\n\n\n\n

\u5355\u4efb\u52a1\u7cfb\u7edf\u7684\u7f16\u7a0b\u65b9\u5f0f\uff0c\u5373\u88f8\u673a\u7684\u7f16\u7a0b\u65b9\u5f0f\uff0c\u8fd9\u79cd\u7f16\u7a0b\u65b9\u5f0f\u7684\u6846\u67b6\u4e00\u822c\u90fd\u662f\u5728 main()\u51fd\u6570 \u4e2d\u4f7f\u7528\u4e00\u4e2a\u5927\u5faa\u73af\uff0c\u5728\u5faa\u73af\u4e2d\u987a\u5e8f\u5730\u8c03\u7528\u76f8\u5e94\u7684\u51fd\u6570\u4ee5\u5904\u7406\u76f8\u5e94\u7684\u4e8b\u52a1\u3002<\/p>\n\n\n\n

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\n
\"\"<\/figure>\n<\/div>\n\n
\n
\"\"<\/figure>\n<\/div>\n\n\n

\u2461 \u524d\u540e\u53f0\u7cfb\u7edf<\/p>\n\n\n\n

\u76f8\u6bd4\u8f6e\u8be2\u7cfb\u7edf\uff0c\u524d\u540e\u53f0\u7cfb\u7edf\u662f\u5728\u8f6e\u8be2\u7cfb\u7edf\u7684\u57fa\u7840\u4e0a\u52a0\u5165\u4e86\u4e2d\u65ad\u3002\u5916\u90e8\u4e8b\u4ef6\u7684\u54cd\u5e94\u5728\u4e2d\u65ad\u91cc\u9762\u5b8c\u6210\uff0c\u4e8b\u4ef6\u7684\u5904\u7406\u8fd8\u662f\u56de\u5230\u8f6e\u8be2\u7cfb\u7edf\u4e2d\u5b8c\u6210\uff0c\u4e2d\u65ad\u5728\u8fd9\u91cc\u6211\u4eec\u79f0\u4e3a\u524d\u53f0\uff0cmain()\u51fd\u6570\u91cc\u9762\u7684\u65e0\u9650\u5faa\u73af\u6211\u4eec\u79f0\u4e3a\u540e\u53f0\u3002<\/p>\n\n\n

\n
\"\"<\/figure>\n<\/div>\n\n
\n
\"\"<\/figure>\n<\/div>\n\n\n

\u4ece\u4e0a\u56fe\u53ef\u4ee5\u770b\u51fa\uff0c\u524d\u540e\u53f0\u7cfb\u7edf\u7684\u5b9e\u65f6\u6027\u5f88\u5dee\uff0c\u56e0\u4e3a\u5927\u5faa\u73af\u4e2d\u51fd\u6570\u5904\u7406\u7684\u4e8b\u52a1\u6ca1\u6709\u4f18\u5148\u7ea7\u4e4b\u5206<\/strong>\uff0c\u5fc5\u987b\u662f\u987a\u5e8f\u5730\u88ab\u6267\u884c\u5904\u7406\u7684\uff0c\u4e0d\u8bba\u5f85\u5904\u7406\u4e8b\u52a1\u7684\u7d27\u6025\u7a0b\u5ea6\u6709\u591a\u9ad8\uff0c\u6ca1\u8f6e\u5230\u53ea\u80fd\u7b49\u7740\uff0c\u867d\u7136 \u4e2d\u65ad\u80fd\u591f\u5904\u7406\u4e00\u4e9b\u7d27\u6025\u7684\u4e8b\u52a1\uff0c\u4f46\u662f\u5728\u4e00\u4e9b\u5927\u578b\u7684\u5d4c\u5165\u5f0f\u5e94\u7528\u4e2d\uff0c\u8fd9\u6837\u7684\u5355\u4efb\u52a1\u7cfb\u7edf\u5c31\u4f1a\u663e\u5f97\u529b\u4e0d\u4ece\u5fc3\u3002<\/p>\n\n\n\n

\uff082\uff09\u591a\u4efb\u52a1<\/strong>\u64cd\u4f5c\u7cfb\u7edf<\/strong><\/p>\n\n\n\n

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\u8981\u6ce8\u610f\u7684\u662f\u591a\u4efb\u52a1\u7cfb\u7edf\u7684\u591a\u4e2a\u4efb\u52a1\u53ef\u4ee5\u201c\u540c\u65f6\u201d\u8fd0\u884c\uff0c\u662f\u4ece\u5b8f\u89c2\u7684\u89d2\u5ea6\u800c\u8a00<\/strong>\u7684\uff0c\u5bf9\u4e8e\u5355\u6838\u7684 <\/strong>CPU<\/strong> \u800c\u8a00\uff0cCPU \u5728\u540c\u4e00\u65f6\u523b\u53ea\u80fd\u591f\u5904\u7406\u4e00\u4e2a\u4efb\u52a1<\/strong>\uff0c\u4f46\u662f\u591a\u4efb\u52a1\u7cfb\u7edf\u7684\u4efb\u52a1\u8c03\u5ea6\u5668\u4f1a\u6839\u636e\u76f8\u5173\u7684\u4efb\u52a1\u8c03\u5ea6\u7b97\u6cd5\uff0c\u5c06 CPU \u7684\u4f7f\u7528\u6743\u5206\u914d\u7ed9\u4efb\u52a1\uff0c\u5728\u4efb\u52a1\u83b7\u53d6 CPU \u4f7f\u7528\u6743\u4e4b\u540e\u7684\u6781\u77ed\u65f6\u95f4\uff08\u5b8f\u89c2\u89d2\u5ea6\uff09\u540e\uff0c\u4efb\u52a1\u8c03\u5ea6\u5668\u53c8\u4f1a\u5c06 CPU \u7684\u4f7f\u7528\u6743\u5206\u914d\u7ed9\u5176\u4ed6\u4efb\u52a1\uff0c\u5982\u6b64\u5f80\u590d\uff0c\u5728\u5b8f\u89c2\u7684\u89d2\u5ea6\u770b\u6765\uff0c\u5c31\u50cf\u662f\u591a\u4e2a\u4efb\u52a1\u540c\u65f6\u8fd0\u884c\u4e86\u4e00\u6837\u3002<\/p>\n\n\n\n

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\n
\"\"<\/figure>\n<\/div>\n\n\n

\u4ece\u4e0a\u56fe\u53ef\u4ee5\u770b\u51fa\uff0c\u76f8\u8f83\u4e8e\u5355\u4efb\u52a1\u7cfb\u7edf\u800c\u8a00\uff0c\u591a\u4efb\u52a1\u7cfb\u7edf\u7684\u4efb\u52a1\u4e5f\u662f\u5177\u6709\u4f18\u5148\u7ea7\u7684\uff0c\u9ad8\u4f18\u5148\u7ea7\u7684\u4efb\u52a1\u53ef\u4ee5\u50cf\u4e2d\u65ad\u7684\u62a2\u5360\u4e00\u6837\uff0c\u62a2\u5360\u4f4e\u4f18\u5148\u7ea7\u4efb\u52a1\u7684 CPU \u4f7f\u7528\u6743\uff1b\u4f18\u5148\u7ea7\u76f8\u540c\u7684\u4efb\u52a1\u5219\u5404\u81ea\u8f6e\u6d41\u8fd0\u884c\u4e00\u6bb5\u6781\u77ed\u7684\u65f6\u95f4\uff08\u5b8f\u89c2\u89d2\u5ea6\uff09\uff0c\u4ece\u800c\u4ea7\u751f\u201c\u540c\u65f6\u201d\u8fd0\u884c\u7684\u9519\u89c9\u3002\u4ee5\u4e0a\u5c31\u662f\u62a2\u5360\u5f0f\u8c03\u5ea6\u548c \u65f6\u95f4\u7247\u8c03\u5ea6\u7684\u57fa\u672c\u539f\u7406\u3002<\/p>\n\n\n\n

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1.1.2 freeRTOS\u4efb\u52a1\u72b6\u6001<\/h4>\n\n\n\n

FreeRTOS \u4e2d\u4efb\u52a1\u5b58\u5728\u56db\u79cd\u4efb\u52a1\u72b6\u6001\uff0c\u5206\u522b\u4e3a\u8fd0\u884c\u6001\u3001\u5c31\u7eea\u6001\u3001\u963b\u585e\u6001\u548c\u6302\u8d77\u6001<\/strong>\u3002FreeRTOS \u8fd0\u884c\u65f6\uff0c\u4efb\u52a1\u7684\u72b6\u6001\u4e00\u5b9a\u662f\u8fd9\u56db\u79cd\u72b6\u6001\u4e2d\u7684\u4e00\u79cd\uff0c\u4e0b\u9762\u5c31\u5206\u522b\u6765\u4ecb\u7ecd\u4e00\u4e0b\u8fd9\u56db\u79cd\u4efb\u52a1\u72b6\u6001\u3002<\/p>\n\n\n\n

1. \u8fd0\u884c\u6001<\/strong><\/p>\n\n\n\n

\u5982\u679c\u4e00\u4e2a\u4efb\u52a1\u5f97\u5230 CPU \u7684\u4f7f\u7528\u6743\uff0c\u5373\u4efb\u52a1\u88ab\u5b9e\u9645\u6267\u884c\u65f6\uff0c\u90a3\u4e48\u8fd9\u4e2a\u4efb\u52a1\u5904\u4e8e\u8fd0\u884c\u6001\u3002\u5982\u679c \u8fd0\u884c RTOS \u7684 MCU \u53ea\u6709\u4e00\u4e2a\u5904\u7406\u5668\u6838\u5fc3\uff0c\u90a3\u4e48\u5728\u4efb\u52a1\u65f6\u523b\uff0c\u90fd\u53ea\u80fd\u6709\u4e00\u4e2a\u4efb\u52a1\u5904\u7406\u8fd0\u884c\u6001\u3002<\/p>\n\n\n\n

2. \u5c31\u7eea\u6001<\/strong><\/p>\n\n\n\n

\u5982\u679c\u4e00\u4e2a\u4efb\u52a1\u5df2\u7ecf\u80fd\u591f\u88ab\u6267\u884c\uff08\u4e0d\u5904\u4e8e\u963b\u585e\u6001\u540e\u6302\u8d77\u6001\uff09\uff0c\u4f46\u5f53\u524d\u8fd8\u672a\u88ab\u6267\u884c\uff08\u5177\u6709\u76f8\u540c\u4f18\u5148\u7ea7\u6216\u66f4\u9ad8\u4f18\u5148\u7ea7\u7684\u4efb\u52a1\u6b63\u6301\u6709 CPU \u4f7f\u7528\u6743\uff09\uff0c\u90a3\u4e48\u8fd9\u4e2a\u4efb\u52a1\u5c31\u5904\u4e8e\u5c31\u7eea\u6001\u3002<\/p>\n\n\n\n

3. \u963b\u585e\u6001<\/strong><\/p>\n\n\n\n

\u5982\u679c\u4e00\u4e2a\u4efb\u52a1\u56e0\u5ef6\u65f6\u4e00\u6bb5\u65f6\u95f4\u6216\u7b49\u5f85\u5916\u90e8\u4e8b\u4ef6\u53d1\u751f\uff0c\u90a3\u4e48\u8fd9\u4e2a\u4efb\u52a1\u5c31\u5904\u7406\u963b\u585e\u6001\u3002\u4f8b\u5982\u4efb\u52a1\u8c03\u7528\u4e86\u51fdvTaskDelay()\uff0c\u8fdb\u884c\u4e00\u6bb5\u65f6\u95f4\u7684\u5ef6\u65f6\uff0c\u90a3\u4e48\u5728\u5ef6\u65f6\u8d85\u65f6\u4e4b\u524d\uff0c\u8fd9\u4e2a\u4efb\u52a1\u5c31\u5904\u7406\u963b\u585e\u6001\u3002\u4efb\u52a1\u4e5f\u53ef\u4ee5\u5904\u4e8e\u963b\u585e\u6001\u4ee5\u7b49\u5f85\u961f\u5217\u3001\u4fe1\u53f7\u91cf\u3001\u4e8b\u4ef6\u7ec4\u3001\u901a\u77e5\u6216\u4fe1\u53f7\u91cf\u7b49\u5916\u90e8\u4e8b\u4ef6\u3002\u901a\u5e38\u60c5\u51b5\u4e0b\uff0c\u5904\u4e8e\u963b\u585e\u6001\u7684\u4efb\u52a1\u90fd\u6709\u4e00\u4e2a\u963b\u585e\u7684\u8d85\u65f6\u65f6\u95f4\uff0c\u5728\u4efb\u52a1\u963b\u585e\u8fbe\u5230\u6216\u8d85\u8fc7\u8fd9\u4e2a\u8d85\u65f6\u65f6\u95f4\u540e\uff0c\u5373\u4f7f\u4efb\u52a1\u7b49\u5f85\u7684\u5916\u90e8\u4e8b\u4ef6\u8fd8\u6ca1\u6709\u53d1\u751f\uff0c\u4efb\u52a1\u7684\u963b\u585e\u6001\u4e5f\u4f1a\u88ab\u89e3\u9664\u3002 \u8981\u6ce8\u610f\u7684\u662f\uff0c\u5904\u4e8e\u963b\u585e\u6001\u7684\u4efb\u52a1\u662f\u65e0\u6cd5\u88ab\u8fd0\u884c\u7684\u3002<\/p>\n\n\n\n

4. \u6302\u8d77\u6001<\/strong><\/p>\n\n\n\n

\u4efb\u52a1\u4e00\u822c\u901a\u8fc7\u51fd\u6570 vTaskSuspend()\u548c\u51fd\u6570 vTaskResums()\u8fdb\u5165\u548c\u9000\u51fa\u6302\u8d77\u6001\u4e0e\u963b\u585e\u6001\u4e00\u6837\uff0c\u5904\u4e8e\u6302\u8d77\u6001\u7684\u4efb\u52a1\u4e5f\u65e0\u6cd5\u88ab\u8fd0\u884c\u3002<\/p>\n\n\n

\n
\"\"<\/figure>\n<\/div>\n\n\n

1.1.3 freeRTOS\u4f18\u5148\u7ea7<\/h4>\n\n\n
\n
\"\"<\/figure>\n<\/div>\n\n\n

\uff081\uff09\u62a2\u5360\u5f0f\u8c03\u5ea6<\/strong><\/p>\n\n\n\n

\u62a2\u5360\u5f0f\u8c03\u5ea6\u4e3b\u8981\u662f\u9488\u5bf9\u4f18\u5148\u7ea7\u4e0d\u540c\u7684\u4efb\u52a1\uff0c\u6bcf\u4e2a\u4efb\u52a1\u90fd\u6709\u4e00\u4e2a\u4f18\u5148\u7ea7\uff0c\u4f18\u5148\u7ea7\u9ad8\u7684\u4efb\u52a1\u53ef \u4ee5\u62a2\u5360\u4f18\u5148\u7ea7\u4f4e\u7684\u4efb\u52a1\uff0c\u53ea\u6709\u5f53\u4f18\u5148\u7ea7\u9ad8\u7684\u4efb\u52a1\u53d1\u751f\u963b\u585e\u6216\u8005\u88ab\u6302\u8d77\uff0c\u4f4e\u4f18\u5148\u7ea7\u7684\u4efb\u52a1\u624d\u53ef\u4ee5 \u8fd0\u884c\u3002<\/p>\n\n\n\n

\uff082\uff09<\/strong>\u65f6\u95f4\u7247<\/strong>\u8c03\u5ea6<\/strong><\/p>\n\n\n\n

\u65f6\u95f4\u7247\u8c03\u5ea6\u4e3b\u8981\u9488\u5bf9\u4f18\u5148\u7ea7\u76f8\u540c\u7684\u4efb\u52a1\uff0c\u5f53\u591a\u4e2a\u4efb\u52a1\u7684\u4f18\u5148\u7ea7\u76f8\u540c\u65f6\uff0c\u4efb\u52a1\u8c03\u5ea6\u5668\u4f1a\u5728\u6bcf \u4e00\u6b21\u7cfb\u7edf\u65f6\u949f\u8282\u62cd\u5230\u7684\u65f6\u5019\u5207\u6362\u4efb\u52a1\uff0c\u4e5f\u5c31\u662f\u8bf4 CPU \u8f6e\u6d41\u8fd0\u884c\u4f18\u5148\u7ea7\u76f8\u540c\u7684\u4efb\u52a1\uff0c\u6bcf\u4e2a\u4efb\u52a1\u8fd0 \u884c\u7684\u65f6\u95f4\u5c31\u662f\u4e00\u4e2a\u7cfb\u7edf\u65f6\u949f\u8282\u62cd\u3002<\/p>\n\n\n\n

1.2 freeRTOS\u4efb\u52a1\u7ba1\u7406API<\/h3>\n\n\n\n

1.2.1 freeRTOS\u4efb\u52a1\u521b\u5efa<\/h4>\n\n\n\n
#include <Arduino.h>\n#include <freertos\/FreeRTOS.h>\n#include <freertos\/task.h>\n\nvoid task1(void *pvParameters) {\n    while (1) {\n        \/\/ \u4efb\u52a11\u7684\u4ee3\u7801\n        vTaskDelay(1000 \/ portTICK_PERIOD_MS);  \/\/ \u5ef6\u65f61\u79d2\n    }\n}\n\nvoid task2(void *pvParameters) {\n    while (1) {\n        \/\/ \u4efb\u52a12\u7684\u4ee3\u7801\n        vTaskDelay(2000 \/ portTICK_PERIOD_MS);  \/\/ \u5ef6\u65f62\u79d2\n    }\n}\n\nvoid setup() {\n    \/\/ \u521d\u59cb\u5316\u4ee3\u7801\u53ef\u4ee5\u653e\u5728\u8fd9\u91cc\n    Serial.begin(115200);\n\n    \/\/ \u521b\u5efaFreeRTOS\u4efb\u52a1\n    xTaskCreate(task1, \"task1\", 4096, NULL, 1, NULL);\n    xTaskCreate(task2, \"task2\", 4096, NULL, 2, NULL);\n}\n\nvoid loop() {\n    \/\/ \u7531\u4e8eFreeRTOS\u81ea\u884c\u7ba1\u7406\u4efb\u52a1\uff0cloop()\u4e2d\u4e00\u822c\u4e0d\u9700\u8981\u6dfb\u52a0\u989d\u5916\u7684\u4ee3\u7801\n}\n<\/pre>\n\n\n\n
ESP32\u57fa\u4e8eArduino\u6846\u67b6\u5728 PlatformIO \u7684\u591a\u4efb\u52a1\u7cfb\u7edf\uff0cA\u4efb\u52a1\u6bcf\u969450ms\u6267\u884c\u4e00\u6b21\uff0cB\u4efb\u52a1\u6bcf\u9694100ms\u6267\u884c\u4e00\u6b21\uff0cC\u4efb\u52a1\u6bcf\u96941000ms\u6267\u884c\u4e00\u6b21\u3002<\/p>\n\n\n\n
#include <Arduino.h>\n#include <freertos\/FreeRTOS.h>\n#include <freertos\/task.h>\n\n\/\/ \u5b9a\u4e49\u4efb\u52a1\u53e5\u67c4\nTaskHandle_t TaskAHandle = NULL;\nTaskHandle_t TaskBHandle = NULL;\nTaskHandle_t TaskCHandle = NULL;\n\n\/\/ \u4efb\u52a1A\uff1a\u6bcf50ms\u6267\u884c\u4e00\u6b21\nvoid TaskA(void *pvParameters) {\n  \n  for(;;) {\n    \/\/ \u4efb\u52a1A\u7684\u5de5\u4f5c\u4ee3\u7801\n    Serial.println(\"Task A executed\");\n    \n    vTaskDelay(pdMS_TO_TICKS(500)); \/\/ \u5ef6\u8fdf50ms\n  }\n}\n\n\/\/ \u4efb\u52a1B\uff1a\u6bcf100ms\u6267\u884c\u4e00\u6b21\nvoid TaskB(void *pvParameters) {\n  \n  for(;;) {\n    \/\/ \u4efb\u52a1B\u7684\u5de5\u4f5c\u4ee3\u7801\n    Serial.println(\"Task B executed\");\n    \n    vTaskDelay(pdMS_TO_TICKS(1000)); \/\/ \u5ef6\u8fdf100ms\n  }\n}\n\n\/\/ \u4efb\u52a1C\uff1a\u6bcf1000ms\u6267\u884c\u4e00\u6b21\nvoid TaskC(void *pvParameters) {\n  \n  for(;;) {\n    \/\/ \u4efb\u52a1C\u7684\u5de5\u4f5c\u4ee3\u7801\n    Serial.println(\"Task C executed\");\n    \n    vTaskDelay(pdMS_TO_TICKS(5000)); \/\/ \u5ef6\u8fdf1000ms\n  }\n}\n\nvoid setup() {\n  Serial.begin(115200);\n  \n  \/\/ \u521b\u5efa\u4efb\u52a1A\n  xTaskCreate(\n    TaskA,           \/\/ \u4efb\u52a1\u51fd\u6570\n    \"TaskA\",         \/\/ \u4efb\u52a1\u540d\u79f0\n    2048,            \/\/ \u5806\u6808\u5927\u5c0f\uff08\u5b57\u8282\uff09\n    NULL,            \/\/ \u4efb\u52a1\u53c2\u6570\n    1,               \/\/ \u4f18\u5148\u7ea7\uff080-24\uff0c\u6570\u5b57\u8d8a\u5927\u4f18\u5148\u7ea7\u8d8a\u9ad8\uff09\n    &TaskAHandle     \/\/ \u4efb\u52a1\u53e5\u67c4\n  );\n  \n  \/\/ \u521b\u5efa\u4efb\u52a1B\n  xTaskCreate(\n    TaskB,\n    \"TaskB\",\n    2048,\n    NULL,\n    2,\n    &TaskBHandle\n  );\n  \n  \/\/ \u521b\u5efa\u4efb\u52a1C\n  xTaskCreate(\n    TaskC,\n    \"TaskC\",\n    2048,\n    NULL,\n    3,\n    &TaskCHandle\n  );\n  \n  \/\/ \u5982\u679c\u4e0d\u9700\u8981\u5728setup\u4e2d\u6267\u884c\u5176\u4ed6\u64cd\u4f5c\uff0c\u53ef\u4ee5\u5220\u9664\u4ee5\u4e0b\u884c\n  \/\/ \u56e0\u4e3aFreeRTOS\u8c03\u5ea6\u5668\u4f1a\u81ea\u52a8\u63a5\u7ba1\n}\n\nvoid loop() {\n  \/\/ \u5728\u57fa\u4e8eFreeRTOS\u7684\u5e94\u7528\u4e2d\uff0cloop()\u901a\u5e38\u4e3a\u7a7a\n  \/\/ \u56e0\u4e3a\u6240\u6709\u5de5\u4f5c\u90fd\u5728\u4efb\u52a1\u4e2d\u5b8c\u6210\n  vTaskDelete(NULL); \/\/ \u5220\u9664loop\u4efb\u52a1\uff08\u53ef\u9009\uff09\n}<\/pre>\n\n\n
\n
\"\"<\/figure>\n<\/div>\n\n\n
\uff081\uff09\u51fd\u6570 xTaskCreate()<\/strong><\/p>\n\n\n\n
\u6b64\u51fd\u6570\u7528\u4e8e\u4f7f\u7528\u52a8\u6001\u7684\u65b9\u5f0f\u521b\u5efa\u4efb\u52a1\uff0c\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757\u4ee5\u53ca\u4efb\u52a1\u7684\u6808\u7a7a\u95f4\u6240\u9700\u7684\u5185\u5b58\uff0c \u5747\u7531 FreeRTOS \u4ece FreeRTOS \u7ba1\u7406\u7684\u5806\u4e2d\u5206\u914d\uff0c\u82e5\u4f7f\u7528\u6b64\u51fd\u6570\uff0c\u9700\u8981\u5728 FreeRTOSConfig.h \u6587\u4ef6\u4e2d\u5c06\u5b8fconfigSUPPORT_DYNAMIC_ALLOCATION \u914d\u7f6e\u4e3a 1\u3002\u6b64\u51fd\u6570\u521b\u5efa\u7684\u4efb\u52a1\u4f1a\u7acb\u523b\u8fdb\u5165\u5c31 \u7eea\u6001\uff0c\u7531\u4efb\u52a1\u8c03\u5ea6\u5668\u8c03\u5ea6\u8fd0\u884c\u3002\u51fd\u6570\u539f\u578b\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n\n\n\n
BaseType_t xTaskCreate( \n    TaskFunction_t                   pxTaskCode, \n    const char * const               pcName, \n    const configSTACK_DEPTH_TYPE     usStackDepth, \n    void * const                     vParameters, \n    UBaseType_t                      uxPriority, \n    TaskHandle_t * const             pxCreatedTask);<\/pre>\n\n\n\n
\u51fd\u6570 xTaskCreate()\u7684\u5f62\u53c2\u63cf\u8ff0\uff0c\u5982\u4e0b\u8868\u6240\u793a\uff1a<\/p>\n\n\n\n
\"\"<\/figure>\n\n\n
\n
\"\"<\/figure>\n<\/div>\n\n\n
\uff082\uff09 \u51fd\u6570 xTaskCreateStatic()<\/strong><\/p>\n\n\n\n
\u6b64\u51fd\u6570\u7528\u4e8e\u4f7f\u7528\u9759\u6001\u7684\u65b9\u5f0f\u521b\u5efa\u4efb\u52a1\uff0c\u4efb\u52a1\u7684\u4efb\u52a1\u63a7\u5236\u5757\u4ee5\u53ca\u4efb\u52a1\u7684\u6808\u7a7a\u95f4\u6240\u9700\u7684\u5185\u5b58\uff0c \u9700\u8981\u7531\u7528\u6237\u5206\u914d\u63d0\u4f9b\uff0c \u82e5\u4f7f\u7528\u6b64\u51fd\u6570\uff0c\u9700 \u8981 \u5728 FreeRTOSConfig.h \u6587\u4ef6\u4e2d\u5c06\u5b8fconfigSUPPORT_STATIC_ALLOCATION \u914d\u7f6e\u4e3a 1\u3002\u6b64\u51fd\u6570\u521b\u5efa\u7684\u4efb\u52a1\u4f1a\u7acb\u523b\u8fdb\u5165\u5c31\u7eea\u6001\uff0c\u7531\u4efb \u52a1\u8c03\u5ea6\u5668\u8c03\u5ea6\u8fd0\u884c\u3002\u51fd\u6570\u539f\u578b\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n\n\n\n
TaskHandle_t xTaskCreateStatic( \n    TaskFunction_t        pxTaskCode, \n    const char * const    pcName, \n    const uint32_t        ulStackDepth, \n    void * const          pvParameters, \n    UBaseType_t           uxPriority, \n    StackType_t * const   puxStackBuffer, \n    StaticTask_t * const  pxTaskBuffer);<\/pre>\n\n\n\n
\u51fd\u6570 xTaskCreateStatic()\u7684\u5f62\u53c2\u63cf\u8ff0\uff0c\u5982\u4e0b\u8868\u6240\u793a\uff1a<\/p>\n\n\n
\n
\"\"<\/figure>\n<\/div>\n\n\n
\u51fd\u6570 xTaskCreateStatic()\u7684\u8fd4\u56de\u503c\uff0c\u5982\u4e0b\u8868\u6240\u793a\uff1a<\/p>\n\n\n
\n
\"\"<\/figure>\n<\/div>\n\n\n
\uff083\uff09\u51fd\u6570 vTaskDelete()<\/strong><\/p>\n\n\n\n
\u6b64\u51fd\u6570\u7528\u4e8e\u5220\u9664\u5df2\u88ab\u521b\u5efa\u7684\u4efb\u52a1\uff0c\u88ab\u5220\u9664\u7684\u4efb\u52a1\u5c06\u88ab\u4ece\u5c31\u7eea\u6001\u4efb\u52a1\u5217\u8868\u3001\u963b\u585e\u6001\u4efb\u52a1\u5217\u8868\u3001 \u6302\u8d77\u6001\u4efb\u52a1\u5217\u8868\u548c\u4e8b\u4ef6\u5217\u8868\u4e2d\u79fb\u9664\uff0c\u8981\u6ce8\u610f\u7684\u662f\uff0c\u7a7a\u95f2\u4efb\u52a1\u4f1a\u8d1f\u8d23\u91ca\u653e\u88ab\u5220\u9664\u4efb\u52a1\u4e2d\u7531\u7cfb\u7edf\u5206 \u914d\u7684\u5185\u5b58\uff0c\u4f46\u662f\u7531\u7528\u6237\u5728\u4efb\u52a1\u5220\u9664\u524d\u7533\u8bf7\u7684\u5185\u5b58\uff0c\u5219\u9700\u8981\u7531\u7528\u6237\u5728\u4efb\u52a1\u88ab\u5220\u9664\u524d\u63d0\u524d\u91ca\u653e\uff0c\u5426 \u5219\u5c06\u5bfc\u81f4\u5185\u5b58\u6cc4\u9732\u3002\u82e5\u4f7f\u7528\u6b64\u51fd\u6570\uff0c\u9700\u8981\u5728FreeRTOSConfig.h\u6587\u4ef6\u4e2d\u5c06\u5b8fINCLUDE_vTaskDelete \u914d\u7f6e\u4e3a 1\u3002\u51fd\u6570\u539f\u578b\u5982\u4e0b\u6240\u793a\uff1a<\/p>\n\n\n\n
void vTaskDelete(TaskHandle_t xTaskToDelete);<\/pre>\n\n\n
\n
\"\"<\/figure>\n<\/div>\n\n\n
\u4efb\u52a1\u521b\u5efa\u53ca\u5220\u9664\u5b9e\u9a8c\uff1a<\/p>\n\n\n\n
#include <Arduino.h>\n#include <freertos\/FreeRTOS.h>\n#include <freertos\/task.h>\n\n\/\/ \u5b9a\u4e49\u4efb\u52a1\u53e5\u67c4\nTaskHandle_t TaskAHandle = NULL;\nTaskHandle_t TaskBHandle = NULL;\nTaskHandle_t TaskCHandle = NULL;\n\n\/\/ \u4efb\u52a1A\uff1a\u6bcf50ms\u6267\u884c\u4e00\u6b21\nvoid TaskA(void *pvParameters) {\n  \n  for(;;) {\n    \/\/ \u4efb\u52a1A\u7684\u5de5\u4f5c\u4ee3\u7801\n    Serial.println(\"Task A executed\");\n    \n    vTaskDelay(pdMS_TO_TICKS(500)); \/\/ \u5ef6\u8fdf50ms\n  }\n}\n\n\/\/ \u4efb\u52a1B\uff1a\u6bcf100ms\u6267\u884c\u4e00\u6b21\nvoid TaskB(void *pvParameters) {\n  \n  for(;;) {\n    \/\/ \u4efb\u52a1B\u7684\u5de5\u4f5c\u4ee3\u7801\n    Serial.println(\"Task B executed\");\n    \n    vTaskDelay(pdMS_TO_TICKS(1000)); \/\/ \u5ef6\u8fdf100ms\n  }\n}\n\n\/\/ \u4efb\u52a1C\uff1a\u6bcf1000ms\u6267\u884c\u4e00\u6b21\nvoid TaskC(void *pvParameters) {\n  u32_t times;\n  for(;;) {\n    \/\/ \u4efb\u52a1C\u7684\u5de5\u4f5c\u4ee3\u7801\n    Serial.println(\"Task C executed\");\n    times ++;\n    if (times> 1 && times\/2 == 1)\n    {\n      Serial.println(\"delete Task A\");\n      vTaskDelete(TaskAHandle);\n    }\n    \n    vTaskDelay(pdMS_TO_TICKS(5000)); \/\/ \u5ef6\u8fdf1000ms\n  }\n}\n\nvoid setup() {\n  Serial.begin(115200);\n  \n  \/\/ \u521b\u5efa\u4efb\u52a1A\n  xTaskCreate(\n    TaskA,           \/\/ \u4efb\u52a1\u51fd\u6570\n    \"TaskA\",         \/\/ \u4efb\u52a1\u540d\u79f0\n    2048,            \/\/ \u5806\u6808\u5927\u5c0f\uff08\u5b57\u8282\uff09\n    NULL,            \/\/ \u4efb\u52a1\u53c2\u6570\n    1,               \/\/ \u4f18\u5148\u7ea7\uff080-24\uff0c\u6570\u5b57\u8d8a\u5927\u4f18\u5148\u7ea7\u8d8a\u9ad8\uff09\n    &TaskAHandle     \/\/ \u4efb\u52a1\u53e5\u67c4\n  );\n\n  \/\/ \u9759\u6001\u4efb\u52a1\u5806\u6808\u548cTCB\u7684\u5206\u914d\n    StaticTask_t xTaskBuffer;\n    StackType_t xStack[4096];\n    BaseType_t xReturned;\n  \n  xTaskCreateStatic(\n        TaskB,       \/\/ \u4efb\u52a1\u51fd\u6570\n        \"TaskB\",            \/\/ \u4efb\u52a1\u540d\n        4096, \/\/ \u5806\u6808\u5927\u5c0f\uff08\u4ee5sizeof(StackType_t)\u4e3a\u5355\u4f4d\uff09\n        NULL,                \/\/ \u4f20\u9012\u7ed9\u4efb\u52a1\u7684\u53c2\u6570\n        2,                   \/\/ \u4efb\u52a1\u4f18\u5148\u7ea7\uff08\u6570\u5b57\u8d8a\u5c0f\u4f18\u5148\u7ea7\u8d8a\u9ad8\uff09\n        xStack,             \/\/ \u6307\u5411\u5806\u6808\u7684\u6307\u9488\n        &xTaskBuffer        \/\/ \u6307\u5411TCB\u7684\u6307\u9488\n    );\n  \n  \/\/ \u521b\u5efa\u4efb\u52a1C\n  xTaskCreate(\n    TaskC,\n    \"TaskC\",\n    2048,\n    NULL,\n    3,\n    &TaskCHandle\n  );\n  \n  \/\/ \u5982\u679c\u4e0d\u9700\u8981\u5728setup\u4e2d\u6267\u884c\u5176\u4ed6\u64cd\u4f5c\uff0c\u53ef\u4ee5\u5220\u9664\u4ee5\u4e0b\u884c\n  \/\/ \u56e0\u4e3aFreeRTOS\u8c03\u5ea6\u5668\u4f1a\u81ea\u52a8\u63a5\u7ba1\n}\n\nvoid loop() {\n  \/\/ \u5728\u57fa\u4e8eFreeRTOS\u7684\u5e94\u7528\u4e2d\uff0cloop()\u901a\u5e38\u4e3a\u7a7a\n  \/\/ \u56e0\u4e3a\u6240\u6709\u5de5\u4f5c\u90fd\u5728\u4efb\u52a1\u4e2d\u5b8c\u6210\n  vTaskDelete(NULL); \/\/ \u5220\u9664loop\u4efb\u52a1\uff08\u53ef\u9009\uff09\n}<\/pre>\n\n\n\n
1.3 freeRTOS\u5185\u5b58\u7ba1\u7406<\/h3>\n\n\n\n
ESP32S3N16R8\u6709\u5185\u90e8\u7684512K SRAM\u548c\u5916\u90e8\u76848M PSRAM.<\/p>\n\n\n\n
#include <Arduino.h>\n#include <freertos\/FreeRTOS.h>\n#include <freertos\/task.h>\n\nvoid setup() {\n  Serial.begin(115200);\n  sys_delay_ms(5000);\n  Serial.printf(\"ESP32 total Heap size :%d bytes\\n\",ESP.getHeapSize());\n  \/\/\u67e5\u770bESP32\u5806\u7684\u53ef\u7528\u5927\u5c0f\n  Serial.printf(\"ESP32 free  Heap size :%d bytes\\n\",ESP.getFreeHeap());\n  \/\/\u67e5\u770bESP32\u7684Flash\u7684\u5927\u5c0f\n  Serial.printf(\"Flash size: %d bytes\\n\", ESP.getFlashChipSize());\n \n  \/\/\u67e5\u770bESP32\u7684\u5185\u90e8\u548c\u5916\u90e8RAM\u7684\u603b\u5171\u5927\u5c0f\n  Serial.printf(\"Deafult total size: %d bytes\\n\", heap_caps_get_total_size(MALLOC_CAP_DEFAULT));\n  \/\/\u67e5\u770bESP32\u7684\u5185\u90e8\u548c\u5916\u90e8RAM\u7684\u53ef\u7528\u5927\u5c0f\n  Serial.printf(\"Deafult free size: %d bytes\\n\", heap_caps_get_free_size(MALLOC_CAP_DEFAULT));\n \n  \/\/\u67e5\u770bESP32\u7684\u5185\u90e8RAM\u603b\u5171\u5927\u5c0f\n  Serial.printf(\"Internal total size: %d bytes\\n\", heap_caps_get_total_size(MALLOC_CAP_INTERNAL));\n  \/\/\u67e5\u770bESP32\u7684\u5185\u90e8RAM\u53ef\u7528\u5927\u5c0f\n  Serial.printf(\"Internal free size: %d bytes\\n\", heap_caps_get_free_size(MALLOC_CAP_INTERNAL));\n \n  \/\/\u67e5\u770bESP32\u7684\u5916\u90e8RAM\u7684\u53ef\u7528\u5927\u5c0f\n  Serial.printf(\"PSRAM total size: %d bytes\\n\", heap_caps_get_total_size(MALLOC_CAP_SPIRAM));\n  \/\/\u67e5\u770bESP32\u7684\u5916\u90e8RAM\u7684\u53ef\u7528\u5927\u5c0f\n  Serial.printf(\"PSRAM free size: %d bytes\\n\", heap_caps_get_free_size(MALLOC_CAP_SPIRAM));\n\n  \n  \/\/ \u5982\u679c\u4e0d\u9700\u8981\u5728setup\u4e2d\u6267\u884c\u5176\u4ed6\u64cd\u4f5c\uff0c\u53ef\u4ee5\u5220\u9664\u4ee5\u4e0b\u884c\n  \/\/ \u56e0\u4e3aFreeRTOS\u8c03\u5ea6\u5668\u4f1a\u81ea\u52a8\u63a5\u7ba1\n}\n\nvoid loop() {\n  delay(10);\n}<\/pre>\n\n\n\n
\"\"\/<\/figure>\n\n\n\n
\u5185\u5b58<\/strong>\u7533\u8bf7\u4e0e\u91ca\u653e<\/strong><\/p>\n\n\n\n
 \/\/\u4ece\u82af\u7247\u5185\u90e8\u7533\u8bf7PSARAM\uff0c\u5927\u5c0f\u4e3a1000\u5b57\u8282\uff0c\u6570\u636e\u7c7b\u578b\u4e3achar\u578b\n char* str1=(char *)heap_caps_malloc(1000,MALLOC_CAP_INTERNAL);  \n \n \/\/\u4ece\u82af\u7247\u5916\u90e8\u7533\u8bf7PSARAM\uff0c\u5927\u5c0f\u4e3a1000\u5b57\u8282\uff0c\u6570\u636e\u7c7b\u578b\u4e3achar\u578b\n char* str1=(char *)heap_caps_malloc(1000,MALLOC_CAP_SPIRAM);  \n \n \/\/\u5185\u5b58\u91ca\u653e\n heap_caps_free(str); <\/pre>\n\n\n\n
 \n#include <Arduino.h>\n#include <esp_heap_caps.h>\n \n \nvoid setup() {\n  Serial.begin(115200);\n \n  Serial.printf(\"\u5185\u90e8RAM\u53ef\u4f7f\u7528\u5927\u5c0f: %d bytes\\n\", heap_caps_get_free_size(MALLOC_CAP_INTERNAL));\n  char* str=(char *)heap_caps_malloc(1000,MALLOC_CAP_INTERNAL);\n  sprintf(str,\"hello world! I am a handsome boy!\");\n  Serial.println(str);\n  Serial.printf(\"\u5185\u90e8RAM\u53ef\u4f7f\u7528\u5927\u5c0f: %d bytes\\n\", heap_caps_get_free_size(MALLOC_CAP_INTERNAL));\n \n  Serial.printf(\"\u5916\u90e8RAM\u53ef\u4f7f\u7528\u5927\u5c0f: %d bytes\\n\", heap_caps_get_free_size(MALLOC_CAP_SPIRAM));\n  char* str1=(char *)heap_caps_malloc(1000,MALLOC_CAP_SPIRAM);\n  sprintf(str1,\"hello world! I am a pretty girl!\");\n  Serial.println(str1);\n  Serial.printf(\"\u5916\u90e8RAM\u53ef\u4f7f\u7528\u5927\u5c0f: %d bytes\\n\", heap_caps_get_free_size(MALLOC_CAP_SPIRAM));\n \n  Serial.println(\"\u91ca\u653e\u5185\u5b58\uff01\");\n  heap_caps_free(str); \n  heap_caps_free(str1); \n  Serial.printf(\"\u5185\u90e8RAM\u53ef\u4f7f\u7528\u5927\u5c0f: %d bytes\\n\", heap_caps_get_free_size(MALLOC_CAP_INTERNAL));\n  Serial.printf(\"\u5916\u90e8RAM\u53ef\u4f7f\u7528\u5927\u5c0f: %d bytes\\n\", heap_caps_get_free_size(MALLOC_CAP_SPIRAM));\n  \n}\n \nvoid loop() {\n \n  delay(10); \n}<\/pre>\n\n\n\n
<\/p>\n","protected":false},"excerpt":{"rendered":"
\u2460 \u4efb\u52a1\u7ba1\u7406 \u2461 \u5185\u5b58\u7ba1\u7406 \u2462 \u5d4c\u5165\u5f0fC\u7f16\u7a0b\u89c4\u8303\u2014\u2014Arduino \u6846\u67b6\u4e0b 1 freeRTOS\u5d4c\u5165\u5f0f\u64cd\u4f5c\u7cfb\u7edf […]<\/p>\n","protected":false},"author":1,"featured_media":856,"comment_status":"open","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[43,56],"tags":[46,58],"class_list":["post-850","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-aimc_course","category-56","tag-esp32","tag-58"],"_links":{"self":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/850","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/comments?post=850"}],"version-history":[{"count":1,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/850\/revisions"}],"predecessor-version":[{"id":864,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/850\/revisions\/864"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/media\/856"}],"wp:attachment":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/media?parent=850"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/categories?post=850"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/tags?post=850"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}