I moved "d_GROUP_1MSAD0_Result()" to 10ms task ,then everything is OK!
I think the root cause of the bug is my inappropriate use of FreeRTOS. Can you give me some tools to debug FreeRTOS on MPC574xp,then I can monitor the heap、stack and the state of each task?
Tracealyzer is a FreeRTOS analysis tool ,but may be not suitable for MPC574xP!