一、下载FreeRTOS源码
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4 z$ ]6 P* ^, \* x下载地址：https://www.freertos.org/
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  K! Z2 K. I( T二、添加文件

2.1、复制文件到项目下的middleware
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2.2、在工程中添加FreeRTOS源码



% M6 {/ W. @$ ^" C" t+ K8 i三、程序代码


% v1 Z3 ^* G! B2 U  P- g' X  @7 z! {3.1、FreeRTOSConfig.h
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1. /*
   
2. * FreeRTOS V202212.01
   
3. * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
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4. *
   
5. * Permission is hereby granted, free of charge, to any person obtaining a copy of
   
6. * this software and associated documentation files (the "Software"), to deal in
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7. * the Software without restriction, including without limitation the rights to
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8. * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
   
9. * the Software, and to permit persons to whom the Software is furnished to do so,
   
10. * subject to the following conditions:
    6 N. T2 {/ A' U" S2 G
11. *
    
12. * The above copyright notice and this permission notice shall be included in all
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13. * copies or substantial portions of the Software.
      a8 I6 {0 P2 d+ i1 a9 R$ ~
14. *
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15. * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    
16. * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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17. * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18. * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19. * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
    
20. * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
    
21. *
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22. * https://www.FreeRTOS.org
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23. * https://github.com/FreeRTOS
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24. *
    
25. */
    
26. 
    
27. #ifndef FREERTOS_CONFIG_H
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28. #define FREERTOS_CONFIG_H
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29. 
    
30. /*-----------------------------------------------------------
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31. * Application specific definitions.
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32. *
    
33. * These definitions should be adjusted for your particular hardware and
    
34. * application requirements.
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35. *
    
36. * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
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37. * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
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38. *
    
39. * See http://www.freertos.org/a00110.html.
    
40. *----------------------------------------------------------*/
    
41. 
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42. /* Ensure definitions are only used by the compiler, and not by the assembler. */
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43. #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
    
44.   #include <stdint.h>
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45.   extern uint32_t SystemCoreClock;
    
46. #endif
    
47. 
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48. #ifndef configENABLE_FPU
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49.   #define configENABLE_FPU                        1
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50. #endif
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51. #ifndef configENABLE_MPU
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52.   #define configENABLE_MPU                        0
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53. #endif
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54. #ifndef configENABLE_TRUSTZONE
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55.   #define configENABLE_TRUSTZONE                  0
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56. #endif
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57. #ifndef configRUN_FREERTOS_SECURE_ONLY
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58.   #define configRUN_FREERTOS_SECURE_ONLY          1
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59. #endif
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60. 
    
61. 
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62. #define configENABLE_MVE                                                   0
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63. 
    
64. #define configUSE_PREEMPTION                                        1
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65. #define configSUPPORT_STATIC_ALLOCATION                        0//1
    
66. #define configSUPPORT_DYNAMIC_ALLOCATION                1
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67. #define configUSE_IDLE_HOOK                                                0
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68. #define configUSE_TICK_HOOK                                                0
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69. #define configCPU_CLOCK_HZ                                                ( SystemCoreClock )
    
70. #define configTICK_RATE_HZ                                                ( ( TickType_t ) 1000 )
    
71. #define configMAX_PRIORITIES                                        ( 56 )
    
72. #define configMINIMAL_STACK_SIZE                                ( ( uint16_t ) 512 )
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73. #define configTOTAL_HEAP_SIZE                                        ( ( size_t ) 15 * 1024 )
    
74. #define configMAX_TASK_NAME_LEN                                        ( 16 )
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75. #define configUSE_TRACE_FACILITY                                1
    
76. #define configUSE_16_BIT_TICKS                                        0
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77. #define configUSE_MUTEXES                                                1
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78. #define configQUEUE_REGISTRY_SIZE                                8
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79. #define configUSE_RECURSIVE_MUTEXES                                1
    
80. #define configUSE_COUNTING_SEMAPHORES                        1
    
81. #define configUSE_PORT_OPTIMISED_TASK_SELECTION        0
    
82. #define configUSE_MALLOC_FAILED_HOOK                        0//1
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83. #define configCHECK_FOR_STACK_OVERFLOW                        0//2
    
84. 
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85. /* Defaults to size_t for backward compatibility, but can be changed
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86. * if lengths will always be less than the number of bytes in a size_t. */
    
87. #define configMESSAGE_BUFFER_LENGTH_TYPE                size_t
    
88. /* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
    
89. 
    
90. /* Software timer definitions. */
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91. #define configUSE_TIMERS                                                1
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92. #define configTIMER_TASK_PRIORITY                                ( 2 )
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93. #define configTIMER_QUEUE_LENGTH                                10
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94. #define configTIMER_TASK_STACK_DEPTH                        256
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95. 
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96. /* Set the following definitions to 1 to include the API function, or zero
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97. * to exclude the API function. */
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98. #define INCLUDE_vTaskPrioritySet                                1
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99. #define INCLUDE_uxTaskPriorityGet                                1
    
100. #define INCLUDE_vTaskDelete                                                1
     
101. #define INCLUDE_vTaskCleanUpResources                        0
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102. #define INCLUDE_vTaskSuspend                                        1
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103. #define INCLUDE_vTaskDelayUntil                                        1
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104. #define INCLUDE_vTaskDelay                                                1
     
105. #define INCLUDE_xTaskGetSchedulerState                        1
     
106. #define INCLUDE_xTimerPendFunctionCall                        1
     
107. #define INCLUDE_xQueueGetMutexHolder                        1
     
108. #define INCLUDE_uxTaskGetStackHighWaterMark                1
     
109. #define INCLUDE_eTaskGetState                                        1
     
110. 
     
111. /* Cortex-M specific definitions. */
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112. #ifdef __NVIC_PRIO_BITS
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113.         /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
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114.         #define configPRIO_BITS                                                __NVIC_PRIO_BITS
     
115. #else
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116.         #define configPRIO_BITS                                                4
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117. #endif
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118. 
     
119. /* The lowest interrupt priority that can be used in a call to a "set priority"
     
120. * function. */
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121. #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY        15
     
122. 
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123. /* The highest interrupt priority that can be used by any interrupt service
     
124. * routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT
     
125. * CALL INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A
     
126. * HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values. */
     
127. #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
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128. 
     
129. /* Interrupt priorities used by the kernel port layer itself.  These are generic
     
130. * to all Cortex-M ports, and do not rely on any particular library functions. */
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131. #define configKERNEL_INTERRUPT_PRIORITY                                ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
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132. /* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
     
133. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
     
134. #define configMAX_SYSCALL_INTERRUPT_PRIORITY                ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
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135. 
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136. /* Normal assert() semantics without relying on the provision of an assert.h
     
137. * header file. */
     
138. #define configASSERT( x )                                                        if ( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
     
139. 
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140. /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
     
141. * standard names. */
     
142. #define vPortSVCHandler                                                                SVC_Handler
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143. #define xPortPendSVHandler                                                        PendSV_Handler
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144. #define xPortSysTickHandler                                                        SysTick_Handler
     
145. 
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146. /* Allow system call from within FreeRTOS kernel only. */
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147. #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY        1
     
148. 
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149. /* STM32H743 has 16 MPU regions and therefore it is necessary to configure
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150. * configTOTAL_MPU_REGIONS correctly. */
     
151. #define configTOTAL_MPU_REGIONS                                                16
     
152. 
     
153. /* The default TEX,S,C,B setting marks the SRAM as shareable and as a result,
     
154. * disables cache. Do not mark the SRAM as shareable because caching is being
     
155. * used. TEX=0, S=0, C=1, B=1. */
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156. #define configTEX_S_C_B_SRAM                                                ( 0x03UL )
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157. 
     
158. #endif /* FREERTOS_CONFIG_H */
     

复制代码

3.2、屏蔽函数
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在stm32n6xx_it.c




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3.3、main.c

1. #include "main.h"
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2. 
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3. void SystemClock_Config(void);
   
4. void PeriphCommonClock_Config(void);
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5. 
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6. int main(void)
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7. {
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8.   HAL_Init();
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9.   SystemClock_Config();
   
10.   PeriphCommonClock_Config();
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11.         usart_init(115200);
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12.         init_led();
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13.        
    
14.         task_create();
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15. 
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16.   while (1)
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17.   {
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18. 
    
19.   }
    
20. }
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21. 
    
22. 
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23. 
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24. 
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25. 
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26. /**
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27.   * @brief System Clock Configuration
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28.   * @retval None
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29.   */
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30. void SystemClock_Config(void)
    
31. {
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32.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    
33.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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34. 
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35.   /** Configure the System Power Supply
    
36.   */
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37.   if (HAL_PWREx_ConfigSupply(PWR_EXTERNAL_SOURCE_SUPPLY) != HAL_OK)
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38.   {
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39.     Error_Handler();
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40.   }
    
41. 
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42.   /* Enable HSI */
    
43.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
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44.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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45.   RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
    
46.   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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47.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_NONE;
    
48.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
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49.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    
50.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
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51.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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52.   {
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53.     Error_Handler();
    
54.   }
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55. 
    
56.   /** Get current CPU/System buses clocks configuration and if necessary switch
    
57. to intermediate HSI clock to ensure target clock can be set
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58.   */
    
59.   HAL_RCC_GetClockConfig(&RCC_ClkInitStruct);
    
60.   if ((RCC_ClkInitStruct.CPUCLKSource == RCC_CPUCLKSOURCE_IC1) ||
    2 w; v  U  F8 b2 d0 D" ~
61.      (RCC_ClkInitStruct.SYSCLKSource == RCC_SYSCLKSOURCE_IC2_IC6_IC11))
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62.   {
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63.     RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_CPUCLK | RCC_CLOCKTYPE_SYSCLK);
    
64.     RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_HSI;
    & ]; K. a$ g1 P1 {
65.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
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66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
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67.     {
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68.       /* Initialization Error */
    
69.       Error_Handler();
    
70.     }
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71.   }
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72. 
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73.   /** Initializes the RCC Oscillators according to the specified parameters
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74.   * in the RCC_OscInitTypeDef structure.
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75.   */
    
76.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
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77.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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78.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_ON;
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79.   RCC_OscInitStruct.PLL1.PLLSource = RCC_PLLSOURCE_HSE;
    
80.   RCC_OscInitStruct.PLL1.PLLM = 3;
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81.   RCC_OscInitStruct.PLL1.PLLN = 100;
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82.   RCC_OscInitStruct.PLL1.PLLFractional = 0;
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83.   RCC_OscInitStruct.PLL1.PLLP1 = 2;
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84.   RCC_OscInitStruct.PLL1.PLLP2 = 1;
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85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    
86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    
87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
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88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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89.   {
    
90.     Error_Handler();
    
91.   }
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92. 
    
93.   /** Initializes the CPU, AHB and APB buses clocks
    
94.   */
    
95.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_CPUCLK|RCC_CLOCKTYPE_HCLK
    
96.                               |RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1
    
97.                               |RCC_CLOCKTYPE_PCLK2|RCC_CLOCKTYPE_PCLK5
    
98.                               |RCC_CLOCKTYPE_PCLK4;
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99.   RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_IC1;
    
100.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_IC2_IC6_IC11;
     
101.   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
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102.   RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
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103.   RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
     
104.   RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;
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105.   RCC_ClkInitStruct.APB5CLKDivider = RCC_APB5_DIV1;
     
106.   RCC_ClkInitStruct.IC1Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
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107.   RCC_ClkInitStruct.IC1Selection.ClockDivider = 1;
     
108.   RCC_ClkInitStruct.IC2Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
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110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
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112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
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113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     
114. 
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115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     
116.   {
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117.     Error_Handler();
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118.   }
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119. }
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120. 
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121. /**
     
122.   * @brief Peripherals Common Clock Configuration
     
123.   * @retval None
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124.   */
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125. void PeriphCommonClock_Config(void)
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126. {
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127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     
128. 
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129.   /** Initializes the peripherals clock
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130.   */
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131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
     
132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     
134.   {
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135.     Error_Handler();
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136.   }
     
137. }
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138. 
     
139. /**
     
140.   * @brief ICACHE Initialization Function
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141.   * @param None
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142.   * @retval None
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143.   */
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144. static void MX_ICACHE_Init(void)
     
145. {
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146. 
     
147.   /* USER CODE BEGIN ICACHE_Init 0 */
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148. 
     
149.   /* USER CODE END ICACHE_Init 0 */
     
150. 
     
151.   /* USER CODE BEGIN ICACHE_Init 1 */
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152. 
     2 q* z& n- c' L
153.   /* USER CODE END ICACHE_Init 1 */
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154. 
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155.   /** Enable instruction cache in 1-way (direct mapped cache)
     
156.   */
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157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     
158.   {
     
159.     Error_Handler();
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160.   }
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161.   if (HAL_ICACHE_Enable() != HAL_OK)
     
162.   {
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163.     Error_Handler();
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164.   }
     
165.   /* USER CODE BEGIN ICACHE_Init 2 */
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166. 
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167.   /* USER CODE END ICACHE_Init 2 */
     
168. 
     
169. }
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170. /* USER CODE BEGIN 4 */
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171. 
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172. /* USER CODE END 4 */
     
173. 
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174. /**
     
175.   * @brief  This function is executed in case of error occurrence.
     
176.   * @retval None
     
177.   */
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178. void Error_Handler(void)
     
179. {
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180.   /* USER CODE BEGIN Error_Handler_Debug */
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181.   /* User can add his own implementation to report the HAL error return state */
     
182.   __disable_irq();
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183.   while (1)
     
184.   {
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185.   }
     
186.   /* USER CODE END Error_Handler_Debug */
     
187. }
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188. 
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189. #ifdef  USE_FULL_ASSERT
     
190. /**
     ( |8 Q7 \3 _# T1 i: ]3 a$ h
191.   * @brief  Reports the name of the source file and the source line number
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192.   *         where the assert_param error has occurred.
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193.   * @param  file: pointer to the source file name
     
194.   * @param  line: assert_param error line source number
     
195.   * @retval None
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196.   */
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197. void assert_failed(uint8_t *file, uint32_t line)
     
198. {
     
199.   /* USER CODE BEGIN 6 */
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200.   /* User can add his own implementation to report the file name and line number,
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201.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     
202.   /* USER CODE END 6 */
     * n  h6 a- T$ D
203. }
     
204. #endif /* USE_FULL_ASSERT */
     

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1 W  U3 {+ s' h' S
  ^' j# t' k1 l0 v3.4、fun_task.c

1. #include "main.h"
   
2. 
   7 _$ Y/ U5 J/ V+ R# z
3. #define START_TASK_PRO                1                               
   
4. #define START_STK_SIZE                128
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5. TaskHandle_t StartTask_Handler;
   
6. 
   
7. #define TASK1_PRIO              2                  
   8 Y' u" m' `" ^
8. #define TASK1_STK_SIZE          128                 
   
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
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10.            
    
11. #define TASK2_PRIO              3                  
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12. #define TASK2_STK_SIZE          128                 
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13. static TaskHandle_t                    Task2Task_Handler = NULL;  
    
14. 
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15. #define TASK3_PRIO              4                  
    
16. #define TASK3_STK_SIZE          128                 
    
17. static TaskHandle_t                    Task3Task_Handler = NULL;  
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18. 
    
19. 
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20. void start_task(void *pvParameters);
    
21. void gui_task(void *pvParameters);
    
22. 
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23. void task1(void *pvParameters);  
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24. void task2(void *pvParameters);
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25. void task3(void *pvParameters);
    2 {8 Z$ A# \' Y; d5 F
26. 
    
27. 
    4 l+ a# f1 j6 Q, Q. H0 b0 _
28. 
    
29. void task_create(void)
    
30. {
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31.        
    
32.         //start_task
    
33.         xTaskCreate((TaskFunction_t )start_task,                  
    
34.                                                         (const char*    )"start_task",               
    
35.                                                         (uint16_t       )START_STK_SIZE,         
    
36.                                                         (void*          )NULL,                  
    
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    : Z) s" U" e; O0 Z& Y/ A' g1 D
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    # r3 ^" ?/ ]  e) P+ b
39. 
    / @2 a% g0 k3 x, {
40.         vTaskStartScheduler();
    
41. }
    
42. 
    
43. void start_task(void *pvParameters)
    
44. {
    
45.         taskENTER_CRITICAL();
    
46.         //task1
    ; m" T  |! @. a7 |
47.         xTaskCreate((TaskFunction_t )task1,                  
    4 g* C: {% P, i
48.                                                         (const char*    )"task1",               
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49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    5 M, ~% U2 b- G5 S
50.                                                         (void*          )NULL,                  
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51.                                                         (UBaseType_t    )TASK1_PRIO,            
    
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    
53.         //task2
    
54.         xTaskCreate((TaskFunction_t )task2,                  
    
55.                                                         (const char*    )"task2",               
    * i" g- q/ F1 |
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
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57.                                                         (void*          )NULL,                  
      H( \- q/ M4 {1 b$ e* k; |
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    6 v& U  n, P, v; G  |
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    * g0 \  j! c& H% J4 \
60.         //taskEXIT_CRITICAL();
    
61.                                                        
    
62.         //task3
    
63.         xTaskCreate((TaskFunction_t )task3,                  
    
64.                                                         (const char*    )"task3",               
    5 g3 \7 N  H0 r/ K
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    
66.                                                         (void*          )NULL,                  
    ( E$ {% Z" c) p
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    ) G& _/ u% z* b& ~, n
69.         taskEXIT_CRITICAL();
    
70.                                                        
    , E3 A" x: n6 M0 n1 J, P* J2 s
71.         vTaskDelete(StartTask_Handler);                                               
    ( a4 S3 \0 m1 P- G/ j8 Q! t
72. }
    
73. 
    
74. //task1
    ; R9 A# \* U- K' X/ o
75. void task1(void *pvParameters)
    
76. {
    
77.                 __IO uint32_t index = 0;
    
78.                 __IO uint32_t flash_id_index = 0;
    
79.        
    
80.     while (1)
    8 `/ W; n7 M! f- q- N. J5 f! C; X
81.     {               
    
82.                                 led1_tog();
    4 V# a! Y% |6 W8 |1 X2 H
83.         printf("task1 run ...\r\n");
    
84.         vTaskDelay(200);
    
85.     }
    
86. }
    
87. 
    - d6 b! F9 U! E+ W  j2 k+ V
88. //task2
    
89. void task2(void *pvParameters)
    
90. {
    9 q4 `9 N* d/ M! J: j
91.     while (1)
    
92.     {       
    ( M* L- z# t# r
93.                                 led2_tog();
    , r% @& }- p/ {6 D3 m! j
94.         printf("task2 run ...\r\n");
    
95.         vTaskDelay(100);
    6 X+ O  X0 |( i) e) m; r" n' B
96.     }
    , n1 |; Q# v$ s9 r! B1 ~: f9 R$ F
97. }
    ( V4 J7 u7 @4 d/ f, \' C
98. 
    # S3 I6 Y+ p+ n; g
99. //task3
    
100. void task3(void *pvParameters)
     
101. {
     
102.     while (1)
     ) x! o! }$ R8 I/ y* T+ V# T: a
103.     {       
     
104.         printf("task3 run ...\r\n");
     
105.         vTaskDelay(100);
     
106.     }
     
107. }

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4 A5 g5 `( Z' F$ B( }! V) b' @
7 S: v1 U- K6 |* m四、运行结果

! U4 E" G! s0 P" U- J! v4.1、仿真运行后，串口输出
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4.2、LED灯运行
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