一、下载FreeRTOS源码
( I( V# N& x) I) Z6 v. Q
下载地址：https://www.freertos.org/

2 x# e2 y, U) a
. J: h% o/ v+ T) r
6 e6 e* \1 V7 S( R1 m) w
5 L) z, _  V: i" S1 l. r% t3 R, c0 z
: _6 K" w4 E! ^: b4 ?8 p' x二、添加文件
) q# Q6 _1 L+ n5 K
  M3 i! l4 ]) y/ L2.1、复制文件到项目下的middleware
* M3 B+ C  Q1 \  N6 R3 V

. C) P/ {: S( A/ K' U- S5 W2.2、在工程中添加FreeRTOS源码

5 H$ \' H0 [# K2 Y
: h! N3 q* k  y0 M
2 M6 B/ i' ^* t6 W% v8 d三、程序代码

: Y! M; p) o! v( ~+ Y2 k0 x
3.1、FreeRTOSConfig.h

1. /*
   
2. * FreeRTOS V202212.01
     ^0 l# Y3 k3 n4 @$ U
3. * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   
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
   - h2 d! k5 t- q  @, q
7. * the Software without restriction, including without limitation the rights to
   
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,
   $ A7 r- j! p& y, E2 N
10. * subject to the following conditions:
    1 U4 q8 a- h! \9 [+ r
11. *
    
12. * The above copyright notice and this permission notice shall be included in all
    . S9 X$ c7 p2 s& H6 v
13. * copies or substantial portions of the Software.
    # {. w1 k/ ]4 J# a8 X9 D1 k
14. *
      M: b+ N; R$ k
15. * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    * N2 c# n( b+ L" ~1 e( W4 O' I
16. * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
    4 _; s# C% ?4 w* y8 }4 i- R
17. * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
    
18. * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
    " U& s, T2 I. R& P) v" C
19. * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
    $ X  ?* w* B; ]8 d  O; G
20. * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
    : |% U! K7 C! N( j- y! Z
21. *
    
22. * https://www.FreeRTOS.org
    
23. * https://github.com/FreeRTOS
    / X, I. m" f: _+ Y, x
24. *
    
25. */
    
26. 
    + P0 _* I/ s4 ~/ h( ?* f' g! |
27. #ifndef FREERTOS_CONFIG_H
    / ^2 S7 _! _7 S# U
28. #define FREERTOS_CONFIG_H
    
29. 
    9 k4 n) B  @! q7 a1 M3 ^  u
30. /*-----------------------------------------------------------
    
31. * Application specific definitions.
    
32. *
    
33. * These definitions should be adjusted for your particular hardware and
    & m* t* n( g9 H' n* g
34. * application requirements.
    * a! Y/ [4 j6 _0 m0 t
35. *
    
36. * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
    
37. * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
    3 `" C& U1 V4 w; m, G& o3 U
38. *
    ( A6 L. e1 o; S! ~! h4 w  Z" p
39. * See http://www.freertos.org/a00110.html.
    
40. *----------------------------------------------------------*/
    
41. 
    
42. /* Ensure definitions are only used by the compiler, and not by the assembler. */
    
43. #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
    
44.   #include <stdint.h>
    1 \6 ?7 y8 W6 O! U3 G7 D, _7 x
45.   extern uint32_t SystemCoreClock;
    
46. #endif
    ( a: A+ V( Z/ f9 p& m. u
47. 
    
48. #ifndef configENABLE_FPU
    
49.   #define configENABLE_FPU                        1
    
50. #endif
    : W1 _8 H$ s4 J/ m- J$ j
51. #ifndef configENABLE_MPU
      A7 P& `# U- E7 ?" z
52.   #define configENABLE_MPU                        0
    
53. #endif
    
54. #ifndef configENABLE_TRUSTZONE
    
55.   #define configENABLE_TRUSTZONE                  0
    9 f0 A5 t% a) S$ c
56. #endif
    . }+ H- }3 \  Z5 I3 l; c
57. #ifndef configRUN_FREERTOS_SECURE_ONLY
    
58.   #define configRUN_FREERTOS_SECURE_ONLY          1
    
59. #endif
    1 {1 N8 N  r$ o) E! X! F0 k
60. 
    
61. 
    
62. #define configENABLE_MVE                                                   0
    
63. 
    
64. #define configUSE_PREEMPTION                                        1
    
65. #define configSUPPORT_STATIC_ALLOCATION                        0//1
    
66. #define configSUPPORT_DYNAMIC_ALLOCATION                1
    
67. #define configUSE_IDLE_HOOK                                                0
    , E7 p1 n, o7 `5 j/ _% ~
68. #define configUSE_TICK_HOOK                                                0
    
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 )
    7 A" M! U0 K, k1 W
73. #define configTOTAL_HEAP_SIZE                                        ( ( size_t ) 15 * 1024 )
    ! K2 U# n2 f% h. c! s+ ~6 H, X
74. #define configMAX_TASK_NAME_LEN                                        ( 16 )
    3 a& d0 E- ^- ]: ?# W" r
75. #define configUSE_TRACE_FACILITY                                1
    
76. #define configUSE_16_BIT_TICKS                                        0
    + t- B. l! V7 I( c
77. #define configUSE_MUTEXES                                                1
    
78. #define configQUEUE_REGISTRY_SIZE                                8
    
79. #define configUSE_RECURSIVE_MUTEXES                                1
    
80. #define configUSE_COUNTING_SEMAPHORES                        1
    # r( g5 C0 r# {- }& W( ?$ w3 u$ ]
81. #define configUSE_PORT_OPTIMISED_TASK_SELECTION        0
    & W: [! b) v) D. x; d
82. #define configUSE_MALLOC_FAILED_HOOK                        0//1
    7 @- s6 \5 A; H7 k' o
83. #define configCHECK_FOR_STACK_OVERFLOW                        0//2
    9 H3 T1 ?4 L! d
84. 
    . [9 C3 a: f7 R
85. /* Defaults to size_t for backward compatibility, but can be changed
    
86. * if lengths will always be less than the number of bytes in a size_t. */
    6 |: \8 }- F. k8 g6 q$ q( D
87. #define configMESSAGE_BUFFER_LENGTH_TYPE                size_t
    
88. /* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
    
89. 
    % P2 c; `! V1 K) K
90. /* Software timer definitions. */
    ( ?+ V- K+ u& Z& H6 x  k
91. #define configUSE_TIMERS                                                1
    ; E5 y3 |: N" o. L9 t7 H. B! R& m
92. #define configTIMER_TASK_PRIORITY                                ( 2 )
    
93. #define configTIMER_QUEUE_LENGTH                                10
    , {& E3 Q3 K6 J" ~! N6 J$ j
94. #define configTIMER_TASK_STACK_DEPTH                        256
    
95. 
    
96. /* Set the following definitions to 1 to include the API function, or zero
    : H4 \+ l6 ~# k2 \2 B
97. * to exclude the API function. */
    . z4 ]+ v, `" S, e1 g: U
98. #define INCLUDE_vTaskPrioritySet                                1
    * r" j1 w; @1 H, n
99. #define INCLUDE_uxTaskPriorityGet                                1
    
100. #define INCLUDE_vTaskDelete                                                1
     3 M4 N" O; i  Q; f
101. #define INCLUDE_vTaskCleanUpResources                        0
     
102. #define INCLUDE_vTaskSuspend                                        1
     7 N% S7 Y1 q$ @6 c" i6 P* V
103. #define INCLUDE_vTaskDelayUntil                                        1
     
104. #define INCLUDE_vTaskDelay                                                1
     
105. #define INCLUDE_xTaskGetSchedulerState                        1
     
106. #define INCLUDE_xTimerPendFunctionCall                        1
     / u! S* V. l0 j2 o+ q& o
107. #define INCLUDE_xQueueGetMutexHolder                        1
     
108. #define INCLUDE_uxTaskGetStackHighWaterMark                1
       l5 S' F' l8 T
109. #define INCLUDE_eTaskGetState                                        1
     # b( A3 Y+ `0 E6 U! `/ F
110. 
     . T, Q7 T% M9 b9 B7 c5 M* U- B
111. /* Cortex-M specific definitions. */
     
112. #ifdef __NVIC_PRIO_BITS
     
113.         /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
     : `  S3 p4 G# _. l+ G4 k: w# p
114.         #define configPRIO_BITS                                                __NVIC_PRIO_BITS
     " ]! ]# T$ \, e, Q8 u! i' I, y, W1 v
115. #else
     $ l  N6 V  {/ l% v/ `# N/ W
116.         #define configPRIO_BITS                                                4
     $ F& I) T4 u* o1 ]
117. #endif
     
118. 
     ) S! \# B, F" w! l3 k! }, P
119. /* The lowest interrupt priority that can be used in a call to a "set priority"
     
120. * function. */
     
121. #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY        15
     
122. 
     0 H% H! ?* P/ q' ?! K
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
     . n$ k2 O& J, K
125. * CALL INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A
     
126. * HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values. */
     ) A, K! {* e  ]+ O9 p9 Y
127. #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
     
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. */
     + c; s* D6 c3 R
131. #define configKERNEL_INTERRUPT_PRIORITY                                ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
       X$ o) p& L7 Z: ?6 \
132. /* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
     " d; {7 {+ m) G  \" g. r& t# A
133. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
     + t3 s$ b5 y$ z: r3 l, U  W' E
134. #define configMAX_SYSCALL_INTERRUPT_PRIORITY                ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
     0 O  K7 V; S$ z3 H7 b1 l6 ]6 R  ]
135. 
     . ^0 m& T7 j4 ^+ j4 x
136. /* Normal assert() semantics without relying on the provision of an assert.h
     5 j, W) h7 a" O6 B& v
137. * header file. */
     5 i* R& ^5 [& I$ n( W
138. #define configASSERT( x )                                                        if ( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
     
139. 
     
140. /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
     . ^% }6 e7 R; e: x/ R5 b( U0 S
141. * standard names. */
     
142. #define vPortSVCHandler                                                                SVC_Handler
     % V: {5 C/ U  |/ O2 P
143. #define xPortPendSVHandler                                                        PendSV_Handler
     
144. #define xPortSysTickHandler                                                        SysTick_Handler
     ) N5 ?: n2 q: x4 Y( W
145. 
     
146. /* Allow system call from within FreeRTOS kernel only. */
     ; v- L/ ~. h; j0 M( w. ?
147. #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY        1
     ; `# f+ Z) N; E5 R
148. 
     6 L* p3 {% H1 J' {
149. /* STM32H743 has 16 MPU regions and therefore it is necessary to configure
     , y1 ~3 f) [* Z  A0 k1 a+ t
150. * configTOTAL_MPU_REGIONS correctly. */
     
151. #define configTOTAL_MPU_REGIONS                                                16
     
152. 
       f+ Z4 t- D: ]1 P" y* g4 G
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
     * ~* G( ]- i9 g  A: ^- A
155. * used. TEX=0, S=0, C=1, B=1. */
       p+ {# }; [! V/ E3 [2 m" e' Y
156. #define configTEX_S_C_B_SRAM                                                ( 0x03UL )
     ! r5 r0 L3 c. n
157. 
     
158. #endif /* FREERTOS_CONFIG_H */
     

复制代码

/ Q' U+ s0 D# ~5 h* D
: H  b; l* U& a; y6 B& k3.2、屏蔽函数
% d* {& c) P$ ?; K. E
* C$ `7 Q+ [, j7 Q6 y7 f
在stm32n6xx_it.c


$ Z' V$ e! o$ v( k
5 x; S  d; ~' n
4 U- Y5 v; b1 ~% J0 j7 M

3.3、main.c

1. #include "main.h"
   
2. 
   " q# ^" _8 K0 Z# ]# j( I# t
3. void SystemClock_Config(void);
   
4. void PeriphCommonClock_Config(void);
   # f$ m; R- j" b1 m+ [
5. 
   7 Z5 F$ k2 m. @3 ~6 L
6. int main(void)
   
7. {
   
8.   HAL_Init();
   
9.   SystemClock_Config();
   
10.   PeriphCommonClock_Config();
    ) O- C9 K3 ~& x8 i% ?
11.         usart_init(115200);
    : Y5 f* ?8 x. g
12.         init_led();
    
13.        
    6 A8 k9 Y5 V) M/ X! D6 U& |  H
14.         task_create();
    
15. 
    
16.   while (1)
    
17.   {
    
18. 
    - ]* B0 h  h7 u* h
19.   }
    - R- Y/ M1 G7 m$ ?, w
20. }
    
21. 
    
22. 
    ! L* G3 G! f2 ]
23. 
    
24. 
    6 a# a$ J4 y% Z. T; k0 _. ^* r
25. 
    / G( r4 m. a( e4 v4 K6 ]0 ?- f
26. /**
    7 M3 Q4 {' [9 o4 w+ n0 E; _) }3 v
27.   * @brief System Clock Configuration
    
28.   * @retval None
    ; \$ ?8 G& L7 h! c$ z
29.   */
    ; G% |( ^! f- o- z( h: t, q/ `: o2 t
30. void SystemClock_Config(void)
    
31. {
    
32.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    5 A% G# x" {! [/ ~: s. d
33.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    
34. 
    
35.   /** Configure the System Power Supply
    ! f4 q. m& c5 S; A/ ^
36.   */
    
37.   if (HAL_PWREx_ConfigSupply(PWR_EXTERNAL_SOURCE_SUPPLY) != HAL_OK)
    
38.   {
    
39.     Error_Handler();
    " d8 x! {, a" ?6 ^# d
40.   }
    
41. 
    1 g8 o" T  j) g0 Z8 W& D5 ?
42.   /* Enable HSI */
    ' u' x3 Y. C- I
43.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    * Z( F3 h: Z: |
44.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    8 X* ^- a+ B4 N: @7 k/ [# `
45.   RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
    ; R+ B. P8 N+ X! p
46.   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    
47.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_NONE;
    & l& Q) G+ e" ]  p- Z
48.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    " m9 N6 V  O- J. u( g
49.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    
50.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    
51.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    ) s- X) x- D! C
52.   {
    
53.     Error_Handler();
    + m# _% e, |. c" z! i7 F9 M
54.   }
    . r2 s- {6 U* E3 M2 U: z1 D; u
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
    
58.   */
    
59.   HAL_RCC_GetClockConfig(&RCC_ClkInitStruct);
    6 ]( A0 |; W0 E& L3 x
60.   if ((RCC_ClkInitStruct.CPUCLKSource == RCC_CPUCLKSOURCE_IC1) ||
    
61.      (RCC_ClkInitStruct.SYSCLKSource == RCC_SYSCLKSOURCE_IC2_IC6_IC11))
    % S* b6 T! ]: T* W2 L3 L/ q
62.   {
    $ A( ?! R; F0 {" O# W! N3 T. K, `, A
63.     RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_CPUCLK | RCC_CLOCKTYPE_SYSCLK);
    3 e8 A& A3 C9 s# E& O2 P
64.     RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_HSI;
    
65.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
    / N6 j" M5 M8 X; C& h( J! ?
66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
    
67.     {
    5 f- a# `4 c; U: ~( j; v/ ]
68.       /* Initialization Error */
    5 i, D$ d6 l! Y
69.       Error_Handler();
    
70.     }
    ( Z3 A8 u- ^' R* e4 |& A# m) {
71.   }
      Q2 r" g5 D9 q) I0 v7 }8 p
72. 
    
73.   /** Initializes the RCC Oscillators according to the specified parameters
    
74.   * in the RCC_OscInitTypeDef structure.
    ( c8 x* e: g0 q8 t
75.   */
    7 h1 @% T5 H% P1 F
76.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    ) U$ Z# i5 z/ j0 w, b% n9 z
77.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    
78.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_ON;
    / T  T+ @' G. I7 g0 M; O
79.   RCC_OscInitStruct.PLL1.PLLSource = RCC_PLLSOURCE_HSE;
    9 t; x! n/ R( t9 t
80.   RCC_OscInitStruct.PLL1.PLLM = 3;
    
81.   RCC_OscInitStruct.PLL1.PLLN = 100;
    
82.   RCC_OscInitStruct.PLL1.PLLFractional = 0;
    6 W& U4 C" ]5 E
83.   RCC_OscInitStruct.PLL1.PLLP1 = 2;
    + M5 @7 U# [- Z: a7 \" N
84.   RCC_OscInitStruct.PLL1.PLLP2 = 1;
    ' O8 r; Z3 v1 ]& f' ~' w
85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    5 ^5 [8 M- r8 u, L
86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    4 j1 Z6 ?" Y! d" d! L
87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    , q9 o* j& v& E$ A' ~6 {
88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    ! \7 L; H9 q, D# m4 x
89.   {
    5 L5 u! N1 e$ X8 z5 S
90.     Error_Handler();
    . `. l+ F$ l: J; u0 i
91.   }
    & @8 M# y6 M0 N; B
92. 
    
93.   /** Initializes the CPU, AHB and APB buses clocks
    2 \. ?  U  K& f6 u/ N
94.   */
    7 N6 G' l! X+ Q$ N% I* N) t
95.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_CPUCLK|RCC_CLOCKTYPE_HCLK
    1 D3 j- U8 ]& h7 b) o( ]! m
96.                               |RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1
    
97.                               |RCC_CLOCKTYPE_PCLK2|RCC_CLOCKTYPE_PCLK5
    " x4 U, R. A5 d. _+ u
98.                               |RCC_CLOCKTYPE_PCLK4;
    
99.   RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_IC1;
    
100.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_IC2_IC6_IC11;
     9 n) L' ^9 r% }, ~4 x2 S2 n
101.   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
     ( K1 o. o1 l" \2 H- H( R1 f
102.   RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
     ; g: u$ g# v  l6 n
103.   RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
     0 I9 T1 x- ~7 ?$ e/ Y
104.   RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;
     
105.   RCC_ClkInitStruct.APB5CLKDivider = RCC_APB5_DIV1;
     2 e  {+ R) ^+ a& D9 H3 K
106.   RCC_ClkInitStruct.IC1Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     0 y% f' U  o4 A
107.   RCC_ClkInitStruct.IC1Selection.ClockDivider = 1;
     8 V2 P" J9 U8 C8 m" P
108.   RCC_ClkInitStruct.IC2Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
     : R$ g- o7 X- c; F: ^+ e- J
110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
     
112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     
114. 
     9 t( ?3 k% ~! _
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     ( Y4 H+ _" Q3 t, ?" ^
116.   {
     
117.     Error_Handler();
     ' N+ h. W3 Q  m) y8 G
118.   }
     
119. }
     - s" h  _5 D& D& _. c) X+ L* n
120. 
     5 h* O8 s" G0 c4 L9 P$ F; H
121. /**
     
122.   * @brief Peripherals Common Clock Configuration
     ' g. O% h; L- K. p- @3 U- c1 I
123.   * @retval None
     
124.   */
     # S' w- P3 n$ f6 a; y# r3 r
125. void PeriphCommonClock_Config(void)
     
126. {
     
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     
128. 
     
129.   /** Initializes the peripherals clock
     & ~: G' n, ]- x  f% R
130.   */
     
131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
     9 f1 \6 N# {( }& U+ |- l8 [: ?
132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     % l5 f: }( _8 t" W+ `
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     8 ~2 o: g/ r: |! G6 d' p! R; P
134.   {
     8 o, a) `- G$ Q% C5 G! u
135.     Error_Handler();
     9 H0 Q0 q% M9 p- P0 M
136.   }
     # y: D6 {3 X9 a8 i  u
137. }
     1 [" y# s- \4 h& w
138. 
     
139. /**
     
140.   * @brief ICACHE Initialization Function
     
141.   * @param None
     
142.   * @retval None
     ' D2 C' Q* k3 }0 Z6 l4 u" |
143.   */
     
144. static void MX_ICACHE_Init(void)
     5 n+ a4 ]" _% ~  Q, A( c
145. {
     ( v+ J) u! ~7 h
146. 
     % s9 ^8 ~' q$ z1 L& ~
147.   /* USER CODE BEGIN ICACHE_Init 0 */
     
148. 
     $ I) p$ {# W2 b) t7 I/ O5 f; d
149.   /* USER CODE END ICACHE_Init 0 */
     9 |8 }7 O) \! B5 S. r( ]
150. 
     
151.   /* USER CODE BEGIN ICACHE_Init 1 */
     
152. 
     
153.   /* USER CODE END ICACHE_Init 1 */
     
154. 
     % k. ]) ~9 j+ w( i$ g: Y5 t& l3 ^
155.   /** Enable instruction cache in 1-way (direct mapped cache)
     ; P$ ?3 Z1 J. _& ]
156.   */
     " x- s% R, e2 F* M& ^2 Y
157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     / |' v" w5 O- B
158.   {
     ( k5 _# j. l# D$ Y
159.     Error_Handler();
     
160.   }
     
161.   if (HAL_ICACHE_Enable() != HAL_OK)
     
162.   {
     
163.     Error_Handler();
     
164.   }
     
165.   /* USER CODE BEGIN ICACHE_Init 2 */
     9 j2 I. l, R* _+ x) F0 \/ A
166. 
     
167.   /* USER CODE END ICACHE_Init 2 */
     
168. 
     ! I0 k( Q' X# @5 u' H% a
169. }
     
170. /* USER CODE BEGIN 4 */
     5 v& u5 X# J$ @4 @7 k- z
171. 
     
172. /* USER CODE END 4 */
     
173. 
     $ g2 g2 f3 g2 s: R" X. A
174. /**
     $ J" _4 J% _% P/ X" l; [2 i3 u; b
175.   * @brief  This function is executed in case of error occurrence.
     : H* g" Z9 C6 S7 m# O3 Z8 V. r/ x
176.   * @retval None
     
177.   */
     
178. void Error_Handler(void)
     & I6 L& @8 _0 e* M  C
179. {
     
180.   /* USER CODE BEGIN Error_Handler_Debug */
     
181.   /* User can add his own implementation to report the HAL error return state */
     
182.   __disable_irq();
     2 y: I1 ~, X& v! Q& j" w
183.   while (1)
     8 c) e* t3 C9 O' l' x
184.   {
     8 [) p. l% I0 Y  z
185.   }
     
186.   /* USER CODE END Error_Handler_Debug */
     
187. }
     
188. 
     
189. #ifdef  USE_FULL_ASSERT
     
190. /**
     2 {( B" R+ m8 s& Q
191.   * @brief  Reports the name of the source file and the source line number
     
192.   *         where the assert_param error has occurred.
     
193.   * @param  file: pointer to the source file name
     8 A- X' F6 C9 M
194.   * @param  line: assert_param error line source number
     
195.   * @retval None
     
196.   */
     
197. void assert_failed(uint8_t *file, uint32_t line)
     
198. {
     * Z; _- m1 a6 w5 O3 D. m
199.   /* USER CODE BEGIN 6 */
     $ B+ ]% e" C# ]' j& M- D/ _) e+ p
200.   /* User can add his own implementation to report the file name and line number,
     
201.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     : T; v  }# w: @, Q  [" u  c
202.   /* USER CODE END 6 */
     1 M& Z; R9 k! X* q1 x4 y* P
203. }
     # X3 p5 d7 b2 O" l  Z3 S- u
204. #endif /* USE_FULL_ASSERT */
     0 @( z- G4 Z+ K- W( m) t

复制代码

. E: a( F9 H3 Z7 i
' T; X- G3 S  }) e3.4、fun_task.c

1. #include "main.h"
   . o' A- l7 R5 T3 v  [+ |$ F% l
2. 
   
3. #define START_TASK_PRO                1                               
   
4. #define START_STK_SIZE                128
   # l$ S& _1 ~# v% o* {; K- G9 z  K/ r
5. TaskHandle_t StartTask_Handler;
   7 e# L; f5 ^) A. k) M& g, `) E2 d
6. 
   
7. #define TASK1_PRIO              2                  
   & H7 W2 K* B+ k5 N& R9 o  |/ P
8. #define TASK1_STK_SIZE          128                 
   6 X/ H; X0 k( t
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
   $ Q/ D& Y4 p) m9 Z  ~
10.            
    
11. #define TASK2_PRIO              3                  
    
12. #define TASK2_STK_SIZE          128                 
    , Y5 [( a8 P$ F
13. static TaskHandle_t                    Task2Task_Handler = NULL;  
    
14. 
    
15. #define TASK3_PRIO              4                  
    ' ]4 A0 Y; a  N5 J9 _
16. #define TASK3_STK_SIZE          128                 
    * D% }5 |, n( E9 q& L
17. static TaskHandle_t                    Task3Task_Handler = NULL;  
    
18. 
    
19. 
    & n2 z2 I& P8 t% H; E: l
20. void start_task(void *pvParameters);
    
21. void gui_task(void *pvParameters);
    0 J% s- w/ K9 {6 Q* v) j
22. 
    , w, V, L9 T: l
23. void task1(void *pvParameters);  
    
24. void task2(void *pvParameters);
    $ x3 o( U  }  l; H
25. void task3(void *pvParameters);
    % N, m" G- ?: W- T8 }! Y% N/ j7 \& O
26. 
    
27. 
    ; v1 \5 u" Y' Q1 d
28. 
    8 e% P  s# S0 e+ _. H
29. void task_create(void)
    & w4 _  a) s, O  b
30. {
    
31.        
    
32.         //start_task
    3 A4 a8 n/ Y/ q0 Z. z$ R* i/ u
33.         xTaskCreate((TaskFunction_t )start_task,                  
    
34.                                                         (const char*    )"start_task",               
    
35.                                                         (uint16_t       )START_STK_SIZE,         
    - E: }2 e8 R( b; @" Z$ T; L5 b
36.                                                         (void*          )NULL,                  
    
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    ; t7 W  D2 j; v$ T: S
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    
39. 
    ( ]; V- \1 O# a! H# K6 p# p
40.         vTaskStartScheduler();
    ) i# D* t. I: ]5 ?' W/ Y: k% l4 X
41. }
    2 w* E& I7 ^( e
42. 
    
43. void start_task(void *pvParameters)
    
44. {
    * K" b$ H0 u* W
45.         taskENTER_CRITICAL();
    
46.         //task1
    3 e! Z9 W! c. p; @( F4 I- j( T
47.         xTaskCreate((TaskFunction_t )task1,                  
    
48.                                                         (const char*    )"task1",               
    
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    
50.                                                         (void*          )NULL,                  
    " V2 f, ~# M/ ?6 {9 F  Q4 E1 r
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    
53.         //task2
    
54.         xTaskCreate((TaskFunction_t )task2,                  
    + }3 l6 i+ N+ p7 s
55.                                                         (const char*    )"task2",               
    6 @& n  k; R8 H; B( X  r' @: g
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    # Z3 y2 A! H- H* e6 m4 o7 z9 O
57.                                                         (void*          )NULL,                  
    8 T9 k: f% `1 s/ K6 A
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    
60.         //taskEXIT_CRITICAL();
    
61.                                                        
    ) E0 f/ r) ~( T5 m$ f! r
62.         //task3
    ) a! n" Q0 P2 _8 D" B  z  Z
63.         xTaskCreate((TaskFunction_t )task3,                  
    
64.                                                         (const char*    )"task3",               
    
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    0 S, j( x# d5 S* G2 Q& b4 c
66.                                                         (void*          )NULL,                  
    9 G8 Y3 r6 [% t2 {5 J, J2 ?" {
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    5 Q3 P, E0 ?2 J
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    + w8 D; {# K) B4 `7 A
69.         taskEXIT_CRITICAL();
    
70.                                                        
    ; x$ h) f4 C$ L  c
71.         vTaskDelete(StartTask_Handler);                                               
    $ e  `2 k3 r9 O6 ]4 x5 \9 V7 V
72. }
    2 a* ?* t. m) O, Y
73. 
    
74. //task1
    % ~7 T" v" Y# U) r0 m8 q
75. void task1(void *pvParameters)
    3 N4 R7 n& R# E& @( [" p
76. {
    ; k$ |& @( Z! W( n
77.                 __IO uint32_t index = 0;
    5 H3 P! x' e8 [3 |8 B* W
78.                 __IO uint32_t flash_id_index = 0;
    ' ^2 A& M0 U# A. N1 u: s" A
79.        
    
80.     while (1)
    
81.     {               
    2 D1 u/ k# q/ c( Y6 f& Z6 h& y- R. b
82.                                 led1_tog();
    
83.         printf("task1 run ...\r\n");
    
84.         vTaskDelay(200);
    $ g1 a2 r2 _0 }6 b
85.     }
    / Q) L' L' E/ Q! e0 M/ k
86. }
    
87. 
    8 L9 ^: @4 {, M2 F$ l: s3 w- x
88. //task2
    " H/ [4 [& Z& Q
89. void task2(void *pvParameters)
    ! B' ?  G' Q% H& W/ g
90. {
    
91.     while (1)
    
92.     {       
    
93.                                 led2_tog();
    ( g- {# G) |( x
94.         printf("task2 run ...\r\n");
    + l% c1 x" U3 U9 D7 a5 y
95.         vTaskDelay(100);
    
96.     }
    
97. }
    3 P9 i7 Z( e! H0 Z1 w0 B
98. 
    
99. //task3
    ' c! [/ C7 K6 m( a, r, l
100. void task3(void *pvParameters)
     " G. G; A1 S9 L9 F" m1 f* o9 S2 d5 n
101. {
     
102.     while (1)
     4 X) n# L5 g+ m: P2 X
103.     {       
     $ Z, L6 D  C6 L# T! m
104.         printf("task3 run ...\r\n");
     
105.         vTaskDelay(100);
     % N0 y+ T+ y6 S) r) {8 g
106.     }
     
107. }

复制代码

9 h1 |& ?& P& R8 \! T( n
四、运行结果

4.1、仿真运行后，串口输出






1 O$ u% m+ U( q7 [2 p; g4.2、LED灯运行

! o7 q  B# Z$ [/ d

# q: X' x- j; e& k' }5 P7 T$ Q& R


) w' A. m: m/ V4 U+ p4 g, e9 K


* O' ?" }5 z/ }# f) @3 v

1 k) z" `1 U6 P: _4 i