一、下载FreeRTOS源码

- {( s; E/ O: S. c5 M  c- K下载地址：https://www.freertos.org/
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8 S9 N- ^) Q4 Q. }" v: T二、添加文件
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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

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三、程序代码


3.1、FreeRTOSConfig.h
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1. /*
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2. * FreeRTOS V202212.01
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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
   % ?/ K- ~2 {* _, [" ?/ Z
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
   
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:
    
11. *
    + {" b' n' K& p  }+ z. w
12. * The above copyright notice and this permission notice shall be included in all
    
13. * copies or substantial portions of the Software.
    
14. *
    ; X1 U0 T+ [  _# z/ \; X
15. * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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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
    
18. * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
    
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. *
    
22. * https://www.FreeRTOS.org
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23. * https://github.com/FreeRTOS
    
24. *
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25. */
    
26. 
    
27. #ifndef FREERTOS_CONFIG_H
    
28. #define FREERTOS_CONFIG_H
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29. 
    
30. /*-----------------------------------------------------------
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31. * Application specific definitions.
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32. *
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33. * These definitions should be adjusted for your particular hardware and
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34. * application requirements.
    
35. *
    
36. * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
    
37. * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
    
38. *
    
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>
    
45.   extern uint32_t SystemCoreClock;
    
46. #endif
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47. 
    
48. #ifndef configENABLE_FPU
    
49.   #define configENABLE_FPU                        1
    
50. #endif
    
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
    
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
    
60. 
    
61. 
    
62. #define configENABLE_MVE                                                   0
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63. 
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64. #define configUSE_PREEMPTION                                        1
    
65. #define configSUPPORT_STATIC_ALLOCATION                        0//1
    
66. #define configSUPPORT_DYNAMIC_ALLOCATION                1
    
67. #define configUSE_IDLE_HOOK                                                0
    
68. #define configUSE_TICK_HOOK                                                0
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69. #define configCPU_CLOCK_HZ                                                ( SystemCoreClock )
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70. #define configTICK_RATE_HZ                                                ( ( TickType_t ) 1000 )
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71. #define configMAX_PRIORITIES                                        ( 56 )
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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
    
79. #define configUSE_RECURSIVE_MUTEXES                                1
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80. #define configUSE_COUNTING_SEMAPHORES                        1
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81. #define configUSE_PORT_OPTIMISED_TASK_SELECTION        0
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82. #define configUSE_MALLOC_FAILED_HOOK                        0//1
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83. #define configCHECK_FOR_STACK_OVERFLOW                        0//2
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84. 
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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. */
    
87. #define configMESSAGE_BUFFER_LENGTH_TYPE                size_t
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88. /* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
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89. 
    
90. /* Software timer definitions. */
    
91. #define configUSE_TIMERS                                                1
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92. #define configTIMER_TASK_PRIORITY                                ( 2 )
    
93. #define configTIMER_QUEUE_LENGTH                                10
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94. #define configTIMER_TASK_STACK_DEPTH                        256
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95. 
    
96. /* Set the following definitions to 1 to include the API function, or zero
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97. * to exclude the API function. */
    
98. #define INCLUDE_vTaskPrioritySet                                1
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99. #define INCLUDE_uxTaskPriorityGet                                1
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100. #define INCLUDE_vTaskDelete                                                1
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101. #define INCLUDE_vTaskCleanUpResources                        0
     
102. #define INCLUDE_vTaskSuspend                                        1
     
103. #define INCLUDE_vTaskDelayUntil                                        1
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104. #define INCLUDE_vTaskDelay                                                1
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105. #define INCLUDE_xTaskGetSchedulerState                        1
     
106. #define INCLUDE_xTimerPendFunctionCall                        1
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107. #define INCLUDE_xQueueGetMutexHolder                        1
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108. #define INCLUDE_uxTaskGetStackHighWaterMark                1
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109. #define INCLUDE_eTaskGetState                                        1
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110. 
     
111. /* Cortex-M specific definitions. */
     
112. #ifdef __NVIC_PRIO_BITS
     
113.         /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
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114.         #define configPRIO_BITS                                                __NVIC_PRIO_BITS
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115. #else
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116.         #define configPRIO_BITS                                                4
     
117. #endif
     
118. 
     
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. 
     
123. /* The highest interrupt priority that can be used by any interrupt service
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124. * routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT
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125. * CALL INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A
     
126. * HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values. */
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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. */
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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 !!!!
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133. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
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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
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137. * header file. */
     
138. #define configASSERT( x )                                                        if ( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
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139. 
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140. /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
     
141. * standard names. */
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142. #define vPortSVCHandler                                                                SVC_Handler
     
143. #define xPortPendSVHandler                                                        PendSV_Handler
     
144. #define xPortSysTickHandler                                                        SysTick_Handler
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145. 
     
146. /* Allow system call from within FreeRTOS kernel only. */
     
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. */
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151. #define configTOTAL_MPU_REGIONS                                                16
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152. 
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153. /* The default TEX,S,C,B setting marks the SRAM as shareable and as a result,
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154. * disables cache. Do not mark the SRAM as shareable because caching is being
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155. * used. TEX=0, S=0, C=1, B=1. */
     
156. #define configTEX_S_C_B_SRAM                                                ( 0x03UL )
     
157. 
     
158. #endif /* FREERTOS_CONFIG_H */
     

复制代码

3.2、屏蔽函数
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1. #include "main.h"
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2. 
   
3. void SystemClock_Config(void);
   
4. void PeriphCommonClock_Config(void);
   
5. 
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6. int main(void)
   
7. {
   
8.   HAL_Init();
   
9.   SystemClock_Config();
   
10.   PeriphCommonClock_Config();
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11.         usart_init(115200);
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12.         init_led();
    
13.        
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14.         task_create();
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15. 
    
16.   while (1)
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17.   {
    
18. 
    , |  U8 h" K& @% X
19.   }
    
20. }
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21. 
    
22. 
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23. 
    
24. 
    
25. 
    
26. /**
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27.   * @brief System Clock Configuration
    
28.   * @retval None
    
29.   */
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30. void SystemClock_Config(void)
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31. {
    
32.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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33.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    
34. 
    
35.   /** Configure the System Power Supply
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36.   */
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37.   if (HAL_PWREx_ConfigSupply(PWR_EXTERNAL_SOURCE_SUPPLY) != HAL_OK)
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38.   {
    
39.     Error_Handler();
    
40.   }
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41. 
    
42.   /* Enable HSI */
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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;
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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;
    
49.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
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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.   {
    
53.     Error_Handler();
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54.   }
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55. 
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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.   */
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59.   HAL_RCC_GetClockConfig(&RCC_ClkInitStruct);
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60.   if ((RCC_ClkInitStruct.CPUCLKSource == RCC_CPUCLKSOURCE_IC1) ||
    
61.      (RCC_ClkInitStruct.SYSCLKSource == RCC_SYSCLKSOURCE_IC2_IC6_IC11))
    
62.   {
    
63.     RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_CPUCLK | RCC_CLOCKTYPE_SYSCLK);
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64.     RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_HSI;
    
65.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
    
66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
    
67.     {
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68.       /* Initialization Error */
    
69.       Error_Handler();
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70.     }
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71.   }
    
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.
    
75.   */
    
76.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    
77.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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78.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_ON;
    
79.   RCC_OscInitStruct.PLL1.PLLSource = RCC_PLLSOURCE_HSE;
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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;
    
83.   RCC_OscInitStruct.PLL1.PLLP1 = 2;
    
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;
    
88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
89.   {
    
90.     Error_Handler();
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91.   }
    
92. 
    
93.   /** Initializes the CPU, AHB and APB buses clocks
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94.   */
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95.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_CPUCLK|RCC_CLOCKTYPE_HCLK
    
96.                               |RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1
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97.                               |RCC_CLOCKTYPE_PCLK2|RCC_CLOCKTYPE_PCLK5
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98.                               |RCC_CLOCKTYPE_PCLK4;
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99.   RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_IC1;
    
100.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_IC2_IC6_IC11;
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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;
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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;
       e0 Y& N6 X8 H
107.   RCC_ClkInitStruct.IC1Selection.ClockDivider = 1;
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108.   RCC_ClkInitStruct.IC2Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
     
110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
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111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
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112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     
114. 
     8 y. l% }' R) P" ?, M$ m
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     5 {8 u- ]% U, C$ |( ^) ?  A3 t, z
116.   {
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117.     Error_Handler();
     
118.   }
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119. }
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120. 
     ; f$ [' ]" v; M5 p) `
121. /**
     0 e* E+ l$ g5 T. e& D, ^
122.   * @brief Peripherals Common Clock Configuration
     5 y  G8 E7 v, X7 }
123.   * @retval None
     6 t; \5 S: d! E0 Y( H
124.   */
     
125. void PeriphCommonClock_Config(void)
     
126. {
     1 w, n6 i: N2 g4 T) U5 X' E3 f
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     
128. 
     ; L) j. B0 h: z; W& @7 `
129.   /** Initializes the peripherals clock
     
130.   */
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131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
     ) Z* x. l  K% _+ d9 I$ x
132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     3 ~6 m; ~- U; a
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     
134.   {
     
135.     Error_Handler();
     4 [; f" x- Z! u5 _
136.   }
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137. }
     
138. 
     
139. /**
     ( L! T% l/ S( p' W/ ^
140.   * @brief ICACHE Initialization Function
     $ z  |/ I  q( W+ Y4 ], m
141.   * @param None
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142.   * @retval None
     
143.   */
     
144. static void MX_ICACHE_Init(void)
     
145. {
     ) `' U) {9 h& I- ?7 _
146. 
     7 L" Z9 r% n9 R9 Y! y3 z
147.   /* USER CODE BEGIN ICACHE_Init 0 */
     
148. 
     
149.   /* USER CODE END ICACHE_Init 0 */
     
150. 
     
151.   /* USER CODE BEGIN ICACHE_Init 1 */
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152. 
     
153.   /* USER CODE END ICACHE_Init 1 */
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154. 
     ' x+ T; o9 X( ^& w
155.   /** Enable instruction cache in 1-way (direct mapped cache)
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156.   */
     
157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     
158.   {
     " L7 a" c" X& Y! Z) b' E( ?
159.     Error_Handler();
     
160.   }
     
161.   if (HAL_ICACHE_Enable() != HAL_OK)
     
162.   {
     
163.     Error_Handler();
     
164.   }
     
165.   /* USER CODE BEGIN ICACHE_Init 2 */
     
166. 
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167.   /* USER CODE END ICACHE_Init 2 */
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168. 
     3 m5 T& M1 e# T5 o) ], [! ~- ~9 x
169. }
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170. /* USER CODE BEGIN 4 */
     
171. 
     ; r0 B9 O) X$ F
172. /* USER CODE END 4 */
     
173. 
     , a0 R: ^8 t+ n. P8 D
174. /**
     & B0 n& C! a8 u7 O% j
175.   * @brief  This function is executed in case of error occurrence.
     ' A. J" B( }# s; @. C
176.   * @retval None
     
177.   */
     
178. void Error_Handler(void)
     
179. {
     - O  P/ @# m  l' a! c( F
180.   /* USER CODE BEGIN Error_Handler_Debug */
     
181.   /* User can add his own implementation to report the HAL error return state */
     " @% b, R/ X$ _
182.   __disable_irq();
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183.   while (1)
     8 B6 N7 ]- ~1 U7 L+ I4 r' X! Q3 D
184.   {
     
185.   }
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186.   /* USER CODE END Error_Handler_Debug */
       {8 K2 O0 ~1 O3 o4 ]+ z
187. }
     
188. 
     
189. #ifdef  USE_FULL_ASSERT
     + \: J8 ~0 Z0 U0 p" `# T9 z7 ^2 ?: ]5 w
190. /**
     
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
     
194.   * @param  line: assert_param error line source number
     ; {1 j" J: U) a: S, c
195.   * @retval None
     " B& O' q; m* I# Z0 L
196.   */
     4 |, L: a4 Z0 L. l
197. void assert_failed(uint8_t *file, uint32_t line)
     
198. {
     3 k, }6 ~: O% q9 w
199.   /* USER CODE BEGIN 6 */
     
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) */
     
202.   /* USER CODE END 6 */
     * z- k7 w6 S7 _4 d2 f
203. }
     6 n, x3 ]! Q( m
204. #endif /* USE_FULL_ASSERT */
     

复制代码

5 a  t+ r. T! i6 h# J  m$ X
2 {$ Z& ^3 |* n2 \3.4、fun_task.c
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1. #include "main.h"
   $ _& z) C4 ?6 p) X  V) ]
2. 
   3 J* `# t% ]' }( ~' p: W
3. #define START_TASK_PRO                1                               
   
4. #define START_STK_SIZE                128
   
5. TaskHandle_t StartTask_Handler;
   , w9 Q1 L+ _" i0 m/ Y
6. 
   
7. #define TASK1_PRIO              2                  
   
8. #define TASK1_STK_SIZE          128                 
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9. static TaskHandle_t                    Task1Task_Handler = NULL;  
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10.            
    
11. #define TASK2_PRIO              3                  
    
12. #define TASK2_STK_SIZE          128                 
    
13. static TaskHandle_t                    Task2Task_Handler = NULL;  
    ' d# o# S  m. i' G8 A8 @& |
14. 
    
15. #define TASK3_PRIO              4                  
    ! x2 I1 c  ?, g: p4 S8 T
16. #define TASK3_STK_SIZE          128                 
    
17. static TaskHandle_t                    Task3Task_Handler = NULL;  
    
18. 
    
19. 
    9 `* f/ N' [3 C1 \7 S1 J7 c
20. void start_task(void *pvParameters);
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21. void gui_task(void *pvParameters);
    : q1 b# n; V3 |  K- P; n5 o% r
22. 
    
23. void task1(void *pvParameters);  
    
24. void task2(void *pvParameters);
    3 E; \! |, ], _% |8 h3 T/ |
25. void task3(void *pvParameters);
    
26. 
    8 v3 C& \, M) ~% a! `7 b4 y9 H
27. 
    
28. 
    4 T  x3 [& \: Y" C* u
29. void task_create(void)
    
30. {
    
31.        
    
32.         //start_task
    
33.         xTaskCreate((TaskFunction_t )start_task,                  
    / _$ T0 F; y, L: n# w
34.                                                         (const char*    )"start_task",               
    ) J8 m) U" Y: q0 a; F4 Q. I
35.                                                         (uint16_t       )START_STK_SIZE,         
    + F5 }$ m' f' k9 O2 c5 n
36.                                                         (void*          )NULL,                  
    
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    
39. 
    
40.         vTaskStartScheduler();
    7 G2 c* ]! @8 [6 v5 I* F
41. }
    
42. 
    
43. void start_task(void *pvParameters)
    + ^/ ?1 [/ W" \* m5 s+ o( B- {
44. {
    
45.         taskENTER_CRITICAL();
    
46.         //task1
    2 v# n8 j, `7 ~% |2 @$ @  ?
47.         xTaskCreate((TaskFunction_t )task1,                  
    0 _: N, w9 a  c7 I
48.                                                         (const char*    )"task1",               
    ' P& W& o3 u. ^: |$ E; I' I, j
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    
50.                                                         (void*          )NULL,                  
    . z+ W" l1 U- X4 R! A  T2 w
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    
53.         //task2
    + |: [  Y- b2 ]) p
54.         xTaskCreate((TaskFunction_t )task2,                  
    9 c% E2 P- ]5 O2 I
55.                                                         (const char*    )"task2",               
    
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    $ [) ~- a- \6 [$ i3 @
57.                                                         (void*          )NULL,                  
      W$ V% w/ x( N; o2 E( L0 W
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    
60.         //taskEXIT_CRITICAL();
    
61.                                                        
    
62.         //task3
    $ h1 ]9 a3 L) w8 [# h
63.         xTaskCreate((TaskFunction_t )task3,                  
    
64.                                                         (const char*    )"task3",               
    
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    
66.                                                         (void*          )NULL,                  
    
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    & a% ]! n/ _/ w0 p# O; s' [
69.         taskEXIT_CRITICAL();
    
70.                                                        
    
71.         vTaskDelete(StartTask_Handler);                                               
    1 w( X' ^& d! T+ ]
72. }
    3 k! W+ m9 M( ]8 C
73. 
    
74. //task1
    
75. void task1(void *pvParameters)
    
76. {
    
77.                 __IO uint32_t index = 0;
    ' j0 z3 i7 H9 K, _6 K; ?, u
78.                 __IO uint32_t flash_id_index = 0;
    . Y9 I" ^( ]' W1 {9 N! K# X
79.        
    ; I2 ^0 E4 n1 w$ K: `5 b
80.     while (1)
    9 ^1 H) e+ e7 R
81.     {               
    7 T/ }/ q+ M1 I
82.                                 led1_tog();
    
83.         printf("task1 run ...\r\n");
    
84.         vTaskDelay(200);
    2 G/ ]6 D* ~. h; s
85.     }
    + N, Z: V) d* j9 x6 c0 ^( m
86. }
    ! J- u  s( q, H* M; ]1 R
87. 
    % F  D" s9 e7 G% ^
88. //task2
    
89. void task2(void *pvParameters)
    + r/ R0 t3 i5 R8 P: c
90. {
    
91.     while (1)
    " `9 l: `& k- ^- m/ H8 v, y8 E
92.     {       
      K' I  k6 P0 V1 p
93.                                 led2_tog();
    " I9 g9 u. s( H# D1 c7 E1 u# I7 ]* T
94.         printf("task2 run ...\r\n");
    8 s' ^* c7 C$ u: `) ?
95.         vTaskDelay(100);
    6 p' p% u+ e' E; h: n
96.     }
    ' R% y3 V4 b# `9 q1 z
97. }
    4 w! h; S( P+ J' u3 g% g0 {
98. 
    
99. //task3
    
100. void task3(void *pvParameters)
       W! @. ~, I: Z
101. {
     ( S; j& ~. @& b: K& \4 v) h
102.     while (1)
     5 b  k0 S& w8 [5 L
103.     {       
     
104.         printf("task3 run ...\r\n");
     
105.         vTaskDelay(100);
     0 N, z. g! L9 \) R
106.     }
     
107. }

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& i) I/ n+ J- H/ ]% s" e7 i
四、运行结果

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4.2、LED灯运行
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) |! f9 r8 ^' G% X  s- Z9 o


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# v7 v( d/ v& O( q$ S5 _9 P

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