一、下载FreeRTOS源码

+ ~& I' y2 }/ W+ W0 T5 R下载地址：https://www.freertos.org/

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- j% V7 A  s4 N+ J: v9 Z$ W- x+ c二、添加文件
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2.1、复制文件到项目下的middleware


- L( O6 Q  p* g' }3 K3 ^2.2、在工程中添加FreeRTOS源码
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三、程序代码

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: ]9 x& l9 S" e. i  Q3.1、FreeRTOSConfig.h
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1. /*
   
2. * FreeRTOS V202212.01
   
3. * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   7 I& }, b. m$ a% F$ {8 @
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
   
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:
    5 O; Y4 x, v/ B" L
11. *
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12. * The above copyright notice and this permission notice shall be included in all
    
13. * copies or substantial portions of the Software.
    
14. *
    
15. * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    % |9 v, \8 u! l; Q7 c
16. * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
    
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
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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. *
    
22. * https://www.FreeRTOS.org
    1 V8 F/ t! T( G+ d
23. * https://github.com/FreeRTOS
    
24. *
    5 \; c/ u; B3 C% z
25. */
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26. 
    
27. #ifndef FREERTOS_CONFIG_H
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28. #define FREERTOS_CONFIG_H
    
29. 
    
30. /*-----------------------------------------------------------
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31. * Application specific definitions.
    
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
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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. */
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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;
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46. #endif
    
47. 
    
48. #ifndef configENABLE_FPU
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49.   #define configENABLE_FPU                        1
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50. #endif
    
51. #ifndef configENABLE_MPU
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52.   #define configENABLE_MPU                        0
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53. #endif
    
54. #ifndef configENABLE_TRUSTZONE
    
55.   #define configENABLE_TRUSTZONE                  0
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56. #endif
    
57. #ifndef configRUN_FREERTOS_SECURE_ONLY
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58.   #define configRUN_FREERTOS_SECURE_ONLY          1
    
59. #endif
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60. 
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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
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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 )
    
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 )
    
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
    
80. #define configUSE_COUNTING_SEMAPHORES                        1
    
81. #define configUSE_PORT_OPTIMISED_TASK_SELECTION        0
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82. #define configUSE_MALLOC_FAILED_HOOK                        0//1
    
83. #define configCHECK_FOR_STACK_OVERFLOW                        0//2
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84. 
    
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. */
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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 )
    
93. #define configTIMER_QUEUE_LENGTH                                10
    
94. #define configTIMER_TASK_STACK_DEPTH                        256
    
95. 
    
96. /* Set the following definitions to 1 to include the API function, or zero
    6 f* g2 V: N( G3 Z. w
97. * to exclude the API function. */
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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
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102. #define INCLUDE_vTaskSuspend                                        1
     
103. #define INCLUDE_vTaskDelayUntil                                        1
     
104. #define INCLUDE_vTaskDelay                                                1
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105. #define INCLUDE_xTaskGetSchedulerState                        1
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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
     
110. 
     ) |3 m4 e/ d6 K
111. /* Cortex-M specific definitions. */
     
112. #ifdef __NVIC_PRIO_BITS
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113.         /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
     
114.         #define configPRIO_BITS                                                __NVIC_PRIO_BITS
     
115. #else
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116.         #define configPRIO_BITS                                                4
     
117. #endif
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118. 
     
119. /* The lowest interrupt priority that can be used in a call to a "set priority"
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120. * function. */
     
121. #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY        15
     
122. 
     
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. */
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127. #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
     
128. 
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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. */
     
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. 
     
136. /* Normal assert() semantics without relying on the provision of an assert.h
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137. * header file. */
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138. #define configASSERT( x )                                                        if ( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
     
139. 
     
140. /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
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141. * standard names. */
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142. #define vPortSVCHandler                                                                SVC_Handler
     
143. #define xPortPendSVHandler                                                        PendSV_Handler
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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. 
     
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
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152. 
     
153. /* The default TEX,S,C,B setting marks the SRAM as shareable and as a result,
     9 z& M, Q. O/ [" Q; x8 F
154. * disables cache. Do not mark the SRAM as shareable because caching is being
     
155. * used. TEX=0, S=0, C=1, B=1. */
     
156. #define configTEX_S_C_B_SRAM                                                ( 0x03UL )
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157. 
     
158. #endif /* FREERTOS_CONFIG_H */
     

复制代码

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9 [  D5 F- N" x1 I& V, N/ @9 j/ E3.2、屏蔽函数


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3.3、main.c
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1. #include "main.h"
   
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)
   
7. {
   
8.   HAL_Init();
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9.   SystemClock_Config();
   
10.   PeriphCommonClock_Config();
    
11.         usart_init(115200);
    
12.         init_led();
    
13.        
    
14.         task_create();
    
15. 
    
16.   while (1)
    
17.   {
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18. 
    
19.   }
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20. }
    
21. 
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22. 
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23. 
    
24. 
    
25. 
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26. /**
    
27.   * @brief System Clock Configuration
    
28.   * @retval None
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29.   */
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30. void SystemClock_Config(void)
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31. {
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32.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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33.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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34. 
    
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.   {
    
39.     Error_Handler();
    
40.   }
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41. 
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42.   /* Enable HSI */
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43.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    
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;
    
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;
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50.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    
51.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
52.   {
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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);
    
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);
    
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.   }
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72. 
    
73.   /** Initializes the RCC Oscillators according to the specified parameters
    
74.   * in the RCC_OscInitTypeDef structure.
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75.   */
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76.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    
77.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    
78.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_ON;
    
79.   RCC_OscInitStruct.PLL1.PLLSource = RCC_PLLSOURCE_HSE;
    
80.   RCC_OscInitStruct.PLL1.PLLM = 3;
    8 [. @. q* `8 X0 s
81.   RCC_OscInitStruct.PLL1.PLLN = 100;
    
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;
    
85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    
86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
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87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    
88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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89.   {
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90.     Error_Handler();
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91.   }
    
92. 
    
93.   /** Initializes the CPU, AHB and APB buses clocks
    . M0 L$ O' _1 w- I) H: W
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
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98.                               |RCC_CLOCKTYPE_PCLK4;
    
99.   RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_IC1;
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100.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_IC2_IC6_IC11;
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101.   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
     
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;
     
105.   RCC_ClkInitStruct.APB5CLKDivider = RCC_APB5_DIV1;
     
106.   RCC_ClkInitStruct.IC1Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
107.   RCC_ClkInitStruct.IC1Selection.ClockDivider = 1;
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108.   RCC_ClkInitStruct.IC2Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
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109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
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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;
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114. 
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115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     
116.   {
     
117.     Error_Handler();
     : V$ O5 D6 P% A. ~) H
118.   }
     
119. }
     
120. 
     ' [& x9 i+ V5 T2 T  D/ ^
121. /**
     ( _7 \! ^# X- n' @! ^& L
122.   * @brief Peripherals Common Clock Configuration
     * n& Y8 u  c: S$ r; O# N$ h
123.   * @retval None
     
124.   */
     
125. void PeriphCommonClock_Config(void)
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126. {
     
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
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128. 
     
129.   /** Initializes the peripherals clock
     / Q" C5 i: c* x: U* X
130.   */
     7 `) ]" ]5 J& ~( n5 ~
131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
     
132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
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134.   {
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135.     Error_Handler();
     ' @6 S; \2 K$ X, W3 U6 P3 W
136.   }
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137. }
     
138. 
     
139. /**
     
140.   * @brief ICACHE Initialization Function
     $ o: M& o& y) l4 J: [
141.   * @param None
     3 \6 ^( U5 r% W: z/ }
142.   * @retval None
     
143.   */
     
144. static void MX_ICACHE_Init(void)
     
145. {
     + c! @6 b: \1 c# N+ n6 n/ ~
146. 
     - A( {4 x9 T, ^: O5 ?
147.   /* USER CODE BEGIN ICACHE_Init 0 */
     
148. 
     5 R! F* }4 s9 a7 y6 ^7 H
149.   /* USER CODE END ICACHE_Init 0 */
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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. 
     # u0 s& ]# t# V/ z" x
155.   /** Enable instruction cache in 1-way (direct mapped cache)
     
156.   */
     
157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
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158.   {
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159.     Error_Handler();
     
160.   }
     
161.   if (HAL_ICACHE_Enable() != HAL_OK)
     ' ~0 Q# o7 K& |- s
162.   {
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163.     Error_Handler();
     * w" d+ M0 y2 h: B1 h
164.   }
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165.   /* USER CODE BEGIN ICACHE_Init 2 */
     
166. 
     
167.   /* USER CODE END ICACHE_Init 2 */
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168. 
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169. }
     
170. /* USER CODE BEGIN 4 */
     # A- B0 j$ Y9 Y" k/ l3 w
171. 
     # [/ G3 _% W2 E% n1 P
172. /* USER CODE END 4 */
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173. 
     ' J) l) [! ]/ ^: t% b
174. /**
     
175.   * @brief  This function is executed in case of error occurrence.
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176.   * @retval None
     . d. P7 ~0 h: u8 f
177.   */
     
178. void Error_Handler(void)
     
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();
     
183.   while (1)
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184.   {
     
185.   }
     
186.   /* USER CODE END Error_Handler_Debug */
     ! b* [) d/ ^! ]' S' K
187. }
     
188. 
     + g* z1 s$ E; F8 W% N+ e2 l. Y* c5 b9 a# o
189. #ifdef  USE_FULL_ASSERT
     % @5 [% O& n- u3 D  l- ?( S. H
190. /**
     ! A7 g6 A$ ]3 Z, X* l, S7 n
191.   * @brief  Reports the name of the source file and the source line number
     + {) Y1 e, ?  `  }
192.   *         where the assert_param error has occurred.
     # j/ C. W: l8 o! d& J: h1 S
193.   * @param  file: pointer to the source file name
     
194.   * @param  line: assert_param error line source number
     
195.   * @retval None
     
196.   */
     
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,
     7 n+ A2 D; K) b3 b8 k6 l
201.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     * g! r2 b+ J$ B, @; c2 d* s
202.   /* USER CODE END 6 */
     
203. }
     
204. #endif /* USE_FULL_ASSERT */
     * u8 y/ c  U! t2 A% p! ]3 ^

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3.4、fun_task.c

1. #include "main.h"
   
2. 
   
3. #define START_TASK_PRO                1                               
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4. #define START_STK_SIZE                128
   
5. TaskHandle_t StartTask_Handler;
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6. 
   6 v6 J: F& u' Q9 z6 f0 H
7. #define TASK1_PRIO              2                  
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8. #define TASK1_STK_SIZE          128                 
   
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
   
10.            
    
11. #define TASK2_PRIO              3                  
    
12. #define TASK2_STK_SIZE          128                 
    
13. static TaskHandle_t                    Task2Task_Handler = NULL;  
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14. 
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15. #define TASK3_PRIO              4                  
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16. #define TASK3_STK_SIZE          128                 
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17. static TaskHandle_t                    Task3Task_Handler = NULL;  
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18. 
    + O' t* X8 L! w1 Q$ G- N7 e
19. 
    
20. void start_task(void *pvParameters);
    
21. void gui_task(void *pvParameters);
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22. 
    
23. void task1(void *pvParameters);  
    
24. void task2(void *pvParameters);
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25. void task3(void *pvParameters);
    4 f* _3 b6 v5 v& Z5 T. V# o- B! t
26. 
    
27. 
    
28. 
    
29. void task_create(void)
    : z6 k% P& ?5 A/ f) @
30. {
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31.        
    - ^+ g3 U, _  ]/ f7 T( q4 t
32.         //start_task
    5 `9 f; B! n% c& l
33.         xTaskCreate((TaskFunction_t )start_task,                  
    
34.                                                         (const char*    )"start_task",               
    3 M) }- r, |4 {& j# @
35.                                                         (uint16_t       )START_STK_SIZE,         
    
36.                                                         (void*          )NULL,                  
    
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    
39. 
    
40.         vTaskStartScheduler();
    % Z( {$ t3 `4 z! Y- o
41. }
    
42. 
    
43. void start_task(void *pvParameters)
    
44. {
    1 O; M/ {0 C! a7 b. P3 K
45.         taskENTER_CRITICAL();
    ' V/ v2 u9 k* v
46.         //task1
    & r1 [# I/ h( h4 O
47.         xTaskCreate((TaskFunction_t )task1,                  
    # V' X" w4 Z1 g: u5 A) H
48.                                                         (const char*    )"task1",               
    
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    
50.                                                         (void*          )NULL,                  
    + g3 m- D. j+ e. E' q+ C; m
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    $ V8 d1 A: ^! N0 j, \/ W" o0 [
53.         //task2
    " h4 S/ ^/ S! J, k7 M& y
54.         xTaskCreate((TaskFunction_t )task2,                  
    
55.                                                         (const char*    )"task2",               
    ! Y8 q0 X0 y" |* E
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    7 s6 y4 g" V  N! P8 n/ a
57.                                                         (void*          )NULL,                  
    
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    ! R+ t; y7 x9 S
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    
60.         //taskEXIT_CRITICAL();
    : p, v: G# n. k, z/ |
61.                                                        
    7 J1 v6 O& W$ g" p( |: \; i
62.         //task3
    
63.         xTaskCreate((TaskFunction_t )task3,                  
    
64.                                                         (const char*    )"task3",               
    5 I  p' h; Z& S/ S7 k9 q  s7 p/ T% ^# j
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    . F8 d& X+ R  b* b, g- }7 ^
66.                                                         (void*          )NULL,                  
    ; H! n5 E3 j3 {8 R# I' ]- u
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    ' Y1 m' t: E3 J5 y+ b
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    
69.         taskEXIT_CRITICAL();
    
70.                                                        
    
71.         vTaskDelete(StartTask_Handler);                                               
    
72. }
    ' z: X8 a& J! f) |
73. 
    
74. //task1
    
75. void task1(void *pvParameters)
    
76. {
    
77.                 __IO uint32_t index = 0;
    4 }, E& L2 M8 K. F
78.                 __IO uint32_t flash_id_index = 0;
    
79.        
    
80.     while (1)
    
81.     {               
    7 ]# q) e1 i- @1 K
82.                                 led1_tog();
    
83.         printf("task1 run ...\r\n");
    / c" W1 r' P# P* I' w+ h3 F- K8 }7 G
84.         vTaskDelay(200);
    
85.     }
    % [- ~2 B* P5 g2 l+ E7 V
86. }
    ) r9 x$ B' S% f) o
87. 
    
88. //task2
    ) ^! W$ S$ u% L" }: |& z+ b4 D
89. void task2(void *pvParameters)
    
90. {
    3 a& R( E+ r, S; e, k/ t8 c$ M4 S
91.     while (1)
    
92.     {       
    
93.                                 led2_tog();
    ( G; l4 z' [. l2 @1 [0 D
94.         printf("task2 run ...\r\n");
    
95.         vTaskDelay(100);
    
96.     }
    : G7 w4 O6 P# k2 r; o% d1 o
97. }
    7 I* b$ D6 B' J
98. 
    
99. //task3
    ) E# P8 O! }( Z) p* R& F7 V9 U
100. void task3(void *pvParameters)
     
101. {
     ! h, @1 k* e+ r# u7 D
102.     while (1)
     
103.     {       
     
104.         printf("task3 run ...\r\n");
     
105.         vTaskDelay(100);
     " i. v9 [) L, D2 [' R% }- {
106.     }
     5 d) V  q; f$ Z0 y! A, X* I' F& _
107. }

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四、运行结果
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  X! ~! ~. [- {- B* r4.1、仿真运行后，串口输出

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8 ]! S, ?! k0 g1 E. B' X5 W$ E

. ?0 r; ~0 |1 \* J/ ^# n  F
4.2、LED灯运行


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