一、下载FreeRTOS源码

; I) H7 o( c% g) m+ m下载地址：https://www.freertos.org/
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' [4 y  m$ C3 k4 f+ R: e二、添加文件
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3 O6 b! y  {! r, Y! a' ~6 t2.1、复制文件到项目下的middleware
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4 k, ^, r4 p; ?6 F" Q$ Y2.2、在工程中添加FreeRTOS源码


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4 X8 i3 l& o. F. C5 U三、程序代码
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3.1、FreeRTOSConfig.h

1. /*
   
2. * FreeRTOS V202212.01
   
3. * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   
4. *
   $ v' f0 {* a9 _9 {* q
5. * Permission is hereby granted, free of charge, to any person obtaining a copy of
   
6. * this software and associated documentation files (the "Software"), to deal in
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7. * the Software without restriction, including without limitation the rights to
   
8. * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9. * the Software, and to permit persons to whom the Software is furnished to do so,
   
10. * subject to the following conditions:
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11. *
    
12. * The above copyright notice and this permission notice shall be included in all
    
13. * copies or substantial portions of the Software.
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14. *
    4 f8 A, Y9 e* u9 |6 D
15. * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    
16. * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
    
17. * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18. * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
    5 F6 n6 Y8 D' O" ]
19. * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20. * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
    
21. *
    
22. * https://www.FreeRTOS.org
    / I* e. i- i) N. a+ {
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. 
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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
    
34. * application requirements.
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35. *
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36. * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
    
37. * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
    
38. *
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39. * See http://www.freertos.org/a00110.html.
    
40. *----------------------------------------------------------*/
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41. 
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42. /* Ensure definitions are only used by the compiler, and not by the assembler. */
    
43. #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
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44.   #include <stdint.h>
    
45.   extern uint32_t SystemCoreClock;
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46. #endif
    
47. 
    
48. #ifndef configENABLE_FPU
    
49.   #define configENABLE_FPU                        1
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50. #endif
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51. #ifndef configENABLE_MPU
    
52.   #define configENABLE_MPU                        0
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53. #endif
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54. #ifndef configENABLE_TRUSTZONE
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55.   #define configENABLE_TRUSTZONE                  0
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56. #endif
    
57. #ifndef configRUN_FREERTOS_SECURE_ONLY
    
58.   #define configRUN_FREERTOS_SECURE_ONLY          1
    
59. #endif
    
60. 
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61. 
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62. #define configENABLE_MVE                                                   0
    
63. 
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64. #define configUSE_PREEMPTION                                        1
    
65. #define configSUPPORT_STATIC_ALLOCATION                        0//1
    
66. #define configSUPPORT_DYNAMIC_ALLOCATION                1
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67. #define configUSE_IDLE_HOOK                                                0
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68. #define configUSE_TICK_HOOK                                                0
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69. #define configCPU_CLOCK_HZ                                                ( SystemCoreClock )
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70. #define configTICK_RATE_HZ                                                ( ( TickType_t ) 1000 )
    
71. #define configMAX_PRIORITIES                                        ( 56 )
    
72. #define configMINIMAL_STACK_SIZE                                ( ( uint16_t ) 512 )
    
73. #define configTOTAL_HEAP_SIZE                                        ( ( size_t ) 15 * 1024 )
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74. #define configMAX_TASK_NAME_LEN                                        ( 16 )
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75. #define configUSE_TRACE_FACILITY                                1
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76. #define configUSE_16_BIT_TICKS                                        0
    
77. #define configUSE_MUTEXES                                                1
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78. #define configQUEUE_REGISTRY_SIZE                                8
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79. #define configUSE_RECURSIVE_MUTEXES                                1
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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. 
    
85. /* Defaults to size_t for backward compatibility, but can be changed
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86. * if lengths will always be less than the number of bytes in a size_t. */
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87. #define configMESSAGE_BUFFER_LENGTH_TYPE                size_t
    
88. /* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
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89. 
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90. /* Software timer definitions. */
    
91. #define configUSE_TIMERS                                                1
    
92. #define configTIMER_TASK_PRIORITY                                ( 2 )
    
93. #define configTIMER_QUEUE_LENGTH                                10
    
94. #define configTIMER_TASK_STACK_DEPTH                        256
    
95. 
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96. /* Set the following definitions to 1 to include the API function, or zero
    
97. * to exclude the API function. */
    
98. #define INCLUDE_vTaskPrioritySet                                1
    
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
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106. #define INCLUDE_xTimerPendFunctionCall                        1
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107. #define INCLUDE_xQueueGetMutexHolder                        1
     
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
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113.         /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
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114.         #define configPRIO_BITS                                                __NVIC_PRIO_BITS
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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"
     
120. * function. */
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121. #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY        15
     
122. 
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123. /* The highest interrupt priority that can be used by any interrupt service
     
124. * routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT
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125. * CALL INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A
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126. * HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values. */
     
127. #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
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128. 
     
129. /* Interrupt priorities used by the kernel port layer itself.  These are generic
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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 ) )
     
132. /* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
     
133. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
     
134. #define configMAX_SYSCALL_INTERRUPT_PRIORITY                ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
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135. 
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136. /* Normal assert() semantics without relying on the provision of an assert.h
     
137. * header file. */
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138. #define configASSERT( x )                                                        if ( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
     
139. 
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140. /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
     
141. * standard names. */
     
142. #define vPortSVCHandler                                                                SVC_Handler
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143. #define xPortPendSVHandler                                                        PendSV_Handler
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144. #define xPortSysTickHandler                                                        SysTick_Handler
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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. */
     
151. #define configTOTAL_MPU_REGIONS                                                16
     
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. */
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156. #define configTEX_S_C_B_SRAM                                                ( 0x03UL )
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157. 
     
158. #endif /* FREERTOS_CONFIG_H */
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复制代码

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$ o* P9 c2 o8 }, b" M3.2、屏蔽函数
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3 E2 A' a+ e: A' v- a9 v: B在stm32n6xx_it.c
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1. #include "main.h"
   
2. 
   
3. void SystemClock_Config(void);
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4. void PeriphCommonClock_Config(void);
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5. 
   
6. int main(void)
   
7. {
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8.   HAL_Init();
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9.   SystemClock_Config();
   
10.   PeriphCommonClock_Config();
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11.         usart_init(115200);
    
12.         init_led();
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13.        
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14.         task_create();
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15. 
    
16.   while (1)
    
17.   {
    
18. 
    
19.   }
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20. }
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21. 
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22. 
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23. 
    
24. 
    # ^. n9 o* Y, V# b9 h
25. 
    
26. /**
    7 x; T- }+ w1 n% i
27.   * @brief System Clock Configuration
    
28.   * @retval None
    
29.   */
    
30. void SystemClock_Config(void)
    
31. {
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32.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    
33.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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34. 
    
35.   /** Configure the System Power Supply
    
36.   */
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37.   if (HAL_PWREx_ConfigSupply(PWR_EXTERNAL_SOURCE_SUPPLY) != HAL_OK)
    
38.   {
    
39.     Error_Handler();
    
40.   }
    
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;
    
46.   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    
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;
    
51.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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52.   {
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53.     Error_Handler();
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54.   }
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55. 
    
56.   /** Get current CPU/System buses clocks configuration and if necessary switch
    
57. to intermediate HSI clock to ensure target clock can be set
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58.   */
    
59.   HAL_RCC_GetClockConfig(&RCC_ClkInitStruct);
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60.   if ((RCC_ClkInitStruct.CPUCLKSource == RCC_CPUCLKSOURCE_IC1) ||
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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;
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66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
    
67.     {
    
68.       /* Initialization Error */
    
69.       Error_Handler();
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70.     }
    
71.   }
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72. 
    
73.   /** Initializes the RCC Oscillators according to the specified parameters
    
74.   * in the RCC_OscInitTypeDef structure.
    
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;
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80.   RCC_OscInitStruct.PLL1.PLLM = 3;
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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;
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85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    
86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    
87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
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88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
89.   {
    
90.     Error_Handler();
    
91.   }
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92. 
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93.   /** Initializes the CPU, AHB and APB buses clocks
    
94.   */
    
95.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_CPUCLK|RCC_CLOCKTYPE_HCLK
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96.                               |RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1
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97.                               |RCC_CLOCKTYPE_PCLK2|RCC_CLOCKTYPE_PCLK5
    
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;
     
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;
     
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;
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111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
     
112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     
114. 
     
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
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116.   {
     
117.     Error_Handler();
     
118.   }
     $ ]& ~2 o, E' H
119. }
     
120. 
     ) F: q3 d' p7 C0 \5 k' |
121. /**
     
122.   * @brief Peripherals Common Clock Configuration
     
123.   * @retval None
     
124.   */
     
125. void PeriphCommonClock_Config(void)
     
126. {
     
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     9 k( r0 d2 w6 o! Z. W
128. 
     
129.   /** Initializes the peripherals clock
     2 X/ J3 y3 Z7 q* w% j+ A& r
130.   */
     3 R, j" m2 n0 V4 a: ~
131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
     
132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
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133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     
134.   {
     
135.     Error_Handler();
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136.   }
     ! u2 o3 I' B- G! b2 R$ m- \- Q
137. }
     
138. 
     
139. /**
     
140.   * @brief ICACHE Initialization Function
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141.   * @param None
     
142.   * @retval None
     
143.   */
     
144. static void MX_ICACHE_Init(void)
     
145. {
     
146. 
     
147.   /* USER CODE BEGIN ICACHE_Init 0 */
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148. 
     8 h  b- B: G; z% ^5 W9 T* o
149.   /* USER CODE END ICACHE_Init 0 */
     
150. 
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151.   /* USER CODE BEGIN ICACHE_Init 1 */
     
152. 
     % n2 N. r2 ~0 }
153.   /* USER CODE END ICACHE_Init 1 */
     
154. 
     
155.   /** Enable instruction cache in 1-way (direct mapped cache)
     ; Z% S) w0 P/ q- V- Z
156.   */
     
157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     
158.   {
     
159.     Error_Handler();
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160.   }
     
161.   if (HAL_ICACHE_Enable() != HAL_OK)
     
162.   {
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163.     Error_Handler();
     
164.   }
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165.   /* USER CODE BEGIN ICACHE_Init 2 */
     
166. 
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167.   /* USER CODE END ICACHE_Init 2 */
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168. 
     $ S6 F: U  D+ G7 E6 f3 e/ ]
169. }
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170. /* USER CODE BEGIN 4 */
     
171. 
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172. /* USER CODE END 4 */
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173. 
     
174. /**
     
175.   * @brief  This function is executed in case of error occurrence.
     
176.   * @retval None
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177.   */
     
178. void Error_Handler(void)
     
179. {
     
180.   /* USER CODE BEGIN Error_Handler_Debug */
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181.   /* User can add his own implementation to report the HAL error return state */
     
182.   __disable_irq();
     8 \  R4 f" |, G# {
183.   while (1)
     
184.   {
     
185.   }
     
186.   /* USER CODE END Error_Handler_Debug */
     
187. }
     
188. 
     
189. #ifdef  USE_FULL_ASSERT
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190. /**
     ; h. e- U3 d+ y1 y: [' ?
191.   * @brief  Reports the name of the source file and the source line number
     
192.   *         where the assert_param error has occurred.
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193.   * @param  file: pointer to the source file name
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194.   * @param  line: assert_param error line source number
     
195.   * @retval None
     ' t: h! S+ q: D
196.   */
     
197. void assert_failed(uint8_t *file, uint32_t line)
     : u: W: D; o) j' Q
198. {
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199.   /* USER CODE BEGIN 6 */
     
200.   /* User can add his own implementation to report the file name and line number,
     / n% @3 P0 A$ R+ P1 c
201.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     
202.   /* USER CODE END 6 */
     , t* M+ d9 X" E! W' H1 P7 i* s
203. }
     
204. #endif /* USE_FULL_ASSERT */
     

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3.4、fun_task.c
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1. #include "main.h"
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2. 
   
3. #define START_TASK_PRO                1                               
   
4. #define START_STK_SIZE                128
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5. TaskHandle_t StartTask_Handler;
   
6. 
   
7. #define TASK1_PRIO              2                  
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8. #define TASK1_STK_SIZE          128                 
   
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
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10.            
    
11. #define TASK2_PRIO              3                  
    
12. #define TASK2_STK_SIZE          128                 
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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. 
    6 F% G$ _& L$ ]' T) I
19. 
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20. void start_task(void *pvParameters);
    
21. void gui_task(void *pvParameters);
    
22. 
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23. void task1(void *pvParameters);  
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24. void task2(void *pvParameters);
    2 H. C  C* R. E9 d
25. void task3(void *pvParameters);
    
26. 
    
27. 
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28. 
    
29. void task_create(void)
    
30. {
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31.        
    
32.         //start_task
    & s  k6 g0 x5 H  V& {
33.         xTaskCreate((TaskFunction_t )start_task,                  
    & a) o% A; w" V* y
34.                                                         (const char*    )"start_task",               
    
35.                                                         (uint16_t       )START_STK_SIZE,         
    
36.                                                         (void*          )NULL,                  
    
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    9 x) {, m5 ]( G' N6 v
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    
39. 
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40.         vTaskStartScheduler();
    
41. }
    
42. 
    ) f, u$ F  H& d' X! o+ a0 n% ], D
43. void start_task(void *pvParameters)
    
44. {
    
45.         taskENTER_CRITICAL();
    
46.         //task1
    
47.         xTaskCreate((TaskFunction_t )task1,                  
    
48.                                                         (const char*    )"task1",               
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49.                                                         (uint16_t       )TASK1_STK_SIZE,         
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50.                                                         (void*          )NULL,                  
    
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    ) l( x) z& v2 B' d
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    
53.         //task2
    
54.         xTaskCreate((TaskFunction_t )task2,                  
    
55.                                                         (const char*    )"task2",               
    7 B. [- P3 N/ W1 Z) M0 `
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    
57.                                                         (void*          )NULL,                  
    
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    " e: ]. ~' x3 z" C! V8 a, l$ g6 w
60.         //taskEXIT_CRITICAL();
    
61.                                                        
    ; d" d1 _2 ]8 _) Y/ O5 h
62.         //task3
    " e. e) e& m. \" y
63.         xTaskCreate((TaskFunction_t )task3,                  
      @, w+ n. Z: L2 \0 S
64.                                                         (const char*    )"task3",               
    " f+ w/ l+ q% G; L: _) N4 n
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    
66.                                                         (void*          )NULL,                  
    5 }9 }( I6 S4 J& X  t1 U; h( e8 E
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    % J; I6 D3 e, m. s
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    
69.         taskEXIT_CRITICAL();
    % N" |# X" T: V# Q/ T+ j
70.                                                        
    4 }& e. t3 y( _* x0 L% q
71.         vTaskDelete(StartTask_Handler);                                               
    9 u  `6 j) z# z
72. }
    
73. 
    
74. //task1
    . W1 X3 s- P' I  H* T
75. void task1(void *pvParameters)
    
76. {
    6 `. L8 B9 W( h
77.                 __IO uint32_t index = 0;
    
78.                 __IO uint32_t flash_id_index = 0;
    ! w* I! g# ~& W
79.        
    
80.     while (1)
    ) t- m: I3 s9 I3 q2 f2 B
81.     {               
    * K) ]+ T  I2 F6 W1 a) U  v
82.                                 led1_tog();
    , B8 n3 u: W1 r% y  L4 A
83.         printf("task1 run ...\r\n");
    1 N8 Q) T/ Y) l. J6 D
84.         vTaskDelay(200);
    " Z9 Q( r+ w( y  r8 m
85.     }
    
86. }
      [% `, {% N- L" |3 F4 E! S
87. 
    . N( H: B/ |& A1 z1 q
88. //task2
    
89. void task2(void *pvParameters)
    # v8 @' q$ k" l$ k
90. {
    
91.     while (1)
    * N2 i* J7 l7 [+ `% D
92.     {       
    
93.                                 led2_tog();
    . m3 u( @) Y$ x- T4 v% K; J7 _3 K
94.         printf("task2 run ...\r\n");
    
95.         vTaskDelay(100);
    
96.     }
    
97. }
    
98. 
    ' H1 `0 ~6 `/ `: t$ h
99. //task3
    
100. void task3(void *pvParameters)
     3 L" v9 d6 i( @2 F* \% }* R" O
101. {
     
102.     while (1)
     , y2 Y( E( Y0 F- }
103.     {       
     : s. {4 W, J) \
104.         printf("task3 run ...\r\n");
     
105.         vTaskDelay(100);
     , U) s- K" I# S
106.     }
     9 I0 y! ]( b2 ^1 r' U+ t
107. }

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四、运行结果

4.1、仿真运行后，串口输出
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4.2、LED灯运行
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