一、下载FreeRTOS源码
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3 e5 Z/ D& {/ ~. i1 t: w下载地址：https://www.freertos.org/

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; `2 [8 Y( q+ `  _$ P& C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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9 A9 ~# J! D9 }三、程序代码
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8 ]: |( {; s' b3.1、FreeRTOSConfig.h

1. /*
   
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. *
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5. * Permission is hereby granted, free of charge, to any person obtaining a copy of
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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. *
    
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. *
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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
    
17. * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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18. * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19. * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20. * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
    
21. *
    
22. * https://www.FreeRTOS.org
    
23. * https://github.com/FreeRTOS
    
24. *
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25. */
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26. 
    
27. #ifndef FREERTOS_CONFIG_H
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28. #define FREERTOS_CONFIG_H
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29. 
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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
    
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.
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38. *
    
39. * See http://www.freertos.org/a00110.html.
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40. *----------------------------------------------------------*/
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41. 
    
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>
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45.   extern uint32_t SystemCoreClock;
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46. #endif
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47. 
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48. #ifndef configENABLE_FPU
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49.   #define configENABLE_FPU                        1
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50. #endif
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51. #ifndef configENABLE_MPU
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52.   #define configENABLE_MPU                        0
    
53. #endif
    
54. #ifndef configENABLE_TRUSTZONE
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55.   #define configENABLE_TRUSTZONE                  0
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56. #endif
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57. #ifndef configRUN_FREERTOS_SECURE_ONLY
    
58.   #define configRUN_FREERTOS_SECURE_ONLY          1
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59. #endif
    
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
    
66. #define configSUPPORT_DYNAMIC_ALLOCATION                1
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67. #define configUSE_IDLE_HOOK                                                0
    
68. #define configUSE_TICK_HOOK                                                0
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69. #define configCPU_CLOCK_HZ                                                ( SystemCoreClock )
    
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
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81. #define configUSE_PORT_OPTIMISED_TASK_SELECTION        0
    
82. #define configUSE_MALLOC_FAILED_HOOK                        0//1
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83. #define configCHECK_FOR_STACK_OVERFLOW                        0//2
    
84. 
    
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 */
    
89. 
    
90. /* Software timer definitions. */
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91. #define configUSE_TIMERS                                                1
    
92. #define configTIMER_TASK_PRIORITY                                ( 2 )
    
93. #define configTIMER_QUEUE_LENGTH                                10
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94. #define configTIMER_TASK_STACK_DEPTH                        256
    
95. 
    
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
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99. #define INCLUDE_uxTaskPriorityGet                                1
    
100. #define INCLUDE_vTaskDelete                                                1
     
101. #define INCLUDE_vTaskCleanUpResources                        0
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102. #define INCLUDE_vTaskSuspend                                        1
     
103. #define INCLUDE_vTaskDelayUntil                                        1
     
104. #define INCLUDE_vTaskDelay                                                1
     
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
     
109. #define INCLUDE_eTaskGetState                                        1
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110. 
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111. /* Cortex-M specific definitions. */
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112. #ifdef __NVIC_PRIO_BITS
     
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
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117. #endif
     
118. 
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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
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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
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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
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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. */
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131. #define configKERNEL_INTERRUPT_PRIORITY                                ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
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132. /* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
     
133. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
     
134. #define configMAX_SYSCALL_INTERRUPT_PRIORITY                ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
     
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. */
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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
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143. #define xPortPendSVHandler                                                        PendSV_Handler
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144. #define xPortSysTickHandler                                                        SysTick_Handler
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145. 
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146. /* Allow system call from within FreeRTOS kernel only. */
     
147. #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY        1
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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. */
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156. #define configTEX_S_C_B_SRAM                                                ( 0x03UL )
     
157. 
     
158. #endif /* FREERTOS_CONFIG_H */
     

复制代码

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3.2、屏蔽函数
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在stm32n6xx_it.c
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3.3、main.c

1. #include "main.h"
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2. 
   
3. void SystemClock_Config(void);
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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();
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10.   PeriphCommonClock_Config();
    
11.         usart_init(115200);
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12.         init_led();
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13.        
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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. 
    
23. 
    
24. 
    
25. 
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26. /**
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27.   * @brief System Clock Configuration
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28.   * @retval None
    
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};
    
33.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    
34. 
    
35.   /** Configure the System Power Supply
    
36.   */
    
37.   if (HAL_PWREx_ConfigSupply(PWR_EXTERNAL_SOURCE_SUPPLY) != HAL_OK)
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38.   {
    
39.     Error_Handler();
    
40.   }
    
41. 
    
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;
    
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. 
    
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.   */
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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;
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65.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
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66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
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67.     {
    
68.       /* Initialization Error */
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69.       Error_Handler();
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70.     }
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71.   }
    
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;
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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;
    
81.   RCC_OscInitStruct.PLL1.PLLN = 100;
    
82.   RCC_OscInitStruct.PLL1.PLLFractional = 0;
    
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.   {
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90.     Error_Handler();
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91.   }
    
92. 
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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;
     
102.   RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
     
103.   RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
     * k  l. C* ]3 C  O6 ^" _& M
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;
     
109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
     % n, x& d' R/ g, c3 s
110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
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112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     $ K$ N' w# `3 `" z
114. 
     
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     
116.   {
     
117.     Error_Handler();
     
118.   }
     
119. }
     4 N6 |$ {& H" Q" T) _
120. 
     7 V3 m" f# d% N8 l& q2 G. h& s
121. /**
     
122.   * @brief Peripherals Common Clock Configuration
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123.   * @retval None
     " \! s) O. f* g2 `3 C" w
124.   */
     
125. void PeriphCommonClock_Config(void)
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126. {
     & I: ~# u% J9 m  K
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     
128. 
     ) B& ?* h( O" E) ^( v0 v
129.   /** Initializes the peripherals clock
     
130.   */
     ) M4 e7 ^% p- p& L' F1 N
131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
     
132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     ! O8 [+ @) }' |* t
134.   {
     : A( q9 f2 ~0 M  P' c) i+ T
135.     Error_Handler();
     & Y; Z6 d7 M9 e6 A% w: v
136.   }
     
137. }
       z" ?' a; B* T3 c$ T8 P
138. 
     
139. /**
     6 ?- ~) c) U  q' _9 P( j! r% w
140.   * @brief ICACHE Initialization Function
     
141.   * @param None
     
142.   * @retval None
     
143.   */
     
144. static void MX_ICACHE_Init(void)
     ; U' `$ M5 h  ?  C4 H: `8 ?* @: k
145. {
     
146. 
     
147.   /* USER CODE BEGIN ICACHE_Init 0 */
     2 |- j3 p6 W) Y; M1 P# s
148. 
     8 G4 v, A5 V$ Q2 Y6 X
149.   /* USER CODE END ICACHE_Init 0 */
     ' J" ]. w% X: m; {# ^/ T* r
150. 
       v0 u0 m% j' e2 Q. f
151.   /* USER CODE BEGIN ICACHE_Init 1 */
     
152. 
     
153.   /* USER CODE END ICACHE_Init 1 */
     # @4 m; f1 M* G+ I& W( I$ I
154. 
     
155.   /** Enable instruction cache in 1-way (direct mapped cache)
     & ]. B/ _* j4 l; O9 j" S
156.   */
     
157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     ( @* B( ]/ H0 Q3 v! s' i6 d
158.   {
     
159.     Error_Handler();
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160.   }
     
161.   if (HAL_ICACHE_Enable() != HAL_OK)
     
162.   {
     " ~) f% `7 q! G3 Y# Q
163.     Error_Handler();
     ' k) |$ J* u' h# s2 k
164.   }
     9 d. |; J  h4 K' v3 ^8 }2 x8 g' ]
165.   /* USER CODE BEGIN ICACHE_Init 2 */
     
166. 
     1 h# N4 F% l2 Y' E4 y( |8 M4 h$ b
167.   /* USER CODE END ICACHE_Init 2 */
     
168. 
     3 v5 N5 K# f0 L# `1 n5 s
169. }
     
170. /* USER CODE BEGIN 4 */
     ( U0 `4 m: h) v* D  \
171. 
     
172. /* USER CODE END 4 */
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173. 
     / m8 G) v; ~- x( l
174. /**
     ' z( }: u; M( R  v3 V) W" }6 d
175.   * @brief  This function is executed in case of error occurrence.
     
176.   * @retval None
     
177.   */
     
178. void Error_Handler(void)
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179. {
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180.   /* USER CODE BEGIN Error_Handler_Debug */
     
181.   /* User can add his own implementation to report the HAL error return state */
     % ?6 \4 S! j" n+ v% @9 s# m' {! i# s
182.   __disable_irq();
     
183.   while (1)
     2 {5 [' C' ]. N, c* \
184.   {
     
185.   }
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186.   /* USER CODE END Error_Handler_Debug */
     * @2 A' i. a# ~- Y2 d
187. }
     
188. 
     * G) S# a  F' v/ v: B& g7 b
189. #ifdef  USE_FULL_ASSERT
     
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
     8 D1 @8 L3 B+ {5 r/ q
194.   * @param  line: assert_param error line source number
     1 [5 w4 Q0 ]/ u/ L7 {* U& p+ L( V- g
195.   * @retval None
     7 H5 k- e/ ]) n" p% }& f. t& E
196.   */
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197. void assert_failed(uint8_t *file, uint32_t line)
     % f3 K+ K  G* C+ j. a  Z0 B- M
198. {
     9 z9 g* ~% n) _8 O$ S9 g- u
199.   /* USER CODE BEGIN 6 */
     + V4 Y# M. U6 L' E  A0 l
200.   /* User can add his own implementation to report the file name and line number,
     2 B! o' R1 k9 t7 N
201.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     - I  t9 H% {) w4 c. C7 P
202.   /* USER CODE END 6 */
     
203. }
     2 p6 o" ?" N6 X8 O& ^" p- k# [
204. #endif /* USE_FULL_ASSERT */
     

复制代码

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3.4、fun_task.c
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1. #include "main.h"
   & _- V( O! I; v4 V" O5 ~! D
2. 
   
3. #define START_TASK_PRO                1                               
   9 _8 U  @% Y9 M' K/ f
4. #define START_STK_SIZE                128
   
5. TaskHandle_t StartTask_Handler;
   . }- Q4 E3 J0 t
6. 
   
7. #define TASK1_PRIO              2                  
   
8. #define TASK1_STK_SIZE          128                 
   % k, F! \9 ]- O, I, N
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
   # b; o" u7 ]9 e. n/ w
10.            
    + Z  r0 |1 y2 @
11. #define TASK2_PRIO              3                  
    
12. #define TASK2_STK_SIZE          128                 
    ) o& R5 B) j6 a# d2 r  ]
13. static TaskHandle_t                    Task2Task_Handler = NULL;  
    4 V5 |. e% I( ~& O8 s
14. 
    
15. #define TASK3_PRIO              4                  
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16. #define TASK3_STK_SIZE          128                 
    
17. static TaskHandle_t                    Task3Task_Handler = NULL;  
    ! ]; S+ c6 W  _3 Q5 F
18. 
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19. 
      m; \& I" ]$ R9 M; k' t
20. void start_task(void *pvParameters);
    
21. void gui_task(void *pvParameters);
      h8 E/ m% R5 W% D1 Q1 M
22. 
    % g' [) M5 l/ `
23. void task1(void *pvParameters);  
    ! k, T- G, @" O
24. void task2(void *pvParameters);
    4 J& M  H; u" g' G7 `  d
25. void task3(void *pvParameters);
    
26. 
    
27. 
    
28. 
    
29. void task_create(void)
    
30. {
    
31.        
    : [6 {: b7 `1 Z1 r1 z. k2 O. I
32.         //start_task
    
33.         xTaskCreate((TaskFunction_t )start_task,                  
    
34.                                                         (const char*    )"start_task",               
    , v& I" k8 @, @0 o% \( _
35.                                                         (uint16_t       )START_STK_SIZE,         
    : @# N6 k+ R- [+ c4 v$ P
36.                                                         (void*          )NULL,                  
    7 F1 s3 t  u: c1 `# L, h8 J  t
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    8 e$ M2 O& }# R! J
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
      b+ I& S4 }- r2 n4 t7 b$ v
39. 
    
40.         vTaskStartScheduler();
    7 h0 N5 F0 e) n$ P" X. N
41. }
    
42. 
    
43. void start_task(void *pvParameters)
    
44. {
    : x, T# O" q, T0 N+ s9 {1 h: L+ {
45.         taskENTER_CRITICAL();
    7 N3 y: m* m  R, D) N. m
46.         //task1
    
47.         xTaskCreate((TaskFunction_t )task1,                  
    ; R8 F4 d* a0 }) ]0 ]7 x$ N0 t
48.                                                         (const char*    )"task1",               
    
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    ( q) u5 G+ f. _. B$ q% q
50.                                                         (void*          )NULL,                  
    : [4 i" j7 P+ u- p$ B5 W
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
      @" ^$ D# X! l, K4 q+ a0 E
53.         //task2
    * j/ Z# `& a/ I0 H/ n( y& S# c
54.         xTaskCreate((TaskFunction_t )task2,                  
    * ~4 u* y0 l/ r4 m2 S' I! p
55.                                                         (const char*    )"task2",               
    
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    . W: t! f) u# `# }5 x
57.                                                         (void*          )NULL,                  
    
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    $ U! |& ~1 y& R6 q5 L2 z; g
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    7 Z# _  [. O/ u6 J* C+ o: ]0 n/ b
60.         //taskEXIT_CRITICAL();
    , B( }2 v1 Y% P0 b$ e
61.                                                        
    7 D2 C1 J. ~* ~0 @: e" k
62.         //task3
    
63.         xTaskCreate((TaskFunction_t )task3,                  
    8 `" O/ s7 a/ A
64.                                                         (const char*    )"task3",               
    5 S9 [* d+ j* a* d- E
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    8 \8 H, b  K6 d. ~$ q5 G; N, q
66.                                                         (void*          )NULL,                  
    
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    8 h5 D9 }" R0 B5 P- i
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    5 H5 H' h+ T& g1 @
69.         taskEXIT_CRITICAL();
    3 B9 w( z  N, J6 w2 @
70.                                                        
    / n: G' L3 Z7 Z9 h: k8 u
71.         vTaskDelete(StartTask_Handler);                                               
    
72. }
    
73. 
    ) L2 @. [$ L+ l0 I2 B
74. //task1
    
75. void task1(void *pvParameters)
    
76. {
    & x" ]3 j3 ]9 ^# `' U8 j/ G" o
77.                 __IO uint32_t index = 0;
    
78.                 __IO uint32_t flash_id_index = 0;
    - M+ P; R  g/ w; ]: u1 L4 c2 I# c3 `. A
79.        
    5 d$ p3 k& K$ X* r) p
80.     while (1)
    
81.     {               
    
82.                                 led1_tog();
    9 }8 [6 H. e9 o* x  b0 W6 y
83.         printf("task1 run ...\r\n");
    ' w+ r! R: v! T3 J& c. v: y& ?
84.         vTaskDelay(200);
    ( }! [% S) x0 s2 g% x- \$ A; R& l
85.     }
    1 i; z" r- {6 p4 D( }7 T+ Y
86. }
    
87. 
    
88. //task2
    % D$ c( V% Z- @* m7 g& E& Z  k; i
89. void task2(void *pvParameters)
    0 u* K$ U0 v) s2 y% y
90. {
    
91.     while (1)
    
92.     {       
    
93.                                 led2_tog();
    
94.         printf("task2 run ...\r\n");
    
95.         vTaskDelay(100);
    
96.     }
    % S) M9 _9 k4 D. I$ [
97. }
    0 C1 w8 z- i5 x+ l' V
98. 
    8 d5 U4 q# t2 _3 Q+ V( a3 h
99. //task3
    
100. void task3(void *pvParameters)
     - F6 W3 g- X1 O' X/ I& P
101. {
     ) S- X! t, u6 ^& U
102.     while (1)
     
103.     {       
     
104.         printf("task3 run ...\r\n");
     6 d, M" M# u% N6 E7 ^. a5 v/ q
105.         vTaskDelay(100);
     
106.     }
     
107. }

复制代码

四、运行结果

# A0 s: G  W* z* p4.1、仿真运行后，串口输出


9 s9 ^* M. ]. E" o# g1 a


1 H: o9 W1 |/ F; P4 `$ f
1 M$ U* E. j  A/ T8 J' Q# s# n4.2、LED灯运行
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0 [1 O% F) \# L
% v8 p! r3 Q( m7 n' d+ ?


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