一、下载FreeRTOS源码
7 n# M8 n: Q2 V; W* u* r
0 ?; S! x2 s" w+ d4 D9 R- v* [下载地址：https://www.freertos.org/
/ u: i8 C% Q! r

3 Z$ A3 O) n. T1 v1 t4 }# U* ^2 n+ I


二、添加文件
6 [7 ^/ i8 M# B9 G) ]
; L! |' x$ v7 _1 I0 D2.1、复制文件到项目下的middleware
. K8 b! F  U, p5 M. r; e" y: \
! l3 I6 Y' K2 _9 @
2.2、在工程中添加FreeRTOS源码
. q9 x5 u6 _2 I5 J3 o


三、程序代码

- X' q7 b6 ~) V! X2 x8 ]" z5 t7 v
7 K5 r+ S8 E6 q; H  u3.1、FreeRTOSConfig.h

1. /*
   4 g3 G: R1 b% f$ e5 d/ U  H
2. * FreeRTOS V202212.01
   
3. * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   ! f8 i5 B+ s$ h- S! F
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
   / G; ?8 N6 I6 Y8 t3 t( V5 k- b
7. * the Software without restriction, including without limitation the rights to
   
8. * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
   2 W& x# E) j6 x- ]3 X
9. * the Software, and to permit persons to whom the Software is furnished to do so,
   
10. * subject to the following conditions:
    * Z0 K: B- @; q
11. *
    
12. * The above copyright notice and this permission notice shall be included in all
    
13. * copies or substantial portions of the Software.
      n! }# x4 w# l8 Z) }3 k
14. *
    
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
    $ I, |& n' z9 Y/ S! r
18. * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
    
19. * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
    6 }; L1 b2 A0 N# s# A& I" a9 `: ?
20. * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
    2 u7 S3 f" h* V/ g
21. *
    ' f+ f/ ]- o8 I, @5 r5 [
22. * https://www.FreeRTOS.org
    
23. * https://github.com/FreeRTOS
    5 s* e( F0 b- N: p, d. `
24. *
    " b' }9 e( G8 q5 b
25. */
    # a2 P8 R( n8 ]
26. 
    
27. #ifndef FREERTOS_CONFIG_H
    
28. #define FREERTOS_CONFIG_H
    
29. 
    
30. /*-----------------------------------------------------------
    
31. * Application specific definitions.
    
32. *
    
33. * These definitions should be adjusted for your particular hardware and
    , |* W# b- N& U' E8 x) Y
34. * application requirements.
    
35. *
    
36. * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
    3 q* k# i2 }0 f
37. * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
    ; F( b1 U: T6 g; ?
38. *
    5 p" n6 j# b# ]0 o+ z( Q1 P9 g
39. * See http://www.freertos.org/a00110.html.
    ( `7 B+ x  `' \7 J! B2 A' J6 y
40. *----------------------------------------------------------*/
    
41. 
    
42. /* Ensure definitions are only used by the compiler, and not by the assembler. */
    ( {) _5 ]0 X) T- N0 ?
43. #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
    9 f, c9 a; K8 W
44.   #include <stdint.h>
    ) q# o( k$ U# _) J5 |: k* j
45.   extern uint32_t SystemCoreClock;
    
46. #endif
    9 P8 A5 i3 o0 a: P
47. 
    
48. #ifndef configENABLE_FPU
    $ {  j: v# h& q8 ?' T
49.   #define configENABLE_FPU                        1
    , s7 x- o& f' U, B6 x3 r
50. #endif
    ( s2 o1 o! H& r' X; R# `
51. #ifndef configENABLE_MPU
    
52.   #define configENABLE_MPU                        0
    
53. #endif
    
54. #ifndef configENABLE_TRUSTZONE
    
55.   #define configENABLE_TRUSTZONE                  0
    % ?! _# m3 q3 C3 Z. l. c0 h
56. #endif
    & H0 ]* G( T7 Q  m) S4 D/ K, l
57. #ifndef configRUN_FREERTOS_SECURE_ONLY
    
58.   #define configRUN_FREERTOS_SECURE_ONLY          1
    - L' J1 n3 _# S) e% J
59. #endif
    - }8 X8 V+ o: j6 J. b$ D; b" \
60. 
    1 N" m/ G8 h3 o4 n. r3 z) C
61. 
    6 ~& r& c! F8 C( I( H
62. #define configENABLE_MVE                                                   0
    + k4 ?% x/ \$ {: f7 I
63. 
    
64. #define configUSE_PREEMPTION                                        1
    / @: \$ N$ R$ f1 ~+ n
65. #define configSUPPORT_STATIC_ALLOCATION                        0//1
    " F7 j# q* c( p5 v  G% [3 K1 q8 h
66. #define configSUPPORT_DYNAMIC_ALLOCATION                1
    * S( B% q& P) f
67. #define configUSE_IDLE_HOOK                                                0
    
68. #define configUSE_TICK_HOOK                                                0
    , z* l) Y% a" \, A3 s) w4 L
69. #define configCPU_CLOCK_HZ                                                ( SystemCoreClock )
    : B! U& W/ B3 @7 D5 x5 E, [( s
70. #define configTICK_RATE_HZ                                                ( ( TickType_t ) 1000 )
    
71. #define configMAX_PRIORITIES                                        ( 56 )
    % F) {4 v1 W4 o6 N0 {! t& R
72. #define configMINIMAL_STACK_SIZE                                ( ( uint16_t ) 512 )
    ! u! V: v- ^) g, |0 z3 R
73. #define configTOTAL_HEAP_SIZE                                        ( ( size_t ) 15 * 1024 )
    3 s2 ~+ S4 s( d
74. #define configMAX_TASK_NAME_LEN                                        ( 16 )
    
75. #define configUSE_TRACE_FACILITY                                1
    $ I0 P- c: B) E0 Z
76. #define configUSE_16_BIT_TICKS                                        0
    
77. #define configUSE_MUTEXES                                                1
    6 y7 c+ E) w  u8 H! a3 e
78. #define configQUEUE_REGISTRY_SIZE                                8
      k. S( z$ P& x/ M
79. #define configUSE_RECURSIVE_MUTEXES                                1
    
80. #define configUSE_COUNTING_SEMAPHORES                        1
    ; n/ M! A) L7 w& ^
81. #define configUSE_PORT_OPTIMISED_TASK_SELECTION        0
    
82. #define configUSE_MALLOC_FAILED_HOOK                        0//1
    
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. */
    6 f. j3 {! J9 U' G# V1 g2 \$ M
87. #define configMESSAGE_BUFFER_LENGTH_TYPE                size_t
    
88. /* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
    
89. 
    
90. /* Software timer definitions. */
    5 K0 D; H! k2 j$ p/ m1 Z
91. #define configUSE_TIMERS                                                1
    
92. #define configTIMER_TASK_PRIORITY                                ( 2 )
    $ {% H( C! L/ `: [+ D
93. #define configTIMER_QUEUE_LENGTH                                10
    . g( B- R, l# V3 _) u/ m2 P+ X
94. #define configTIMER_TASK_STACK_DEPTH                        256
    
95. 
    
96. /* Set the following definitions to 1 to include the API function, or zero
    5 U" X/ k2 {1 I1 y9 u* G
97. * to exclude the API function. */
    
98. #define INCLUDE_vTaskPrioritySet                                1
    # o3 t" `7 t% v- a
99. #define INCLUDE_uxTaskPriorityGet                                1
    
100. #define INCLUDE_vTaskDelete                                                1
     
101. #define INCLUDE_vTaskCleanUpResources                        0
     
102. #define INCLUDE_vTaskSuspend                                        1
     
103. #define INCLUDE_vTaskDelayUntil                                        1
     
104. #define INCLUDE_vTaskDelay                                                1
     
105. #define INCLUDE_xTaskGetSchedulerState                        1
     ) g( Z4 V! e0 ?: z* U
106. #define INCLUDE_xTimerPendFunctionCall                        1
     9 H% Y- F2 A  z% j! v- ~# l/ Z, c
107. #define INCLUDE_xQueueGetMutexHolder                        1
     , e% k% M: E* Y- S5 B% G0 g5 `
108. #define INCLUDE_uxTaskGetStackHighWaterMark                1
     : v: g7 P  T* K
109. #define INCLUDE_eTaskGetState                                        1
     
110. 
     
111. /* Cortex-M specific definitions. */
     
112. #ifdef __NVIC_PRIO_BITS
     2 t3 x  ~1 `  ?% g& t4 O; g
113.         /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
     
114.         #define configPRIO_BITS                                                __NVIC_PRIO_BITS
       C& d$ Q# `7 h# C0 Q8 t# {' I
115. #else
     4 [' [9 e9 [% a5 |" I5 K9 V
116.         #define configPRIO_BITS                                                4
     ; [" [- L9 e2 F5 }/ N+ v
117. #endif
     
118. 
     
119. /* The lowest interrupt priority that can be used in a call to a "set priority"
     
120. * function. */
     
121. #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY        15
     
122. 
     , R1 N+ A4 }, C: l* ~" m5 Z# [) Z
123. /* The highest interrupt priority that can be used by any interrupt service
     0 a; Z3 W* }3 S
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
       h4 X- x) W. _* {* J" M+ ^* a, a
126. * HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values. */
     4 W  g# j! n  P" S4 f3 A
127. #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
     
128. 
     
129. /* Interrupt priorities used by the kernel port layer itself.  These are generic
     & P' ]8 J) d# N! m
130. * to all Cortex-M ports, and do not rely on any particular library functions. */
     # j0 P( _6 _5 B7 Y* T0 D
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. */
     + J9 X( p4 ~+ G. G
134. #define configMAX_SYSCALL_INTERRUPT_PRIORITY                ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
     
135. 
     
136. /* Normal assert() semantics without relying on the provision of an assert.h
     5 u: p' O, Z  d
137. * header file. */
     * |. U* c5 M' _* @- z  ^" e
138. #define configASSERT( x )                                                        if ( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
     3 |* O6 Z: V9 g7 X: k( L
139. 
     
140. /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
     
141. * standard names. */
     ; Y) I0 q* F% V/ g$ J
142. #define vPortSVCHandler                                                                SVC_Handler
     4 Y# l& T" d) c
143. #define xPortPendSVHandler                                                        PendSV_Handler
     
144. #define xPortSysTickHandler                                                        SysTick_Handler
     1 B! b8 @/ {1 U1 d
145. 
     
146. /* Allow system call from within FreeRTOS kernel only. */
     , o( I3 \' ?, S  n
147. #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY        1
     / ]1 T2 |+ Z: g! Y/ P# c
148. 
     
149. /* STM32H743 has 16 MPU regions and therefore it is necessary to configure
     + T; n8 V3 Q9 }& \, F1 E7 k# p
150. * configTOTAL_MPU_REGIONS correctly. */
     6 A/ B0 R& N2 N7 ?& r, Q6 A" R
151. #define configTOTAL_MPU_REGIONS                                                16
     
152. 
     
153. /* The default TEX,S,C,B setting marks the SRAM as shareable and as a result,
     2 e/ k  g$ p. @  t' D
154. * disables cache. Do not mark the SRAM as shareable because caching is being
     
155. * used. TEX=0, S=0, C=1, B=1. */
     6 i4 M; R4 W1 a* e( C7 Z
156. #define configTEX_S_C_B_SRAM                                                ( 0x03UL )
     - E4 c, N2 }$ I4 a2 ?0 x
157. 
     ( H/ M% \* @, ~8 P0 I, t
158. #endif /* FREERTOS_CONFIG_H */
     " E$ ?$ U1 @9 D" B- n. g

复制代码

4 y( ]8 f2 t: b5 s, [1 Q0 P
6 r6 h. `+ J- V. \$ P; |/ s/ R3.2、屏蔽函数
7 }: Y( ?- E* _
0 v( {- N9 W" b
7 m9 i' x, c! }! L2 u6 ^6 a+ K( n在stm32n6xx_it.c


" x* e0 I/ X4 d7 t7 L5 r) \6 `  \4 o+ q
7 d) T3 a" V5 P/ t
  F9 g' [; T# [

3.3、main.c
, D( s4 W  e; Z' T2 k! Y# B

1. #include "main.h"
   
2. 
   
3. void SystemClock_Config(void);
   
4. void PeriphCommonClock_Config(void);
   
5. 
   
6. int main(void)
   6 E. s6 P: b. D) S- T
7. {
   
8.   HAL_Init();
   ) y; {' c2 H7 w% z* s
9.   SystemClock_Config();
   2 B2 i* a6 V# z8 l% M/ {
10.   PeriphCommonClock_Config();
    + A2 ~" C! z9 G' `! E
11.         usart_init(115200);
    : R- I  V: ~5 J8 X
12.         init_led();
    % ]* F: q0 G+ W$ v% R. P, ^
13.        
    
14.         task_create();
    % X: {% N+ |" _6 B- E) o
15. 
    
16.   while (1)
    0 X. _' I, a+ X8 P
17.   {
    : M% z! ~0 y" \6 t; m
18. 
    - B+ r8 h+ J! s& y
19.   }
    
20. }
    
21. 
    
22. 
    : ?3 E7 N" |) q
23. 
    + E% e; [( {2 v# `. s' S
24. 
    
25. 
    
26. /**
    
27.   * @brief System Clock Configuration
    
28.   * @retval None
    
29.   */
    
30. void SystemClock_Config(void)
    & t9 _" A( t* c' ?9 c$ D2 Y3 w
31. {
    
32.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    7 D2 E7 U# w( v. p# \# D
33.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    
34. 
    1 g. \5 y: q: h  g$ p( R: K0 ]- L
35.   /** Configure the System Power Supply
    
36.   */
    
37.   if (HAL_PWREx_ConfigSupply(PWR_EXTERNAL_SOURCE_SUPPLY) != HAL_OK)
    
38.   {
    4 N. {! V9 b6 F
39.     Error_Handler();
    
40.   }
    
41. 
    # g; @( q- v) o( F
42.   /* Enable HSI */
      v, W# r; C2 A' r. A& ^
43.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    
44.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    , h  b" ^/ ^7 O' l4 p% Z" G
45.   RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
    & [4 G0 G! E/ I3 n% f; ?* X7 x, h+ x) ^
46.   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    
47.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_NONE;
    
48.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    6 S6 ]  |7 @) T( i) A# T3 X9 \
49.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    
50.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    9 @2 n% W' Z# r; W- @
51.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
52.   {
    - A" ~, n! z/ A' n/ w
53.     Error_Handler();
    ! G" w, Y0 t1 c) S6 y
54.   }
    8 r* N7 M) F0 r" W' }. A: R
55. 
    
56.   /** Get current CPU/System buses clocks configuration and if necessary switch
    
57. to intermediate HSI clock to ensure target clock can be set
    
58.   */
    
59.   HAL_RCC_GetClockConfig(&RCC_ClkInitStruct);
    ! G2 Y0 a! e$ O4 \: ^: Q
60.   if ((RCC_ClkInitStruct.CPUCLKSource == RCC_CPUCLKSOURCE_IC1) ||
    0 c6 t1 q9 X+ K( t& Z) n& G6 U$ Q
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;
    3 G& x2 _0 X$ K. s
65.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
    
66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
    
67.     {
    
68.       /* Initialization Error */
    
69.       Error_Handler();
    # K# K- s7 E( [! @
70.     }
    
71.   }
    9 y6 K3 p, q3 N4 |/ x
72. 
    4 @0 x) e) ]0 o* x5 k) n
73.   /** Initializes the RCC Oscillators according to the specified parameters
    * e) A3 t, L/ }
74.   * in the RCC_OscInitTypeDef structure.
    % Q: Y. q: [5 j3 m
75.   */
    ) `$ t3 @9 D6 V% `, V5 K- A! W
76.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    
77.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    
78.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_ON;
    * P) \3 e8 M' Z' z- a2 {
79.   RCC_OscInitStruct.PLL1.PLLSource = RCC_PLLSOURCE_HSE;
    
80.   RCC_OscInitStruct.PLL1.PLLM = 3;
    " k% K6 {% ~4 q3 F8 M. u
81.   RCC_OscInitStruct.PLL1.PLLN = 100;
    $ T4 n* v6 g9 R: C8 R" N
82.   RCC_OscInitStruct.PLL1.PLLFractional = 0;
    
83.   RCC_OscInitStruct.PLL1.PLLP1 = 2;
    
84.   RCC_OscInitStruct.PLL1.PLLP2 = 1;
    6 G0 z) \, \9 z7 Z
85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    0 A0 M  D5 x& q/ r
86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    
87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    
88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    ( b" ?4 `! `6 d8 b- h7 X4 A+ g0 ^
89.   {
    6 u9 Z6 g2 U1 ^/ R& K; d) G
90.     Error_Handler();
    
91.   }
    1 n- h# j1 ]' D+ n7 _
92. 
    : {/ x) K* V6 N% u- X
93.   /** Initializes the CPU, AHB and APB buses clocks
    
94.   */
    
95.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_CPUCLK|RCC_CLOCKTYPE_HCLK
    
96.                               |RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1
    & b- P9 D: T6 s; H
97.                               |RCC_CLOCKTYPE_PCLK2|RCC_CLOCKTYPE_PCLK5
    
98.                               |RCC_CLOCKTYPE_PCLK4;
    * u8 N0 [1 _, g1 G4 T9 w
99.   RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_IC1;
    % _, g# I% F/ p6 L3 t5 D
100.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_IC2_IC6_IC11;
     % |8 K! q' T. _9 [4 _7 F
101.   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
     
102.   RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
     1 {8 Q1 _9 {: a+ [0 J( t
103.   RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
     ( n7 c# v) {- B- A' d1 P
104.   RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;
     
105.   RCC_ClkInitStruct.APB5CLKDivider = RCC_APB5_DIV1;
     ( e/ H- o8 Q# g- Y/ D
106.   RCC_ClkInitStruct.IC1Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     + C: O) b' }( O% M  Z
107.   RCC_ClkInitStruct.IC1Selection.ClockDivider = 1;
     
108.   RCC_ClkInitStruct.IC2Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     8 ^( h& n: v/ o1 _- z( \) u; B
109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
     0 d- l) y/ G3 o' ^) ?6 |2 j+ S
110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     8 \1 U2 q7 w" B' ?
111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
     
112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     ! j8 r! U$ m3 M3 o: i( @
113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     3 g7 Q' T8 ]0 d' |' p0 B
114. 
     , j& p+ [; r1 P0 @5 s2 G
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     3 L2 T2 p( u# G% r! {% ^  |! Z
116.   {
     - r' T- g: T# P& _1 c3 `
117.     Error_Handler();
     - T+ _  g- ?/ K- S2 F% ?# K4 k
118.   }
     . M" T: G! u# u1 x' k
119. }
     4 N5 X% s. m" ^. h
120. 
     
121. /**
     4 z4 X8 H7 h6 h2 f5 x+ g
122.   * @brief Peripherals Common Clock Configuration
     
123.   * @retval None
     * S  p6 K" Y' n$ n
124.   */
     $ @# E# H8 i( t7 B' ~* e$ Q; f6 E
125. void PeriphCommonClock_Config(void)
     
126. {
     
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     6 A; o% y2 i' @; }$ ]! B+ Q8 E
128. 
     ; b) }# {- M( ?; \3 I0 A
129.   /** Initializes the peripherals clock
     
130.   */
     6 z0 a# k) `# Y5 n- c
131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
     , [' h; T$ r9 u0 L5 \
132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     # q) v" K  L6 K4 B" l
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     
134.   {
     : W$ B4 C  m0 l/ f8 s* a: G
135.     Error_Handler();
     
136.   }
     9 }) x' m' ?  s6 ~$ O: [% L% a
137. }
     
138. 
     
139. /**
     
140.   * @brief ICACHE Initialization Function
     
141.   * @param None
     & i/ i0 C0 t# x9 S
142.   * @retval None
     
143.   */
     
144. static void MX_ICACHE_Init(void)
     % ^# O0 h7 E" P  L( W
145. {
     : S2 j# j/ `. ~8 A1 b$ ^
146. 
     9 u/ F' Z0 \  y1 X; O! i
147.   /* USER CODE BEGIN ICACHE_Init 0 */
     
148. 
     
149.   /* USER CODE END ICACHE_Init 0 */
     
150. 
     
151.   /* USER CODE BEGIN ICACHE_Init 1 */
     7 }) x% [) z4 z$ P4 R) R& _
152. 
     ( }. ^1 \) P0 t& M/ m
153.   /* USER CODE END ICACHE_Init 1 */
     
154. 
       q" Q$ g2 h) q) V! K- P2 l
155.   /** Enable instruction cache in 1-way (direct mapped cache)
     
156.   */
     ! _$ x5 n1 V  C8 T
157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     9 G. v2 ]) _* N. e$ R8 Y9 s4 c
158.   {
     
159.     Error_Handler();
     7 U( ~0 ~& x, v% ~: I
160.   }
     : }& f: I6 ?) P# B
161.   if (HAL_ICACHE_Enable() != HAL_OK)
     - E7 _: |$ n5 }! J9 g( I( _
162.   {
     0 K. [' K$ f- _$ ]
163.     Error_Handler();
     2 O- d' V6 [6 c
164.   }
     
165.   /* USER CODE BEGIN ICACHE_Init 2 */
     / k* S5 m" a' c' d3 j2 N3 G
166. 
     
167.   /* USER CODE END ICACHE_Init 2 */
     ! |# S6 m) _# _* Q& L
168. 
     * T8 M. d6 v. d: c- C$ {
169. }
     ) h. T3 F9 |$ F* e- Z8 b
170. /* USER CODE BEGIN 4 */
     ! X2 b/ J* y; M9 ?- l
171. 
     8 D" W- l2 v& [# P
172. /* USER CODE END 4 */
     
173. 
     
174. /**
     4 r; k) P' P: C+ R
175.   * @brief  This function is executed in case of error occurrence.
     2 Y8 d5 t5 L3 t9 `
176.   * @retval None
     
177.   */
     
178. void Error_Handler(void)
     5 o) G1 v) A4 b8 d; a( T! q
179. {
     $ t( o6 {0 w5 W6 _
180.   /* USER CODE BEGIN Error_Handler_Debug */
     
181.   /* User can add his own implementation to report the HAL error return state */
     
182.   __disable_irq();
     ! ]3 \- Q8 z# d1 C
183.   while (1)
     1 @! o- ~7 o  D) D8 s( E; Y8 P
184.   {
     + P0 i  ~- v6 g$ H& w2 d* k0 ^
185.   }
     % v! Z5 [& ~1 d0 Y9 g1 K
186.   /* USER CODE END Error_Handler_Debug */
     3 Q1 Q7 A) |. ~3 M4 k
187. }
     . M' h* P4 J( w' P% I$ D& a0 r
188. 
     
189. #ifdef  USE_FULL_ASSERT
     3 v( S0 n0 Y* b
190. /**
     
191.   * @brief  Reports the name of the source file and the source line number
     2 B* N) M) l. l5 n" J) r8 @  X
192.   *         where the assert_param error has occurred.
     ) N/ a' x- b' X) u" M: e3 i" @6 |% m
193.   * @param  file: pointer to the source file name
     
194.   * @param  line: assert_param error line source number
     
195.   * @retval None
     , v, A$ f5 c( i
196.   */
     
197. void assert_failed(uint8_t *file, uint32_t line)
     
198. {
     ; Y; Y) n7 v0 Y6 T
199.   /* USER CODE BEGIN 6 */
     % d" [0 r+ V9 M6 {9 T
200.   /* User can add his own implementation to report the file name and line number,
     " v( x  Z$ L8 H
201.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     $ u5 ^! t6 l$ }, _4 {1 t. e
202.   /* USER CODE END 6 */
     
203. }
     . _0 w( J% q7 w3 O
204. #endif /* USE_FULL_ASSERT */
     : I4 F3 v; b$ t

复制代码

% v6 V4 q- i( {0 _2 y! ]; N
7 F) Z* a( p+ }  a; r0 E3.4、fun_task.c

1. #include "main.h"
   
2. 
   
3. #define START_TASK_PRO                1                               
   
4. #define START_STK_SIZE                128
   " J/ S  r+ N" J  s  j2 p+ q; x
5. TaskHandle_t StartTask_Handler;
   
6. 
   
7. #define TASK1_PRIO              2                  
     f$ X$ m/ d9 R1 e/ a
8. #define TASK1_STK_SIZE          128                 
   - h  ?2 K! \; }  p. q1 o
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
   7 F% n* e- c2 b/ H7 R
10.            
    " X; l2 s: z  c9 ?# D2 v8 t
11. #define TASK2_PRIO              3                  
    ; r, A3 Y+ B2 y/ ]6 R
12. #define TASK2_STK_SIZE          128                 
    - y5 y; E" o/ ^) z/ z3 m7 H
13. static TaskHandle_t                    Task2Task_Handler = NULL;  
    
14. 
    
15. #define TASK3_PRIO              4                  
    
16. #define TASK3_STK_SIZE          128                 
    
17. static TaskHandle_t                    Task3Task_Handler = NULL;  
    ' ?, X' ]% e+ y3 w8 p1 L* I6 t) T
18. 
    
19. 
    . {( G$ L( l, w  S1 M# E
20. void start_task(void *pvParameters);
    
21. void gui_task(void *pvParameters);
    
22. 
    
23. void task1(void *pvParameters);  
    ; O8 n0 O+ ~2 t, |. m9 o  W
24. void task2(void *pvParameters);
    
25. void task3(void *pvParameters);
    ! z- f8 k( b& u3 N# I$ W" i
26. 
    
27. 
    
28. 
    ; w1 k' C8 B+ `% z1 T; T: B
29. void task_create(void)
    8 S7 {# c, v2 k4 G& q( r
30. {
    
31.        
    
32.         //start_task
    6 `: d4 O1 k8 J& F, _6 E
33.         xTaskCreate((TaskFunction_t )start_task,                  
    7 L$ ?) ~" j# n
34.                                                         (const char*    )"start_task",               
    
35.                                                         (uint16_t       )START_STK_SIZE,         
    5 W- m. A' u6 T* }
36.                                                         (void*          )NULL,                  
    + \0 N1 E" f6 [
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    5 O3 V, X! e/ e/ ]
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    . A2 \" g: p6 B- B* z2 H
39. 
    2 r1 c' @: h( P: q  t' S
40.         vTaskStartScheduler();
    
41. }
    
42. 
    
43. void start_task(void *pvParameters)
    
44. {
    
45.         taskENTER_CRITICAL();
    
46.         //task1
    / C5 }' X  N  E2 `  z
47.         xTaskCreate((TaskFunction_t )task1,                  
      @  m7 i, U" w5 O2 N$ I
48.                                                         (const char*    )"task1",               
    
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    4 a# S; F& n' s
50.                                                         (void*          )NULL,                  
    ! F1 O( L9 k' l/ L4 a- z' a
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    3 M& n7 p0 q  L" |1 o2 F
53.         //task2
    
54.         xTaskCreate((TaskFunction_t )task2,                  
    0 V+ Y, f' s% t/ Q, c( j8 {
55.                                                         (const char*    )"task2",               
    
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    
57.                                                         (void*          )NULL,                  
    . ^3 i( N3 X( j' }- H& ]6 d
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    
60.         //taskEXIT_CRITICAL();
    
61.                                                        
    
62.         //task3
    
63.         xTaskCreate((TaskFunction_t )task3,                  
    
64.                                                         (const char*    )"task3",               
    & x5 A9 L5 g8 E/ R0 F3 Q% S9 y
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    
66.                                                         (void*          )NULL,                  
    
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    . V3 b+ }& H, Q4 H9 N& o
69.         taskEXIT_CRITICAL();
    $ ~# o9 m  f: x( B
70.                                                        
    ) x$ P% o9 o9 c+ y3 Q- K
71.         vTaskDelete(StartTask_Handler);                                               
    
72. }
    7 D( m+ e& e7 o' G1 j8 e
73. 
    
74. //task1
    $ m3 B/ W" g$ Z5 I- g: A6 z
75. void task1(void *pvParameters)
    ) t' o4 }1 M4 z; k
76. {
    ; M( ]$ _4 f' O) e
77.                 __IO uint32_t index = 0;
    
78.                 __IO uint32_t flash_id_index = 0;
    , ?" H! r/ o9 v5 H
79.        
      U0 Q/ J% t* M# N! w2 g. u
80.     while (1)
    
81.     {               
    
82.                                 led1_tog();
    
83.         printf("task1 run ...\r\n");
    
84.         vTaskDelay(200);
    
85.     }
    
86. }
    
87. 
    & b* M' t1 Q$ A  e) N
88. //task2
    
89. void task2(void *pvParameters)
    % o. S0 p1 ?, z" r
90. {
    2 v' H' \; e3 C
91.     while (1)
    0 p9 N2 n5 j. |$ e+ D& F
92.     {       
    6 o1 V# |/ E& e9 k' K' W8 R# T
93.                                 led2_tog();
    ( g$ \+ ?' {$ N6 R" m" o7 `
94.         printf("task2 run ...\r\n");
    5 O8 }% o7 o, y- h3 S/ g( t
95.         vTaskDelay(100);
    
96.     }
    ) _' v5 J9 p6 \4 \# v0 ^- B
97. }
    ( D% r/ q8 m3 p
98. 
    & J: p9 P; I, X$ T( @& J$ n
99. //task3
    
100. void task3(void *pvParameters)
     8 l& r& \8 O- H: R( v7 W0 D
101. {
     % f9 N. `* Z8 y! O
102.     while (1)
     
103.     {       
     
104.         printf("task3 run ...\r\n");
     7 o; R. ]9 h; N
105.         vTaskDelay(100);
     " s. J$ c! H& R/ X) h  q: U# r. c
106.     }
     . A9 A# s. H' d; h/ c& ]5 ]
107. }

复制代码

% H' P1 U' w6 \* O6 @
四、运行结果
7 m& j1 `  `$ D) S! g" ]) b7 ~3 T4 |
4.1、仿真运行后，串口输出
+ b  \4 y! P' j/ R0 T; v% X

. k7 t8 K* l7 \  X3 C
" z: \, w' o- t. ?

7 ]$ T6 @7 y. |: i" w* w& j
4.2、LED灯运行

  Y2 f1 }0 U! c3 b) Y5 u


; N4 c$ A  m) R( m5 W  @" S
8 Q6 O9 e6 ~; P) Q( k' }




1 J/ F0 ]% _8 C' H
% o7 I8 K0 P0 Z, j/ d

感谢分享