一、下载FreeRTOS源码

下载地址：https://www.freertos.org/





二、添加文件

2.1、复制文件到项目下的middleware


2.2、在工程中添加FreeRTOS源码



三、程序代码


3.1、FreeRTOSConfig.h

1. /*
   
2. * FreeRTOS V202212.01
   
3. * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   
4. *
   
5. * Permission is hereby granted, free of charge, to any person obtaining a copy of
   
6. * this software and associated documentation files (the "Software"), to deal in
   
7. * the Software without restriction, including without limitation the rights to
   
8. * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
   
9. * the Software, and to permit persons to whom the Software is furnished to do so,
   
10. * subject to the following conditions:
    
11. *
    
12. * The above copyright notice and this permission notice shall be included in all
    
13. * copies or substantial portions of the Software.
    
14. *
    
15. * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    
16. * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
    
17. * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
    
18. * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
    
19. * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
    
20. * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
    
21. *
    
22. * https://www.FreeRTOS.org
    
23. * https://github.com/FreeRTOS
    
24. *
    
25. */
    
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
    
34. * application requirements.
    
35. *
    
36. * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
    
37. * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
    
38. *
    
39. * See http://www.freertos.org/a00110.html.
    
40. *----------------------------------------------------------*/
    
41. 
    
42. /* Ensure definitions are only used by the compiler, and not by the assembler. */
    
43. #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
    
44.   #include <stdint.h>
    
45.   extern uint32_t SystemCoreClock;
    
46. #endif
    
47. 
    
48. #ifndef configENABLE_FPU
    
49.   #define configENABLE_FPU                        1
    
50. #endif
    
51. #ifndef configENABLE_MPU
    
52.   #define configENABLE_MPU                        0
    
53. #endif
    
54. #ifndef configENABLE_TRUSTZONE
    
55.   #define configENABLE_TRUSTZONE                  0
    
56. #endif
    
57. #ifndef configRUN_FREERTOS_SECURE_ONLY
    
58.   #define configRUN_FREERTOS_SECURE_ONLY          1
    
59. #endif
    
60. 
    
61. 
    
62. #define configENABLE_MVE                                                   0
    
63. 
    
64. #define configUSE_PREEMPTION                                        1
    
65. #define configSUPPORT_STATIC_ALLOCATION                        0//1
    
66. #define configSUPPORT_DYNAMIC_ALLOCATION                1
    
67. #define configUSE_IDLE_HOOK                                                0
    
68. #define configUSE_TICK_HOOK                                                0
    
69. #define configCPU_CLOCK_HZ                                                ( SystemCoreClock )
    
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 )
    
74. #define configMAX_TASK_NAME_LEN                                        ( 16 )
    
75. #define configUSE_TRACE_FACILITY                                1
    
76. #define configUSE_16_BIT_TICKS                                        0
    
77. #define configUSE_MUTEXES                                                1
    
78. #define configQUEUE_REGISTRY_SIZE                                8
    
79. #define configUSE_RECURSIVE_MUTEXES                                1
    
80. #define configUSE_COUNTING_SEMAPHORES                        1
    
81. #define configUSE_PORT_OPTIMISED_TASK_SELECTION        0
    
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. */
    
87. #define configMESSAGE_BUFFER_LENGTH_TYPE                size_t
    
88. /* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
    
89. 
    
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. 
    
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
    
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
     
106. #define INCLUDE_xTimerPendFunctionCall                        1
     
107. #define INCLUDE_xQueueGetMutexHolder                        1
     
108. #define INCLUDE_uxTaskGetStackHighWaterMark                1
     
109. #define INCLUDE_eTaskGetState                                        1
     
110. 
     
111. /* Cortex-M specific definitions. */
     
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
     
116.         #define configPRIO_BITS                                                4
     
117. #endif
     
118. 
     
119. /* The lowest interrupt priority that can be used in a call to a "set priority"
     
120. * function. */
     
121. #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY        15
     
122. 
     
123. /* The highest interrupt priority that can be used by any interrupt service
     
124. * routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT
     
125. * CALL INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A
     
126. * HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values. */
     
127. #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
     
128. 
     
129. /* Interrupt priorities used by the kernel port layer itself.  These are generic
     
130. * to all Cortex-M ports, and do not rely on any particular library functions. */
     
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 ) )
     
135. 
     
136. /* Normal assert() semantics without relying on the provision of an assert.h
     
137. * header file. */
     
138. #define configASSERT( x )                                                        if ( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
     
139. 
     
140. /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
     
141. * standard names. */
     
142. #define vPortSVCHandler                                                                SVC_Handler
     
143. #define xPortPendSVHandler                                                        PendSV_Handler
     
144. #define xPortSysTickHandler                                                        SysTick_Handler
     
145. 
     
146. /* Allow system call from within FreeRTOS kernel only. */
     
147. #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY        1
     
148. 
     
149. /* STM32H743 has 16 MPU regions and therefore it is necessary to configure
     
150. * configTOTAL_MPU_REGIONS correctly. */
     
151. #define configTOTAL_MPU_REGIONS                                                16
     
152. 
     
153. /* The default TEX,S,C,B setting marks the SRAM as shareable and as a result,
     
154. * disables cache. Do not mark the SRAM as shareable because caching is being
     
155. * used. TEX=0, S=0, C=1, B=1. */
     
156. #define configTEX_S_C_B_SRAM                                                ( 0x03UL )
     
157. 
     
158. #endif /* FREERTOS_CONFIG_H */
     

复制代码

3.2、屏蔽函数


在stm32n6xx_it.c






3.3、main.c

1. #include "main.h"
   
2. 
   
3. void SystemClock_Config(void);
   
4. void PeriphCommonClock_Config(void);
   
5. 
   
6. int main(void)
   
7. {
   
8.   HAL_Init();
   
9.   SystemClock_Config();
   
10.   PeriphCommonClock_Config();
    
11.         usart_init(115200);
    
12.         init_led();
    
13.        
    
14.         task_create();
    
15. 
    
16.   while (1)
    
17.   {
    
18. 
    
19.   }
    
20. }
    
21. 
    
22. 
    
23. 
    
24. 
    
25. 
    
26. /**
    
27.   * @brief System Clock Configuration
    
28.   * @retval None
    
29.   */
    
30. void SystemClock_Config(void)
    
31. {
    
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)
    
38.   {
    
39.     Error_Handler();
    
40.   }
    
41. 
    
42.   /* Enable HSI */
    
43.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    
44.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    
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;
    
50.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    
51.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
52.   {
    
53.     Error_Handler();
    
54.   }
    
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);
    
60.   if ((RCC_ClkInitStruct.CPUCLKSource == RCC_CPUCLKSOURCE_IC1) ||
    
61.      (RCC_ClkInitStruct.SYSCLKSource == RCC_SYSCLKSOURCE_IC2_IC6_IC11))
    
62.   {
    
63.     RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_CPUCLK | RCC_CLOCKTYPE_SYSCLK);
    
64.     RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_HSI;
    
65.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
    
66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
    
67.     {
    
68.       /* Initialization Error */
    
69.       Error_Handler();
    
70.     }
    
71.   }
    
72. 
    
73.   /** Initializes the RCC Oscillators according to the specified parameters
    
74.   * in the RCC_OscInitTypeDef structure.
    
75.   */
    
76.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    
77.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    
78.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_ON;
    
79.   RCC_OscInitStruct.PLL1.PLLSource = RCC_PLLSOURCE_HSE;
    
80.   RCC_OscInitStruct.PLL1.PLLM = 3;
    
81.   RCC_OscInitStruct.PLL1.PLLN = 100;
    
82.   RCC_OscInitStruct.PLL1.PLLFractional = 0;
    
83.   RCC_OscInitStruct.PLL1.PLLP1 = 2;
    
84.   RCC_OscInitStruct.PLL1.PLLP2 = 1;
    
85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    
86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    
87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    
88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
89.   {
    
90.     Error_Handler();
    
91.   }
    
92. 
    
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
    
97.                               |RCC_CLOCKTYPE_PCLK2|RCC_CLOCKTYPE_PCLK5
    
98.                               |RCC_CLOCKTYPE_PCLK4;
    
99.   RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_IC1;
    
100.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_IC2_IC6_IC11;
     
101.   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
     
102.   RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
     
103.   RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
     
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;
     
110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
     
112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     
114. 
     
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     
116.   {
     
117.     Error_Handler();
     
118.   }
     
119. }
     
120. 
     
121. /**
     
122.   * @brief Peripherals Common Clock Configuration
     
123.   * @retval None
     
124.   */
     
125. void PeriphCommonClock_Config(void)
     
126. {
     
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     
128. 
     
129.   /** Initializes the peripherals clock
     
130.   */
     
131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
     
132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     
134.   {
     
135.     Error_Handler();
     
136.   }
     
137. }
     
138. 
     
139. /**
     
140.   * @brief ICACHE Initialization Function
     
141.   * @param None
     
142.   * @retval None
     
143.   */
     
144. static void MX_ICACHE_Init(void)
     
145. {
     
146. 
     
147.   /* USER CODE BEGIN ICACHE_Init 0 */
     
148. 
     
149.   /* USER CODE END ICACHE_Init 0 */
     
150. 
     
151.   /* USER CODE BEGIN ICACHE_Init 1 */
     
152. 
     
153.   /* USER CODE END ICACHE_Init 1 */
     
154. 
     
155.   /** Enable instruction cache in 1-way (direct mapped cache)
     
156.   */
     
157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     
158.   {
     
159.     Error_Handler();
     
160.   }
     
161.   if (HAL_ICACHE_Enable() != HAL_OK)
     
162.   {
     
163.     Error_Handler();
     
164.   }
     
165.   /* USER CODE BEGIN ICACHE_Init 2 */
     
166. 
     
167.   /* USER CODE END ICACHE_Init 2 */
     
168. 
     
169. }
     
170. /* USER CODE BEGIN 4 */
     
171. 
     
172. /* USER CODE END 4 */
     
173. 
     
174. /**
     
175.   * @brief  This function is executed in case of error occurrence.
     
176.   * @retval None
     
177.   */
     
178. void Error_Handler(void)
     
179. {
     
180.   /* USER CODE BEGIN Error_Handler_Debug */
     
181.   /* User can add his own implementation to report the HAL error return state */
     
182.   __disable_irq();
     
183.   while (1)
     
184.   {
     
185.   }
     
186.   /* USER CODE END Error_Handler_Debug */
     
187. }
     
188. 
     
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
     
194.   * @param  line: assert_param error line source number
     
195.   * @retval None
     
196.   */
     
197. void assert_failed(uint8_t *file, uint32_t line)
     
198. {
     
199.   /* USER CODE BEGIN 6 */
     
200.   /* User can add his own implementation to report the file name and line number,
     
201.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     
202.   /* USER CODE END 6 */
     
203. }
     
204. #endif /* USE_FULL_ASSERT */
     

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3.4、fun_task.c

1. #include "main.h"
   
2. 
   
3. #define START_TASK_PRO                1                               
   
4. #define START_STK_SIZE                128
   
5. TaskHandle_t StartTask_Handler;
   
6. 
   
7. #define TASK1_PRIO              2                  
   
8. #define TASK1_STK_SIZE          128                 
   
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
   
10.            
    
11. #define TASK2_PRIO              3                  
    
12. #define TASK2_STK_SIZE          128                 
    
13. static TaskHandle_t                    Task2Task_Handler = NULL;  
    
14. 
    
15. #define TASK3_PRIO              4                  
    
16. #define TASK3_STK_SIZE          128                 
    
17. static TaskHandle_t                    Task3Task_Handler = NULL;  
    
18. 
    
19. 
    
20. void start_task(void *pvParameters);
    
21. void gui_task(void *pvParameters);
    
22. 
    
23. void task1(void *pvParameters);  
    
24. void task2(void *pvParameters);
    
25. void task3(void *pvParameters);
    
26. 
    
27. 
    
28. 
    
29. void task_create(void)
    
30. {
    
31.        
    
32.         //start_task
    
33.         xTaskCreate((TaskFunction_t )start_task,                  
    
34.                                                         (const char*    )"start_task",               
    
35.                                                         (uint16_t       )START_STK_SIZE,         
    
36.                                                         (void*          )NULL,                  
    
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    
39. 
    
40.         vTaskStartScheduler();
    
41. }
    
42. 
    
43. void start_task(void *pvParameters)
    
44. {
    
45.         taskENTER_CRITICAL();
    
46.         //task1
    
47.         xTaskCreate((TaskFunction_t )task1,                  
    
48.                                                         (const char*    )"task1",               
    
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    
50.                                                         (void*          )NULL,                  
    
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    
53.         //task2
    
54.         xTaskCreate((TaskFunction_t )task2,                  
    
55.                                                         (const char*    )"task2",               
    
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    
57.                                                         (void*          )NULL,                  
    
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",               
    
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    
66.                                                         (void*          )NULL,                  
    
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    
69.         taskEXIT_CRITICAL();
    
70.                                                        
    
71.         vTaskDelete(StartTask_Handler);                                               
    
72. }
    
73. 
    
74. //task1
    
75. void task1(void *pvParameters)
    
76. {
    
77.                 __IO uint32_t index = 0;
    
78.                 __IO uint32_t flash_id_index = 0;
    
79.        
    
80.     while (1)
    
81.     {               
    
82.                                 led1_tog();
    
83.         printf("task1 run ...\r\n");
    
84.         vTaskDelay(200);
    
85.     }
    
86. }
    
87. 
    
88. //task2
    
89. void task2(void *pvParameters)
    
90. {
    
91.     while (1)
    
92.     {       
    
93.                                 led2_tog();
    
94.         printf("task2 run ...\r\n");
    
95.         vTaskDelay(100);
    
96.     }
    
97. }
    
98. 
    
99. //task3
    
100. void task3(void *pvParameters)
     
101. {
     
102.     while (1)
     
103.     {       
     
104.         printf("task3 run ...\r\n");
     
105.         vTaskDelay(100);
     
106.     }
     
107. }

复制代码

四、运行结果

4.1、仿真运行后，串口输出






4.2、LED灯运行

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