一、下载FreeRTOS源码

下载地址：https://www.freertos.org/
6 S* @5 s% s& d" \

! }0 j$ p/ p* E


) m+ k  e3 m5 W二、添加文件
0 X/ Z! {' G; G1 U" m/ O
2.1、复制文件到项目下的middleware
; E' X  }% b1 g+ R$ {. Y# t0 s

/ a& H8 {$ g0 q4 q) a7 C0 v! h2.2、在工程中添加FreeRTOS源码

8 E% Y- O# v, t  t

+ U" l7 u9 ]. r三、程序代码


$ ]2 i! l$ ?" y; I3.1、FreeRTOSConfig.h
: @" e' B5 ]" F& U+ e

1. /*
   , J4 k. Z' }* {2 @' {, j* ?
2. * FreeRTOS V202212.01
   
3. * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   ( Y9 J( X# v7 E. D0 z
4. *
   5 |, _. y0 b1 y7 i9 j5 W
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
   3 o) {* W9 c7 w8 P
7. * the Software without restriction, including without limitation the rights to
   " T( E: [% U/ G& U1 Q9 R
8. * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
   $ Z2 R. ?4 \9 d5 u2 I  p
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.
    3 D& Q# K+ k. B* Z4 J& V) ?
14. *
    ; S- }2 f$ N" X" b1 Y4 Q
15. * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    " _% ^3 b1 n7 w' ]
16. * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
    + E: \) q' H# \0 S. E# f
17. * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
    4 e9 v; l" o# p( U; u+ F9 Y
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
    8 Z+ O# z! ]8 i% y
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. */
    3 N% u6 i4 X  u9 p5 g6 O. {: Q% M) f
26. 
    7 s& L) `3 D$ ^9 W0 I' D  T
27. #ifndef FREERTOS_CONFIG_H
    
28. #define FREERTOS_CONFIG_H
    6 |% M1 |7 X; V' O
29. 
    / i- q- b' k) i" z2 p
30. /*-----------------------------------------------------------
    
31. * Application specific definitions.
    
32. *
    
33. * These definitions should be adjusted for your particular hardware and
    
34. * application requirements.
    
35. *
    3 Q8 r/ m& {. f  N% q$ K
36. * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
    
37. * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
    1 c: l# J0 B5 ]4 b1 j+ Q4 z
38. *
    ) ^' |5 U' C) B3 Z
39. * See http://www.freertos.org/a00110.html.
    6 f. y; e6 v) {- Y# |  K) @
40. *----------------------------------------------------------*/
    
41. 
    5 _9 q8 F" N4 l5 y$ C
42. /* Ensure definitions are only used by the compiler, and not by the assembler. */
    7 \1 @+ Q; `, }/ u* ^. {, ~% ]
43. #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
    
44.   #include <stdint.h>
    
45.   extern uint32_t SystemCoreClock;
    2 m% {6 }6 ?1 ]: a
46. #endif
    & O  T: C: R# T+ K5 ?, H
47. 
    # B) f. F* n" ^
48. #ifndef configENABLE_FPU
    1 s( |# M; ?1 D% y8 Q3 y) B; D
49.   #define configENABLE_FPU                        1
    $ ]! x1 P+ a! Q. m! R/ u" I# S6 P
50. #endif
    ; P6 }$ I1 [$ V6 L+ c
51. #ifndef configENABLE_MPU
    
52.   #define configENABLE_MPU                        0
    
53. #endif
    2 T5 q) b! k# U( u
54. #ifndef configENABLE_TRUSTZONE
    
55.   #define configENABLE_TRUSTZONE                  0
    
56. #endif
    
57. #ifndef configRUN_FREERTOS_SECURE_ONLY
    
58.   #define configRUN_FREERTOS_SECURE_ONLY          1
    + Z, l( Z7 A% L0 E$ W9 A
59. #endif
    
60. 
    
61. 
    # M7 P& V9 i2 c! }8 n
62. #define configENABLE_MVE                                                   0
    1 ^( P) f+ U9 q( d+ c
63. 
    " x7 I. m" y9 E" J" v7 F
64. #define configUSE_PREEMPTION                                        1
    
65. #define configSUPPORT_STATIC_ALLOCATION                        0//1
    
66. #define configSUPPORT_DYNAMIC_ALLOCATION                1
    
67. #define configUSE_IDLE_HOOK                                                0
    - {' c  ~% n, w- T; R" p
68. #define configUSE_TICK_HOOK                                                0
    3 y! }, y' I& t
69. #define configCPU_CLOCK_HZ                                                ( SystemCoreClock )
    ! n& p3 e9 ]3 z! J( \; J
70. #define configTICK_RATE_HZ                                                ( ( TickType_t ) 1000 )
    
71. #define configMAX_PRIORITIES                                        ( 56 )
    ' C1 ~+ U) N6 U
72. #define configMINIMAL_STACK_SIZE                                ( ( uint16_t ) 512 )
    5 j; t2 m  P( O5 s& O
73. #define configTOTAL_HEAP_SIZE                                        ( ( size_t ) 15 * 1024 )
    8 _3 b: ?9 d7 w5 K* {% o( C' `8 ^
74. #define configMAX_TASK_NAME_LEN                                        ( 16 )
    
75. #define configUSE_TRACE_FACILITY                                1
    0 q4 w3 E& z! N7 p- V; ^9 U
76. #define configUSE_16_BIT_TICKS                                        0
    ' q& v& ~0 E+ N1 |. H
77. #define configUSE_MUTEXES                                                1
      p, w% i8 S5 _/ a, A
78. #define configQUEUE_REGISTRY_SIZE                                8
    & a1 y, g! J5 X# c6 [  Q* {
79. #define configUSE_RECURSIVE_MUTEXES                                1
    
80. #define configUSE_COUNTING_SEMAPHORES                        1
    $ _! C: o/ t; o8 v% y
81. #define configUSE_PORT_OPTIMISED_TASK_SELECTION        0
    
82. #define configUSE_MALLOC_FAILED_HOOK                        0//1
    
83. #define configCHECK_FOR_STACK_OVERFLOW                        0//2
    * i  k3 h  B, P# F& S
84. 
    - N+ J4 {/ ~' d" O7 W9 H
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. */
    ; @' ~* k/ L& @' g! M
87. #define configMESSAGE_BUFFER_LENGTH_TYPE                size_t
    
88. /* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
    
89. 
    ' x7 M! }: Z9 W: @6 f
90. /* Software timer definitions. */
    
91. #define configUSE_TIMERS                                                1
    6 w4 H* o6 @  }
92. #define configTIMER_TASK_PRIORITY                                ( 2 )
    
93. #define configTIMER_QUEUE_LENGTH                                10
    0 r0 k- H4 I) ?# s2 A
94. #define configTIMER_TASK_STACK_DEPTH                        256
    
95. 
    " l9 h0 |; Y9 t
96. /* Set the following definitions to 1 to include the API function, or zero
    # H( b# @6 C: d+ I# j' l( _) L
97. * to exclude the API function. */
    5 t3 R/ E8 k% b: ?' z) {  F) V8 L: I
98. #define INCLUDE_vTaskPrioritySet                                1
    2 n5 m) n( Q+ w( t' W/ K+ m
99. #define INCLUDE_uxTaskPriorityGet                                1
    ) D! c" Y+ w4 I, ]' h
100. #define INCLUDE_vTaskDelete                                                1
     $ \5 c; ]& w( o
101. #define INCLUDE_vTaskCleanUpResources                        0
     9 V' K) \' C6 p9 T0 m& d- x
102. #define INCLUDE_vTaskSuspend                                        1
     
103. #define INCLUDE_vTaskDelayUntil                                        1
     
104. #define INCLUDE_vTaskDelay                                                1
     
105. #define INCLUDE_xTaskGetSchedulerState                        1
     9 q: {8 U) b9 ?7 X% ^9 \
106. #define INCLUDE_xTimerPendFunctionCall                        1
     
107. #define INCLUDE_xQueueGetMutexHolder                        1
     
108. #define INCLUDE_uxTaskGetStackHighWaterMark                1
     0 U1 ?1 u4 f+ y5 U& A
109. #define INCLUDE_eTaskGetState                                        1
     
110. 
     : |/ G- U8 y+ h* x. v5 Y0 K
111. /* Cortex-M specific definitions. */
     & r* Q- L; W5 P0 u- e
112. #ifdef __NVIC_PRIO_BITS
     ! h; d4 M' m/ S; \" a9 u$ ]4 A
113.         /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
     % S1 W6 y* x/ z7 G0 |! I- l
114.         #define configPRIO_BITS                                                __NVIC_PRIO_BITS
     
115. #else
     
116.         #define configPRIO_BITS                                                4
     8 t4 r8 M4 [6 G3 r/ I' @8 a2 a2 t
117. #endif
     
118. 
     ; h8 [% W' O6 m7 b( R
119. /* The lowest interrupt priority that can be used in a call to a "set priority"
     ! c  v( Z) ]8 Q6 g# b# w
120. * function. */
     % ?0 I8 K% T' B
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
     # s: f7 C( a+ F1 S! w+ X1 [
126. * HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values. */
     
127. #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
     9 l- k; ?: o" ?  ]' ^; p) N
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 ) )
     # R: c- O; ^8 D2 S3 q0 x
132. /* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
     5 o! Q2 G( `+ Z! L
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 ) )
     % H4 k5 C5 [( B/ e
135. 
     3 r# {& ]- t& C9 r
136. /* Normal assert() semantics without relying on the provision of an assert.h
     
137. * header file. */
     / }# A2 g" P6 w
138. #define configASSERT( x )                                                        if ( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
     0 y2 ]/ S. O) {( L2 c- z" G# Z
139. 
     
140. /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
     6 U; ^* l$ l; w* L& S: `% l( u3 D, r  T- `
141. * standard names. */
     4 _. C# L7 I; `
142. #define vPortSVCHandler                                                                SVC_Handler
     
143. #define xPortPendSVHandler                                                        PendSV_Handler
     4 c" ^! h7 T+ s
144. #define xPortSysTickHandler                                                        SysTick_Handler
     
145. 
     " y( v) A# ^, P8 l+ u9 s
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. 
     ; f* }: j8 c. z1 \
153. /* The default TEX,S,C,B setting marks the SRAM as shareable and as a result,
     ! v3 n2 O! ]/ d& g4 T
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 )
     ( }& \$ X7 T: [: B* `  G, x
157. 
     3 V# S0 T9 Q) N
158. #endif /* FREERTOS_CONFIG_H */
     

复制代码

* }. j2 ^3 p4 p& c3.2、屏蔽函数

, |/ l9 s, m! X+ P( l
$ Y( x: p$ x! f) G  w$ n- O- H' N在stm32n6xx_it.c
' h$ h1 z/ ^3 c9 @. p
3 S* F" @, ^( X2 c3 j- ]. @


: d# V; }  o( _
7 z: D/ `- S4 H! d; X# e/ x
3.3、main.c
% P- S8 S! d, d

1. #include "main.h"
   1 f4 [. ^- S. ?: z  h) N8 \& u
2. 
   & f) s- F" O9 [$ u) t/ c
3. void SystemClock_Config(void);
   ) O: Q3 g: n& F+ T
4. void PeriphCommonClock_Config(void);
   % e) `  b0 C2 r; _0 F9 x# x& f. R& ^
5. 
   * q. m# g6 [* x, S8 x- }8 y
6. int main(void)
   
7. {
   ( `, E9 h7 t) l3 l# F6 ?
8.   HAL_Init();
   ; \! K# n- P; i$ f3 q  _7 z6 X* r! c
9.   SystemClock_Config();
   
10.   PeriphCommonClock_Config();
    - t/ M. G, L3 G9 L+ h5 k
11.         usart_init(115200);
    ) m0 p( k2 R& w1 t' N
12.         init_led();
    * [/ U( G. w, R, s$ A: K
13.        
    
14.         task_create();
    
15. 
    
16.   while (1)
    
17.   {
    
18. 
    . ]3 ^7 e8 Z) t% I
19.   }
    , w6 P2 ]# n. _  h( p  I! _$ ?
20. }
    2 ]& T5 b' ~" ]& ~- ^! o
21. 
    - |5 i9 v( e" Y# @
22. 
    
23. 
    
24. 
    8 U6 E5 @7 H. {# `& R& c
25. 
    2 T- p8 t3 a8 I4 ]" N1 d
26. /**
    3 p6 z( z" }6 o/ @
27.   * @brief System Clock Configuration
    
28.   * @retval None
    5 k) t: X. O/ @& V# q$ M) Q1 c
29.   */
    ; w4 f$ A9 W9 R) ~& e% M; n
30. void SystemClock_Config(void)
    + M4 o, E; ]# }) J4 y
31. {
    : x7 V# G  p3 h1 h
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();
    5 U% X; K) @: _3 X
40.   }
    ! \! r  f, q% [) L! w
41. 
    
42.   /* Enable HSI */
    
43.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    4 B( a! o# ]. Q1 d; l
44.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    
45.   RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
    3 A# M9 u! S) D+ y2 Z/ Y
46.   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    & ?6 S" B- b3 M: U, X' n( Z. M0 V
47.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_NONE;
    $ d  J/ k; s( ?' c
48.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    " l+ K' }9 ]7 L- T1 G2 s
49.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    / N& d' f: y8 T' s9 L. q1 t. H
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
    7 p: G' X& k! [+ ?8 m
57. to intermediate HSI clock to ensure target clock can be set
    9 E; ~& Y% i( M, ^
58.   */
    1 b4 k5 C4 i" |* U1 c9 V1 I
59.   HAL_RCC_GetClockConfig(&RCC_ClkInitStruct);
    & |% v" I) U2 v6 ^' p8 F" a% _
60.   if ((RCC_ClkInitStruct.CPUCLKSource == RCC_CPUCLKSOURCE_IC1) ||
    
61.      (RCC_ClkInitStruct.SYSCLKSource == RCC_SYSCLKSOURCE_IC2_IC6_IC11))
    
62.   {
    * R" [, R0 T3 D- B* h6 E
63.     RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_CPUCLK | RCC_CLOCKTYPE_SYSCLK);
    6 A: J! y5 Z, I9 Q- i
64.     RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_HSI;
    
65.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
    
66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
    1 {5 d! I! Q! ^. ?* h4 m
67.     {
    
68.       /* Initialization Error */
    ' s6 i/ f! l5 d" K4 r/ p' g
69.       Error_Handler();
    
70.     }
    
71.   }
    
72. 
    3 W* s9 y# K( r" K
73.   /** Initializes the RCC Oscillators according to the specified parameters
    & @- S, q! \% v2 B3 m
74.   * in the RCC_OscInitTypeDef structure.
    
75.   */
    
76.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    4 i+ l% X! |8 m/ u1 \* B; X
77.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    , A/ G) t7 ~( W# W
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;
    0 K; n% _6 Y3 S3 o1 S
82.   RCC_OscInitStruct.PLL1.PLLFractional = 0;
    
83.   RCC_OscInitStruct.PLL1.PLLP1 = 2;
    5 r7 O4 }! m# A6 A
84.   RCC_OscInitStruct.PLL1.PLLP2 = 1;
    
85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    
86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    3 f& e( G3 x, |3 n! b5 y4 e
87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    
88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
89.   {
    
90.     Error_Handler();
    
91.   }
    
92. 
    7 |( v: K! @! r5 w: C, c) u
93.   /** Initializes the CPU, AHB and APB buses clocks
    
94.   */
    ; u7 T$ Z* i1 U( X3 D" u- J& y
95.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_CPUCLK|RCC_CLOCKTYPE_HCLK
    ) h9 {  V* e' J1 f1 t' z% n
96.                               |RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1
    0 }3 T- y/ |# d9 C
97.                               |RCC_CLOCKTYPE_PCLK2|RCC_CLOCKTYPE_PCLK5
    % c/ |2 N2 b6 U6 k1 T3 @, p+ h1 Z
98.                               |RCC_CLOCKTYPE_PCLK4;
    
99.   RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_IC1;
    . K+ Y6 Y" |( L
100.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_IC2_IC6_IC11;
     3 ^, y0 e7 h+ ?* G6 S
101.   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
     $ w" Z& b0 L9 U/ {1 g; U  E
102.   RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
     8 D( x" O" D1 P0 h2 A1 M# S6 k0 i
103.   RCC_ClkInitStruct.APB2CLKDivider = RCC_APB2_DIV1;
     3 D2 E2 e/ f  w' A) j; x
104.   RCC_ClkInitStruct.APB4CLKDivider = RCC_APB4_DIV1;
     
105.   RCC_ClkInitStruct.APB5CLKDivider = RCC_APB5_DIV1;
     ( q2 }( P/ }# a5 c
106.   RCC_ClkInitStruct.IC1Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
107.   RCC_ClkInitStruct.IC1Selection.ClockDivider = 1;
     
108.   RCC_ClkInitStruct.IC2Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     0 A* w0 v  a  L7 x7 [+ o5 b- W
109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
     
110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
       r% E: Q* P5 U- {' Y
112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     4 e' u% }6 {5 _! L3 `- i
113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     
114. 
     
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     
116.   {
     7 T+ S+ ~+ D: S( [" Z
117.     Error_Handler();
     + S* f$ b5 a$ M& W
118.   }
     
119. }
     
120. 
     * \" j9 I% |- Y0 M
121. /**
     
122.   * @brief Peripherals Common Clock Configuration
     # a4 Z5 _+ _) K" k" u6 |
123.   * @retval None
     
124.   */
     3 ]% r6 ?: P2 A6 a$ V0 ?; I
125. void PeriphCommonClock_Config(void)
     & v( ]2 W0 K( b: _6 u
126. {
     
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
       ]! _3 ~3 ^9 T  U# t
128. 
     
129.   /** Initializes the peripherals clock
     
130.   */
     0 H) y. e- W% B2 c
131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
     & p& ~4 B' @$ V$ _7 u8 K
132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     % V! e* J* e' t8 b' U* q
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     3 Q5 Y3 p  \2 ]- D( ?- j
134.   {
     1 K2 f  D* d) b2 B+ r3 Q
135.     Error_Handler();
     ( z6 u$ C7 O& x( P: W/ O4 _1 k8 u6 c
136.   }
     
137. }
     
138. 
     
139. /**
     5 c+ T% ]' i3 F- ?
140.   * @brief ICACHE Initialization Function
     
141.   * @param None
       K/ j/ B+ b9 ^! f2 J
142.   * @retval None
     3 Z' Z0 K# h1 {" s2 ^7 E0 z, \- m
143.   */
     
144. static void MX_ICACHE_Init(void)
     
145. {
     
146. 
     
147.   /* USER CODE BEGIN ICACHE_Init 0 */
     
148. 
     1 X  Z( I1 r/ A
149.   /* USER CODE END ICACHE_Init 0 */
     
150. 
     
151.   /* USER CODE BEGIN ICACHE_Init 1 */
     ( d6 ]! o' R6 f5 p, X
152. 
     1 D/ L- u. r2 y( ^
153.   /* USER CODE END ICACHE_Init 1 */
     " M, j# ~- S1 c* B1 L/ @
154. 
     
155.   /** Enable instruction cache in 1-way (direct mapped cache)
     
156.   */
     1 {, d6 ?+ F: z) I. Y, o
157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     
158.   {
     ) E% Z6 E/ ?; }- g/ V0 g% _
159.     Error_Handler();
     
160.   }
     - j; x- ~% a8 ]* Q
161.   if (HAL_ICACHE_Enable() != HAL_OK)
       R  n. x* ?% [! B, R: L
162.   {
     7 G% n3 m3 U, [% \7 H+ I6 c7 z
163.     Error_Handler();
     
164.   }
     
165.   /* USER CODE BEGIN ICACHE_Init 2 */
     
166. 
     9 q& @8 |! g0 y. ?( i/ ~
167.   /* USER CODE END ICACHE_Init 2 */
     " H) K% e- Y5 F; [8 l
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)
     ) W  V) d9 }3 `. _7 R
179. {
     ( Z# p) w; \  Q8 i( w: F* U1 N
180.   /* USER CODE BEGIN Error_Handler_Debug */
     
181.   /* User can add his own implementation to report the HAL error return state */
     5 l, l3 ]1 V% j- D8 |
182.   __disable_irq();
     2 ?0 `4 t& U' m& q
183.   while (1)
     
184.   {
     
185.   }
     9 P8 z9 F3 u7 i8 n$ q9 h, t
186.   /* USER CODE END Error_Handler_Debug */
     + |9 [6 k+ M& z7 C: F, e
187. }
     
188. 
     . m  g9 V5 B# _
189. #ifdef  USE_FULL_ASSERT
     4 P0 u$ w% @; W5 B* o- |
190. /**
     
191.   * @brief  Reports the name of the source file and the source line number
     * h1 f* }/ T9 l4 G; {% [6 ?2 C
192.   *         where the assert_param error has occurred.
     
193.   * @param  file: pointer to the source file name
     ; U" h5 U" x! S4 m: O& q
194.   * @param  line: assert_param error line source number
     5 u: B  i; A7 s
195.   * @retval None
     ' |/ ^0 c; {7 [$ x
196.   */
     
197. void assert_failed(uint8_t *file, uint32_t line)
     , L, l: D; r( a  E: h( J
198. {
     ' e: c. s7 P) Y5 q" ^" J8 p1 y! A
199.   /* USER CODE BEGIN 6 */
     # l- ^) {: C- X6 C  O  Y
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 */
     - @' k' u6 e4 q
203. }
     8 R" i9 _; J$ _8 L  l
204. #endif /* USE_FULL_ASSERT */
     

复制代码

2 {' T* z) v% K3.4、fun_task.c
$ W/ B( V5 p$ A9 F, L6 \

1. #include "main.h"
   3 @6 [1 ?9 E4 k) b' G6 v8 q
2. 
   / t% j$ x" C$ K2 h8 s" V. S5 H
3. #define START_TASK_PRO                1                               
   
4. #define START_STK_SIZE                128
   
5. TaskHandle_t StartTask_Handler;
   - J8 C$ d2 n' b/ J
6. 
   
7. #define TASK1_PRIO              2                  
   4 T6 U& ?! n) n
8. #define TASK1_STK_SIZE          128                 
   8 m# m, E/ F0 T" @/ I
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
   ' ]0 P5 w* E* q9 B4 H- L
10.            
    
11. #define TASK2_PRIO              3                  
    
12. #define TASK2_STK_SIZE          128                 
    9 f" Q7 b& P; t( O
13. static TaskHandle_t                    Task2Task_Handler = NULL;  
    
14. 
    ; U' J' {9 _, H$ b# W- @
15. #define TASK3_PRIO              4                  
    
16. #define TASK3_STK_SIZE          128                 
    % [% L$ K( o5 B7 O" G  W/ z
17. static TaskHandle_t                    Task3Task_Handler = NULL;  
    
18. 
    - x, v& M) ^  q5 H
19. 
    1 R' r" I/ [; I' v
20. void start_task(void *pvParameters);
    
21. void gui_task(void *pvParameters);
    
22. 
    
23. void task1(void *pvParameters);  
    0 E' E  h5 |! X' `# E. B( n
24. void task2(void *pvParameters);
    ( u: j' t# ~. v- d1 Z
25. void task3(void *pvParameters);
    
26. 
    
27. 
    ! H9 Z/ _; ~7 {/ ?
28. 
    
29. void task_create(void)
    
30. {
    ! B: S0 e  w2 T9 u  ~
31.        
    ; q$ S+ y* o6 v0 O9 J6 y
32.         //start_task
    % {- U# d/ H& f$ Y# r, f/ u& @
33.         xTaskCreate((TaskFunction_t )start_task,                  
    
34.                                                         (const char*    )"start_task",               
    9 x9 F* |# P6 V; [- s) D2 E
35.                                                         (uint16_t       )START_STK_SIZE,         
    
36.                                                         (void*          )NULL,                  
    % ]7 t+ t( N" B
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    ! ]7 @; v  j! t2 l
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    
39. 
    ! L( _- y* O. @8 b7 D
40.         vTaskStartScheduler();
    - b3 A/ w& ~9 g. c$ e; L
41. }
    
42. 
    
43. void start_task(void *pvParameters)
    
44. {
    1 r  n$ \' i$ t1 u" n' @9 h7 [
45.         taskENTER_CRITICAL();
    
46.         //task1
    1 M" C2 V7 b. J: q
47.         xTaskCreate((TaskFunction_t )task1,                  
    
48.                                                         (const char*    )"task1",               
    
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    1 E" N* \0 Y/ C! _" s( ]
50.                                                         (void*          )NULL,                  
    + i* b" ^( n) y/ ]1 {
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    8 F0 }: w8 z- @3 p
53.         //task2
    0 P8 G# T! d9 B+ |
54.         xTaskCreate((TaskFunction_t )task2,                  
    ) M) h9 L, G! Y" {( Y8 ~
55.                                                         (const char*    )"task2",               
    
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    
57.                                                         (void*          )NULL,                  
    ( |) M' T2 \/ n( G* B- Y3 D
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    : _: Z5 V' u# R8 j
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    0 L, A" O6 s0 W2 D; H
60.         //taskEXIT_CRITICAL();
    
61.                                                        
    0 L- C1 C0 e7 k. ~: U1 _
62.         //task3
    
63.         xTaskCreate((TaskFunction_t )task3,                  
    
64.                                                         (const char*    )"task3",               
    
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    8 R5 l$ ?7 I% Q. U
66.                                                         (void*          )NULL,                  
    1 n1 G7 Q1 x2 i- |8 \
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    
69.         taskEXIT_CRITICAL();
    7 _3 _$ N, x9 d3 c3 C
70.                                                        
    
71.         vTaskDelete(StartTask_Handler);                                               
    $ H) o3 n2 \& n' w3 Y8 ?- ]8 {
72. }
    
73. 
    
74. //task1
    / c2 Z- Z1 ]/ W0 b; ~
75. void task1(void *pvParameters)
    
76. {
    ' A$ W4 o7 U2 D3 E9 W) \; G' {
77.                 __IO uint32_t index = 0;
    
78.                 __IO uint32_t flash_id_index = 0;
    
79.        
    
80.     while (1)
    
81.     {               
    
82.                                 led1_tog();
    4 v0 K" R/ J3 Q- x8 E! T% R
83.         printf("task1 run ...\r\n");
    
84.         vTaskDelay(200);
    
85.     }
    & q  j7 t6 b$ a6 r
86. }
    
87. 
    " _% o9 z9 q1 z: K) i5 M5 J' c
88. //task2
    
89. void task2(void *pvParameters)
    
90. {
    
91.     while (1)
    
92.     {       
    
93.                                 led2_tog();
    
94.         printf("task2 run ...\r\n");
    " ~3 z3 k5 K; v0 ?! f* g* g
95.         vTaskDelay(100);
    
96.     }
    ! L' s- }; p1 ^( _3 g9 v4 O* P
97. }
    3 k; T* @; J' Y1 W3 J
98. 
    6 I# F6 u' `, }8 \  V! v
99. //task3
    2 v# w$ [5 v! Q" Q& M0 }
100. void task3(void *pvParameters)
     
101. {
     
102.     while (1)
     ! j% b$ T0 T7 W% r: f2 B
103.     {       
     , _4 J( k2 G9 W  U& E
104.         printf("task3 run ...\r\n");
     : S2 Q: a; h! @- t8 D
105.         vTaskDelay(100);
     
106.     }
     $ D+ m8 v- ^# x, K/ \, Z! H
107. }

复制代码

2 g, T" j9 w' R8 p# f6 z& v
四、运行结果
" d( a1 S& A/ ]4 E( F8 V) q
4.1、仿真运行后，串口输出

* R5 v* ]( n$ \3 y+ j! e/ M3 o



  a* c' T) y; l  v- C
4.2、LED灯运行



: e+ X5 z$ o( b) r  G5 ^3 |
0 g) I3 A# W8 p5 u! o) k# ^
' y$ D! R' J$ U8 }, I' j! g






5 r5 e2 w# ~* z# S5 b

感谢分享