一、下载FreeRTOS源码
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下载地址：https://www.freertos.org/
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9 ^4 D+ }( j2 y1 L二、添加文件

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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三、程序代码
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  m" l- a3 x- a' m3.1、FreeRTOSConfig.h
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1. /*
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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. *
   4 @) w/ j# s4 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
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7. * the Software without restriction, including without limitation the rights to
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8. * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9. * the Software, and to permit persons to whom the Software is furnished to do so,
   
10. * subject to the following conditions:
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11. *
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12. * The above copyright notice and this permission notice shall be included in all
    
13. * copies or substantial portions of the Software.
    
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
    ' i( Y: Y/ Q7 U0 z2 l* m- V: a
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
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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. *
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22. * https://www.FreeRTOS.org
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23. * https://github.com/FreeRTOS
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24. *
    
25. */
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26. 
    
27. #ifndef FREERTOS_CONFIG_H
    
28. #define FREERTOS_CONFIG_H
    
29. 
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30. /*-----------------------------------------------------------
    
31. * Application specific definitions.
    
32. *
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33. * These definitions should be adjusted for your particular hardware and
    
34. * application requirements.
    
35. *
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36. * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
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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. 
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42. /* Ensure definitions are only used by the compiler, and not by the assembler. */
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43. #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
    
44.   #include <stdint.h>
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45.   extern uint32_t SystemCoreClock;
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46. #endif
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47. 
    
48. #ifndef configENABLE_FPU
    
49.   #define configENABLE_FPU                        1
    
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
    
57. #ifndef configRUN_FREERTOS_SECURE_ONLY
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58.   #define configRUN_FREERTOS_SECURE_ONLY          1
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59. #endif
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60. 
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61. 
    
62. #define configENABLE_MVE                                                   0
    
63. 
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64. #define configUSE_PREEMPTION                                        1
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65. #define configSUPPORT_STATIC_ALLOCATION                        0//1
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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 )
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75. #define configUSE_TRACE_FACILITY                                1
    
76. #define configUSE_16_BIT_TICKS                                        0
    
77. #define configUSE_MUTEXES                                                1
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78. #define configQUEUE_REGISTRY_SIZE                                8
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79. #define configUSE_RECURSIVE_MUTEXES                                1
    
80. #define configUSE_COUNTING_SEMAPHORES                        1
    
81. #define configUSE_PORT_OPTIMISED_TASK_SELECTION        0
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82. #define configUSE_MALLOC_FAILED_HOOK                        0//1
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83. #define configCHECK_FOR_STACK_OVERFLOW                        0//2
    
84. 
    
85. /* Defaults to size_t for backward compatibility, but can be changed
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86. * if lengths will always be less than the number of bytes in a size_t. */
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87. #define configMESSAGE_BUFFER_LENGTH_TYPE                size_t
    
88. /* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
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89. 
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90. /* Software timer definitions. */
    
91. #define configUSE_TIMERS                                                1
    
92. #define configTIMER_TASK_PRIORITY                                ( 2 )
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93. #define configTIMER_QUEUE_LENGTH                                10
    
94. #define configTIMER_TASK_STACK_DEPTH                        256
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95. 
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96. /* Set the following definitions to 1 to include the API function, or zero
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97. * to exclude the API function. */
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98. #define INCLUDE_vTaskPrioritySet                                1
    
99. #define INCLUDE_uxTaskPriorityGet                                1
    
100. #define INCLUDE_vTaskDelete                                                1
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101. #define INCLUDE_vTaskCleanUpResources                        0
     
102. #define INCLUDE_vTaskSuspend                                        1
     
103. #define INCLUDE_vTaskDelayUntil                                        1
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104. #define INCLUDE_vTaskDelay                                                1
     
105. #define INCLUDE_xTaskGetSchedulerState                        1
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106. #define INCLUDE_xTimerPendFunctionCall                        1
     
107. #define INCLUDE_xQueueGetMutexHolder                        1
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108. #define INCLUDE_uxTaskGetStackHighWaterMark                1
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109. #define INCLUDE_eTaskGetState                                        1
     
110. 
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111. /* Cortex-M specific definitions. */
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112. #ifdef __NVIC_PRIO_BITS
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113.         /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
     
114.         #define configPRIO_BITS                                                __NVIC_PRIO_BITS
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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. */
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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
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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
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126. * HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values. */
     
127. #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
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128. 
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129. /* Interrupt priorities used by the kernel port layer itself.  These are generic
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130. * to all Cortex-M ports, and do not rely on any particular library functions. */
     
131. #define configKERNEL_INTERRUPT_PRIORITY                                ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
     
132. /* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
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133. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
     
134. #define configMAX_SYSCALL_INTERRUPT_PRIORITY                ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << ( 8 - configPRIO_BITS ) )
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135. 
     
136. /* Normal assert() semantics without relying on the provision of an assert.h
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137. * header file. */
     
138. #define configASSERT( x )                                                        if ( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
     
139. 
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140. /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
     
141. * standard names. */
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142. #define vPortSVCHandler                                                                SVC_Handler
     
143. #define xPortPendSVHandler                                                        PendSV_Handler
     
144. #define xPortSysTickHandler                                                        SysTick_Handler
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145. 
     
146. /* Allow system call from within FreeRTOS kernel only. */
     
147. #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY        1
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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. 
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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. */
     
156. #define configTEX_S_C_B_SRAM                                                ( 0x03UL )
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157. 
     
158. #endif /* FREERTOS_CONFIG_H */
     

复制代码

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在stm32n6xx_it.c
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3.3、main.c
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1. #include "main.h"
   
2. 
   
3. void SystemClock_Config(void);
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4. void PeriphCommonClock_Config(void);
   
5. 
   
6. int main(void)
   
7. {
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8.   HAL_Init();
   
9.   SystemClock_Config();
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10.   PeriphCommonClock_Config();
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11.         usart_init(115200);
    
12.         init_led();
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13.        
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14.         task_create();
    
15. 
    
16.   while (1)
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17.   {
    
18. 
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19.   }
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20. }
    
21. 
    
22. 
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23. 
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24. 
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25. 
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26. /**
    
27.   * @brief System Clock Configuration
    
28.   * @retval None
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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};
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33.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    
34. 
    
35.   /** Configure the System Power Supply
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36.   */
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37.   if (HAL_PWREx_ConfigSupply(PWR_EXTERNAL_SOURCE_SUPPLY) != HAL_OK)
    
38.   {
    
39.     Error_Handler();
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40.   }
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41. 
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42.   /* Enable HSI */
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43.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
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44.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    
45.   RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
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46.   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
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47.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_NONE;
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48.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    
49.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
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50.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
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51.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
52.   {
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53.     Error_Handler();
    
54.   }
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55. 
    
56.   /** Get current CPU/System buses clocks configuration and if necessary switch
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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);
    
60.   if ((RCC_ClkInitStruct.CPUCLKSource == RCC_CPUCLKSOURCE_IC1) ||
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61.      (RCC_ClkInitStruct.SYSCLKSource == RCC_SYSCLKSOURCE_IC2_IC6_IC11))
    
62.   {
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63.     RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_CPUCLK | RCC_CLOCKTYPE_SYSCLK);
    
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)
    
67.     {
    
68.       /* Initialization Error */
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69.       Error_Handler();
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70.     }
    
71.   }
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72. 
    
73.   /** Initializes the RCC Oscillators according to the specified parameters
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74.   * in the RCC_OscInitTypeDef structure.
    
75.   */
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76.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    
77.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
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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;
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82.   RCC_OscInitStruct.PLL1.PLLFractional = 0;
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83.   RCC_OscInitStruct.PLL1.PLLP1 = 2;
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84.   RCC_OscInitStruct.PLL1.PLLP2 = 1;
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85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    
86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
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87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
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88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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89.   {
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90.     Error_Handler();
    
91.   }
    
92. 
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93.   /** Initializes the CPU, AHB and APB buses clocks
    
94.   */
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95.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_CPUCLK|RCC_CLOCKTYPE_HCLK
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96.                               |RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1
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97.                               |RCC_CLOCKTYPE_PCLK2|RCC_CLOCKTYPE_PCLK5
    
98.                               |RCC_CLOCKTYPE_PCLK4;
    
99.   RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_IC1;
    
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;
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105.   RCC_ClkInitStruct.APB5CLKDivider = RCC_APB5_DIV1;
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106.   RCC_ClkInitStruct.IC1Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
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107.   RCC_ClkInitStruct.IC1Selection.ClockDivider = 1;
     
108.   RCC_ClkInitStruct.IC2Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
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109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
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110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
     
112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
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113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     
114. 
     , V! N7 \! Z9 H( S. t" `
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     
116.   {
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117.     Error_Handler();
     
118.   }
     
119. }
     3 o9 L# \/ N1 c" P) r/ O
120. 
     * V/ {. L) \" S. H. a4 u; ]
121. /**
     - b0 S) |% j$ b- o4 [; ]% O% y( b
122.   * @brief Peripherals Common Clock Configuration
     
123.   * @retval None
     
124.   */
     
125. void PeriphCommonClock_Config(void)
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126. {
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127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     
128. 
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129.   /** Initializes the peripherals clock
     # ~9 w9 L8 `  H, f: E
130.   */
     " ]8 h; Z' ?' g5 s
131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
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132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     
134.   {
     
135.     Error_Handler();
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136.   }
     
137. }
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138. 
     
139. /**
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140.   * @brief ICACHE Initialization Function
     
141.   * @param None
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142.   * @retval None
     
143.   */
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144. static void MX_ICACHE_Init(void)
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145. {
     # a. i4 h: e: {6 |
146. 
       C0 i9 n6 ~3 V2 r
147.   /* USER CODE BEGIN ICACHE_Init 0 */
       N/ T" C' m( P6 u8 p$ s
148. 
     
149.   /* USER CODE END ICACHE_Init 0 */
     
150. 
     
151.   /* USER CODE BEGIN ICACHE_Init 1 */
     
152. 
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153.   /* USER CODE END ICACHE_Init 1 */
     
154. 
     
155.   /** Enable instruction cache in 1-way (direct mapped cache)
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156.   */
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157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     
158.   {
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159.     Error_Handler();
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160.   }
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161.   if (HAL_ICACHE_Enable() != HAL_OK)
     
162.   {
     
163.     Error_Handler();
     
164.   }
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165.   /* USER CODE BEGIN ICACHE_Init 2 */
     
166. 
     
167.   /* USER CODE END ICACHE_Init 2 */
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168. 
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169. }
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170. /* USER CODE BEGIN 4 */
     
171. 
     
172. /* USER CODE END 4 */
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173. 
     
174. /**
     
175.   * @brief  This function is executed in case of error occurrence.
     
176.   * @retval None
     
177.   */
     # Z2 l6 }" e2 A! u4 V5 A
178. void Error_Handler(void)
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179. {
     / W4 U/ ], _! X8 H4 {2 `: h
180.   /* USER CODE BEGIN Error_Handler_Debug */
     " A) x; r, l* X& b/ R' s
181.   /* User can add his own implementation to report the HAL error return state */
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182.   __disable_irq();
     
183.   while (1)
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184.   {
     
185.   }
     
186.   /* USER CODE END Error_Handler_Debug */
     - ]; p2 y/ ]7 C! I" k- t8 S( q6 T5 U
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.
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193.   * @param  file: pointer to the source file name
     
194.   * @param  line: assert_param error line source number
     
195.   * @retval None
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196.   */
     
197. void assert_failed(uint8_t *file, uint32_t line)
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198. {
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199.   /* USER CODE BEGIN 6 */
     
200.   /* User can add his own implementation to report the file name and line number,
     0 Q% y. _8 G' ]
201.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     ) z9 d/ A' q+ B7 S& i
202.   /* USER CODE END 6 */
     
203. }
     
204. #endif /* USE_FULL_ASSERT */
     

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3.4、fun_task.c
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1. #include "main.h"
   
2. 
   
3. #define START_TASK_PRO                1                               
   
4. #define START_STK_SIZE                128
   
5. TaskHandle_t StartTask_Handler;
   
6. 
   : a+ j. e# s! m4 Q, ~. ~; P
7. #define TASK1_PRIO              2                  
   
8. #define TASK1_STK_SIZE          128                 
   
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
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10.            
    
11. #define TASK2_PRIO              3                  
    7 y, M# n" Y1 P3 R8 G0 a& P
12. #define TASK2_STK_SIZE          128                 
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13. static TaskHandle_t                    Task2Task_Handler = NULL;  
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14. 
    
15. #define TASK3_PRIO              4                  
    
16. #define TASK3_STK_SIZE          128                 
    / C9 u4 O/ X8 b4 \) |
17. static TaskHandle_t                    Task3Task_Handler = NULL;  
    
18. 
    
19. 
    
20. void start_task(void *pvParameters);
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21. void gui_task(void *pvParameters);
    
22. 
    
23. void task1(void *pvParameters);  
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24. void task2(void *pvParameters);
    
25. void task3(void *pvParameters);
    
26. 
    
27. 
    % |* p6 a+ ~$ _' M2 n( e
28. 
    
29. void task_create(void)
    
30. {
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31.        
    4 ]! h5 U" p5 P, w
32.         //start_task
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33.         xTaskCreate((TaskFunction_t )start_task,                  
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34.                                                         (const char*    )"start_task",               
    
35.                                                         (uint16_t       )START_STK_SIZE,         
    
36.                                                         (void*          )NULL,                  
    
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    5 d. B7 _/ g( n! u* ]) H* k
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    
39. 
    ) }* [' P4 p8 v
40.         vTaskStartScheduler();
      b* }3 F  h# @. Y8 y
41. }
    
42. 
    ' U0 ^: \! V- u! d
43. void start_task(void *pvParameters)
    
44. {
    
45.         taskENTER_CRITICAL();
    
46.         //task1
    
47.         xTaskCreate((TaskFunction_t )task1,                  
    ! v6 R+ R- j  z- D# k5 C( S  }6 x5 ~
48.                                                         (const char*    )"task1",               
    
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    
50.                                                         (void*          )NULL,                  
    
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    % U1 ?0 O5 Z8 h* u
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    
53.         //task2
    4 {5 I" ]8 Z& F
54.         xTaskCreate((TaskFunction_t )task2,                  
    % E- a$ O6 v6 W- ^; {2 t
55.                                                         (const char*    )"task2",               
    
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    
57.                                                         (void*          )NULL,                  
    7 o7 i& L# b  R" y* R: q% ?2 {+ i
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    9 z: U( @/ H* y1 J% q
60.         //taskEXIT_CRITICAL();
    7 ?% h" ]; i9 |6 }# y5 S
61.                                                        
    
62.         //task3
    / O0 ?7 F; g, L! H4 D. C9 g
63.         xTaskCreate((TaskFunction_t )task3,                  
    
64.                                                         (const char*    )"task3",               
    
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    
66.                                                         (void*          )NULL,                  
    9 j2 d9 V5 V$ |. ~3 R
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    ) h( j& Y! s1 k  Z4 E* |
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    & k# `: c6 {: n+ B" }
69.         taskEXIT_CRITICAL();
    
70.                                                        
    
71.         vTaskDelete(StartTask_Handler);                                               
    
72. }
    
73. 
    
74. //task1
    
75. void task1(void *pvParameters)
    % u$ d# R; d1 T' L
76. {
    * `# F8 g: l* ?. I
77.                 __IO uint32_t index = 0;
    
78.                 __IO uint32_t flash_id_index = 0;
    
79.        
    2 C8 X9 O0 i9 y3 D8 x% f) s; `
80.     while (1)
    
81.     {               
    ! @; n/ a! V4 Y; k0 c" _. V
82.                                 led1_tog();
    
83.         printf("task1 run ...\r\n");
    
84.         vTaskDelay(200);
    
85.     }
    : I% O+ C8 ^3 u$ {% Q
86. }
    9 Z# M! _! ]6 H3 p, E  S6 w
87. 
    4 v0 |( _" _# e4 S
88. //task2
      Q0 C6 j& Y, b: `8 Q8 l0 [
89. void task2(void *pvParameters)
    0 S1 f4 i' ~- X. x  R
90. {
    
91.     while (1)
    / x- p' j) d& G/ ]6 T, B
92.     {       
    
93.                                 led2_tog();
    
94.         printf("task2 run ...\r\n");
    
95.         vTaskDelay(100);
    & V$ o. u/ ^% ]9 R9 e7 A3 @
96.     }
    
97. }
    
98. 
    
99. //task3
    2 W$ g/ f+ b2 Z, S
100. void task3(void *pvParameters)
     
101. {
       n* M% |; O  u! b2 |
102.     while (1)
     , l& u0 `- @; P0 Y
103.     {       
     " ~3 F0 ~3 K  U5 C) V
104.         printf("task3 run ...\r\n");
     
105.         vTaskDelay(100);
     
106.     }
     ' |8 N- X) U: H5 i( Z5 k
107. }

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+ {0 l% G( s# q- k# G6 c! Y3 K四、运行结果

. x6 k+ x' C% j. r9 }9 V4.1、仿真运行后，串口输出


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4.2、LED灯运行
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+ e$ w2 M, \0 V' t! k; w




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