一、下载FreeRTOS源码
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下载地址：https://www.freertos.org/



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二、添加文件
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2.1、复制文件到项目下的middleware


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三、程序代码
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3 A, Z/ `; X4 Z7 L$ V! a3.1、FreeRTOSConfig.h

1. /*
   
2. * FreeRTOS V202212.01
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3. * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   
4. *
   ! A4 ]: P& x; 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
   
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,
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10. * subject to the following conditions:
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11. *
    
12. * The above copyright notice and this permission notice shall be included in all
    - p' G7 a0 t3 E2 c
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
    
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
    ) y6 u, u% m# ]+ `: w
18. * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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19. * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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20. * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
    
21. *
    
22. * https://www.FreeRTOS.org
    
23. * https://github.com/FreeRTOS
    
24. *
    / b; z! L+ F8 ~7 }
25. */
    ' ?/ ~$ C* C. _
26. 
    
27. #ifndef FREERTOS_CONFIG_H
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28. #define FREERTOS_CONFIG_H
    
29. 
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30. /*-----------------------------------------------------------
    
31. * Application specific definitions.
    
32. *
    
33. * These definitions should be adjusted for your particular hardware and
    
34. * application requirements.
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35. *
    6 @2 R2 e0 }5 g. h, [
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. *----------------------------------------------------------*/
    
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>
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45.   extern uint32_t SystemCoreClock;
    
46. #endif
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47. 
    
48. #ifndef configENABLE_FPU
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49.   #define configENABLE_FPU                        1
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50. #endif
    
51. #ifndef configENABLE_MPU
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52.   #define configENABLE_MPU                        0
    
53. #endif
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54. #ifndef configENABLE_TRUSTZONE
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55.   #define configENABLE_TRUSTZONE                  0
    
56. #endif
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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. 
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62. #define configENABLE_MVE                                                   0
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63. 
    
64. #define configUSE_PREEMPTION                                        1
    
65. #define configSUPPORT_STATIC_ALLOCATION                        0//1
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66. #define configSUPPORT_DYNAMIC_ALLOCATION                1
    
67. #define configUSE_IDLE_HOOK                                                0
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68. #define configUSE_TICK_HOOK                                                0
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69. #define configCPU_CLOCK_HZ                                                ( SystemCoreClock )
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70. #define configTICK_RATE_HZ                                                ( ( TickType_t ) 1000 )
    
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 )
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74. #define configMAX_TASK_NAME_LEN                                        ( 16 )
    
75. #define configUSE_TRACE_FACILITY                                1
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76. #define configUSE_16_BIT_TICKS                                        0
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77. #define configUSE_MUTEXES                                                1
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78. #define configQUEUE_REGISTRY_SIZE                                8
    
79. #define configUSE_RECURSIVE_MUTEXES                                1
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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
    
83. #define configCHECK_FOR_STACK_OVERFLOW                        0//2
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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. */
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87. #define configMESSAGE_BUFFER_LENGTH_TYPE                size_t
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88. /* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
    
89. 
    
90. /* Software timer definitions. */
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91. #define configUSE_TIMERS                                                1
    
92. #define configTIMER_TASK_PRIORITY                                ( 2 )
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93. #define configTIMER_QUEUE_LENGTH                                10
    
94. #define configTIMER_TASK_STACK_DEPTH                        256
    
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
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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
     
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
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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
     
113.         /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
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114.         #define configPRIO_BITS                                                __NVIC_PRIO_BITS
     
115. #else
     
116.         #define configPRIO_BITS                                                4
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117. #endif
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118. 
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119. /* The lowest interrupt priority that can be used in a call to a "set priority"
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120. * function. */
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121. #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY        15
     
122. 
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123. /* The highest interrupt priority that can be used by any interrupt service
     
124. * routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT
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125. * CALL INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A
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126. * HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values. */
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127. #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
     
128. 
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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 !!!!
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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 ) )
     
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( ;; ); }
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139. 
     
140. /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
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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. 
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146. /* Allow system call from within FreeRTOS kernel only. */
     
147. #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY        1
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148. 
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149. /* STM32H743 has 16 MPU regions and therefore it is necessary to configure
     
150. * configTOTAL_MPU_REGIONS correctly. */
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151. #define configTOTAL_MPU_REGIONS                                                16
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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
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155. * used. TEX=0, S=0, C=1, B=1. */
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156. #define configTEX_S_C_B_SRAM                                                ( 0x03UL )
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157. 
     
158. #endif /* FREERTOS_CONFIG_H */
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复制代码

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, e" y" _  E8 x/ r" V. u: a, {3.2、屏蔽函数
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+ j3 o4 g) T& n在stm32n6xx_it.c


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  Y# q& \+ D0 o! O4 @3.3、main.c

1. #include "main.h"
   
2. 
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3. void SystemClock_Config(void);
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4. void PeriphCommonClock_Config(void);
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5. 
   
6. int main(void)
   
7. {
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8.   HAL_Init();
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9.   SystemClock_Config();
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10.   PeriphCommonClock_Config();
    
11.         usart_init(115200);
    
12.         init_led();
    
13.        
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14.         task_create();
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15. 
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16.   while (1)
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17.   {
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18. 
    
19.   }
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20. }
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21. 
    3 M) k; F5 |# P3 t$ [' a) W7 m! v/ A
22. 
    
23. 
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24. 
    
25. 
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26. /**
    6 K6 h! X) W+ |) a
27.   * @brief System Clock Configuration
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28.   * @retval None
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29.   */
    
30. void SystemClock_Config(void)
    
31. {
    
32.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
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33.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    
34. 
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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();
    
40.   }
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41. 
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42.   /* Enable HSI */
    
43.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
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44.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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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;
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49.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    
50.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    
51.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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52.   {
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53.     Error_Handler();
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54.   }
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55. 
    
56.   /** Get current CPU/System buses clocks configuration and if necessary switch
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57. to intermediate HSI clock to ensure target clock can be set
    
58.   */
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59.   HAL_RCC_GetClockConfig(&RCC_ClkInitStruct);
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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;
    
65.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
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66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
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67.     {
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68.       /* Initialization Error */
    
69.       Error_Handler();
    
70.     }
    
71.   }
    
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;
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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;
    9 N+ e: a; l/ b5 c
80.   RCC_OscInitStruct.PLL1.PLLM = 3;
    
81.   RCC_OscInitStruct.PLL1.PLLN = 100;
    
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;
    
85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    
86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    
87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
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88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
89.   {
    
90.     Error_Handler();
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91.   }
    
92. 
    
93.   /** Initializes the CPU, AHB and APB buses clocks
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94.   */
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95.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_CPUCLK|RCC_CLOCKTYPE_HCLK
    
96.                               |RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1
    
97.                               |RCC_CLOCKTYPE_PCLK2|RCC_CLOCKTYPE_PCLK5
    
98.                               |RCC_CLOCKTYPE_PCLK4;
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99.   RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_IC1;
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100.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_IC2_IC6_IC11;
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101.   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
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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;
     5 ^+ P! I' x( b6 o
107.   RCC_ClkInitStruct.IC1Selection.ClockDivider = 1;
     # M% _! |3 _4 P1 D6 `: _
108.   RCC_ClkInitStruct.IC2Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
     - l" p1 u7 d1 R0 r. i1 Z* a
110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
     
112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     " ]3 u4 k2 k! [, G
113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     * ]' c8 z9 M' y- ^. x; U
114. 
     - E2 j+ i5 @7 G( Z0 {4 m+ H: p8 Y
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     . \+ `( w7 a( `2 d& C* T* n- U$ Y
116.   {
     
117.     Error_Handler();
     
118.   }
     8 `1 E; M6 x+ B7 W6 `
119. }
     4 P, h) z4 E/ }
120. 
     
121. /**
     , |' K; o% o4 X6 s
122.   * @brief Peripherals Common Clock Configuration
     , p; K8 h+ p6 j6 @% H: j: \6 j
123.   * @retval None
     
124.   */
     
125. void PeriphCommonClock_Config(void)
     
126. {
     
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     / _; G6 b# V2 ]
128. 
     + q7 i2 a. t: s  |* j1 `! [
129.   /** Initializes the peripherals clock
     3 E0 ~3 Z. O3 e; b7 h
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();
     9 A1 S# j$ x9 ~1 p9 s
136.   }
     
137. }
     2 B$ c$ \( x" z6 k0 M" @" z7 @
138. 
     
139. /**
     5 v. @  z9 \# |' M
140.   * @brief ICACHE Initialization Function
     ; C8 T& p) I/ ^- U$ c" t
141.   * @param None
     ) h. p% C! X8 I
142.   * @retval None
     
143.   */
     9 u5 k9 q. b+ s! i
144. static void MX_ICACHE_Init(void)
     
145. {
     
146. 
     $ f0 Z: a6 @, p) ]' T* u- x
147.   /* USER CODE BEGIN ICACHE_Init 0 */
     " y5 {, X* {& z- r: N9 V+ c
148. 
     ) G" I7 i5 I/ t* V$ [* T% L. D1 O- A' T* `
149.   /* USER CODE END ICACHE_Init 0 */
     
150. 
     , Z6 r5 V1 D) h7 l; @7 J
151.   /* USER CODE BEGIN ICACHE_Init 1 */
     
152. 
     
153.   /* USER CODE END ICACHE_Init 1 */
       c* g9 ~7 l% [2 \0 y' v
154. 
     $ a+ m) k8 R  M  H& V
155.   /** Enable instruction cache in 1-way (direct mapped cache)
     6 A' z1 {; l. u5 m% l) M
156.   */
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157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     
158.   {
     
159.     Error_Handler();
     - ^# I3 O# {& k) _' f
160.   }
     
161.   if (HAL_ICACHE_Enable() != HAL_OK)
     
162.   {
     
163.     Error_Handler();
     6 @0 y6 f( \9 F$ F. S
164.   }
     - v$ H& E8 S3 Z" `3 p
165.   /* USER CODE BEGIN ICACHE_Init 2 */
     
166. 
     0 Z. a) v0 k( v9 `, W' l9 K2 `0 \7 F
167.   /* USER CODE END ICACHE_Init 2 */
     
168. 
     , m: _* Z. e2 @
169. }
     ) C" S5 [$ h$ s: \( m3 F
170. /* USER CODE BEGIN 4 */
     
171. 
     ! `% P% |; m: k2 u& j& N# V
172. /* USER CODE END 4 */
     
173. 
     
174. /**
     
175.   * @brief  This function is executed in case of error occurrence.
     8 ~, h* l# C1 {
176.   * @retval None
     
177.   */
     
178. void Error_Handler(void)
     
179. {
     
180.   /* USER CODE BEGIN Error_Handler_Debug */
     9 C/ |( U, j$ q. y8 w; ]. ~- x
181.   /* User can add his own implementation to report the HAL error return state */
     
182.   __disable_irq();
     ( h, j' U4 j7 \: r
183.   while (1)
     
184.   {
     
185.   }
     % v3 q' `( B# U
186.   /* USER CODE END Error_Handler_Debug */
     
187. }
     1 a4 g' _* T# b, w+ ]1 ^7 E8 {
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.
     : A7 X8 e( c5 c/ j; `
193.   * @param  file: pointer to the source file name
     ) e5 P- q  |2 j% k/ M
194.   * @param  line: assert_param error line source number
     7 F! e1 Q$ o0 P3 O$ C3 C
195.   * @retval None
     % r) {$ V4 H9 F: s# J  M
196.   */
     / p6 v8 W) Q# ]( Q# _" U
197. void assert_failed(uint8_t *file, uint32_t line)
     
198. {
     
199.   /* USER CODE BEGIN 6 */
     % S3 d- P+ y0 p
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) */
     9 Z% `" \' z* y7 c# c: Q1 G9 M; |- p
202.   /* USER CODE END 6 */
     
203. }
     % V* V, V. m/ w9 I
204. #endif /* USE_FULL_ASSERT */
     

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9 u  _; S+ d. v; K# t3.4、fun_task.c

1. #include "main.h"
   
2. 
   % e1 K9 w7 B0 p- _* T* y
3. #define START_TASK_PRO                1                               
   
4. #define START_STK_SIZE                128
   
5. TaskHandle_t StartTask_Handler;
   " d: w" ^( ~6 t( @. ^& i
6. 
   # o. a4 c! _! R' m! `9 v* s" k
7. #define TASK1_PRIO              2                  
   
8. #define TASK1_STK_SIZE          128                 
   3 |, {0 x8 d( Z# B
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
   
10.            
    " Y( E3 W7 h1 g) \- Z( x
11. #define TASK2_PRIO              3                  
    
12. #define TASK2_STK_SIZE          128                 
    
13. static TaskHandle_t                    Task2Task_Handler = NULL;  
    2 i" h: U! \1 N4 h7 {
14. 
    
15. #define TASK3_PRIO              4                  
    
16. #define TASK3_STK_SIZE          128                 
    / d; w- s! l# V7 ~  U; f; T
17. static TaskHandle_t                    Task3Task_Handler = NULL;  
    
18. 
    
19. 
    
20. void start_task(void *pvParameters);
    
21. void gui_task(void *pvParameters);
    . l+ O* Z5 I- q. M% l
22. 
    . D+ r, d* T. y5 r6 b
23. void task1(void *pvParameters);  
    
24. void task2(void *pvParameters);
    
25. void task3(void *pvParameters);
    : o( S" ~3 F' x) R$ m, D" L% V
26. 
    
27. 
    3 C# c8 b7 w+ ~1 ^( x) I7 F2 T
28. 
    
29. void task_create(void)
    ; H6 e9 i( h0 o, D/ P, |
30. {
    0 s1 f5 H( k' `# \4 a, y
31.        
    & O6 S/ A/ U1 M  U' |! c$ w
32.         //start_task
    / p7 @! m! G' m# Z
33.         xTaskCreate((TaskFunction_t )start_task,                  
    ) W: x& i' i/ ~2 I
34.                                                         (const char*    )"start_task",               
    / e6 Q' k5 i+ \# T  W. I
35.                                                         (uint16_t       )START_STK_SIZE,         
    2 a" \5 |. v( R9 X6 j
36.                                                         (void*          )NULL,                  
    
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    3 T# `1 ]& H9 l
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    ! M' H# K( `' {% p9 r7 N# j2 L
39. 
    ! C9 U- n6 r  m0 a8 ]6 T
40.         vTaskStartScheduler();
    9 h# Q  a- c# y! d* Y! q4 C
41. }
    " o- l1 g6 v# u5 a6 h' X6 |; u
42. 
    8 w2 o* Q4 {3 a$ R7 E: b
43. void start_task(void *pvParameters)
    
44. {
    6 v% G, w9 d7 ?9 O+ j
45.         taskENTER_CRITICAL();
    
46.         //task1
    ' z4 [2 h% x& r: N. T
47.         xTaskCreate((TaskFunction_t )task1,                  
    
48.                                                         (const char*    )"task1",               
    , g7 x& g3 Q; Z
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    1 G/ }3 {3 n1 J
50.                                                         (void*          )NULL,                  
    $ Y# g2 i/ I: I5 \% o$ [3 F+ T2 `
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    & ?0 ?  R( I" Q& O/ o1 T
53.         //task2
    
54.         xTaskCreate((TaskFunction_t )task2,                  
    4 c& T" ^; A( @1 S# o
55.                                                         (const char*    )"task2",               
    
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    
57.                                                         (void*          )NULL,                  
    
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    6 z! Y% v( c# G( g! V
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    ; S7 E0 b& h3 Z
60.         //taskEXIT_CRITICAL();
    7 F2 j1 C3 w9 u. O5 D" u
61.                                                        
    % \  {( p+ x, C+ F* T- L! E7 G
62.         //task3
    + o) b  I5 Q4 Z" f% a4 T( T
63.         xTaskCreate((TaskFunction_t )task3,                  
    + f5 `( \/ r  k' E& w  P5 W$ S
64.                                                         (const char*    )"task3",               
    ) @: D8 W9 @- m0 y
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    
66.                                                         (void*          )NULL,                  
    
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    , I+ m& D# `! Z' n
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    
69.         taskEXIT_CRITICAL();
    * K# @" v' I+ g) X
70.                                                        
    / d$ E- c, C% W2 O
71.         vTaskDelete(StartTask_Handler);                                               
    / v5 X2 }+ v2 n
72. }
    
73. 
    
74. //task1
    4 T3 k3 H3 Q" c& ^
75. void task1(void *pvParameters)
    ; Z5 v  _$ H3 X
76. {
    
77.                 __IO uint32_t index = 0;
    ( w' {" y0 m5 \) g" ?
78.                 __IO uint32_t flash_id_index = 0;
    # N8 ?6 H% a0 ^" Y5 @
79.        
    
80.     while (1)
    ) A1 T& \$ O" A7 ?4 r2 N2 b0 S
81.     {               
    ' Q; }1 f- D4 w6 ^) b
82.                                 led1_tog();
    
83.         printf("task1 run ...\r\n");
    - u% Q( j! o9 w+ c
84.         vTaskDelay(200);
    & |) c' m  }1 Z7 R& P7 N+ ^* j
85.     }
    1 R8 {( u; i& ~+ L
86. }
    6 O! k8 O/ l; U( D- m$ d6 L' K
87. 
    1 x$ K7 P# G$ k3 \
88. //task2
    3 ^1 D/ Z7 w4 L9 G9 }0 Y3 f7 n
89. void task2(void *pvParameters)
    
90. {
    4 x) s6 u: v0 K2 N; x$ X) k+ V, T
91.     while (1)
    
92.     {       
    , f; R0 }- x2 {2 V% c8 C( z
93.                                 led2_tog();
    / _5 O- c2 ?1 U1 c( O/ w
94.         printf("task2 run ...\r\n");
    % E- w0 m3 Z) R( Z+ Z, d
95.         vTaskDelay(100);
    
96.     }
    $ U7 L% k) D$ D( ]: _
97. }
    2 r+ B, A2 `+ }+ i/ R
98. 
    
99. //task3
    $ r# Z7 h" M+ }$ P
100. void task3(void *pvParameters)
     
101. {
     6 m0 p3 u0 n* ]: f6 q( b
102.     while (1)
     
103.     {       
     
104.         printf("task3 run ...\r\n");
     
105.         vTaskDelay(100);
     2 i9 ?7 K, v; v, k
106.     }
     $ }0 A: u1 r2 ]  I- q& N
107. }

复制代码

" ?- T- A" Z2 B  f; |四、运行结果

4.1、仿真运行后，串口输出

+ t: Y5 x1 ?" L5 {

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7 y/ ^: k! P1 |8 L

7 W. v/ s, B" I! A& _7 J8 |4.2、LED灯运行



) B3 C) `* }, \2 s+ O

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! g3 T$ D* s( \" ~4 }

1 E: V3 u  y/ c2 p7 G$ [$ E


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