一、下载FreeRTOS源码
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; p" @( \4 ]. K$ Y7 M下载地址：https://www.freertos.org/
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二、添加文件

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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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3.1、FreeRTOSConfig.h

1. /*
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2. * FreeRTOS V202212.01
   
3. * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
   2 J! A, t7 B$ @3 _! Q
4. *
   
5. * Permission is hereby granted, free of charge, to any person obtaining a copy of
   
6. * this software and associated documentation files (the "Software"), to deal in
   & F* L' P  B1 T" |' U8 F/ j# R
7. * the Software without restriction, including without limitation the rights to
   6 s6 Z  X/ i* G- ?: r0 w8 l, C
8. * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
   
9. * the Software, and to permit persons to whom the Software is furnished to do so,
   
10. * subject to the following conditions:
    ; n, ~1 Z! ], L  @
11. *
    * t- x6 x# @/ t7 O5 ^  V0 S
12. * The above copyright notice and this permission notice shall be included in all
    $ v8 l# d8 a* a9 T& M0 X% M& V# ]
13. * copies or substantial portions of the Software.
    
14. *
    8 D* W! q0 M8 b
15. * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    ' {9 ^/ ?- H1 ]- _- S( [1 H9 B3 C
16. * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
    + v( m+ E! i( y$ F
17. * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
    . O* E" ]; N7 I+ m7 \% I
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
    
20. * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
    
21. *
    0 q9 y0 x- ?9 `
22. * https://www.FreeRTOS.org
    2 K$ L) v8 X; X
23. * https://github.com/FreeRTOS
    
24. *
    
25. */
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26. 
    
27. #ifndef FREERTOS_CONFIG_H
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28. #define FREERTOS_CONFIG_H
    
29. 
    ; ^; P4 o/ |3 A# x3 E
30. /*-----------------------------------------------------------
    2 K4 R9 \% J6 p# Y4 d- e
31. * Application specific definitions.
    - @5 ~6 p5 l( A8 i5 ]! d! y
32. *
    & A+ G: @1 ?. I
33. * These definitions should be adjusted for your particular hardware and
    
34. * application requirements.
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35. *
    # a7 c7 V/ {! u" A0 z
36. * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
    
37. * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
    
38. *
    
39. * See http://www.freertos.org/a00110.html.
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40. *----------------------------------------------------------*/
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41. 
    / J' Z2 z# }" G% y1 J
42. /* Ensure definitions are only used by the compiler, and not by the assembler. */
    
43. #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
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44.   #include <stdint.h>
    
45.   extern uint32_t SystemCoreClock;
    
46. #endif
    
47. 
    3 z+ `5 K+ a7 o/ g5 e  }
48. #ifndef configENABLE_FPU
    
49.   #define configENABLE_FPU                        1
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50. #endif
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51. #ifndef configENABLE_MPU
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52.   #define configENABLE_MPU                        0
    . ?" {/ g" ~2 C. I2 P" f
53. #endif
    
54. #ifndef configENABLE_TRUSTZONE
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55.   #define configENABLE_TRUSTZONE                  0
    
56. #endif
    
57. #ifndef configRUN_FREERTOS_SECURE_ONLY
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58.   #define configRUN_FREERTOS_SECURE_ONLY          1
    
59. #endif
    
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
    
66. #define configSUPPORT_DYNAMIC_ALLOCATION                1
    % Q8 V+ ~* g, I
67. #define configUSE_IDLE_HOOK                                                0
    
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 )
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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 )
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74. #define configMAX_TASK_NAME_LEN                                        ( 16 )
    
75. #define configUSE_TRACE_FACILITY                                1
    
76. #define configUSE_16_BIT_TICKS                                        0
    
77. #define configUSE_MUTEXES                                                1
    
78. #define configQUEUE_REGISTRY_SIZE                                8
    & {  C8 J; @  l# h2 ]
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
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83. #define configCHECK_FOR_STACK_OVERFLOW                        0//2
    
84. 
    # W5 P# I1 C4 S+ I4 M3 p% u0 Y+ z3 H, b2 Q
85. /* Defaults to size_t for backward compatibility, but can be changed
    8 j* B$ r/ ?- l8 ?- m
86. * if lengths will always be less than the number of bytes in a size_t. */
    4 b" d6 `8 s4 Z
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. */
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91. #define configUSE_TIMERS                                                1
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92. #define configTIMER_TASK_PRIORITY                                ( 2 )
    
93. #define configTIMER_QUEUE_LENGTH                                10
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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
    
97. * to exclude the API function. */
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98. #define INCLUDE_vTaskPrioritySet                                1
    
99. #define INCLUDE_uxTaskPriorityGet                                1
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100. #define INCLUDE_vTaskDelete                                                1
     
101. #define INCLUDE_vTaskCleanUpResources                        0
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102. #define INCLUDE_vTaskSuspend                                        1
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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
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107. #define INCLUDE_xQueueGetMutexHolder                        1
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108. #define INCLUDE_uxTaskGetStackHighWaterMark                1
     
109. #define INCLUDE_eTaskGetState                                        1
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110. 
     
111. /* Cortex-M specific definitions. */
     
112. #ifdef __NVIC_PRIO_BITS
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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
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116.         #define configPRIO_BITS                                                4
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117. #endif
     
118. 
     . r" K1 v: V$ V' v
119. /* The lowest interrupt priority that can be used in a call to a "set priority"
     
120. * function. */
     
121. #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY        15
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122. 
     
123. /* The highest interrupt priority that can be used by any interrupt service
     
124. * routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT
     
125. * CALL INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A
     
126. * HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values. */
     
127. #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5
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128. 
     
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 !!!!
     
133. See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
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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
     3 d* A' n! N( t5 ?2 v7 {4 x
137. * header file. */
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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
     6 t4 a: K9 R) y  E4 i: z, D
141. * standard names. */
     
142. #define vPortSVCHandler                                                                SVC_Handler
     
143. #define xPortPendSVHandler                                                        PendSV_Handler
     
144. #define xPortSysTickHandler                                                        SysTick_Handler
       q# Y( d7 v" }5 P; A
145. 
     , T; w2 ?. ]$ i
146. /* Allow system call from within FreeRTOS kernel only. */
     
147. #define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY        1
     
148. 
     7 \0 W4 C* \; j, |
149. /* STM32H743 has 16 MPU regions and therefore it is necessary to configure
     ) H4 U( }" P: {0 B9 R
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,
       h1 R/ e- z3 Y6 c0 Q
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 )
     3 W8 F7 q6 H" @
157. 
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158. #endif /* FREERTOS_CONFIG_H */
     

复制代码

, W0 L$ h" y6 Z, {# @" g4 i3.2、屏蔽函数

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在stm32n6xx_it.c

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3.3、main.c

1. #include "main.h"
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2. 
   
3. void SystemClock_Config(void);
   
4. void PeriphCommonClock_Config(void);
   
5. 
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6. int main(void)
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7. {
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8.   HAL_Init();
   
9.   SystemClock_Config();
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10.   PeriphCommonClock_Config();
    
11.         usart_init(115200);
    
12.         init_led();
    # o5 N* e/ E. X4 j
13.        
    9 |7 x1 v7 D1 e
14.         task_create();
    
15. 
    
16.   while (1)
    
17.   {
    3 T% r# E1 G0 ]( b+ q" n" p2 v& q
18. 
    + L$ M  d2 v3 \4 `
19.   }
    
20. }
    
21. 
    
22. 
    
23. 
    
24. 
    
25. 
    
26. /**
    
27.   * @brief System Clock Configuration
    : T9 Q/ ]# Z( |! O& v
28.   * @retval None
      R! N: P7 ^% C6 D' }
29.   */
    
30. void SystemClock_Config(void)
    + S* U$ a! a6 x
31. {
    
32.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    
33.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
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34. 
    
35.   /** Configure the System Power Supply
    9 [$ B1 o8 i' k7 w! r
36.   */
    7 ]5 s. d' q9 U3 t  [7 @* a
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 */
    
43.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    
44.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
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45.   RCC_OscInitStruct.HSIDiv = RCC_HSI_DIV1;
    + D6 D3 S; h9 |# B
46.   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    
47.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_NONE;
    
48.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
      }& o: c/ A9 u2 @
49.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    
50.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    
51.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
52.   {
      ]! u3 F" q' r/ X
53.     Error_Handler();
    
54.   }
    
55. 
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56.   /** Get current CPU/System buses clocks configuration and if necessary switch
    1 [+ i3 x) l0 X' D  H
57. to intermediate HSI clock to ensure target clock can be set
    
58.   */
    
59.   HAL_RCC_GetClockConfig(&RCC_ClkInitStruct);
    
60.   if ((RCC_ClkInitStruct.CPUCLKSource == RCC_CPUCLKSOURCE_IC1) ||
    
61.      (RCC_ClkInitStruct.SYSCLKSource == RCC_SYSCLKSOURCE_IC2_IC6_IC11))
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62.   {
    
63.     RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_CPUCLK | RCC_CLOCKTYPE_SYSCLK);
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64.     RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_HSI;
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65.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
    - a" U) O* y3 R3 w8 G( u$ }& u
66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
    
67.     {
    ) c  L* T* ]- b+ T8 X
68.       /* Initialization Error */
    8 F2 C) S, e% U, K: k
69.       Error_Handler();
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70.     }
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71.   }
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72. 
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73.   /** Initializes the RCC Oscillators according to the specified parameters
    / W8 k9 u% ?3 m
74.   * in the RCC_OscInitTypeDef structure.
    ) O3 D0 m3 c7 z- ~+ r$ C
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;
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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;
    
84.   RCC_OscInitStruct.PLL1.PLLP2 = 1;
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85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    2 t. F, I: Z6 `% Y. {
86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    5 V: o) M5 v2 d/ [, d9 h
87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    & x! H, @" \+ }- c6 ~) X8 x$ C/ h0 C
88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
89.   {
    - |) K  a5 ?+ y& d* e
90.     Error_Handler();
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91.   }
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92. 
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93.   /** Initializes the CPU, AHB and APB buses clocks
    3 w; H7 X7 _1 N% Q; H* |
94.   */
    
95.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_CPUCLK|RCC_CLOCKTYPE_HCLK
    
96.                               |RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1
    
97.                               |RCC_CLOCKTYPE_PCLK2|RCC_CLOCKTYPE_PCLK5
    
98.                               |RCC_CLOCKTYPE_PCLK4;
    
99.   RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_IC1;
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100.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_IC2_IC6_IC11;
     
101.   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
     
102.   RCC_ClkInitStruct.APB1CLKDivider = RCC_APB1_DIV1;
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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;
     
106.   RCC_ClkInitStruct.IC1Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
107.   RCC_ClkInitStruct.IC1Selection.ClockDivider = 1;
     9 {9 [; n" [- `9 l
108.   RCC_ClkInitStruct.IC2Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
     " `4 Z: ^# Q, R% E, \
110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
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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. 
     
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     
116.   {
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117.     Error_Handler();
     
118.   }
     . @6 A& A3 v! j' {0 n
119. }
     
120. 
     
121. /**
     
122.   * @brief Peripherals Common Clock Configuration
     4 b. C7 u/ P8 _4 T7 R& y5 Z" Y
123.   * @retval None
     
124.   */
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125. void PeriphCommonClock_Config(void)
     
126. {
     
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     
128. 
     
129.   /** Initializes the peripherals clock
     0 }! T, S* L# ]: i
130.   */
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131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
     
132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     : ?7 G" `7 c+ c/ X; \5 _
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     . {; \( S0 t# k
134.   {
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135.     Error_Handler();
     
136.   }
     
137. }
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138. 
     9 e. }7 J. b  d+ x+ H
139. /**
     
140.   * @brief ICACHE Initialization Function
     7 k" Y1 X2 A  H( y
141.   * @param None
     
142.   * @retval None
     
143.   */
     
144. static void MX_ICACHE_Init(void)
     6 ?, c3 d- H9 W9 y
145. {
     ' \. T4 H: `, K/ R* g3 j5 f
146. 
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147.   /* USER CODE BEGIN ICACHE_Init 0 */
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148. 
     : H" D" I0 A. [7 v, Y
149.   /* USER CODE END ICACHE_Init 0 */
     + i1 f+ E9 G, E* X
150. 
     
151.   /* USER CODE BEGIN ICACHE_Init 1 */
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152. 
     
153.   /* USER CODE END ICACHE_Init 1 */
     
154. 
     
155.   /** Enable instruction cache in 1-way (direct mapped cache)
     " ^  Q1 W9 `) {/ P9 j2 N3 D
156.   */
     
157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     
158.   {
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159.     Error_Handler();
     
160.   }
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161.   if (HAL_ICACHE_Enable() != HAL_OK)
     
162.   {
     
163.     Error_Handler();
     
164.   }
     
165.   /* USER CODE BEGIN ICACHE_Init 2 */
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166. 
     
167.   /* USER CODE END ICACHE_Init 2 */
     
168. 
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169. }
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170. /* USER CODE BEGIN 4 */
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171. 
     
172. /* USER CODE END 4 */
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173. 
     
174. /**
     
175.   * @brief  This function is executed in case of error occurrence.
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176.   * @retval None
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177.   */
     
178. void Error_Handler(void)
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179. {
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180.   /* USER CODE BEGIN Error_Handler_Debug */
     
181.   /* User can add his own implementation to report the HAL error return state */
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182.   __disable_irq();
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183.   while (1)
     
184.   {
     
185.   }
     ! C% ?1 U* o; h1 [5 {
186.   /* USER CODE END Error_Handler_Debug */
     
187. }
     
188. 
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189. #ifdef  USE_FULL_ASSERT
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190. /**
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191.   * @brief  Reports the name of the source file and the source line number
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192.   *         where the assert_param error has occurred.
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193.   * @param  file: pointer to the source file name
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194.   * @param  line: assert_param error line source number
     
195.   * @retval None
     
196.   */
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197. void assert_failed(uint8_t *file, uint32_t line)
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198. {
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199.   /* USER CODE BEGIN 6 */
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200.   /* User can add his own implementation to report the file name and line number,
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201.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     
202.   /* USER CODE END 6 */
     7 _; u8 o. G; b9 J7 l
203. }
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204. #endif /* USE_FULL_ASSERT */
     

复制代码

. s, W3 Y  ?  R1 R! W! f$ j3.4、fun_task.c
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1. #include "main.h"
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2. 
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3. #define START_TASK_PRO                1                               
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4. #define START_STK_SIZE                128
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5. TaskHandle_t StartTask_Handler;
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6. 
   
7. #define TASK1_PRIO              2                  
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8. #define TASK1_STK_SIZE          128                 
   
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
   
10.            
    
11. #define TASK2_PRIO              3                  
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12. #define TASK2_STK_SIZE          128                 
    
13. static TaskHandle_t                    Task2Task_Handler = NULL;  
    
14. 
    
15. #define TASK3_PRIO              4                  
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16. #define TASK3_STK_SIZE          128                 
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17. static TaskHandle_t                    Task3Task_Handler = NULL;  
    
18. 
    
19. 
    
20. void start_task(void *pvParameters);
    
21. void gui_task(void *pvParameters);
    
22. 
    
23. void task1(void *pvParameters);  
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24. void task2(void *pvParameters);
    
25. void task3(void *pvParameters);
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26. 
    
27. 
    
28. 
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29. void task_create(void)
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30. {
    
31.        
    8 v3 B3 L2 ?* u& }; }
32.         //start_task
    
33.         xTaskCreate((TaskFunction_t )start_task,                  
    
34.                                                         (const char*    )"start_task",               
    
35.                                                         (uint16_t       )START_STK_SIZE,         
    9 {* v( \. ]; d) W5 T
36.                                                         (void*          )NULL,                  
      B3 a% F3 r" m( `* D
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    2 C9 [# f2 }" U5 q* W# G6 Y
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    ( t1 N2 `7 W  G# J% O# N, M$ h- J& ?
39. 
    
40.         vTaskStartScheduler();
    # i; R, C" S5 k, ^& K6 }
41. }
    
42. 
    
43. void start_task(void *pvParameters)
    
44. {
    + T2 L6 L2 }" q. l/ P
45.         taskENTER_CRITICAL();
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46.         //task1
    
47.         xTaskCreate((TaskFunction_t )task1,                  
    - \5 |& P$ X6 Q( k9 u. J
48.                                                         (const char*    )"task1",               
    
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    5 \% @( F. s$ j
50.                                                         (void*          )NULL,                  
    + Z0 x9 ?% j/ l- W
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    3 y7 e" G9 y" {
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    
53.         //task2
    
54.         xTaskCreate((TaskFunction_t )task2,                  
    
55.                                                         (const char*    )"task2",               
    / a& Q7 x- K9 ?1 [+ J
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    
57.                                                         (void*          )NULL,                  
    
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    
60.         //taskEXIT_CRITICAL();
    
61.                                                        
    
62.         //task3
    0 j/ P& M3 S( w. s
63.         xTaskCreate((TaskFunction_t )task3,                  
    8 v) h) y0 I% \) Y! N
64.                                                         (const char*    )"task3",               
    
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    1 m; t$ H8 j$ p+ p, {, ^
66.                                                         (void*          )NULL,                  
    # _5 N" D; c# E* u# e- W+ B2 v
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    / Y, l+ t4 C$ B0 l, X
69.         taskEXIT_CRITICAL();
    7 t3 y7 f" Q% d( ~+ F
70.                                                        
    
71.         vTaskDelete(StartTask_Handler);                                               
    9 B! V; U' ]7 V% I0 [9 C- d2 G
72. }
    
73. 
    $ Q' j- V# v# n0 j4 O
74. //task1
    
75. void task1(void *pvParameters)
    " v- Y0 x, u* o" Y
76. {
    
77.                 __IO uint32_t index = 0;
    * z( f2 W6 e. j
78.                 __IO uint32_t flash_id_index = 0;
    
79.        
    
80.     while (1)
    
81.     {               
    & {! n! n6 i  Y7 u( h0 U
82.                                 led1_tog();
    ; `3 G, b' b; D# A" t& p8 H  n
83.         printf("task1 run ...\r\n");
    
84.         vTaskDelay(200);
    
85.     }
    $ |$ j" [; k+ s8 g; M4 m4 K
86. }
    
87. 
    
88. //task2
    
89. void task2(void *pvParameters)
    3 a3 ^% Z  P& u  y" \8 f
90. {
    
91.     while (1)
    1 \  T: U& Q' l8 `2 U4 Z  g
92.     {       
    1 T6 K5 c9 c  L( N  Q& I; b: U
93.                                 led2_tog();
    4 V, Z: u# P& R/ U. E9 P
94.         printf("task2 run ...\r\n");
    
95.         vTaskDelay(100);
    , T( Z; {+ U$ `( K, Y
96.     }
    
97. }
    
98. 
    9 G8 m0 R. c' I( ]0 f% A
99. //task3
    . H* z' a5 Z+ p+ H1 J
100. void task3(void *pvParameters)
     ) \" \( s/ f- v! a
101. {
     $ p* v# e4 ]0 Z- a
102.     while (1)
     
103.     {       
     ! u$ p8 B; [0 }6 A
104.         printf("task3 run ...\r\n");
     
105.         vTaskDelay(100);
     ; f1 f. n4 |/ ~8 g6 U; k- U; o
106.     }
     
107. }

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3 ^3 l9 f! l& `: s, V
  _9 ?" u( i5 r9 l+ V( h6 Q+ d四、运行结果

" P- ~' A7 g2 n8 \, X( q/ V: _4.1、仿真运行后，串口输出



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% I9 s" s* |4 ~1 Z" p) v3 S) ~4.2、LED灯运行
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