一、下载FreeRTOS源码

5 s7 ~  Z9 ^$ S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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2.2、在工程中添加FreeRTOS源码



三、程序代码
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: g1 n3 u) h! D; \3 a, C3.1、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.
   
4. *
   
5. * Permission is hereby granted, free of charge, to any person obtaining a copy of
   3 \% M' z6 E5 e( q8 b- I, s
6. * this software and associated documentation files (the "Software"), to deal in
   
7. * the Software without restriction, including without limitation the rights to
   ' P/ r/ S" X; k8 E$ f
8. * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
   1 d6 h. H. @: k( |- u
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:
    
11. *
    
12. * The above copyright notice and this permission notice shall be included in all
    4 X9 L, m* i, K' F0 K( G, F0 h3 e
13. * copies or substantial portions of the Software.
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14. *
    
15. * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    9 z3 K2 r" v: G6 [: `8 h" _: [
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
    4 j: T/ m! C0 J7 n! c
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
    1 c% R" Q3 p8 v( ?
23. * https://github.com/FreeRTOS
    
24. *
    9 {' ~9 ^# f( K0 [+ N
25. */
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26. 
    
27. #ifndef FREERTOS_CONFIG_H
    
28. #define FREERTOS_CONFIG_H
    
29. 
    
30. /*-----------------------------------------------------------
    
31. * Application specific definitions.
    2 p! H% a3 b' n* ~
32. *
    
33. * These definitions should be adjusted for your particular hardware and
    
34. * application requirements.
    
35. *
    
36. * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
    4 x* m8 f" J* a- i+ m
37. * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
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38. *
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39. * See http://www.freertos.org/a00110.html.
    
40. *----------------------------------------------------------*/
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41. 
    
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>
    
45.   extern uint32_t SystemCoreClock;
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46. #endif
    
47. 
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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
    
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. 
    
61. 
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62. #define configENABLE_MVE                                                   0
    
63. 
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64. #define configUSE_PREEMPTION                                        1
    
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
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68. #define configUSE_TICK_HOOK                                                0
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69. #define configCPU_CLOCK_HZ                                                ( SystemCoreClock )
    
70. #define configTICK_RATE_HZ                                                ( ( TickType_t ) 1000 )
    
71. #define configMAX_PRIORITIES                                        ( 56 )
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72. #define configMINIMAL_STACK_SIZE                                ( ( uint16_t ) 512 )
    
73. #define configTOTAL_HEAP_SIZE                                        ( ( size_t ) 15 * 1024 )
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74. #define configMAX_TASK_NAME_LEN                                        ( 16 )
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75. #define configUSE_TRACE_FACILITY                                1
    
76. #define configUSE_16_BIT_TICKS                                        0
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77. #define configUSE_MUTEXES                                                1
    
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
    
82. #define configUSE_MALLOC_FAILED_HOOK                        0//1
    
83. #define configCHECK_FOR_STACK_OVERFLOW                        0//2
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84. 
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85. /* Defaults to size_t for backward compatibility, but can be changed
    
86. * if lengths will always be less than the number of bytes in a size_t. */
    
87. #define configMESSAGE_BUFFER_LENGTH_TYPE                size_t
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88. /* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
    
89. 
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90. /* Software timer definitions. */
    
91. #define configUSE_TIMERS                                                1
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92. #define configTIMER_TASK_PRIORITY                                ( 2 )
    
93. #define configTIMER_QUEUE_LENGTH                                10
    
94. #define configTIMER_TASK_STACK_DEPTH                        256
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95. 
    
96. /* Set the following definitions to 1 to include the API function, or zero
    " a) ]2 q5 `0 ^" O( k5 `8 x
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
     
102. #define INCLUDE_vTaskSuspend                                        1
     
103. #define INCLUDE_vTaskDelayUntil                                        1
     
104. #define INCLUDE_vTaskDelay                                                1
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105. #define INCLUDE_xTaskGetSchedulerState                        1
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106. #define INCLUDE_xTimerPendFunctionCall                        1
     
107. #define INCLUDE_xQueueGetMutexHolder                        1
     
108. #define INCLUDE_uxTaskGetStackHighWaterMark                1
     
109. #define INCLUDE_eTaskGetState                                        1
     
110. 
     
111. /* Cortex-M specific definitions. */
     
112. #ifdef __NVIC_PRIO_BITS
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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
     
116.         #define configPRIO_BITS                                                4
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117. #endif
     
118. 
     
119. /* The lowest interrupt priority that can be used in a call to a "set priority"
     
120. * function. */
     
121. #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY        15
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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
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125. * CALL INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A
     
126. * HIGHER PRIORITY THAN THIS! (higher priorities are lower numeric values. */
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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 ) )
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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. 
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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( ;; ); }
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139. 
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140. /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
     
141. * standard names. */
     
142. #define vPortSVCHandler                                                                SVC_Handler
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143. #define xPortPendSVHandler                                                        PendSV_Handler
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144. #define xPortSysTickHandler                                                        SysTick_Handler
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145. 
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146. /* Allow system call from within FreeRTOS kernel only. */
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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
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152. 
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153. /* The default TEX,S,C,B setting marks the SRAM as shareable and as a result,
     3 d3 R  J: i( @& ~! _; s, O
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. 
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158. #endif /* FREERTOS_CONFIG_H */
     

复制代码

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3.2、屏蔽函数

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3.3、main.c

1. #include "main.h"
   
2. 
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3. void SystemClock_Config(void);
   
4. void PeriphCommonClock_Config(void);
   
5. 
   
6. int main(void)
   
7. {
   
8.   HAL_Init();
   
9.   SystemClock_Config();
   
10.   PeriphCommonClock_Config();
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11.         usart_init(115200);
    
12.         init_led();
    
13.        
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14.         task_create();
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15. 
    
16.   while (1)
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17.   {
    
18. 
    
19.   }
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20. }
    
21. 
    
22. 
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23. 
    
24. 
    5 B4 x5 S, C4 X# {' s
25. 
    
26. /**
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27.   * @brief System Clock Configuration
    
28.   * @retval None
    
29.   */
    
30. void SystemClock_Config(void)
    
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.   {
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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;
    
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;
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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.   {
    
53.     Error_Handler();
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54.   }
    
55. 
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56.   /** Get current CPU/System buses clocks configuration and if necessary switch
    
57. to intermediate HSI clock to ensure target clock can be set
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58.   */
    
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);
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64.     RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_HSI;
    
65.     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
    
66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
    
67.     {
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68.       /* Initialization Error */
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69.       Error_Handler();
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70.     }
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71.   }
    
72. 
    
73.   /** Initializes the RCC Oscillators according to the specified parameters
    # V/ F- D6 I' o, K% o
74.   * in the RCC_OscInitTypeDef structure.
    
75.   */
    
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;
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79.   RCC_OscInitStruct.PLL1.PLLSource = RCC_PLLSOURCE_HSE;
    
80.   RCC_OscInitStruct.PLL1.PLLM = 3;
    
81.   RCC_OscInitStruct.PLL1.PLLN = 100;
    
82.   RCC_OscInitStruct.PLL1.PLLFractional = 0;
    
83.   RCC_OscInitStruct.PLL1.PLLP1 = 2;
    
84.   RCC_OscInitStruct.PLL1.PLLP2 = 1;
    
85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
    7 I! c5 ]9 a8 Y7 _! o3 K/ s
86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    6 u4 {8 k; \7 L* X* A3 q
87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    : \$ J* a; [' o  F
88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    
89.   {
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90.     Error_Handler();
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91.   }
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92. 
    
93.   /** Initializes the CPU, AHB and APB buses clocks
    ! A$ e( s+ j/ K* t6 o+ ^
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
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98.                               |RCC_CLOCKTYPE_PCLK4;
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99.   RCC_ClkInitStruct.CPUCLKSource = RCC_CPUCLKSOURCE_IC1;
    
100.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_IC2_IC6_IC11;
     
101.   RCC_ClkInitStruct.AHBCLKDivider = RCC_HCLK_DIV2;
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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;
     
105.   RCC_ClkInitStruct.APB5CLKDivider = RCC_APB5_DIV1;
     
106.   RCC_ClkInitStruct.IC1Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
107.   RCC_ClkInitStruct.IC1Selection.ClockDivider = 1;
     1 B4 A2 U$ M* ]: R
108.   RCC_ClkInitStruct.IC2Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
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110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
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111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
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112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
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113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     , }3 e9 T) F/ ^) v4 ]
114. 
     + ?6 h( M, ^$ m: P3 w
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     
116.   {
     
117.     Error_Handler();
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118.   }
     ) P6 ~) k1 U$ i% @
119. }
     
120. 
     
121. /**
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122.   * @brief Peripherals Common Clock Configuration
     % K7 m7 @7 g" E! \8 O0 }' U: W
123.   * @retval None
     . G  Y4 M/ l2 p6 w2 V; R9 {
124.   */
     
125. void PeriphCommonClock_Config(void)
     
126. {
     
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     
128. 
     * H2 c" u5 w* y! F% T6 g, a& b
129.   /** Initializes the peripherals clock
     
130.   */
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131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
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132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     3 L8 S& `8 Y# y5 X2 H( n: N
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
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134.   {
     
135.     Error_Handler();
     
136.   }
     
137. }
     " p! D/ ]3 i- e+ w6 w
138. 
     5 a, [* i/ R$ J# ?* X7 p+ p
139. /**
       a6 S2 N, \1 @$ h' A
140.   * @brief ICACHE Initialization Function
     ' v' U( x8 Q1 k; F5 j
141.   * @param None
     
142.   * @retval None
     
143.   */
     
144. static void MX_ICACHE_Init(void)
     
145. {
     0 I# A+ ~, S9 n9 x' e0 b: {
146. 
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147.   /* USER CODE BEGIN ICACHE_Init 0 */
     ' y: J/ k+ d* H3 g& v) D) c
148. 
     
149.   /* USER CODE END ICACHE_Init 0 */
     
150. 
     
151.   /* USER CODE BEGIN ICACHE_Init 1 */
     
152. 
     
153.   /* USER CODE END ICACHE_Init 1 */
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154. 
     
155.   /** Enable instruction cache in 1-way (direct mapped cache)
     
156.   */
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157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
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158.   {
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159.     Error_Handler();
     
160.   }
     
161.   if (HAL_ICACHE_Enable() != HAL_OK)
     
162.   {
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163.     Error_Handler();
     
164.   }
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165.   /* USER CODE BEGIN ICACHE_Init 2 */
     
166. 
     
167.   /* USER CODE END ICACHE_Init 2 */
     
168. 
     
169. }
     
170. /* USER CODE BEGIN 4 */
     
171. 
     
172. /* USER CODE END 4 */
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173. 
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174. /**
     
175.   * @brief  This function is executed in case of error occurrence.
       U9 s& X0 {0 \: E
176.   * @retval None
     
177.   */
     
178. void Error_Handler(void)
     
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 */
     
182.   __disable_irq();
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183.   while (1)
     
184.   {
     
185.   }
     
186.   /* USER CODE END Error_Handler_Debug */
     
187. }
     
188. 
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189. #ifdef  USE_FULL_ASSERT
     
190. /**
     
191.   * @brief  Reports the name of the source file and the source line number
     . ^$ T4 A/ m( V) H- F+ z
192.   *         where the assert_param error has occurred.
     $ ?: C6 F7 N; y
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
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196.   */
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197. void assert_failed(uint8_t *file, uint32_t line)
     ) t. n; e/ m) |" a9 S5 b/ K. q
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,
     % x" C7 |7 i* y1 W9 o4 u9 n
201.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     
202.   /* USER CODE END 6 */
     
203. }
     
204. #endif /* USE_FULL_ASSERT */
     7 w, y# G, \; h' ]- R5 f

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6 o" Y" [# Y. c, {2 K, e' P. c/ u3.4、fun_task.c

1. #include "main.h"
   
2. 
   
3. #define START_TASK_PRO                1                               
   ! R! c* P% u( n/ _5 O. M6 z. [
4. #define START_STK_SIZE                128
   2 U% [8 ?" `  L8 N
5. TaskHandle_t StartTask_Handler;
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6. 
   " g$ K6 M1 L, u; ?2 U+ S
7. #define TASK1_PRIO              2                  
   
8. #define TASK1_STK_SIZE          128                 
   / U1 x! F3 ~; x9 B
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
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10.            
    * I8 l( m! o: V& Y* X
11. #define TASK2_PRIO              3                  
    
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;  
    # I, ^5 I5 b, Q. }
18. 
    ! @4 _! p3 j* g5 T% y8 }
19. 
    ( T( D" y$ N, q& K+ u# z. v
20. void start_task(void *pvParameters);
    ; K3 H' h& {4 x
21. void gui_task(void *pvParameters);
    
22. 
    
23. void task1(void *pvParameters);  
    : G+ H/ B1 `( |' p; X& v1 {
24. void task2(void *pvParameters);
    
25. void task3(void *pvParameters);
    " m* w/ i- s) g# `; Z
26. 
    
27. 
    
28. 
    4 Q  E$ m0 ^* j. X; f
29. void task_create(void)
    
30. {
    ( ^: @* [$ g0 V6 l% _
31.        
    # i2 B9 h2 E: w: {- L# z
32.         //start_task
    
33.         xTaskCreate((TaskFunction_t )start_task,                  
    * _/ `  J6 Y  A8 p; a
34.                                                         (const char*    )"start_task",               
    - i. v' f4 d' ]9 N0 q' t
35.                                                         (uint16_t       )START_STK_SIZE,         
    
36.                                                         (void*          )NULL,                  
    
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    
39. 
    , m1 F$ t8 T9 L
40.         vTaskStartScheduler();
    
41. }
    ) E0 b3 [$ ?0 m: y: ]8 }( Q
42. 
    * z" H9 ?. G7 i: n+ d) u4 ?
43. void start_task(void *pvParameters)
    / @0 d) c, ]+ C$ O" ^) j
44. {
    & @- a9 c3 M' @  u. N
45.         taskENTER_CRITICAL();
    ( e3 p1 U9 v+ Q6 c: V- V
46.         //task1
    
47.         xTaskCreate((TaskFunction_t )task1,                  
    $ K/ w+ `/ [) N- [, @* f. D
48.                                                         (const char*    )"task1",               
    " I' A- T; T& ^6 Y0 P
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    
50.                                                         (void*          )NULL,                  
    ! M+ ?2 K# ?$ m7 u7 \
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    1 C) H- b3 @( k( b5 u5 T) s) m
53.         //task2
    
54.         xTaskCreate((TaskFunction_t )task2,                  
    - U) I  U5 `8 z* y$ _8 l
55.                                                         (const char*    )"task2",               
    
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    
57.                                                         (void*          )NULL,                  
    
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    , t2 b0 e1 c; j7 L
60.         //taskEXIT_CRITICAL();
    . s. f, ?; p6 I- X9 `. Q3 ^
61.                                                        
    
62.         //task3
    4 c1 w/ n* A7 X+ n- L$ o
63.         xTaskCreate((TaskFunction_t )task3,                  
    
64.                                                         (const char*    )"task3",               
    1 \9 u0 T1 E0 W
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    ! H0 r+ S; Q) _+ j3 t* r
66.                                                         (void*          )NULL,                  
    
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    9 a3 J! J  t) Z$ r  t& |  D8 A& s
69.         taskEXIT_CRITICAL();
    
70.                                                        
    , L# l1 l) ]# E4 f( b, W- K
71.         vTaskDelete(StartTask_Handler);                                               
    % B% h3 s7 |( P% w, s) ^4 M
72. }
    
73. 
    ; A% m  q+ h" |
74. //task1
    % r; K3 G+ ^/ |& _7 r
75. void task1(void *pvParameters)
    4 p9 x6 p" H. T7 G% M8 P
76. {
    
77.                 __IO uint32_t index = 0;
    3 I: R/ T7 ^+ ]/ x9 B( F
78.                 __IO uint32_t flash_id_index = 0;
    : k# L8 y$ s6 j3 l+ [/ E  m
79.        
    ! K  `! y1 }- F) L1 [
80.     while (1)
    & L9 V* {+ J# T* `% _
81.     {               
    , f0 Y4 y9 f4 i4 U
82.                                 led1_tog();
    
83.         printf("task1 run ...\r\n");
    
84.         vTaskDelay(200);
    & _  t  D$ A) l6 @
85.     }
    & s3 k( I5 O, R# T1 j2 j
86. }
    
87. 
    
88. //task2
    
89. void task2(void *pvParameters)
    5 L3 w, |3 M) I, M
90. {
    
91.     while (1)
    : V/ [2 s5 z) @' X, R3 c
92.     {       
    5 x( `$ \* D* X( [3 p
93.                                 led2_tog();
    0 H! ^; }/ L8 h+ D, m
94.         printf("task2 run ...\r\n");
    4 l5 z" ]+ v- B1 h% J5 [( Y5 P
95.         vTaskDelay(100);
    
96.     }
    
97. }
    1 y7 M" j, Q( \' i5 z  H0 W
98. 
    ! J- R+ d) _; e5 U5 [
99. //task3
    
100. void task3(void *pvParameters)
     . R" B2 H2 L7 B
101. {
     
102.     while (1)
     
103.     {       
     
104.         printf("task3 run ...\r\n");
     ' Q. \, G, g- s4 P. A
105.         vTaskDelay(100);
     
106.     }
     
107. }

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* u+ ^& A; `3 c1 _9 k四、运行结果

+ |: R" B; T0 Y6 b1 ]) @; |4.1、仿真运行后，串口输出
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4.2、LED灯运行
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