一、下载FreeRTOS源码

& \+ K* n  d* E$ e, r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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/ i# I5 u; d1 y+ h2.2、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
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1. /*
     J% ~" ]" X- G
2. * FreeRTOS V202212.01
   
3. * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
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4. *
   
5. * Permission is hereby granted, free of charge, to any person obtaining a copy of
   / B# {- a- Z- B: J+ W2 Y
6. * this software and associated documentation files (the "Software"), to deal in
   : t% `( O* a  f( V' `$ j( {
7. * the Software without restriction, including without limitation the rights to
   
8. * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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9. * the Software, and to permit persons to whom the Software is furnished to do so,
   
10. * subject to the following conditions:
    
11. *
    
12. * The above copyright notice and this permission notice shall be included in all
    8 M; E  A5 u9 ]( I; ^
13. * copies or substantial portions of the Software.
    
14. *
    # A& P9 Z' w" u2 x: l) r
15. * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
    : B! r5 M# b$ O0 {$ B# R9 h/ @$ c
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
    
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.
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21. *
    
22. * https://www.FreeRTOS.org
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23. * https://github.com/FreeRTOS
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24. *
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25. */
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26. 
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27. #ifndef FREERTOS_CONFIG_H
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28. #define FREERTOS_CONFIG_H
    
29. 
    
30. /*-----------------------------------------------------------
    0 |7 _( J$ c( n' z
31. * Application specific definitions.
    
32. *
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33. * These definitions should be adjusted for your particular hardware and
    
34. * application requirements.
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35. *
    
36. * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
    , B' R* _6 T3 i: m
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. *----------------------------------------------------------*/
    
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>
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45.   extern uint32_t SystemCoreClock;
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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
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51. #ifndef configENABLE_MPU
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52.   #define configENABLE_MPU                        0
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53. #endif
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54. #ifndef configENABLE_TRUSTZONE
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55.   #define configENABLE_TRUSTZONE                  0
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56. #endif
    
57. #ifndef configRUN_FREERTOS_SECURE_ONLY
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58.   #define configRUN_FREERTOS_SECURE_ONLY          1
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59. #endif
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60. 
    
61. 
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62. #define configENABLE_MVE                                                   0
    
63. 
    
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 )
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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 )
    
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
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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
    
84. 
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85. /* Defaults to size_t for backward compatibility, but can be changed
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86. * if lengths will always be less than the number of bytes in a size_t. */
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87. #define configMESSAGE_BUFFER_LENGTH_TYPE                size_t
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88. /* USER CODE END MESSAGE_BUFFER_LENGTH_TYPE */
    
89. 
    
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
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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
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97. * to exclude the API function. */
    
98. #define INCLUDE_vTaskPrioritySet                                1
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99. #define INCLUDE_uxTaskPriorityGet                                1
    
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
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107. #define INCLUDE_xQueueGetMutexHolder                        1
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108. #define INCLUDE_uxTaskGetStackHighWaterMark                1
     
109. #define INCLUDE_eTaskGetState                                        1
     
110. 
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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. */
     
114.         #define configPRIO_BITS                                                __NVIC_PRIO_BITS
     
115. #else
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116.         #define configPRIO_BITS                                                4
     
117. #endif
     
118. 
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119. /* The lowest interrupt priority that can be used in a call to a "set priority"
     
120. * function. */
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121. #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY        15
     
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
     
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 !!!!
     
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
     
137. * header file. */
     
138. #define configASSERT( x )                                                        if ( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }
     
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
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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. */
     
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. */
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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,
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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 )
     
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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' z( w) }3 k( M- j8 [) U8 c# t* f+ f在stm32n6xx_it.c
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3.3、main.c
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1. #include "main.h"
   
2. 
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3. void SystemClock_Config(void);
   
4. void PeriphCommonClock_Config(void);
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5. 
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6. int main(void)
   
7. {
   
8.   HAL_Init();
   
9.   SystemClock_Config();
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10.   PeriphCommonClock_Config();
    
11.         usart_init(115200);
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12.         init_led();
    
13.        
    
14.         task_create();
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15. 
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16.   while (1)
    
17.   {
    
18. 
    
19.   }
    
20. }
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21. 
    
22. 
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23. 
    
24. 
    
25. 
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26. /**
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27.   * @brief System Clock Configuration
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28.   * @retval None
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29.   */
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30. void SystemClock_Config(void)
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31. {
    
32.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    
33.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    
34. 
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35.   /** Configure the System Power Supply
    
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. 
    
42.   /* Enable HSI */
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43.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    
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;
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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)
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52.   {
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53.     Error_Handler();
    
54.   }
    
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);
    
60.   if ((RCC_ClkInitStruct.CPUCLKSource == RCC_CPUCLKSOURCE_IC1) ||
    
61.      (RCC_ClkInitStruct.SYSCLKSource == RCC_SYSCLKSOURCE_IC2_IC6_IC11))
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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;
    
66.     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
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67.     {
    
68.       /* Initialization Error */
    
69.       Error_Handler();
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70.     }
    
71.   }
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72. 
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73.   /** Initializes the RCC Oscillators according to the specified parameters
    6 n$ {* S! M! f+ K7 E% H* }  o0 i
74.   * in the RCC_OscInitTypeDef structure.
      C% |1 s" o7 i3 x! n1 k
75.   */
    
76.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    - d$ W" t2 T# d- {5 w
77.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    
78.   RCC_OscInitStruct.PLL1.PLLState = RCC_PLL_ON;
    
79.   RCC_OscInitStruct.PLL1.PLLSource = RCC_PLLSOURCE_HSE;
    
80.   RCC_OscInitStruct.PLL1.PLLM = 3;
    
81.   RCC_OscInitStruct.PLL1.PLLN = 100;
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82.   RCC_OscInitStruct.PLL1.PLLFractional = 0;
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83.   RCC_OscInitStruct.PLL1.PLLP1 = 2;
    
84.   RCC_OscInitStruct.PLL1.PLLP2 = 1;
    
85.   RCC_OscInitStruct.PLL2.PLLState = RCC_PLL_NONE;
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86.   RCC_OscInitStruct.PLL3.PLLState = RCC_PLL_NONE;
    
87.   RCC_OscInitStruct.PLL4.PLLState = RCC_PLL_NONE;
    
88.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
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89.   {
    
90.     Error_Handler();
    
91.   }
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92. 
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93.   /** Initializes the CPU, AHB and APB buses clocks
    
94.   */
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95.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_CPUCLK|RCC_CLOCKTYPE_HCLK
    
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;
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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;
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106.   RCC_ClkInitStruct.IC1Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
107.   RCC_ClkInitStruct.IC1Selection.ClockDivider = 1;
     
108.   RCC_ClkInitStruct.IC2Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     
109.   RCC_ClkInitStruct.IC2Selection.ClockDivider = 2;
     
110.   RCC_ClkInitStruct.IC6Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     0 H3 t- U' l' @/ r7 Z2 N
111.   RCC_ClkInitStruct.IC6Selection.ClockDivider = 4;
     # C$ S# i1 o5 W0 d9 A2 A2 {: t
112.   RCC_ClkInitStruct.IC11Selection.ClockSelection = RCC_ICCLKSOURCE_PLL1;
     ) d$ w  ?3 L- ?8 k
113.   RCC_ClkInitStruct.IC11Selection.ClockDivider = 8;
     
114. 
     
115.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct) != HAL_OK)
     
116.   {
     
117.     Error_Handler();
     . V7 |$ N" }7 d/ I' A0 Q- B9 I
118.   }
     
119. }
     
120. 
     5 M0 F0 K6 m% R% J: j5 h
121. /**
     2 f3 A; [$ L* Q+ v2 v% g. V
122.   * @brief Peripherals Common Clock Configuration
     $ ?$ T+ n1 }% L! H
123.   * @retval None
     
124.   */
     " S7 o( {8 R, z# p
125. void PeriphCommonClock_Config(void)
     
126. {
     
127.   RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
     1 T$ F) i+ v, n1 ~
128. 
     4 J9 R% x+ Z. l9 `
129.   /** Initializes the peripherals clock
     ( ]6 g+ R& j! V! Q
130.   */
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131.   PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_TIM;
     # C  Y5 G7 ]' p9 W4 q1 W6 O1 t
132.   PeriphClkInitStruct.TIMPresSelection = RCC_TIMPRES_DIV1;
     
133.   if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
     3 m) \0 p6 \, E3 B* ]1 K0 N
134.   {
     
135.     Error_Handler();
     
136.   }
     - G, Y8 Z& U: A  {# C5 c
137. }
     
138. 
     0 {+ S/ |* K$ o
139. /**
     
140.   * @brief ICACHE Initialization Function
     
141.   * @param None
     5 J: Z+ _6 W4 Z# ~6 l1 S
142.   * @retval None
     ' B( x: ~- S9 X4 y2 \, I- g
143.   */
     
144. static void MX_ICACHE_Init(void)
     " z5 b' a. T/ g7 k
145. {
     
146. 
     6 ^6 R8 ?- V; q& f1 f- U& Z9 O
147.   /* USER CODE BEGIN ICACHE_Init 0 */
     
148. 
     
149.   /* USER CODE END ICACHE_Init 0 */
     
150. 
     # Q- J# l* I# J2 {: m' ~" z' a
151.   /* USER CODE BEGIN ICACHE_Init 1 */
     
152. 
     
153.   /* USER CODE END ICACHE_Init 1 */
     ! X  t4 R; h7 J) u. }
154. 
     ( Q0 B) P8 X5 i( H
155.   /** Enable instruction cache in 1-way (direct mapped cache)
     
156.   */
     % Z4 m( {# {# s, n7 Z& ^
157.   if (HAL_ICACHE_ConfigAssociativityMode(ICACHE_1WAY) != HAL_OK)
     
158.   {
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159.     Error_Handler();
     
160.   }
     
161.   if (HAL_ICACHE_Enable() != HAL_OK)
     
162.   {
     4 D8 H1 I( h+ T
163.     Error_Handler();
     8 m; ]% {- M' t! t
164.   }
     " d' j# U$ g# Q% k- E) n4 n/ q
165.   /* USER CODE BEGIN ICACHE_Init 2 */
     
166. 
     ( A& V5 E/ ^" h2 q
167.   /* USER CODE END ICACHE_Init 2 */
     
168. 
     
169. }
     + B8 H/ Z" L2 D2 y3 m! r9 @' A
170. /* USER CODE BEGIN 4 */
     4 [, G( a; T) u/ i4 M/ Q
171. 
     * c( t4 }' l+ @
172. /* USER CODE END 4 */
     ) ~% `" P. h3 _9 p" q; i' B) W
173. 
     
174. /**
     0 v' B6 |9 p7 \
175.   * @brief  This function is executed in case of error occurrence.
     ( t9 J0 a1 \8 y, ?) x' ?- x* m
176.   * @retval None
     
177.   */
     
178. void Error_Handler(void)
     
179. {
     2 y  R! m* l2 g* c6 B; @
180.   /* USER CODE BEGIN Error_Handler_Debug */
     
181.   /* User can add his own implementation to report the HAL error return state */
     
182.   __disable_irq();
     
183.   while (1)
     
184.   {
     " N4 z; {8 N6 p6 N9 `! p4 P5 Y! i
185.   }
     
186.   /* USER CODE END Error_Handler_Debug */
     + j* q% H. s+ R" P0 ^2 e7 `  `
187. }
     " b; K1 ?/ o: Y
188. 
     
189. #ifdef  USE_FULL_ASSERT
     ; H6 Z6 b5 W. S9 @; n6 z! A8 m
190. /**
     7 [+ O! O2 Y+ K( m; t8 j7 k- j
191.   * @brief  Reports the name of the source file and the source line number
     
192.   *         where the assert_param error has occurred.
     9 `" G% ~/ I- p9 D. ~
193.   * @param  file: pointer to the source file name
     8 ~; t% m) E, t
194.   * @param  line: assert_param error line source number
     0 j( B0 A/ d& X8 O8 U( H7 f& N% s' y
195.   * @retval None
     
196.   */
     5 }9 ^$ G( X" `
197. void assert_failed(uint8_t *file, uint32_t line)
     7 c) \1 C4 F7 ^# a; X/ h* r4 M
198. {
     
199.   /* USER CODE BEGIN 6 */
     - i/ u# x( r1 l8 w
200.   /* User can add his own implementation to report the file name and line number,
     6 O/ G- @: e; F; l! B9 ?# _6 B0 z
201.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
     9 y% j2 _2 m& s6 i$ {
202.   /* USER CODE END 6 */
     
203. }
     
204. #endif /* USE_FULL_ASSERT */
     

复制代码

3.4、fun_task.c

1. #include "main.h"
   
2. 
   6 G7 O% }4 N4 V8 ^" W* |4 J
3. #define START_TASK_PRO                1                               
   
4. #define START_STK_SIZE                128
   
5. TaskHandle_t StartTask_Handler;
   
6. 
   
7. #define TASK1_PRIO              2                  
   8 J4 c. k$ y2 p' m
8. #define TASK1_STK_SIZE          128                 
   . G# M, G7 }# h5 A
9. static TaskHandle_t                    Task1Task_Handler = NULL;  
   
10.            
    
11. #define TASK2_PRIO              3                  
    
12. #define TASK2_STK_SIZE          128                 
    
13. static TaskHandle_t                    Task2Task_Handler = NULL;  
    # r& D' |" U7 M, S; J: h% i. D' u
14. 
    
15. #define TASK3_PRIO              4                  
    
16. #define TASK3_STK_SIZE          128                 
    ; S% c# V* Q1 Z' M
17. static TaskHandle_t                    Task3Task_Handler = NULL;  
    
18. 
    ' O5 ]% R# x2 l% F
19. 
    8 B* R. f9 L8 X
20. void start_task(void *pvParameters);
    - m6 O1 r! K# m) N1 x! H
21. void gui_task(void *pvParameters);
    
22. 
    
23. void task1(void *pvParameters);  
    ( D) p. q, e2 |# S/ D+ ^- p
24. void task2(void *pvParameters);
    
25. void task3(void *pvParameters);
    % q. s( s5 a$ J! B! x
26. 
    1 y: h6 M+ u+ }% S1 I) r
27. 
    
28. 
    - q: s/ Z/ b8 t, F0 B: Q5 h' T
29. void task_create(void)
    
30. {
    
31.        
    , T1 ~) u; s0 a) [% O
32.         //start_task
    
33.         xTaskCreate((TaskFunction_t )start_task,                  
    2 A5 N( f9 v% b1 ?( L1 I
34.                                                         (const char*    )"start_task",               
    2 E7 [5 M6 g9 X' e9 U
35.                                                         (uint16_t       )START_STK_SIZE,         
      i2 L; E" o( Z% p1 R% Z8 q
36.                                                         (void*          )NULL,                  
    $ R# ?2 Y  l& s: y6 T; l5 ]0 e
37.                                                         (UBaseType_t    )START_TASK_PRO,            
    
38.                                                         (TaskHandle_t*  )&StartTask_Handler);   
    ( \$ g* H- X) n" o
39. 
    3 r" ~3 x" d% I7 {. B" Q" @
40.         vTaskStartScheduler();
    & f  d/ J/ c5 U3 u
41. }
    
42. 
    
43. void start_task(void *pvParameters)
    
44. {
    
45.         taskENTER_CRITICAL();
    
46.         //task1
      g7 t2 S  _4 I  D6 E
47.         xTaskCreate((TaskFunction_t )task1,                  
    
48.                                                         (const char*    )"task1",               
    ( Q: c- U/ x- \' ]4 g3 |, g3 P6 \
49.                                                         (uint16_t       )TASK1_STK_SIZE,         
    
50.                                                         (void*          )NULL,                  
    
51.                                                         (UBaseType_t    )TASK1_PRIO,            
    
52.                                                         (TaskHandle_t*  )&Task1Task_Handler);   
    3 s& g% T6 x, b( h  r" `
53.         //task2
    
54.         xTaskCreate((TaskFunction_t )task2,                  
    , c) h  `; v1 u* C/ T4 f
55.                                                         (const char*    )"task2",               
    0 l, s  E) }: Y1 q& d
56.                                                         (uint16_t       )TASK2_STK_SIZE,        
    3 j! [- `# T, K/ X% X" I7 A8 e
57.                                                         (void*          )NULL,                  
    
58.                                                         (UBaseType_t    )TASK2_PRIO,            
    2 d' t9 e5 b7 E% k% f8 J1 m( q* l
59.                                                         (TaskHandle_t*  )&Task2Task_Handler);
    * M6 w/ h3 s9 J( o5 f+ B7 g
60.         //taskEXIT_CRITICAL();
    ( l! g# z; _" t4 B6 O# g3 [
61.                                                        
    ( P. I% Z9 A# K) a; T  f: e* _* G
62.         //task3
    ! s0 T% `2 C; Q$ ^
63.         xTaskCreate((TaskFunction_t )task3,                  
    " a' P8 F" r! t5 z2 B; x, V' b6 G' F- Z8 ^
64.                                                         (const char*    )"task3",               
    
65.                                                         (uint16_t       )TASK3_STK_SIZE,        
    3 l6 l* d! P% y; N% s" ?$ s
66.                                                         (void*          )NULL,                  
    
67.                                                         (UBaseType_t    )TASK3_PRIO,            
    5 l, s9 F' f# b( B' [; k9 b
68.                                                         (TaskHandle_t*  )&Task3Task_Handler);
    . L5 N' a6 s9 t* [* f) C8 o
69.         taskEXIT_CRITICAL();
    4 A1 [6 Z9 h) A1 V9 c6 @
70.                                                        
    
71.         vTaskDelete(StartTask_Handler);                                               
    
72. }
    
73. 
      X& s; F3 m5 H5 G; ~9 X
74. //task1
    ! d3 I+ ?  K  [3 e4 T1 {8 O
75. void task1(void *pvParameters)
    
76. {
    1 \6 p* i% H7 m4 E; w$ `
77.                 __IO uint32_t index = 0;
    
78.                 __IO uint32_t flash_id_index = 0;
    7 U  P" j/ E7 x) Y$ b. p$ H! h
79.        
    $ v: O) L, B) i0 t) w
80.     while (1)
    
81.     {               
    / u1 q! b' T( M
82.                                 led1_tog();
    - J8 @' u1 V/ q7 G$ s
83.         printf("task1 run ...\r\n");
      c8 t( L1 i/ B  {+ y, c
84.         vTaskDelay(200);
    + o* I$ F$ z$ @
85.     }
    
86. }
    7 ?& b6 P4 W* k* m9 Z  S
87. 
    
88. //task2
    
89. void task2(void *pvParameters)
    
90. {
    + w) B' U% [6 y; l  J
91.     while (1)
    
92.     {       
    
93.                                 led2_tog();
    ) i% p6 j) ]# u
94.         printf("task2 run ...\r\n");
    
95.         vTaskDelay(100);
    
96.     }
    
97. }
    
98. 
    
99. //task3
    
100. void task3(void *pvParameters)
     
101. {
     
102.     while (1)
     3 e6 e: I0 s) p$ V2 _1 m
103.     {       
     " M8 |! F/ m/ A: ~- f
104.         printf("task3 run ...\r\n");
     
105.         vTaskDelay(100);
     & X% o' ]% ?5 ^% J* w  j* _& V
106.     }
     
107. }

复制代码

四、运行结果
; C4 O( }  p- |! `2 g
' N) g" I, V  P* I! u' J9 w% f4.1、仿真运行后，串口输出
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- {1 B! L* i4 q. y9 e4 W+ F, t6 E
* x! R/ b" R/ R$ Q2 E* k6 s: M


4 x! ]8 B0 t0 h: A: v4.2、LED灯运行
  }3 b8 N" S+ g

' \: V' N/ T( W6 `5 V$ r3 H2 X





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4 O( C" x, v3 Z1 o, I' {

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