在CubeMX的软件包中导入FreeRTOS

使能FreeRTOS

未开启FreeRTOS时，默认时钟源systick，开启FreeRTOS后，系统会占用systick时钟，需要为其他总线提供另外的时钟源，这里选择TIM1

生成程序后，串口输出沿用上一次串口ADC值的代码

在app_freertos.c中添加测试任务代码。创建了两个任务，并通过串口交替打印输出

app_freertos.c代码如下

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : app_freertos.c
  * Description        : FreeRTOS applicative file
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "app_freertos.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdio.h>
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */
void Task1(void *argument);
void Task2(void *argument);
/* USER CODE END Variables */
/* Definitions for defaultTask */
osThreadId_t defaultTaskHandle;
const osThreadAttr_t defaultTask_attributes = {
  .name = "defaultTask",
  .priority = (osPriority_t) osPriorityNormal,
  .stack_size = 128 * 4
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
osThreadId_t Task1Handle;
osThreadId_t Task2Handle;

const osThreadAttr_t Task1_attributes = {
  .name = "Task1",
  .priority = (osPriority_t) osPriorityNormal1,
  .stack_size = 128
};
const osThreadAttr_t Task2_attributes = {
  .name = "Task2",
  .priority = (osPriority_t) osPriorityNormal2,
  .stack_size = 128
};

/* USER CODE END FunctionPrototypes */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */
  /* creation of defaultTask */
  defaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &defaultTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
    Task1Handle = osThreadNew(Task1, NULL, &Task1_attributes);
    Task1Handle = osThreadNew(Task2, NULL, &Task2_attributes);
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}
/* USER CODE BEGIN Header_StartDefaultTask */
/**
* @brief Function implementing the defaultTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN defaultTask */
  /* Infinite loop */
  for(;;)
  {
        osDelay(1);
  }
  /* USER CODE END defaultTask */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
void Task1(void *argument)
{
  for(;;)
  {
        printf("task1\r\n");
        osDelay(500);
  }
}

void Task2(void *argument)
{
  for(;;)
  {
        printf("task2\r\n");
        osDelay(500);
  }
}
/* USER CODE END Application */

输出结果如下