FreeRTOS 10移植STM32F10X系列教程，文末附源码。

1、文件准备

        去FreeRTOS官网下载源码，尽量下载最新版本，里面有demo工程，解压完成后只保留FreeRTOS文件夹即可。

source文件即为FreeRTOS源码

新建一个文件夹source，将当前目录的.c文件移动到source文件夹里。

portable文件夹里只保留MemMang和RVDS文件夹，其余可以选择删除或保留。

在Demo文件夹里找到，CORTEX_STM32F103_Keil文件夹，找到FreeRTOSConfig.h文件，将其放到FreeRTOS目录。

到此为止FreeRTOS文件准备完成。

2、添加到工程

将准备好的FreeRTOS文件夹移动到你的Keil工程目录下。

3、修改配置

将FreeRTOS文件夹路径添加到Target

在stm32f10x_it.c文件中注释或者删除掉，void SVC_Handler(void)，void PendSV_Handler(void)，void SysTick_Handler(void)函数。

在FreeRTOSConfig.c文件最后进行宏定义

#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler

至此完成移植，以下为闪灯任务源码。

4、源代码

main.c

#include "stm32f10x.h"                  // Device header
#include "freertos.h"
#include "freertosconfig.h"
#include "task.h"
#include "serial.h"
#include "mygpio.h"
#include "stdio.h"

TaskHandle_t myTaskHandle1,myTaskHandle2;

void myTask1(void *arg);
void myTask2(void *arg);

void myTask1(void *arg)
{
	while(1)
	{
		GPIO_WriteBit(GPIOA,GPIO_Pin_1,Bit_RESET);
		vTaskDelay(200);
		GPIO_WriteBit(GPIOA,GPIO_Pin_1,Bit_SET);
		vTaskDelay(200);
		printf("myTask1 run\n");

	}
}
void myTask2(void *arg)
{
	while(1)
	{
		GPIO_WriteBit(GPIOA,GPIO_Pin_2,Bit_RESET);
		vTaskDelay(100);
		GPIO_WriteBit(GPIOA,GPIO_Pin_2,Bit_SET);
		vTaskDelay(100);
		printf("myTask2 run\n");
	}
}

int main(void)
{
	myGPIO_Init();
	SerialPortInit();
	printf("FREERTOS RUNNING!\n");
	xTaskCreate(myTask1,"myTask1",100,NULL,1,&myTaskHandle1);
	printf("myTask1 ready\n");
	xTaskCreate(myTask2,"myTask2",100,NULL,1,&myTaskHandle2);
	printf("myTask2 ready\n");
	vTaskStartScheduler();
}

串口通信serial.c

/*
 * FreeRTOS V202107.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * http://www.FreeRTOS.org
 * http://aws.amazon.com/freertos
 *
 * 1 tab == 4 spaces!
 */

/*
	BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER FOR UART0.
*/

/* Scheduler includes. */
#include <stdio.h>

#include "FreeRTOS.h"
#include "queue.h"
#include "semphr.h"

/* Library includes. */
#include "stm32f10x.h"                  // Device header

/* Demo application includes. */
#include "serial.h"
/*-----------------------------------------------------------*/

/*-----------------------------------------------------------*/

/*-----------------------------------------------------------*/

/*
 * See the serial2.h header file.
 */
void SerialPortInit(void)
{
	unsigned long ulWantedBaud = 115200;
	USART_InitTypeDef USART_InitStructure;
	GPIO_InitTypeDef GPIO_InitStructure;


	/* If the queue/semaphore was created correctly then setup the serial port
	hardware. */
	/* Enable USART1 clock */
	RCC_APB2PeriphClockCmd( RCC_APB2Periph_USART1 | RCC_APB2Periph_GPIOA, ENABLE );	

	/* Configure USART1 Rx (PA10) as input floating */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_10;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
	GPIO_Init( GPIOA, &GPIO_InitStructure );
	
	/* Configure USART1 Tx (PA9) as alternate function push-pull */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
	GPIO_Init( GPIOA, &GPIO_InitStructure );

	USART_InitStructure.USART_BaudRate = ulWantedBaud;
	USART_InitStructure.USART_WordLength = USART_WordLength_8b;
	USART_InitStructure.USART_StopBits = USART_StopBits_1;
	USART_InitStructure.USART_Parity = USART_Parity_No ;
	USART_InitStructure.USART_HardwareFlowControl = USART_HardwareFlowControl_None;
	USART_InitStructure.USART_Mode = USART_Mode_Rx | USART_Mode_Tx;
	
	USART_Init( USART1, &USART_InitStructure );
	
	//USART_ITConfig( USART1, USART_IT_RXNE, ENABLE );
			
	USART_Cmd( USART1, ENABLE );		
}
/*-----------------------------------------------------------*/


int fputc( int ch, FILE *f )
{
	USART_TypeDef* USARTx = USART1;
	while ((USARTx->SR & (1<<7)) == 0);
	USARTx->DR = ch;
	return ch;
}

GPIO初始化源码

myGPIO.c

#include "stm32f10x.h"                  // Device header

void myGPIO_Init(void)
{
	GPIO_InitTypeDef GPIO_InitStruct;
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
	
	GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_InitStruct.GPIO_Pin = GPIO_Pin_1 | GPIO_Pin_2;
	GPIO_InitStruct.GPIO_Speed = GPIO_Speed_2MHz;
	
	GPIO_Init(GPIOA,&GPIO_InitStruct);
	
	GPIO_WriteBit(GPIOA,GPIO_Pin_1 | GPIO_Pin_2,Bit_RESET);
}

5、调试问题解决方法

当遇到调试报错，显示没有读写权限时修改一下参数即可解决，以STM32F103C8系列为例。其它系列参照Keil官网提供的解决办法，解决方案网站。