手把手操作STM32移植FreeRTOS

油条也会被熬成油渣

已于 2024-09-28 20:42:30 修改

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文章标签： stm32 嵌入式硬件单片机

于 2024-09-28 20:40:35 首次发布

本文链接：https://blog.csdn.net/m0_52510334/article/details/142620184

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前期准备

准备好一个模板工程，HAL库和标准库都可以

1.准备工作

准备FreeRTOS的源码

从官网下载FreeRTOS的源码，建议下载带.exe后缀的文件包，文件小下载速度快。

FreeRTOS Real Time Kernel (RTOS) - Browse /FreeRTOS/V8.2.3 at SourceForge.net

2.文件夹解压

下载完毕后，选中文件右击->以管理员身份运行->然后点击exract解压。

解压完如下图所示

3.新建文件夹

在准备的模板里新建一个FreeRTOS文件夹

4.复制文件

从解压的文件夹中FreeRTOSV8.23->FreeRTOS->Source中复制Source里的所有文件，并把这些文件粘贴到刚刚创建的FreeRTOS（上一步创建的）文件夹中。

5.添加文件

打开工程添加源文件

在工程中创建文件夹，并按照图示添加文件

其中FreeRTOSConfig.h文件，在之前解压文件中的Demo->CORTEX_STM32F103_Keil中

其中 heap_4.c 文件路径： FreeRTOS\Source\portable\MemMang

port.c 和 portmacro.h 文件的路径： FreeRTOS\Source\portable\RVDS\ARM_CM3中

因为STM32F1系列为M3内核，因此要选择M3内核

6.添加头文件路径

按照以下步骤添加头文件

选择添加的头文件的路径如下图所示

7.编译程序

对程序进行编译

可以看到编译成功。

8.修改配置文件

修改FreeRTOSConfig.h文件，将下列代码替换该文件

/*
    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
    All rights reserved

    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    This file is part of the FreeRTOS distribution.

    FreeRTOS is free software; you can redistribute it and/or modify it under
    the terms of the GNU General Public License (version 2) as published by the
    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

    ***************************************************************************
    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
    >>!   distribute a combined work that includes FreeRTOS without being   !<<
    >>!   obliged to provide the source code for proprietary components     !<<
    >>!   outside of the FreeRTOS kernel.                                   !<<
    ***************************************************************************

    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
    FOR A PARTICULAR PURPOSE.  Full license text is available on the following
    link: http://www.freertos.org/a00114.html

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS provides completely free yet professionally developed,    *
     *    robust, strictly quality controlled, supported, and cross          *
     *    platform software that is more than just the market leader, it     *
     *    is the industry's de facto standard.                               *
     *                                                                       *
     *    Help yourself get started quickly while simultaneously helping     *
     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
     *    tutorial book, reference manual, or both:                          *
     *    http://www.FreeRTOS.org/Documentation                              *
     *                                                                       *
    ***************************************************************************

    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
    the FAQ page "My application does not run, what could be wrong?".  Have you
    defined configASSERT()?

    http://www.FreeRTOS.org/support - In return for receiving this top quality
    embedded software for free we request you assist our global community by
    participating in the support forum.

    http://www.FreeRTOS.org/training - Investing in training allows your team to
    be as productive as possible as early as possible.  Now you can receive
    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
    Ltd, and the world's leading authority on the world's leading RTOS.

    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
    compatible FAT file system, and our tiny thread aware UDP/IP stack.

    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
    licenses offer ticketed support, indemnification and commercial middleware.

    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
    engineered and independently SIL3 certified version for use in safety and
    mission critical applications that require provable dependability.

    1 tab == 4 spaces!
*/

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

/*-----------------------------------------------------------
 * Application specific definitions.
 *
 * These definitions should be adjusted for your particular hardware and
 * application requirements.
 *
 * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
 * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. 
 *
 * See http://www.freertos.org/a00110.html.
 *----------------------------------------------------------*/
#define configUSE_PREEMPTION		1
#define configUSE_IDLE_HOOK			0
#define configUSE_TICK_HOOK			0
#define configCPU_CLOCK_HZ			( ( unsigned long ) 72000000 )	
#define configTICK_RATE_HZ			( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES		( 5 )
#define configMINIMAL_STACK_SIZE	( ( unsigned short ) 128 )
#define configTOTAL_HEAP_SIZE		( ( size_t ) ( 17 * 1024 ) )
#define configMAX_TASK_NAME_LEN		( 16 )
#define configUSE_TRACE_FACILITY	0
#define configUSE_16_BIT_TICKS		0
#define configIDLE_SHOULD_YIELD		1


/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 		0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */

#define INCLUDE_vTaskPrioritySet		1
#define INCLUDE_uxTaskPriorityGet		1
#define INCLUDE_vTaskDelete				1
#define INCLUDE_vTaskCleanUpResources	0
#define INCLUDE_vTaskSuspend			1
#define INCLUDE_vTaskDelayUntil			1
#define INCLUDE_vTaskDelay				1

/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
	/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
	#define configPRIO_BITS       		__NVIC_PRIO_BITS
#else
	#define configPRIO_BITS       		4        /* 15 priority levels */
#endif

/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			0x0f

/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	0x01

/* Interrupt priorities used by the kernel port layer itself.  These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
	
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }	
	
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */


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


#endif /* FREERTOS_CONFIG_H */

9.再次编译

编译后会发现编译不通过。

这三个函数报了重复定义的错误，因FreeRTOS对这几个函数进行了改写。只需要在stm32f1xx_it.c文件中注释即可

10.验证工程

对该移植的FreeRTOS工程文件进行验证。

创建文件

MyTask.c

#include "MyTask.h"
#include <stdarg.h>
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <main.h>
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "croutine.h"



static TaskHandle_t xHandleTask1 = NULL;
static TaskHandle_t xHandleTask2 = NULL;


static void vTask1(void *Param)
{
	   while(1)
    {
			printf("vTask1 running\r\n");
      vTaskDelay(1000);
    }
}

static void vTask2(void *Param)
{
	   while(1)
    {
			printf("vTask2 running\r\n");
      vTaskDelay(1000);
    }
}

 void AppTaskCreate (void)
{

		xTaskCreate( vTask1, /* 任务函数 */
								"vTask1", /* 任务名 */
								512, /* 任务栈大小，单位 word，也就是 4 字节 */
								NULL, /* 任务参数 */
								4, /* 任务优先级*/
								&xHandleTask1 ); /* 任务句柄 */
	
		xTaskCreate( vTask2, /* 任务函数 */
								"vTask2", /* 任务名 */
								512, /* 任务栈大小，单位 word，也就是 4 字节 */
								NULL, /* 任务参数 */
								3, /* 任务优先级*/
								&xHandleTask2 ); /* 任务句柄 */
}

MyTask.h

#ifndef __MYTASK_H_
#define __MYTASK_H_

static void vTask1(void *Param);
static void vTask2(void *Param);
 void AppTaskCreate (void);

#endif

10.添加程序

在主程序中添加代码

并添加头文件

11.实验现象

代码烧录之后，可以看到任务1和任务2在运行过程中会打印数据

移植的芯片为为STM32F103ZET6

STM32移植FreeRTOS资源-CSDN文库

油条也会被熬成油渣

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