1.0 如何使用cubemx并且移植RTX操作系统？（方法一）

步骤一、正常配置cubemx。

这一步骤就不过多介绍了，正常配就好了

步骤二、下面三个中断向量必须取消勾选

然后生成代码：

步骤三、选中RTX5系统

按照下面三个步骤即可：

步骤四、取消startup到目录

设置那些到此就好了，接下来在main文件里添加启动代码

步骤五：添加启动代码

1、添加头文件

在/* USER CODE BEGIN Includes */的下一行添加

#include "bsp.h"
#include "RTE_Components.h"             
  #ifdef RTE_Compiler_EventRecorder
    #include "EventRecorder.h"            
  #endif    
#include "cmsis_os2.h"

注意：#include "bsp.h"是我自己的头文件

2、添加tick等函数

在/* USER CODE BEGIN 0 */下一行添加

uint32_t HAL_GetTick (void) {
 static uint32_t ticks = 0U;
 uint32_t i;
 if (osKernelGetState () == osKernelRunning) {
   return ((uint32_t)osKernelGetTickCount ());
 } 
 /* If Kernel is not running wait approximately 1 ms then increment and return auxiliary tick counter value */
 for (i = (SystemCoreClock >> 14U); i > 0U; i--) { __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); }
 return ++ticks; }
extern void app_main (void* arg);

注意：extern void app_main (void* arg);是我自己的函数

3、添加启动代码

在 /* USER CODE BEGIN 2 */下一行添加

	bsp_Init();

	#ifdef RTE_Compiler_EventRecorder
	EventRecorderInitialize(EventRecordAll, 1);
	#endif
	SystemCoreClockUpdate();
	osKernelInitialize();                 // Initialize CMSIS-RTOS
	osThreadNew(app_main, NULL, NULL);    // Create application main thread
	osKernelStart();

注意：bsp_Init();是我自己定义的外设驱动初始化函数。在bsp.c里。
到此，结束。

我自己的分类：

下面给我自己app_main.c，app_main.c，app_main.h，bsp.c及 bsp.h内容，仅供参考：

main.c

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include "fmc.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp.h"
#include "RTE_Components.h"             
  #ifdef RTE_Compiler_EventRecorder
    #include "EventRecorder.h"            
  #endif    
#include "cmsis_os2.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 PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint32_t HAL_GetTick (void) {
 static uint32_t ticks = 0U;
 uint32_t i;
 if (osKernelGetState () == osKernelRunning) {
   return ((uint32_t)osKernelGetTickCount ());
 } 
 /* If Kernel is not running wait approximately 1 ms then increment and return auxiliary tick counter value */
 for (i = (SystemCoreClock >> 14U); i > 0U; i--) { __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); }
 return ++ticks; }
extern void app_main (void* arg);
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM2_Init();
  MX_TIM5_Init();
  MX_UART4_Init();
  MX_USART3_UART_Init();
  MX_TIM4_Init();
  MX_FMC_Init();
  MX_CAN1_Init();
  MX_TIM1_Init();
  MX_TIM9_Init();
  /* USER CODE BEGIN 2 */
	bsp_Init();

	#ifdef RTE_Compiler_EventRecorder
	EventRecorderInitialize(EventRecordAll, 1);
	#endif
	SystemCoreClockUpdate();
	osKernelInitialize();                 // Initialize CMSIS-RTOS
	osThreadNew(app_main, NULL, NULL);    // Create application main thread
	osKernelStart();
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage 
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 25;
  RCC_OscInitStruct.PLL.PLLN = 360;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 8;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Activate the Over-Drive mode 
  */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB busses clocks 
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */

  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{ 
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

app_main.c

#include "bsp.h"
#include "cmsis_os2.h"                  // ::CMSIS:RTOS2
#include "app_main.h"

/* 任务句柄 */
osThreadId_t led_ids  = NULL;
osThreadId_t main_ids  = NULL;
osThreadId_t epos_ids = NULL;
osThreadId_t temperature_ids = NULL;

/*timer*/
osTimerId_t  timer0_id;//200ms 定时器
osTimerId_t  timer1_id;//1000mS定时器

/*Mutex &semaphore & queue handle*/
osSemaphoreId_t		sid_Semaphore_softtimer0; 
osSemaphoreId_t		sid_Semaphore_softtimer1;
osSemaphoreId_t   sid_Semaphore_exit;//外部中断

osMessageQueueId_t  mid_MsgQueue_ICAPTURE;//输入捕获值
osMessageQueueId_t  mid_MsgQueue_EPOS_rx;
osMessageQueueId_t  mid_MsgQueue_WLAN_rx;
osMessageQueueId_t  mid_MsgQueue_Set_EPOS;
osMessageQueueId_t	mid_MsgQueue_Set_temperature;
osMessageQueueId_t  mid_MsgQueue_feedbak_temperature;
osMessageQueueId_t  mid_MsgQueue_feedback_EPOS;

/*event*/
osEventFlagsId_t	mid_event_Inited;

uint64_t appmain_StackMemory[STACK_SIZE2K]   __attribute__((at(0x20028000)));   //0x20028000 ~ 0x200287ff size 2k 
uint64_t SR2_StackMemory[STACK_SIZE2K]       __attribute__((at(0x20028800)));   //0x20028800 ~ 0x200289ff size 2K
uint64_t led_StackMemory[STACK_SIZE2K]       __attribute__((at(0x20029000)));   //0x20028a00 ~ 0x20028bff size 2K
uint64_t epos_StackMemory[STACK_SIZE2K]      __attribute__((at(0x20029800)));   //0x20028c00 ~ 0x20028fff size 2k
/*----------------------------------------------------------------------------
Initilise main thread
 *---------------------------------------------------------------------------*/

static const osThreadAttr_t ThreadAttr_MAIN = {
	.name = "Main_Thread",														//This decleration requires C99 to be selected in the project compiler options
	.priority=osPriorityNormal,
	.stack_mem = &appmain_StackMemory[0],
	.stack_size =sizeof(appmain_StackMemory)
};


/*----------------------------------------------------------------------------
Initilise LED thread
 *---------------------------------------------------------------------------*/

static const osThreadAttr_t ThreadAttr_LED = {
	.name = "LED_Thread",														//This decleration requires C99 to be selected in the project compiler options
	.priority=osPriorityRealtime,//osPriorityAboveNormal,//osPriorityNormal,//,
	.stack_mem = &led_StackMemory[0],
	.stack_size =sizeof(led_StackMemory),
};


/*----------------------------------------------------------------------------
Initilise SR2
 *---------------------------------------------------------------------------*/
static const osThreadAttr_t ThreadAttr_TEMP = {
	.name = "SR2_Thread",														//This decleration requires C99 to be selected in the project compiler options
	.priority=osPriorityNormal,
  .stack_mem = &SR2_StackMemory[0],
	.stack_size =sizeof(SR2_StackMemory),
};


/*----------------------------------------------------------------------------
Initilise SR2
 *---------------------------------------------------------------------------*/
static const osThreadAttr_t ThreadAttr_EPOS = {
	.name = "EPOS_Thread",														//This decleration requires C99 to be selected in the project compiler options
	.priority=osPriorityNormal,
  .stack_mem = &epos_StackMemory[0],
	.stack_size =sizeof(epos_StackMemory),
};

static const osSemaphoreAttr_t semAttr_SEM1 = {
	.name = "sid_Semaphore_exit",
};

static const osEventFlagsAttr_t EventFlagAttr_Inited= {
	.name = "Inite_Events",
};
/*
*********************************************************************************************************
*	函 数 名: AppTaskCreate
*	功能说明: 创建应用任务
*	形    参: 无
*	返 回 值: 无
*********************************************************************************************************
*/

static void AppTaskCreate (void)
{
	led_ids=osThreadNew(led_thread, NULL, &ThreadAttr_LED);

  temperature_ids=osThreadNew(temperature_thread, NULL, &ThreadAttr_TEMP);

	main_ids=osThreadNew(main_thread, NULL, &ThreadAttr_MAIN);
	
	epos_ids=osThreadNew(epos_thread, NULL, &ThreadAttr_EPOS);
}

/*
*********************************************************************************************************
*	函 数 名: AppObjCreate
*	功能说明: 创建任务通信机制
*	形    参: 无
*	返 回 值: 无
*********************************************************************************************************
*/
static const  osTimerAttr_t timerAttr_timer0 = {
	.name = "timer_0",
};
static const  osTimerAttr_t timerAttr_timer1 = {
	.name = "timer_1",
};
static const  osMessageQueueAttr_t MessageAttr_epos4rx = {
	.name = "EPOS4_rx",
};
static const  osMessageQueueAttr_t MessageAttr_epos4set = {
	.name = "EPOS4_set",
};
//软件定时器0中断回调函数
void callback0(void *param)
{
	switch( (uint32_t) param){		
		case 0:
			osSemaphoreRelease(sid_Semaphore_softtimer0);//200mS 
		break;
	}
}
//软件定时器1中断回调函数
void callback1(void *param)
{
	switch( (uint32_t) param){		
		case 0:
			osSemaphoreRelease(sid_Semaphore_softtimer1);//1000mS 
		break;
	}
}
/*----------------------------------------------------------------------------
 *      Message Queue creation & usage
 *      Initilise the LED's, Create the semaphore 
 *---------------------------------------------------------------------------*/
int AppObjCreate (void)
{
	/*timer*/
	timer0_id = osTimerNew(&callback0, osTimerPeriodic,(void *)0, &timerAttr_timer0);	//软件定时器timer0 200ms
	if (timer0_id == NULL)
		return -1;
	osTimerStart(timer0_id, 200);//200mS定时开始计时
	
	timer1_id = osTimerNew(&callback1, osTimerPeriodic,(void *)0, &timerAttr_timer1);	//软件定时器timer1 1S
	if (timer1_id == NULL)
		return -1;
//	osTimerStart(timer1_id, 1000);//1S定时开始计时	
	
/*Creat queue*/
	mid_MsgQueue_EPOS_rx = osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(loopData_Typedef), &MessageAttr_epos4rx);
	if (mid_MsgQueue_EPOS_rx == NULL) {
		return -1;
	}	
	mid_MsgQueue_WLAN_rx = osMessageQueueNew(modBUS_Rx_frame_item,sizeof(loopData_Typedef), NULL);
	if (mid_MsgQueue_WLAN_rx == NULL) {
		return -1;
	}	
	mid_MsgQueue_ICAPTURE=osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(icapture_t), NULL);
	if (mid_MsgQueue_ICAPTURE == NULL) {
		return -1;
	}
	mid_MsgQueue_Set_EPOS = osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(val_set_t), &MessageAttr_epos4set);
	if (mid_MsgQueue_Set_EPOS == NULL) {
		return -1;
	}
	mid_MsgQueue_Set_temperature = osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(val_set_t), NULL);
	if (mid_MsgQueue_Set_temperature == NULL) {
		return -1;
	}
	mid_MsgQueue_feedback_EPOS = osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(fb_EPOS_t), NULL);
	if (mid_MsgQueue_feedback_EPOS == NULL) {
		return -1;
	}
	mid_MsgQueue_feedbak_temperature = osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(fb_TEMP_t), NULL);
	if (mid_MsgQueue_feedbak_temperature == NULL) {
		return -1; // Message Queue object not created, handle failure
	}	
/* Creat Semaphore */
	/*timer*/
	sid_Semaphore_softtimer0 = osSemaphoreNew(1, 0, NULL );
	if(sid_Semaphore_softtimer0 == NULL){
		return -1;}
	sid_Semaphore_softtimer1 = osSemaphoreNew(1, 0, NULL );	
		if(sid_Semaphore_softtimer1 == NULL){
		return -1;}
	sid_Semaphore_exit = osSemaphoreNew(1, 0, &semAttr_SEM1 );	
	if(sid_Semaphore_exit == NULL){
		return -1;// Semaphore object not created, handle failure
	}

/*event*/	
	  mid_event_Inited = osEventFlagsNew(&EventFlagAttr_Inited);
	if(mid_event_Inited == NULL){
		return -1;
	}
	return (0);
}


void app_main (void const* arg) 
{
	/* 创建任务 */
	AppTaskCreate();
	/* 创建任务通信机制 */
	AppObjCreate();
  while(1) 
	{
		if(sfr_Disp.runState == EError)
		{
			LED_RUNNING_OFF();
			LED_ERROR_Toggle();					
		}
		else
		{
			LED_ERROR_OFF();//拉低 
			LED_RUNNING_Toggle();
		}
		osDelay(200);
  }
}

app_main.h

#ifndef __APP_MAIN_H__
#define __APP_MAIN_H__
#include "cmsis_os2.h"               

#define STACK_SIZE2K   256
#define STACK_SIZE512  64
#define msgQUEUE_OBJECTS 5 

/* 任务句柄 */
extern	osThreadId_t 	smc_ids;
extern	osThreadId_t 	main_ids;
extern	osThreadId_t 	epos_ids;
extern	osThreadId_t 	temperature_ids;
extern	osThreadId_t  updata_ids;

/*queue*/
extern	osMessageQueueId_t  mid_MsgQueue_ICAPTURE;//输入捕获
extern	osMessageQueueId_t	mid_MsgQueue_EPOS_rx;
extern	osMessageQueueId_t  mid_MsgQueue_WLAN_rx;
extern	osMessageQueueId_t  mid_MsgQueue_Set_EPOS;
extern	osMessageQueueId_t	mid_MsgQueue_Set_temperature;
extern	osMessageQueueId_t  mid_MsgQueue_feedbak_temperature;
extern	osMessageQueueId_t  mid_MsgQueue_feedback_EPOS;

/*semaphore*/
extern	osSemaphoreId_t		sid_Semaphore_softtimer0; 
extern	osSemaphoreId_t		sid_Semaphore_softtimer1;
extern	osSemaphoreId_t   sid_Semaphore_exit;//epos

/*timer*/
extern	osTimerId_t		timer0_id;//200ms  定时
extern	osTimerId_t		timer1_id;//1000mS 定时

/*event*/
extern	osEventFlagsId_t	mid_event_Inited;

/* 供外部调用的函数声明 */
static void AppTaskCreate (void);
int  AppObjCreate (void);
#endif

bsp.c

#include "bsp.h"
/*
*********************************************************************************************************
*	函 数 名: bsp_Init
*	功能说明: 初始化硬件设备。只需要调用一次。该函数配置CPU寄存器和外设的寄存器并初始化一些全局变量。
*			 全局变量。
*	形    参: 无
*	返 回 值: 无
*********************************************************************************************************
*/
void bsp_Init(void)
{
	/*
		由于ST固件库的启动文件已经执行了CPU系统时钟的初始化，所以不必再次重复配置系统时钟。
		启动文件配置了CPU主时钟频率、内部Flash访问速度和可选的外部SRAM FSMC初始化。

		系统时钟缺省配置为72MHz，如果需要更改，可以修改 system_stm32f10x.c 文件
	*/
	  
		SDRAM_Initialization_Sequence(&hsdram1);/*SDRAM初始化*/
		bsp_InitUart(); 	/* 初始化串口 */
		bsp_InitPWM();
		bsp_InitIcapture();
//		W25QXX_Init();
//		bsp_InitLed(); 		/* 初始LED指示灯端口 */
//		bsp_InitKey();		/* 初始化按键 */
//		bsp_InitLcd();		/* 初始lcd */
//	  bsp_InitSram();   /* 初始sram  测试 */
//		bsp_Initcan();		/* 初始can1  */
	
}

bsp.h
/*
*********************************************************************************************************
*
*	模块名称 : 驱动模块
*	文件名称 : bsp.h
*	版    本 : V1.0
*	说    明 : 头文件
*
*
*********************************************************************************************************
*/
#ifndef __BSP_H__
#define __BSP_H__

/*C lib*/
#include <string.h>
#include <stdio.h>
#include "stm32f4xx_hal.h"
#include "main.h"

/*thread*/
#include "temperture_thread.h"
#include "epos_thread.h"
#include "main_thread.h"
#include "led_thread.h"

bsp.h
/*stm32 lib*/
#include "usart.h"

/*bsp*/
#include "app_main.h"
#include "bsp_usart.h"
#include "bsp_w25qxx.h"
#include "bsp_led.h"
#include "pub_delay.h"
#include "bsp_SDRAM.h"
#include "bsp_ModbusSlave.h"
#include "bsp_pwm.h"
#include "bsp_icapture.h"

/* 供外部调用的函数声明 */
void bsp_Init(void);


#endif