STM32F407 库函数 移植FreeRTOS
CubeMX自动生成的代码与FreeRTOS官方库函数不太一样，且生成的为HAL库，笔者更习惯使用库函数，移植FreeRTOS时又遇到了些小问题，故开此文以记录
本文适用于STM32F407和STM32F103 Keil IDE下的移植，如有错误还请留言指出！
一、FreeRTOS源码获取
百度搜索FreeRTOS即可找到FreeRTOS官网，点击下载可选择版本。本文移植的是FreeRTOS 202212.01版。
二、工程文件准备
本文使用的是优信电子的STM32F407VGT6开发板，开发环境KeilV5.38。使用优信电子提供的库函数例程-例3 串口实验作为模板，包含串口1初始化和串口发送、接收功能，以便于验证移植后功能。
1、文件夹创建
在待移植的工程下新建名为“FreeRTOS”的文件夹，用来存放FreeRTOS的相关文件。
2、移植Source文件
进入解压后的“FreeRTOSv202212.01\FreeRTOS\Source”目录下，将其中所有文件复制到新建的“FreeRTOS”的文件夹下。
3、移植FreeRTOSConfig.h文件
根据数据手册我们可以知道STM32F407VGT6是带有FPU（浮点运算单元）的Cortex-M4。
进入“FreeRTOSv202212.01\FreeRTOS\Demo”目录下，我们寻找以CORTEX_M4F开头的示例文件，正好有我们使用的这款STM32F407VGT6的例程。
打开该文件夹，将里面的“FreeRTOSConfig.h”文件复制到新建的“FreeRTOS”的文件夹下。
*如果是STM32F103移植，可以找到CORTEX_STM32F103_Keil文件夹，步骤也是一样的。
4、*删减一下移植文件
*这一步不是必须的操作，只是可以精简工程大小和内容。
进入我们新建的“FreeRTOS”的文件夹下，进入复制来的portable子文件夹，可以看到很多子文件夹。我们使用Keil，只需要保留图中选中的三个文件夹，其余文件夹都可删除（其实Keil文件夹也可以删除，里面的内容仅为说明文件，实际所需文件在RVDS文件夹下）。
至此，文件准备完毕，下面可以打开Keil工程继续完成移植步骤。
三、Keil内设置
1、新建分组并添加FreeRTOS文件夹下的.c源文件。
2、添加内存管理文件。
内存管理文件位于“FreeRTOS/portable/MemMang “目录下，我们这里选用heap_4.c。
下图来自百问网的《FreeRTOS完全开发手册之上册_快速入门》
3、添加内核相关的接口文件
内核相关的接口文件位于“FreeRTOS\portable\RVDS”目录下，我们是ARM的CORTEX_M4F内核，故添加“FreeRTOS\portable\RVDS\ARM_CM4F”目录下的port.c文件。
*如果是STM32F103移植，可以找到ARM_CM3文件夹，步骤也是一样的。
4、包含头文件路径
把存有头文件的地方都包含到。
5、*包含FreeRTOS配置头文件
*这一步不是必须的操作，只是可以方便打开FreeRTOS的配置文件
为了方便打开FreeRTOS的配置文件，我们也可以将它添加到组中。
至此，我们完成了文件添加与配置，下面可以着手编译和测试了。
四、Keil内编译与测试
1、第一次编译
先编译一下，发现报了一个错误。
Build started: Project: USART
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\Keil\Core\ARM\ARM_Compiler_5.06u7\Bin'
Build target 'USART'
compiling port.c...
..\FreeRTOS\portable\RVDS\ARM_CM4F\port.c(788): error: #20: identifier "SystemCoreClock" is undefined
portNVIC_SYSTICK_LOAD_REG = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
..\FreeRTOS\portable\RVDS\ARM_CM4F\port.c: 0 warnings, 1 error
"..\OBJ\USART.axf" - 1 Error(s), 0 Warning(s).
Target not created.
Build Time Elapsed: 00:00:01
错误信息说"SystemCoreClock" 未定义，我们可以双击错误信息进行定位，再通过F12（或右击Go To Definition），索引到FreeRTOSConfig.h文件中，也可以直接打开该文件。
我们可以再对SystemCoreClock进行F12，发现应该还是能跳转的，跳转到system_stm32f4xx.c文件中，这里就是我们开发板的主频。但由于没有进行包含或者外部变量声明，所以编译器报错。
在FreeRTOSConfig.h文件44行处有相关的外部声明，但条件并不成立所以条件编译忽视了，我们将其修改为 __CC_ARM，即可发现条件成立，代码颜色变亮了。
想深究原因的读者可以看看这篇博客，对几个宏定义有进行解释。STM32中ARM系列编译工具链的编译宏选择（__CC_ARM、ICCARM、GNUC、TASKING）
*也可以直接将SystemCoreClock替换为我们的系统主频168000000，效果也是一样的。
2、第二次编译
Build started: Project: USART
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\Keil\Core\ARM\ARM_Compiler_5.06u7\Bin'
Build target 'USART'
linking...
..\OBJ\USART.axf: Error: L6200E: Symbol PendSV_Handler multiply defined (by port.o and stm32f4xx_it.o).
..\OBJ\USART.axf: Error: L6200E: Symbol SVC_Handler multiply defined (by port.o and stm32f4xx_it.o).
..\OBJ\USART.axf: Error: L6200E: Symbol SysTick_Handler multiply defined (by port.o and stm32f4xx_it.o).
Not enough information to list image symbols.
Not enough information to list load addresses in the image map.
Finished: 2 information, 0 warning and 3 error messages.
"..\OBJ\USART.axf" - 3 Error(s), 0 Warning(s).
Target not created.
Build Time Elapsed: 00:00:00
这次发现PendSV_Handler、SVC_Handler、SysTick_Handler三个中断处理函数多重定义了，因为FreeRTOS内部实现了这三个函数，所以我们需要把工程自带的三个同名函数注释掉。
再次编译，0 Error(s), 0 Warning(s).
*如果是STM32F103移植，"FreeRTOSConfig.h"中的宏定义需要我们自己写一下，其余步骤是一样的。
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler
3、测试
我们要使用FreeRTOS，先在main.c中包含"FreeRTOS.h"和"task.h"两个头文件，main.c代码如下
#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "FreeRTOS.h"
#include "task.h"
//STM32F407开发板
void vTask1(void *pvParameters)
{
while(1){
printf("这是任务1\r\n");
vTaskDelay(pdMS_TO_TICKS(500)); //延时500ms
}
}
void vTask2(void *pvParameters)
{
while(1){
printf("这是任务2\r\n");
vTaskDelay(pdMS_TO_TICKS(1000));//延时1000ms
}
}
int main(void)
{
uart_init(115200); //串口初始化波特率为115200
xTaskCreate(vTask1,"Task1",128,NULL,1,NULL);//创建任务1
xTaskCreate(vTask2,"Task2",128,NULL,1,NULL);//创建任务2
vTaskStartScheduler(); //开启任务调度器
while(1)
{
}
}
再次编译，又报了四个错。
Build started: Project: USART
*** Using Compiler 'V5.06 update 7 (build 960)', folder: 'D:\Keil\Core\ARM\ARM_Compiler_5.06u7\Bin'
Build target 'USART'
linking...
..\OBJ\USART.axf: Error: L6218E: Undefined symbol vApplicationIdleHook (referred from tasks.o).
..\OBJ\USART.axf: Error: L6218E: Undefined symbol vApplicationStackOverflowHook (referred from tasks.o).
..\OBJ\USART.axf: Error: L6218E: Undefined symbol vApplicationTickHook (referred from tasks.o).
..\OBJ\USART.axf: Error: L6218E: Undefined symbol vApplicationMallocFailedHook (referred from heap_4.o).
Not enough information to list image symbols.
Not enough information to list load addresses in the image map.
Finished: 2 information, 0 warning and 4 error messages.
"..\OBJ\USART.axf" - 4 Error(s), 0 Warning(s).
Target not created.
Build Time Elapsed: 00:00:00
这是因为在FreeRTOSConfig.h文件中默认开启了这四个钩子函数，但我们没有给函数的具体实现。所以最简单的解决办法就是关闭它们。在FreeRTOSConfig.h文件中，把它们的开关都改为0。
再次编译，0错0警告。烧录到开发板后打开调试助手，可以看到两个任务交替运行，任务1每运行2次，任务2运行1次，移植成功。
五、*思考
*本部分为个人移植时的思考，不涉及移植，可以不必阅读
裸机的延时函数一般都是通过设置SysTick的分频系数、重装载值，让定时器超时溢出来实现的。
void delay_init(u8 SYSCLK)
{
SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK_Div8);
fac_us=SYSCLK/8; //不论是否使用OS,fac_us都需要使用
fac_ms=(u16)fac_us*1000; //非OS下,代表每个ms需要的systick时钟数
}
//延时nus
//nus为要延时的us数.
//注意:nus的值,不要大于798915us(最大值即2^24/fac_us@fac_us=21)
void delay_us(u32 nus)
{
u32 temp;
SysTick->LOAD=nus*fac_us; //时间加载
SysTick->VAL=0x00; //清空计数器
SysTick->CTRL|=SysTick_CTRL_ENABLE_Msk ; //开始倒数
do
{
temp=SysTick->CTRL;
}while((temp&0x01)&&!(temp&(1<<16))); //等待时间到达
SysTick->CTRL&=~SysTick_CTRL_ENABLE_Msk; //关闭计数器
SysTick->VAL =0X00; //清空计数器
}
可我们的FreeRTOS测试程序中并没有初始化定时器相关的代码，那FreeRTOS是如何实现计时的呢？第四节第2次编译的时候我们注释了工程默认的SysTick_Handler函数，使用了FreeRTOS的xPortSysTickHandler函数，可见FreeRTOS应该也是用的SysTick作为系统时基，那它的初始化在哪里呢？一番寻找下，在我们调用的vTaskStartScheduler();函数中找到了它的初始化。函数的嵌套如下图所示。
最下方的红框中就设置了SysTick的重装载值和控制寄存器相关位。重装载值不详细描述了，控制寄存器宏定义如下，结合表中内容即可知道这条代码的作用。
#define portNVIC_SYSTICK_CTRL_REG ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_CLK_BIT ( 1UL << 2UL )
#define portNVIC_SYSTICK_INT_BIT ( 1UL << 1UL )
#define portNVIC_SYSTICK_ENABLE_BIT ( 1UL << 0UL )
在SysTick中断处理函数中，清除中断标志位并让FreeRTOS计时器值+1，这样就实现了系统的时基。
void xPortSysTickHandler( void )
{
vPortRaiseBASEPRI();
{
/* Increment the RTOS tick. */
if( xTaskIncrementTick() != pdFALSE )
{
/* A context switch is required. Context switching is performed in
* the PendSV interrupt. Pend the PendSV interrupt. */
portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
}
}
vPortClearBASEPRIFromISR();
}
六、*关于FreeRTOSConfig.h文件配置项不全的补充
从给定的Demo文件中我们可以快速配置并运行起FreeRTOS，但在使用中发现FreeRTOSConfig.h中缺少了很多配置项，很多功能的配置开关都没有，本节是笔者的解决办法。
笔者在FreeRTOS-Kernel中FreeRTOS-Kernel-main\examples\template_configuration目录下找到了配置项齐全的FreeRTOSConfig.h文件，但只替换该文件到上面移植成功的工程中会出现许多问题，所以干脆重新移植FreeRTOS-Kernel中的文件。过程与上面基本一样，所需文件都在FreeRTOS-Kernel-main目录下、include文件夹、portable文件夹。
主要需要修改的是FreeRTOSConfig.h文件中的内容，修改后笔者成功运行FreeRTOS的配置文件代码放在下面。
1、FreeRTOSConfig.h文件代码
/*
* FreeRTOS Kernel <DEVELOPMENT BRANCH>
* Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
*
* SPDX-License-Identifier: MIT
*
* 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.
*
* https://www.FreeRTOS.org
* https://github.com/FreeRTOS
*
*/
/*******************************************************************************
* This file provides an example FreeRTOSConfig.h header file, inclusive of an
* abbreviated explanation of each configuration item. Online and reference
* documentation provides more information.
* https://www.freertos.org/a00110.html
*
* Constant values enclosed in square brackets ('[' and ']') must be completed
* before this file will build.
*
* Use the FreeRTOSConfig.h supplied with the RTOS port in use rather than this
* generic file, if one is available.
******************************************************************************/
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H
/******************************************************************************/
/* Hardware description related definitions. **********************************/
/******************************************************************************/
#ifdef __CC_ARM
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif
/* In most cases, configCPU_CLOCK_HZ must be set to the frequency of the clock
* that drives the peripheral used to generate the kernels periodic tick
* interrupt. The default value is set to 20MHz and matches the QEMU demo
* settings. Your application will certainly need a different value so set this
* correctly. This is very often, but not always, equal to the main system clock
* frequency. */
#define configCPU_CLOCK_HZ ( ( unsigned long ) SystemCoreClock )
/* configSYSTICK_CLOCK_HZ is an optional parameter for ARM Cortex-M ports only.
*
* By default ARM Cortex-M ports generate the RTOS tick interrupt from the
* Cortex-M SysTick timer. Most Cortex-M MCUs run the SysTick timer at the same
* frequency as the MCU itself - when that is the case configSYSTICK_CLOCK_HZ is
* not needed and should be left undefined. If the SysTick timer is clocked at a
* different frequency to the MCU core then set configCPU_CLOCK_HZ to the MCU
* clock frequency, as normal, and configSYSTICK_CLOCK_HZ to the SysTick clock
* frequency. Not used if left undefined.
* The default value is undefined (commented out). If you need this value bring
* it back and set it to a suitable value. */
/*
#define configSYSTICK_CLOCK_HZ [Platform specific]
*/
/******************************************************************************/
/* Scheduling behaviour related definitions. **********************************/
/******************************************************************************/
/* configTICK_RATE_HZ sets frequency of the tick interrupt in Hz, normally
* calculated from the configCPU_CLOCK_HZ value. */
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
/* Set configUSE_PREEMPTION to 1 to use pre-emptive scheduling. Set
* configUSE_PREEMPTION to 0 to use co-operative scheduling.
* See https://www.freertos.org/single-core-amp-smp-rtos-scheduling.html. */
#define configUSE_PREEMPTION 1
/* Set configUSE_TIME_SLICING to 1 to have the scheduler switch between Ready
* state tasks of equal priority on every tick interrupt. Set
* configUSE_TIME_SLICING to 0 to prevent the scheduler switching between Ready
* state tasks just because there was a tick interrupt. See
* https://freertos.org/single-core-amp-smp-rtos-scheduling.html. */
#define configUSE_TIME_SLICING 0
/* Set configUSE_PORT_OPTIMISED_TASK_SELECTION to 1 to select the next task to
* run using an algorithm optimised to the instruction set of the target
* hardware - normally using a count leading zeros assembly instruction. Set to
* 0 to select the next task to run using a generic C algorithm that works for
* all FreeRTOS ports. Not all FreeRTOS ports have this option. Defaults to 0
* if left undefined. */
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
/* Set configUSE_TICKLESS_IDLE to 1 to use the low power tickless mode. Set to
* 0 to keep the tick interrupt running at all times. Not all FreeRTOS ports
* support tickless mode. See
* https://www.freertos.org/low-power-tickless-rtos.html Defaults to 0 if left
* undefined. */
#define configUSE_TICKLESS_IDLE 0
/* configMAX_PRIORITIES Sets the number of available task priorities. Tasks can
* be assigned priorities of 0 to (configMAX_PRIORITIES - 1). Zero is the
* lowest priority. */
#define configMAX_PRIORITIES 16
/* configMINIMAL_STACK_SIZE defines the size of the stack used by the Idle task
* (in words, not in bytes!). The kernel does not use this constant for any
* other purpose. Demo applications use the constant to make the demos somewhat
* portable across hardware architectures. */
#define configMINIMAL_STACK_SIZE 128
/* configMAX_TASK_NAME_LEN sets the maximum length (in characters) of a task's
* human readable name. Includes the NULL terminator. */
#define configMAX_TASK_NAME_LEN 16
/* Time is measured in 'ticks' - which is the number of times the tick interrupt
* has executed since the RTOS kernel was started.
* The tick count is held in a variable of type TickType_t.
*
* configTICK_TYPE_WIDTH_IN_BITS controls the type (and therefore bit-width) of
* TickType_t:
*
* Defining configTICK_TYPE_WIDTH_IN_BITS as TICK_TYPE_WIDTH_16_BITS causes
* TickType_t to be defined (typedef'ed) as an unsigned 16-bit type.
*
* Defining configTICK_TYPE_WIDTH_IN_BITS as TICK_TYPE_WIDTH_32_BITS causes
* TickType_t to be defined (typedef'ed) as an unsigned 32-bit type.
*
* Defining configTICK_TYPE_WIDTH_IN_BITS as TICK_TYPE_WIDTH_64_BITS causes
* TickType_t to be defined (typedef'ed) as an unsigned 64-bit type. */
#define configTICK_TYPE_WIDTH_IN_BITS TICK_TYPE_WIDTH_32_BITS
/* Set configIDLE_SHOULD_YIELD to 1 to have the Idle task yield to an
* application task if there is an Idle priority (priority 0) application task
* that can run. Set to 0 to have the Idle task use all of its timeslice.
* Default to 1 if left undefined. */
#define configIDLE_SHOULD_YIELD 1
/* Each task has an array of task notifications.
* configTASK_NOTIFICATION_ARRAY_ENTRIES sets the number of indexes in the
* array. See https://www.freertos.org/RTOS-task-notifications.html Defaults to
* 1 if left undefined. */
#define configTASK_NOTIFICATION_ARRAY_ENTRIES 1
/* configQUEUE_REGISTRY_SIZE sets the maximum number of queues and semaphores
* that can be referenced from the queue registry. Only required when using a
* kernel aware debugger. Defaults to 0 if left undefined. */
#define configQUEUE_REGISTRY_SIZE 0
/* Set configENABLE_BACKWARD_COMPATIBILITY to 1 to map function names and
* datatypes from old version of FreeRTOS to their latest equivalent. Defaults
* to 1 if left undefined. */
#define configENABLE_BACKWARD_COMPATIBILITY 0
/* Each task has its own array of pointers that can be used as thread local
* storage. configNUM_THREAD_LOCAL_STORAGE_POINTERS set the number of indexes
* in the array. See
* https://www.freertos.org/thread-local-storage-pointers.html Defaults to 0 if
* left undefined. */
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0
/* When configUSE_MINI_LIST_ITEM is set to 0, MiniListItem_t and ListItem_t are
* both the same. When configUSE_MINI_LIST_ITEM is set to 1, MiniListItem_t
* contains 3 fewer fields than ListItem_t which saves some RAM at the cost of
* violating strict aliasing rules which some compilers depend on for
* optimization. Defaults to 1 if left undefined. */
#define configUSE_MINI_LIST_ITEM 1
/* Sets the type used by the parameter to xTaskCreate() that specifies the stack
* size of the task being created. The same type is used to return information
* about stack usage in various other API calls. Defaults to size_t if left
* undefined. */
#define configSTACK_DEPTH_TYPE size_t
/* configMESSAGE_BUFFER_LENGTH_TYPE sets the type used to store the length of
* each message written to a FreeRTOS message buffer (the length is also written
* to the message buffer. Defaults to size_t if left undefined - but that may
* waste space if messages never go above a length that could be held in a
* uint8_t. */
#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
/* If configHEAP_CLEAR_MEMORY_ON_FREE is set to 1, then blocks of memory
* allocated using pvPortMalloc() will be cleared (i.e. set to zero) when freed
* using vPortFree(). Defaults to 0 if left undefined. */
#define configHEAP_CLEAR_MEMORY_ON_FREE 1
/* vTaskList and vTaskGetRunTimeStats APIs take a buffer as a parameter and
* assume that the length of the buffer is configSTATS_BUFFER_MAX_LENGTH.
* Defaults to 0xFFFF if left undefined. New applications are recommended to use
* vTaskListTasks and vTaskGetRunTimeStatistics APIs instead and supply the
* length of the buffer explicitly to avoid memory corruption. */
#define configSTATS_BUFFER_MAX_LENGTH 0xFFFF
/* Set configUSE_NEWLIB_REENTRANT to 1 to have a newlib reent structure
* allocated for each task. Set to 0 to not support newlib reent structures.
* Default to 0 if left undefined.
*
* Note Newlib support has been included by popular demand, but is not used or
* tested by the FreeRTOS maintainers themselves. FreeRTOS is not responsible
* for resulting newlib operation. User must be familiar with newlib and must
* provide system-wide implementations of the necessary stubs. Note that (at the
* time of writing) the current newlib design implements a system-wide malloc()
* that must be provided with locks. */
#define configUSE_NEWLIB_REENTRANT 0
/******************************************************************************/
/* Software timer related definitions. ****************************************/
/******************************************************************************/
/* Set configUSE_TIMERS to 1 to include software timer functionality in the
* build. Set to 0 to exclude software timer functionality from the build. The
* FreeRTOS/source/timers.c source file must be included in the build if
* configUSE_TIMERS is set to 1. Default to 0 if left undefined. See
* https://www.freertos.org/RTOS-software-timer.html. */
#define configUSE_TIMERS 1
/* configTIMER_TASK_PRIORITY sets the priority used by the timer task. Only
* used if configUSE_TIMERS is set to 1. The timer task is a standard FreeRTOS
* task, so its priority is set like any other task. See
* https://www.freertos.org/RTOS-software-timer-service-daemon-task.html Only
* used if configUSE_TIMERS is set to 1. */
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
/* configTIMER_TASK_STACK_DEPTH sets the size of the stack allocated to the
* timer task (in words, not in bytes!). The timer task is a standard FreeRTOS
* task. See
* https://www.freertos.org/RTOS-software-timer-service-daemon-task.html Only
* used if configUSE_TIMERS is set to 1. */
#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE
/* configTIMER_QUEUE_LENGTH sets the length of the queue (the number of discrete
* items the queue can hold) used to send commands to the timer task. See
* https://www.freertos.org/RTOS-software-timer-service-daemon-task.html Only
* used if configUSE_TIMERS is set to 1. */
#define configTIMER_QUEUE_LENGTH 10
/******************************************************************************/
/* Event Group related definitions. *******************************************/
/******************************************************************************/
/* Set configUSE_EVENT_GROUPS to 1 to include event group functionality in the
* build. Set to 0 to exclude event group functionality from the build. The
* FreeRTOS/source/event_groups.c source file must be included in the build if
* configUSE_EVENT_GROUPS is set to 1. Defaults to 1 if left undefined. */
#define configUSE_EVENT_GROUPS 1
/******************************************************************************/
/* Stream Buffer related definitions. *****************************************/
/******************************************************************************/
/* Set configUSE_STREAM_BUFFERS to 1 to include stream buffer functionality in
* the build. Set to 0 to exclude event group functionality from the build. The
* FreeRTOS/source/stream_buffer.c source file must be included in the build if
* configUSE_STREAM_BUFFERS is set to 1. Defaults to 1 if left undefined. */
#define configUSE_STREAM_BUFFERS 1
/******************************************************************************/
/* Memory allocation related definitions. *************************************/
/******************************************************************************/
/* Set configSUPPORT_STATIC_ALLOCATION to 1 to include FreeRTOS API functions
* that create FreeRTOS objects (tasks, queues, etc.) using statically allocated
* memory in the build. Set to 0 to exclude the ability to create statically
* allocated objects from the build. Defaults to 0 if left undefined. See
* https://www.freertos.org/Static_Vs_Dynamic_Memory_Allocation.html. */
#define configSUPPORT_STATIC_ALLOCATION 1
/* Set configSUPPORT_DYNAMIC_ALLOCATION to 1 to include FreeRTOS API functions
* that create FreeRTOS objects (tasks, queues, etc.) using dynamically
* allocated memory in the build. Set to 0 to exclude the ability to create
* dynamically allocated objects from the build. Defaults to 1 if left
* undefined. See
* https://www.freertos.org/Static_Vs_Dynamic_Memory_Allocation.html. */
#define configSUPPORT_DYNAMIC_ALLOCATION 1
/* Sets the total size of the FreeRTOS heap, in bytes, when heap_1.c, heap_2.c
* or heap_4.c are included in the build. This value is defaulted to 4096 bytes
* but it must be tailored to each application. Note the heap will appear in
* the .bss section. See https://www.freertos.org/a00111.html. */
#define configTOTAL_HEAP_SIZE 4096
/* Set configAPPLICATION_ALLOCATED_HEAP to 1 to have the application allocate
* the array used as the FreeRTOS heap. Set to 0 to have the linker allocate
* the array used as the FreeRTOS heap. Defaults to 0 if left undefined. */
#define configAPPLICATION_ALLOCATED_HEAP 0
/* Set configSTACK_ALLOCATION_FROM_SEPARATE_HEAP to 1 to have task stacks
* allocated from somewhere other than the FreeRTOS heap. This is useful if you
* want to ensure stacks are held in fast memory. Set to 0 to have task stacks
* come from the standard FreeRTOS heap. The application writer must provide
* implementations for pvPortMallocStack() and vPortFreeStack() if set to 1.
* Defaults to 0 if left undefined. */
#define configSTACK_ALLOCATION_FROM_SEPARATE_HEAP 0
/* Set configENABLE_HEAP_PROTECTOR to 1 to enable bounds checking and
* obfuscation to internal heap block pointers in heap_4.c and heap_5.c to help
* catch pointer corruptions. Defaults to 0 if left undefined. */
#define configENABLE_HEAP_PROTECTOR 0
/******************************************************************************/
/* Interrupt nesting behaviour configuration. *********************************/
/******************************************************************************/
/* configKERNEL_INTERRUPT_PRIORITY sets the priority of the tick and context
* switch performing interrupts. Not supported by all FreeRTOS ports. See
* https://www.freertos.org/RTOS-Cortex-M3-M4.html for information specific to
* ARM Cortex-M devices. */
#define configKERNEL_INTERRUPT_PRIORITY 0
/* configMAX_SYSCALL_INTERRUPT_PRIORITY sets the interrupt priority above which
* FreeRTOS API calls must not be made. Interrupts above this priority are
* never disabled, so never delayed by RTOS activity. The default value is set
* to the highest interrupt priority (0). Not supported by all FreeRTOS ports.
* See https://www.freertos.org/RTOS-Cortex-M3-M4.html for information specific
* to ARM Cortex-M devices. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( 5 << (8 - 4) )
/* Another name for configMAX_SYSCALL_INTERRUPT_PRIORITY - the name used depends
* on the FreeRTOS port. */
#define configMAX_API_CALL_INTERRUPT_PRIORITY configMAX_SYSCALL_INTERRUPT_PRIORITY
/******************************************************************************/
/* Hook and callback function related definitions. ****************************/
/******************************************************************************/
/* Set the following configUSE_* constants to 1 to include the named hook
* functionality in the build. Set to 0 to exclude the hook functionality from
* the build. The application writer is responsible for providing the hook
* function for any set to 1. See https://www.freertos.org/a00016.html. */
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
/* Set configUSE_SB_COMPLETED_CALLBACK to 1 to have send and receive completed
* callbacks for each instance of a stream buffer or message buffer. When the
* option is set to 1, APIs xStreamBufferCreateWithCallback() and
* xStreamBufferCreateStaticWithCallback() (and likewise APIs for message
* buffer) can be used to create a stream buffer or message buffer instance
* with application provided callbacks. Defaults to 0 if left undefined. */
#define configUSE_SB_COMPLETED_CALLBACK 0
/* Set configCHECK_FOR_STACK_OVERFLOW to 1 or 2 for FreeRTOS to check for a
* stack overflow at the time of a context switch. Set to 0 to not look for a
* stack overflow. If configCHECK_FOR_STACK_OVERFLOW is 1 then the check only
* looks for the stack pointer being out of bounds when a task's context is
* saved to its stack - this is fast but somewhat ineffective. If
* configCHECK_FOR_STACK_OVERFLOW is 2 then the check looks for a pattern
* written to the end of a task's stack having been overwritten. This is
* slower, but will catch most (but not all) stack overflows. The application
* writer must provide the stack overflow callback when
* configCHECK_FOR_STACK_OVERFLOW is set to 1. See
* https://www.freertos.org/Stacks-and-stack-overflow-checking.html Defaults to
* 0 if left undefined. */
#define configCHECK_FOR_STACK_OVERFLOW 0
/******************************************************************************/
/* Run time and task stats gathering related definitions. *********************/
/******************************************************************************/
/* Set configGENERATE_RUN_TIME_STATS to 1 to have FreeRTOS collect data on the
* processing time used by each task. Set to 0 to not collect the data. The
* application writer needs to provide a clock source if set to 1. Defaults to
* 0 if left undefined. See https://www.freertos.org/rtos-run-time-stats.html.
*/
#define configGENERATE_RUN_TIME_STATS 0
/* Set configUSE_TRACE_FACILITY to include additional task structure members
* are used by trace and visualisation functions and tools. Set to 0 to exclude
* the additional information from the structures. Defaults to 0 if left
* undefined. */
#define configUSE_TRACE_FACILITY 0
/* Set to 1 to include the vTaskList() and vTaskGetRunTimeStats() functions in
* the build. Set to 0 to exclude these functions from the build. These two
* functions introduce a dependency on string formatting functions that would
* otherwise not exist - hence they are kept separate. Defaults to 0 if left
* undefined. */
#define configUSE_STATS_FORMATTING_FUNCTIONS 0
/******************************************************************************/
/* Co-routine related definitions. ********************************************/
/******************************************************************************/
/* Set configUSE_CO_ROUTINES to 1 to include co-routine functionality in the
* build, or 0 to omit co-routine functionality from the build. To include
* co-routines, croutine.c must be included in the project. Defaults to 0 if
* left undefined. */
#define configUSE_CO_ROUTINES 0
/* configMAX_CO_ROUTINE_PRIORITIES defines the number of priorities available
* to the application co-routines. Any number of co-routines can share the same
* priority. Defaults to 0 if left undefined. */
#define configMAX_CO_ROUTINE_PRIORITIES 1
/******************************************************************************/
/* Debugging assistance. ******************************************************/
/******************************************************************************/
/* configASSERT() has the same semantics as the standard C assert(). It can
* either be defined to take an action when the assertion fails, or not defined
* at all (i.e. comment out or delete the definitions) to completely remove
* assertions. configASSERT() can be defined to anything you want, for example
* you can call a function if an assert fails that passes the filename and line
* number of the failing assert (for example, "vAssertCalled( __FILE__, __LINE__
* )" or it can simple disable interrupts and sit in a loop to halt all
* execution on the failing line for viewing in a debugger. */
#define configASSERT( x ) \
if( ( x ) == 0 ) \
{ \
taskDISABLE_INTERRUPTS(); \
for( ; ; ) \
; \
}
/******************************************************************************/
/* FreeRTOS MPU specific definitions. *****************************************/
/******************************************************************************/
/* If configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS is set to 1 then
* the application writer can provide functions that execute in privileged mode.
* See:
* https://www.freertos.org/a00110.html#configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS
* Defaults to 0 if left undefined. Only used by the FreeRTOS Cortex-M MPU
* ports, not the standard ARMv7-M Cortex-M port. */
#define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
/* Set configTOTAL_MPU_REGIONS to the number of MPU regions implemented on your
* target hardware. Normally 8 or 16. Only used by the FreeRTOS Cortex-M MPU
* ports, not the standard ARMv7-M Cortex-M port. Defaults to 8 if left
* undefined. */
#define configTOTAL_MPU_REGIONS 8
/* configTEX_S_C_B_FLASH allows application writers to override the default
* values for the for TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits
* for the MPU region covering Flash. Defaults to 0x07UL (which means TEX=000,
* S=1, C=1, B=1) if left undefined. Only used by the FreeRTOS Cortex-M MPU
* ports, not the standard ARMv7-M Cortex-M port. */
#define configTEX_S_C_B_FLASH 0x07UL
/* configTEX_S_C_B_SRAM allows application writers to override the default
* values for the for TEX, Shareable (S), Cacheable (C) and Bufferable (B) bits
* for the MPU region covering RAM. Defaults to 0x07UL (which means TEX=000,
* S=1, C=1, B=1) if left undefined. Only used by the FreeRTOS Cortex-M MPU
* ports, not the standard ARMv7-M Cortex-M port. */
#define configTEX_S_C_B_SRAM 0x07UL
/* Set configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY to 0 to prevent any privilege
* escalations originating from outside of the kernel code itself. Set to 1 to
* allow application tasks to raise privilege. Defaults to 1 if left undefined.
* Only used by the FreeRTOS Cortex-M MPU ports, not the standard ARMv7-M
* Cortex-M port. */
#define configENFORCE_SYSTEM_CALLS_FROM_KERNEL_ONLY 1
/* Set configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS to 1 to allow unprivileged
* tasks enter critical sections (effectively mask interrupts). Set to 0 to
* prevent unprivileged tasks entering critical sections. Defaults to 1 if left
* undefined. Only used by the FreeRTOS Cortex-M MPU ports, not the standard
* ARMv7-M Cortex-M port. */
#define configALLOW_UNPRIVILEGED_CRITICAL_SECTIONS 0
/* FreeRTOS Kernel version 10.6.0 introduced a new v2 MPU wrapper, namely
* mpu_wrappers_v2.c. Set configUSE_MPU_WRAPPERS_V1 to 0 to use the new v2 MPU
* wrapper. Set configUSE_MPU_WRAPPERS_V1 to 1 to use the old v1 MPU wrapper
* (mpu_wrappers.c). Defaults to 0 if left undefined. */
#define configUSE_MPU_WRAPPERS_V1 0
/* When using the v2 MPU wrapper, set configPROTECTED_KERNEL_OBJECT_POOL_SIZE to
* the total number of kernel objects, which includes tasks, queues, semaphores,
* mutexes, event groups, timers, stream buffers and message buffers, in your
* application. The application will not be able to have more than
* configPROTECTED_KERNEL_OBJECT_POOL_SIZE kernel objects at any point of
* time. */
#define configPROTECTED_KERNEL_OBJECT_POOL_SIZE 10
/* When using the v2 MPU wrapper, set configSYSTEM_CALL_STACK_SIZE to the size
* of the system call stack in words. Each task has a statically allocated
* memory buffer of this size which is used as the stack to execute system
* calls. For example, if configSYSTEM_CALL_STACK_SIZE is defined as 128 and
* there are 10 tasks in the application, the total amount of memory used for
* system call stacks is 128 * 10 = 1280 words. */
#define configSYSTEM_CALL_STACK_SIZE 128
/* When using the v2 MPU wrapper, set configENABLE_ACCESS_CONTROL_LIST to 1 to
* enable Access Control List (ACL) feature. When ACL is enabled, an
* unprivileged task by default does not have access to any kernel object other
* than itself. The application writer needs to explicitly grant the
* unprivileged task access to the kernel objects it needs using the APIs
* provided for the same. Defaults to 0 if left undefined. */
#define configENABLE_ACCESS_CONTROL_LIST 1
/******************************************************************************/
/* SMP( Symmetric MultiProcessing ) Specific Configuration definitions. *******/
/******************************************************************************/
/* Set configNUMBER_OF_CORES to the number of available processor cores.
* Defaults to 1 if left undefined. */
/*
#define configNUMBER_OF_CORES [Num of available cores]
*/
/* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), set
* configRUN_MULTIPLE_PRIORITIES to 0 to allow multiple tasks to run
* simultaneously only if they do not have equal priority, thereby maintaining
* the paradigm of a lower priority task never running if a higher priority task
* is able to run. If configRUN_MULTIPLE_PRIORITIES is set to 1, multiple tasks
* with different priorities may run simultaneously - so a higher and lower
* priority task may run on different cores at the same time. */
#define configRUN_MULTIPLE_PRIORITIES 0
/* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), set
* configUSE_CORE_AFFINITY to 1 to enable core affinity feature. When core
* affinity feature is enabled, the vTaskCoreAffinitySet and
* vTaskCoreAffinityGet APIs can be used to set and retrieve which cores a task
* can run on. If configUSE_CORE_AFFINITY is set to 0 then the FreeRTOS
* scheduler is free to run any task on any available core. */
#define configUSE_CORE_AFFINITY 0
/* When using SMP with core affinity feature enabled, set
* configTASK_DEFAULT_CORE_AFFINITY to change the default core affinity mask for
* tasks created without an affinity mask specified. Setting the define to 1
* would make such tasks run on core 0 and setting it to (1 <<
* portGET_CORE_ID()) would make such tasks run on the current core. This config
* value is useful, if swapping tasks between cores is not supported (e.g.
* Tricore) or if legacy code should be controlled. Defaults to tskNO_AFFINITY
* if left undefined. */
#define configTASK_DEFAULT_CORE_AFFINITY tskNO_AFFINITY
/* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), if
* configUSE_TASK_PREEMPTION_DISABLE is set to 1, individual tasks can be set to
* either pre-emptive or co-operative mode using the vTaskPreemptionDisable and
* vTaskPreemptionEnable APIs. */
#define configUSE_TASK_PREEMPTION_DISABLE 0
/* When using SMP (i.e. configNUMBER_OF_CORES is greater than one), set
* configUSE_PASSIVE_IDLE_HOOK to 1 to allow the application writer to use
* the passive idle task hook to add background functionality without the
* overhead of a separate task. Defaults to 0 if left undefined. */
#define configUSE_PASSIVE_IDLE_HOOK 0
/* When using SMP (i.e. configNUMBER_OF_CORES is greater than one),
* configTIMER_SERVICE_TASK_CORE_AFFINITY allows the application writer to set
* the core affinity of the RTOS Daemon/Timer Service task. Defaults to
* tskNO_AFFINITY if left undefined. */
#define configTIMER_SERVICE_TASK_CORE_AFFINITY tskNO_AFFINITY
/******************************************************************************/
/* ARMv8-M secure side port related definitions. ******************************/
/******************************************************************************/
/* secureconfigMAX_SECURE_CONTEXTS define the maximum number of tasks that can
* call into the secure side of an ARMv8-M chip. Not used by any other ports.
*/
#define secureconfigMAX_SECURE_CONTEXTS 5
/* Defines the kernel provided implementation of
* vApplicationGetIdleTaskMemory() and vApplicationGetTimerTaskMemory()
* to provide the memory that is used by the Idle task and Timer task
* respectively. The application can provide it's own implementation of
* vApplicationGetIdleTaskMemory() and vApplicationGetTimerTaskMemory() by
* setting configKERNEL_PROVIDED_STATIC_MEMORY to 0 or leaving it undefined. */
#define configKERNEL_PROVIDED_STATIC_MEMORY 1
/******************************************************************************/
/* ARMv8-M port Specific Configuration definitions. ***************************/
/******************************************************************************/
/* Set configENABLE_TRUSTZONE to 1 when running FreeRTOS on the non-secure side
* to enable the TrustZone support in FreeRTOS ARMv8-M ports which allows the
* non-secure FreeRTOS tasks to call the (non-secure callable) functions
* exported from secure side. */
#define configENABLE_TRUSTZONE 1
/* If the application writer does not want to use TrustZone, but the hardware
* does not support disabling TrustZone then the entire application (including
* the FreeRTOS scheduler) can run on the secure side without ever branching to
* the non-secure side. To do that, in addition to setting
* configENABLE_TRUSTZONE to 0, also set configRUN_FREERTOS_SECURE_ONLY to 1. */
#define configRUN_FREERTOS_SECURE_ONLY 1
/* Set configENABLE_MPU to 1 to enable the Memory Protection Unit (MPU), or 0
* to leave the Memory Protection Unit disabled. */
#define configENABLE_MPU 1
/* Set configENABLE_FPU to 1 to enable the Floating Point Unit (FPU), or 0
* to leave the Floating Point Unit disabled. */
#define configENABLE_FPU 1
/* Set configENABLE_MVE to 1 to enable the M-Profile Vector Extension (MVE)
* support, or 0 to leave the MVE support disabled. This option is only
* applicable to Cortex-M55 and Cortex-M85 ports as M-Profile Vector Extension
* (MVE) is available only on these architectures. configENABLE_MVE must be left
* undefined, or defined to 0 for the Cortex-M23,Cortex-M33 and Cortex-M35P
* ports. */
#define configENABLE_MVE 1
/******************************************************************************/
/* ARMv7-M and ARMv8-M port Specific Configuration definitions. ***************/
/******************************************************************************/
/* Set configCHECK_HANDLER_INSTALLATION to 1 to enable additional asserts to
* verify that the application has correctly installed FreeRTOS interrupt
* handlers.
*
* An application can install FreeRTOS interrupt handlers in one of the
* following ways:
* 1. Direct Routing - Install the functions vPortSVCHandler and
* xPortPendSVHandler for SVC call and PendSV interrupts respectively.
* 2. Indirect Routing - Install separate handlers for SVC call and PendSV
* interrupts and route program control from those
* handlers to vPortSVCHandler and xPortPendSVHandler functions. The
* applications that use Indirect Routing must set
* configCHECK_HANDLER_INSTALLATION to 0.
*
* Defaults to 1 if left undefined. */
#define configCHECK_HANDLER_INSTALLATION 1
/******************************************************************************/
/* Definitions that include or exclude functionality. *************************/
/******************************************************************************/
/* Set the following configUSE_* constants to 1 to include the named feature in
* the build, or 0 to exclude the named feature from the build. */
#define configUSE_TASK_NOTIFICATIONS 1
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 1
#define configUSE_QUEUE_SETS 0
#define configUSE_APPLICATION_TASK_TAG 0
/* USE_POSIX_ERRNO enables the task global FreeRTOS_errno variable which will
* contain the most recent error for that task. */
#define configUSE_POSIX_ERRNO 0
/* Set the following INCLUDE_* constants to 1 to incldue the named API function,
* or 0 to exclude the named API function. Most linkers will remove unused
* functions even when the constant is 1. */
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_xResumeFromISR 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 0
#define INCLUDE_xTaskGetIdleTaskHandle 0
#define INCLUDE_eTaskGetState 0
#define INCLUDE_xEventGroupSetBitFromISR 1
#define INCLUDE_xTimerPendFunctionCall 0
#define INCLUDE_xTaskAbortDelay 0
#define INCLUDE_xTaskGetHandle 0
#define INCLUDE_xTaskResumeFromISR 1
/* 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 */
其中主要修改了几块内容，参考了之前移植的Demo示例中的FreeRTOSConfig.h文件：
2、时基配置
SystemCoreClock定义在system_stm32f4xx.c中，也可以直接替换为具体时钟数值：168000000。
#ifdef __CC_ARM
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif
#define configCPU_CLOCK_HZ ( ( unsigned long ) SystemCoreClock )
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configTICK_TYPE_WIDTH_IN_BITS TICK_TYPE_WIDTH_32_BITS /*Tick位宽*/
3、中断优先级和任务优先级配置
#define configMAX_PRIORITIES 16
#define configKERNEL_INTERRUPT_PRIORITY 0
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( 5 << (8 - 4) )
#define configMAX_API_CALL_INTERRUPT_PRIORITY configMAX_SYSCALL_INTERRUPT_PRIORITY
这里的系统中断优先级配置需要移位，参考Cortex-M 中的中断优先级设置。这里移了4位，因为STM32F4使用了4位中断优先级，手册中（10 中断与事件）可以找到，也可以在stm32f4xx.h中找到__NVIC_PRIO_BITS的定义。
#define __NVIC_PRIO_BITS 4 /*!< STM32F4XX uses 4 Bits for the Priority Levels */
4、中断处理函数接口
"FreeRTOSConfig.h"中的宏定义需要我们自己写一下。
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler
具体配置可以参照上面给出的代码
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