FreeRTOS移植与多任务编程实战-优快云博客

这篇博客详细记录了FreeRTOS在STM32F103上的移植过程，包括从网上获取实例代码、文件组织、添加配置文件、解决编译错误，以及多任务编程的初始设置。通过这些步骤，作者成功地完成了FreeRTOS的移植，并为后续的多任务编程打下了基础。

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实验作业之FreeRTOS实操

- 1.FreeRTOS 移植
- 2 多任务的编程

1.FreeRTOS 移植

本次实验，我将使用AHT20数据采集电路以及FreeRTOS的实操

首先，在网上寻找FreeRTOS的实例程序

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点击其PROJECT文件，随后用MDK打开其实例代码

进入代码后点击运行，系统未报错

然后，依次点击下载的FreeRTOS9.0.0–>FreeRTOS–>Source,复制其中的include函数。

新建一个文件夹放置include函数，然后新建一个port文件夹和一个src文件夹。
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点击FreeRTOSv9.0.0–>FreeRTOS–>Source–>portable路径下，把MemMang，RVDS 文件夹复制到刚刚新建的 port 文件夹中。

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点击FreeRTOSv9.0.0–>FreeRTOS–>Source路径下，将 .c 文件复制到新建的 src 文件夹中。
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点击FreeRTOSv9.0.0–>FreeRTOS–>Demo–>CORTEX_STM32F103_Keil路径下，把FreeRTOSConfig.h复制到工程的 user 文件夹中。

添加对应的port和src文件夹

将port与src的文件全部添加完毕

heap_4.c 文件（FreeRTOS工程\FreeRTOS\port\MemMang）
FreeRTOS 端口源程序：（FreeRTOS工程\FreeRTOS\port\RVDS\ARM_CM3）

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最终的文件夹大概是这样子

点击魔术棒，进入C/C++，点击下面的三个点，进入添加新的地址。

点击build，编译没有错误，不需要修改.
截取下面代码，代替掉 FreeRTOSConfig.h中的所有代码

/*
    FreeRTOS V9.0.0 - Copyright (C) 2016 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.

*/


#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

#include "stm32f10x.h"
#include "bsp_usart.h"


//针对不同的编译器调用不同的stdint.h文件
#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
    #include <stdint.h>
    extern uint32_t SystemCoreClock;
#endif

//断言
#define vAssertCalled(char,int) printf("Error:%s,%d\r\n",char,int)
#define configASSERT(x) if((x)==0) vAssertCalled(__FILE__,__LINE__)

/************************************************************************
 *               FreeRTOS基础配置配置选项 
 *********************************************************************/
/* 置1：RTOS使用抢占式调度器；置0：RTOS使用协作式调度器（时间片）
 * 
 * 注：在多任务管理机制上，操作系统可以分为抢占式和协作式两种。
 * 协作式操作系统是任务主动释放CPU后，切换到下一个任务。
 * 任务切换的时机完全取决于正在运行的任务。
 */
#define configUSE_PREEMPTION					  1

//1使能时间片调度(默认式使能的)
#define configUSE_TIME_SLICING					1		

/* 某些运行FreeRTOS的硬件有两种方法选择下一个要执行的任务：
 * 通用方法和特定于硬件的方法（以下简称“特殊方法”）。
 * 
 * 通用方法：
 *      1.configUSE_PORT_OPTIMISED_TASK_SELECTION 为 0 或者硬件不支持这种特殊方法。
 *      2.可以用于所有FreeRTOS支持的硬件
 *      3.完全用C实现，效率略低于特殊方法。
 *      4.不强制要求限制最大可用优先级数目
 * 特殊方法：
 *      1.必须将configUSE_PORT_OPTIMISED_TASK_SELECTION设置为1。
 *      2.依赖一个或多个特定架构的汇编指令（一般是类似计算前导零[CLZ]指令）。
 *      3.比通用方法更高效
 *      4.一般强制限定最大可用优先级数目为32
 * 一般是硬件计算前导零指令，如果所使用的，MCU没有这些硬件指令的话此宏应该设置为0！
 */