【FreeRTOS学习】1、FreeRTOS初探之闪烁LED

【官方下载地址】：<传送门>
【历史版本下载】：<传送门>
【参考手册下载】：<传送门>

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【编译器】keil V5.24.2.0
【标准库版本】V3.5.0
【FreeRTOS版本】V9.0.0
【目标芯片】STM32F103C8T6

以下所用到的FreeRTOS以及工程相关模板可到<这里【提取码：2dfo】 >下载

1、下载FreeRTOS V9.0.0，并解压到合适的目录下

2、在已有的STM32F103C8T6的工程模板文件夹下，在Source中新建FreeRTOS文件夹。

3、将解压出来的..\FreeRTOSv9.0.0\FreeRTOS\Source目录下的全部内容复制到工程模板中新建的FreeRTOS目录。

4、在模板工程的\Source\FreeRTOS\portable目录下，只留下Keil、MemMang、RVDS、Readme.txt，其余全部可删除。

5、打开keil的模板工程，点击分组管理，并新建FreeRTOS/Source和FreeRTOS/Ports两个分组。

6、向分组添加对应的文件。

①、在FreeRTOS/Source分组下添加\Source\FreeRTOS目录下的6个文件。

一会再来添加FreeRTOSConfig.h

②、在FreeRTOS/Ports分组下添加\Source\FreeRTOS\portable\RVDS\ARM_CM3目录下的port.c和\Source\FreeRTOS\portable\MemMang目录下的heap_4.c

7、添加FreeRTOSConfig.h文件

回到FreeRTOS V9.0.0的解压目录下的FreeRTOSv9.0.0\FreeRTOS\Demo\CORTEX_STM32F103_Keil文件夹，将其中的FreeRTOSConfig.h放置到工程的\Source\FreeRTOS\include目录下。

在keil的FreeRTOS/Source分组中添加FreeRTOSConfig.h文件

8、添加工程代码

main.c

#include "config.h"

#define TASK1_STACK_SIZE          32
#define TASK1_PRIORITY            1

void vAppTask1(void *pvParameters)
{
	for(;;)
	{
		LED1_TOGGLE;
		vTaskDelay(200);
	}
}

void AppTaskCreate(void)
{
	xTaskCreate(vAppTask1, "Task1", TASK1_STACK_SIZE, NULL, TASK1_PRIORITY, NULL);
}

int main(void)
{
	/* 1、LED初始化 */
	LEDInit();
	
	/* 2、创建任务 */
	AppTaskCreate();
	
	/* 3、开启任务 */
	vTaskStartScheduler();
	
	return 0;
}

stm32f10x_it.c

在该文件中注释三个函数：SVC_Handler、PendSV_Handler和SysTick_Handler

FreeRTOSConfig.h

在文件底部加入三行代码

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

该文件全部内容如下：

/*
    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.

    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

/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
(lowest) to 0 (1?) (highest). */
#define configKERNEL_INTERRUPT_PRIORITY 		255
/* !!!! 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 	191 /* equivalent to 0xb0, or priority 11. */


/* This is the value being used as per the ST library which permits 16
priority values, 0 to 15.  This must correspond to the
configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY	15


#define vPortSVCHandler		SVC_Handler

#define xPortPendSVHandler	PendSV_Handler

#define xPortSysTickHandler	SysTick_Handler



#endif /* FREERTOS_CONFIG_H */

led.c

#include "stm32f10x.h"
#include "led.h"

void LEDInit(void)
{
	GPIO_InitTypeDef GPIO_InitStructure;

	RCC_APB2PeriphClockCmd(LED1_GPIO_CLK, ENABLE);
	
	GPIO_InitStructure.GPIO_Pin =  LED1_PIN;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_Init(LED1_GPIO_PORT, &GPIO_InitStructure);
	
	LED1_OFF;
	
}

led.h

#ifndef _LED_H
#define _LED_H

#define LED1_PIN                  GPIO_Pin_13
#define LED1_GPIO_PORT            GPIOC
#define LED1_GPIO_CLK             RCC_APB2Periph_GPIOC

/* LED开关 */
#define LED1_ON                   GPIO_SetBits(LED1_GPIO_PORT, LED1_PIN)
#define LED1_OFF                  GPIO_ResetBits(LED1_GPIO_PORT, LED1_PIN)
#define LED1_TOGGLE               (LED1_GPIO_PORT->ODR ^= LED1_PIN)

void LEDInit(void);

#endif

config.h

#ifndef _CONFIG_H
#define _CONFIG_H

#include "stm32f10x.h"
#include "FreeRTOS.h"
#include "led.h"
#include "task.h"

void delay_us(u16 us);
void delay_ms(u16 ms);


#endif