FreeRTOS创建第一个程序

使用freeRTOS创建任务时使用如下函数

函数的参数

创建一个FreeRTOS任务点亮led灯实现led灯500毫秒翻转一次

具体的代码实现

cpp 复制代码

#include "stm32f10x.h"                  // Device header
#include "Delay.h"
#include "freeRTOS.h"
#include "task.h"


void Led_Init(void){
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);   // 开启RCC外设时钟控制
	  GPIO_InitTypeDef GPIO_InitStructure;                   // 结构体初始化
	  GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;       // 使用推挽输出
	  GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1; // 开启GPIOA_Pin_1 引脚和GPIOA_Pin_0引脚
	  GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;      // 时钟的频率为50MHz 
	  GPIO_Init(GPIOA, &GPIO_InitStructure);                 // 初始化时钟的结构体           	  
	  GPIO_ResetBits(GPIOA, GPIO_Pin_0 | GPIO_Pin_1);        // 设置引脚的默认电平为低电平
}


void Led0_ON(void){
	GPIO_SetBits(GPIOA, GPIO_Pin_0);  // 引脚的电平为高电平
}

void Led0_OFF(void){
     GPIO_ResetBits(GPIOA, GPIO_Pin_0); // 引脚的电平为低电平
}


void Led1_ON(void){
     GPIO_SetBits(GPIOA, GPIO_Pin_1);
}

void Led1_OFF(void){
     GPIO_ResetBits(GPIOA, GPIO_Pin_1);
}

void LED_Turn0(void){ // led0电平翻转
	  if(GPIO_ReadOutputDataBit(GPIOA, GPIO_Pin_0) == 0){
			    GPIO_SetBits(GPIOA, GPIO_Pin_0);	
		}else{
		      GPIO_ResetBits(GPIOA, GPIO_Pin_0);
		}
	
}

void LED_Turn1(void){  // led1电平翻转
    // 读取用输出寄存器中的某一位
	  if(GPIO_ReadOutputDataBit(GPIOA, GPIO_Pin_1) == 0){
			    GPIO_SetBits(GPIOA, GPIO_Pin_1);	
		}else{
		      GPIO_ResetBits(GPIOA, GPIO_Pin_1);
		}
	
}
// 创建FreeRTOS的句柄
TaskHandle_t Handle_task1;

void Task1Function(void * pram){ 
	  while(1){
		  LED_Turn0();
			vTaskDelay(500);
			Led0_OFF();
			vTaskDelay(500);	
			LED_Turn1();
			vTaskDelay(500);
			Led1_OFF();
			vTaskDelay(500);
		}
}




int main(void){
	  
    Led_Init();
	  // 创建FreeRTOS的任务函数
    xTaskCreate(Task1Function,"task1",128,NULL,1,&Handle_task1);
	  vTaskStartScheduler();
    while(1){
		
		}


}

debug查看输出的pwm波形验证该测试时是成功的，开发板有反馈

注：基础知识部分参考学习自韦东山老师学习文档
串口实现程序创建并查看返回结果

cpp 复制代码

void Task1Function(void * pram){
    while(1){
		  printf("1");
		}
}
void Task2Function(void * pram){
    while(1){
		  printf("2");
		}
}


int main( void )
{
	TaskHandle_t xHandleTask1;
	
	
#ifdef DEBUG
  debug();
#endif

	prvSetupHardware();

	printf("Hello, world!\r\n");
  xTaskCreate(Task1Function,"Task1",100,NULL,1,&xHandleTask1);
  xTaskCreate(Task2Function,"Task2",100,NULL,1,NULL);
	
	vTaskStartScheduler();

	/* Will only get here if there was not enough heap space to create the
	idle task. */
	return 0;
}

代码只需要编写以上部分即可

cpp 复制代码

#include <stdio.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* Library includes. */
#include "stm32f10x_it.h"

/* Demo app includes. */
#include "lcd.h"
#include "LCD_Message.h"
#include "BlockQ.h"
#include "death.h"
#include "integer.h"
#include "blocktim.h"
#include "partest.h"
#include "semtest.h"
#include "PollQ.h"
#include "flash.h"
#include "comtest2.h"
#include "serial.h"

/* Task priorities. */
#define mainQUEUE_POLL_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )
#define mainFLASH_TASK_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainCOM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )

/* Constants related to the LCD. */
#define mainMAX_LINE						( 240 )
#define mainROW_INCREMENT					( 24 )
#define mainMAX_COLUMN						( 20 )
#define mainCOLUMN_START					( 319 )
#define mainCOLUMN_INCREMENT 				( 16 )

/* The maximum number of message that can be waiting for display at any one
time. */
#define mainLCD_QUEUE_SIZE					( 3 )

/* The check task uses the sprintf function so requires a little more stack. */
#define mainCHECK_TASK_STACK_SIZE			( configMINIMAL_STACK_SIZE + 50 )

/* Dimensions the buffer into which the jitter time is written. */
#define mainMAX_MSG_LEN						25

/* The time between cycles of the 'check' task. */
#define mainCHECK_DELAY						( ( TickType_t ) 5000 / portTICK_PERIOD_MS )

/* The number of nano seconds between each processor clock. */
#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )

/* Baud rate used by the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE		( 115200 )

/* The LED used by the comtest tasks. See the comtest.c file for more
information. */
#define mainCOM_TEST_LED			( 3 )

/*-----------------------------------------------------------*/

/*
 * Configure the clocks, GPIO and other peripherals as required by the demo.
 */
static void prvSetupHardware( void );



/*
 * Retargets the C library printf function to the USART.
 */
int fputc( int ch, FILE *f );


/*
 * Configures the timers and interrupts for the fast interrupt test as
 * described at the top of this file.
 */
extern void vSetupTimerTest( void );

/*-----------------------------------------------------------*/


void Task1Function(void * pram){
    while(1){
		  printf("1");
		}
}
void Task2Function(void * pram){
    while(1){
		  printf("2");
		}
}


int main( void )
{
	TaskHandle_t xHandleTask1;
	
	
#ifdef DEBUG
  debug();
#endif

	prvSetupHardware();

	printf("Hello, world!\r\n");
  xTaskCreate(Task1Function,"Task1",100,NULL,1,&xHandleTask1);
  xTaskCreate(Task2Function,"Task2",100,NULL,1,NULL);
	
	vTaskStartScheduler();

	/* Will only get here if there was not enough heap space to create the
	idle task. */
	return 0;
}
/*-----------------------------------------------------------*/

/*-----------------------------------------------------------*/

/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	/* Start with the clocks in their expected state. */
	RCC_DeInit();

	/* Enable HSE (high speed external clock). */
	RCC_HSEConfig( RCC_HSE_ON );

	/* Wait till HSE is ready. */
	while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )
	{
	}

	/* 2 wait states required on the flash. */
	*( ( unsigned long * ) 0x40022000 ) = 0x02;

	/* HCLK = SYSCLK */
	RCC_HCLKConfig( RCC_SYSCLK_Div1 );

	/* PCLK2 = HCLK */
	RCC_PCLK2Config( RCC_HCLK_Div1 );

	/* PCLK1 = HCLK/2 */
	RCC_PCLK1Config( RCC_HCLK_Div2 );

	/* PLLCLK = 8MHz * 9 = 72 MHz. */
	RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_9 );

	/* Enable PLL. */
	RCC_PLLCmd( ENABLE );

	/* Wait till PLL is ready. */
	while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
	{
	}

	/* Select PLL as system clock source. */
	RCC_SYSCLKConfig( RCC_SYSCLKSource_PLLCLK );

	/* Wait till PLL is used as system clock source. */
	while( RCC_GetSYSCLKSource() != 0x08 )
	{
	}

	/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
	RCC_APB2PeriphClockCmd(	RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
							| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );

	/* SPI2 Periph clock enable */
	RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );


	/* Set the Vector Table base address at 0x08000000 */
	NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );

	NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );

	/* Configure HCLK clock as SysTick clock source. */
	SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );

	SerialPortInit();
}
/*-----------------------------------------------------------*/

/*-----------------------------------------------------------*/

/*-----------------------------------------------------------*/

#ifdef  DEBUG
/* Keep the linker happy. */
void assert_failed( unsigned char* pcFile, unsigned long ulLine )
{
	for( ;; )
	{
	}
}
#endif

串口打印效果如下所示

RTOS的核心就是一个多任务系统，这个多任务系统好像是在多任务执行的，但是实际上是交叉执行的