本文体验在keil环境下CMSIS-FreeRTOS在APM32F402上的使用。
内核初始化：
- /*
- Initialize the RTOS Kernel.
- */
- osStatus_t osKernelInitialize (void) {
- osStatus_t stat;
- BaseType_t state;
- if (IRQ_Context() != 0U) {
- stat = osErrorISR;
- }
- else {
- state = xTaskGetSchedulerState();
- /* Initialize if scheduler not started and not initialized before */
- if ((state == taskSCHEDULER_NOT_STARTED) && (KernelState == osKernelInactive)) {
- #if defined(USE_TRACE_EVENT_RECORDER)
- /* Initialize the trace macro debugging output channel */
- EvrFreeRTOSSetup(0U);
- #endif
- #if defined(USE_FreeRTOS_HEAP_5) && (HEAP_5_REGION_SETUP == 1)
- /* Initialize the memory regions when using heap_5 variant */
- vPortDefineHeapRegions (configHEAP_5_REGIONS);
- #endif
- KernelState = osKernelReady;
- stat = osOK;
- } else {
- stat = osError;
- }
- }
- /* Return execution status */
- return (stat);
- }
创建线程：
- /* Create the thread */
- ledThreadID = osThreadNew(Led_Thread, NULL, &ledThreadattr);
- if (ledThreadID == NULL)
- {
- printf("Create led thread failed!\r\n");
- }
- usartThreadID = osThreadNew(Usart_TestThread, NULL, &usartThreadattr);
- if (usartThreadID == NULL)
- {
- printf("Create usart thread failed!\r\n");
- }
启动调度器：
- /* Start the RTOS scheduler */
- osKernelStart();
其中LED线程与USART任务定义如下：
- void Led_Thread(void *argument)
- {
- UNUSED(argument);
- while (1)
- {
- /* Toggle LED2 */
- BOARD_LED_Toggle(LED2);
- osDelay(1000);
- }
- }
- /**
- * [url=home.php?mod=space&uid=247401]@brief[/url] Usart1 test task
- *
- * @param argument Not used
- *
- * @retval None
- */
- void Usart_TestThread(void *argument)
- {
- UNUSED(argument);
- while (1)
- {
- /* Print message */
- printf("Hello, world!\r\n");
- osDelay(1000);
- }
- }
实物演示：
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