- /*
- * FreeRTOS V202212.01
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * 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
- *
- */
- #ifndef FREERTOS_CONFIG_H
- #define FREERTOS_CONFIG_H
- #if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
- #include <stdint.h>
- extern uint32_t SystemCoreClock;
- #endif
- /*-----------------------------------------------------------
- * 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_PORT_OPTIMISED_TASK_SELECTION 0
- //#define configUSE_QUEUE_SETS 1
- #define configUSE_IDLE_HOOK 0
- #define configUSE_TICK_HOOK 0//1
- #define configCPU_CLOCK_HZ ( SystemCoreClock )
- #define configTICK_RATE_HZ ( ( TickType_t )1000 )
- #define configMAX_PRIORITIES ( 5 )
- #define configMINIMAL_STACK_SIZE ( ( unsigned short ) 130 )
- #define configTOTAL_HEAP_SIZE ( ( size_t ) ( 20 * 1024 ) )
- #define configMAX_TASK_NAME_LEN ( 10 )
- #define configUSE_TRACE_FACILITY 1
- #define configUSE_16_BIT_TICKS 0
- #define configIDLE_SHOULD_YIELD 1
- #define configUSE_MUTEXES 1
- #define configQUEUE_REGISTRY_SIZE 8
- #define configCHECK_FOR_STACK_OVERFLOW 0//2
- #define configUSE_RECURSIVE_MUTEXES 1
- #define configUSE_MALLOC_FAILED_HOOK 0//1
- #define configUSE_APPLICATION_TASK_TAG 0
- #define configUSE_COUNTING_SEMAPHORES 1
- /* The full demo always has tasks to run so the tick will never be turned off.
- The blinky demo will use the default tickless idle implementation to turn the
- tick off. */
- #define configUSE_TICKLESS_IDLE 0
- /* Run time stats gathering definitions. */
- #define configGENERATE_RUN_TIME_STATS 0
- /* This demo makes use of one or more example stats formatting functions. These
- format the raw data provided by the uxTaskGetSystemState() function in to human
- readable ASCII form. See the notes in the implementation of vTaskList() within
- FreeRTOS/Source/tasks.c for limitations. */
- #define configUSE_STATS_FORMATTING_FUNCTIONS 1
- /* Software timer definitions. */
- #define configUSE_TIMERS 1
- #define configTIMER_TASK_PRIORITY 2//( configMAX_PRIORITIES - 1 )
- #define configTIMER_QUEUE_LENGTH 10//5
- #define configTIMER_TASK_STACK_DEPTH ( configMINIMAL_STACK_SIZE * 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 1
- #define INCLUDE_vTaskSuspend 1
- #define INCLUDE_vTaskDelayUntil 1
- #define INCLUDE_vTaskDelay 1
- #define INCLUDE_eTaskGetState 1
- #define INCLUDE_xTimerPendFunctionCall 1
- /* Cortex-M specific definitions. */
- #ifdef __NVIC_PRIO_BITS
- /* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
- #define configPRIO_BITS __NVIC_PRIO_BITS
- #else
- #define configPRIO_BITS 4 /* 15 priority levels */
- #endif
- /* The lowest interrupt priority that can be used in a call to a "set priority"
- function. */
- #define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
- /* The highest interrupt priority that can be used by any interrupt service
- routine that makes calls to interrupt safe FreeRTOS API functions. DO NOT CALL
- INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
- PRIORITY THAN THIS! (higher priorities are lower numeric values. */
- #define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5//4
- /* Interrupt priorities used by the kernel port layer itself. These are generic
- to all Cortex-M ports, and do not rely on any particular library functions. */
- #define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
- /* !!!! 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 ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
- /* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
- standard names. */
- #define xPortPendSVHandler PendSV_Handler
- #define vPortSVCHandler SVC_Handler
- #define xPortSysTickHandler SysTick_Handler
- /* Prevent the inclusion of items the assembler will not understand in assembly
- files. */
- //#ifndef __IAR_SYSTEMS_ASM__
- // /* Library includes. */
- // #include "stm32f7xx_hal.h"
- // extern uint32_t SystemCoreClock;
- // /* Normal assert() semantics without relying on the provision of an assert.h
- // header file. */
- // extern void vAssertCalled( uint32_t ulLine, const char *pcFile );
- // #define configASSERT( x ) if( ( x ) == 0 ) vAssertCalled( __LINE__, __FILE__ )
- //#endif /* __IAR_SYSTEMS_ASM__ */
- #endif /* FREERTOS_CONFIG_H */
三、程序部分
3.1、task.c
- #include "main.h"
- #define START_TASK_PRO tskIDLE_PRIORITY + 1
- #define START_STK_SIZE 256
- TaskHandle_t StartTask_Handler;
- #define TASK1_PRIO tskIDLE_PRIORITY + 2
- #define TASK1_STK_SIZE 256
- static TaskHandle_t Task1Task_Handler = NULL;
-
- #define TASK2_PRIO tskIDLE_PRIORITY + 3
- #define TASK2_STK_SIZE 256
- static TaskHandle_t Task2Task_Handler = NULL;
- #define TASK3_PRIO tskIDLE_PRIORITY + 4
- #define TASK3_STK_SIZE 256
- static TaskHandle_t Task3Task_Handler = NULL;
- void start_task(void *pvParameters);
- void task1(void *pvParameters);
- void task2(void *pvParameters);
- void task3(void *pvParameters);
- void task_create(void)
- {
-
- //start_task
- xTaskCreate((TaskFunction_t )start_task,
- (const char* )"start_task",
- (uint16_t )START_STK_SIZE,
- (void* )NULL,
- (UBaseType_t )START_TASK_PRO,
- (TaskHandle_t* )&StartTask_Handler);
- vTaskStartScheduler();
- }
- void start_task(void *pvParameters)
- {
- taskENTER_CRITICAL();
- //task1
- xTaskCreate((TaskFunction_t )task1,
- (const char* )"task1",
- (uint16_t )TASK1_STK_SIZE,
- (void* )NULL,
- (UBaseType_t )TASK1_PRIO,
- (TaskHandle_t* )&Task1Task_Handler);
- //task2
- xTaskCreate((TaskFunction_t )task2,
- (const char* )"task2",
- (uint16_t )TASK2_STK_SIZE,
- (void* )NULL,
- (UBaseType_t )TASK2_PRIO,
- (TaskHandle_t* )&Task2Task_Handler);
-
- //task3-lvlg
- xTaskCreate((TaskFunction_t )task3,
- (const char* )"task3",
- (uint16_t )TASK3_STK_SIZE,
- (void* )NULL,
- (UBaseType_t )TASK3_PRIO,
- (TaskHandle_t* )&Task2Task_Handler);
- taskEXIT_CRITICAL();
-
-
- vTaskDelete(StartTask_Handler);
- }
- //task1
- void task1(void *pvParameters)
- {
- while (1)
- {
- printf("task1 run ...\r\n");
- vTaskDelay(100);
- }
- }
- //task2
- void task2(void *pvParameters)
- {
- while (1)
- {
- printf("task2 run ...\r\n");
- vTaskDelay(100);
- }
- }
- //task3
- void task3(void *pvParameters)
- {
- while (1)
- {
- printf("task3 run ...\r\n");
- vTaskDelay(100);
- }
- }
3.2、main.c
- #include "main.h"
- #include "usart/usart.h"
- #include "led/led.h"
- #ifndef HSEM_ID_0
- #define HSEM_ID_0 (0U) /* HW semaphore 0*/
- #endif
- void SystemClock_Config(void);
- static void CPU_CACHE_Enable(void);
- static void MPU_Config(void);
- int main(void)
- {
- MPU_Config();
- CPU_CACHE_Enable();
- HAL_Init();
- SystemClock_Config();
- __HAL_RCC_HSEM_CLK_ENABLE();
-
- HAL_HSEM_FastTake(HSEM_ID_0);
- HAL_HSEM_Release(HSEM_ID_0,0);
- init_led();
- init_uart3(115200);
-
- task_create();
- while (1)
- {
- }
- }
四、程序运行
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