STM32 从0开始移植FreeRTOS

STM32 从0开始移植FreeRTOS

1.下载源码

下载网址：https://www.freertos.org/

FreeRTOS Kernel V10.4.6

2.移植工程

使用stm32cubemx创建初始工程。

使用stm32f429

注意要在这里把hal库用的定时器切换一下，系统滴答定时器要留给freertos使用。

源码文件夹全部拷贝到工程目录下。

这里我放在了工程目录下的freertos文件夹下。

再去刚刚下载的文件夹中找到demo文件夹，

里面有各种内核的移植好的例程。

因为这里选的芯片时stm32f429，

找到这个对应的F4系列的，

如果是F1，可以找下面对应好的。

找到配置文件复制到自己的工程下。

在keil中新建两个文件夹用来放相关的文件，并把用到的文件添加到工程中。

首先应该吧source文件夹下这几个文件都添加进来，刚刚复制过来的config文件也可以添加进来方便修改。

再去portable文件夹下按照下面的截图添加对应的文件。

添加port.c文件。

添加内存管理文件。

添加完之后的工程应该长这个样子。

把头文件的路径添加进来。

这时候编译应该会报错

…\FreeRTOS\Source\portable\RVDS\ARM_CM4F\port.c(734): error: #20: identifier “SystemCoreClock” is undefined

打开配置文件更改，把 #ifdef __ICCARM__改成#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)

重新编译会报3个错

freertos_demo\freertos_demo.axf: Error: L6200E: Symbol SVC_Handler multiply defined (by port.o and stm32f4xx_it.o).

freertos_demo\freertos_demo.axf: Error: L6200E: Symbol PendSV_Handler multiply defined (by port.o and stm32f4xx_it.o).

freertos_demo\freertos_demo.axf: Error: L6200E: Symbol SysTick_Handler multiply defined (by port.o and stm32f4xx_it.o).

这是因为freertos自己实现了这三个中断服务函数，而cubemx在新建工程的时候也生成了这三个函数，导致重复定义，

把这三个注释掉即可。

再次编译，又报错。

freertos_demo\freertos_demo.axf: Error: L6218E: Undefined symbol vApplicationIdleHook (referred from tasks.o).
freertos_demo\freertos_demo.axf: Error: L6218E: Undefined symbol vApplicationStackOverflowHook (referred from tasks.o).
freertos_demo\freertos_demo.axf: Error: L6218E: Undefined symbol vApplicationTickHook (referred from tasks.o).
freertos_demo\freertos_demo.axf: Error: L6218E: Undefined symbol vApplicationMallocFailedHook (referred from heap_4.o).

这是因为在配置文件中使能了这四个钩子函数，但是我们又没有实现，导致报错。

这几个全改0，再次编译没有问题。

3.实现功能

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void vTask1( void *pvParameters )
{
	const char *pcTaskName = "T1 run!\r\n";
	while(1)
	{
		/* 打印任务1的信息 */
		printf( pcTaskName );
		vTaskDelay(1000);
	}
}


void vTask2( void *pvParameters )
{
	const char *pcTaskName = "T2 run!\r\n";
	while(1)
	{
		/* 打印任务2的信息 */
		printf( pcTaskName );
		vTaskDelay(1000);
	}
}
/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  /* USER CODE BEGIN 2 */


	xTaskCreate(vTask1, "Task 1", 1000, NULL, 1, NULL);
	xTaskCreate(vTask2, "Task 2", 1000, NULL, 1, NULL);

	/* 启动调度器 */
	vTaskStartScheduler();

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Configure the main internal regulator output voltage
  */
  __HAL_RCC_PWR_CLK_ENABLE();
  __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLM = 15;
  RCC_OscInitStruct.PLL.PLLN = 216;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Activate the Over-Drive mode
  */
  if (HAL_PWREx_EnableOverDrive() != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  Period elapsed callback in non blocking mode
  * @note   This function is called  when TIM2 interrupt took place, inside
  * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
  * a global variable "uwTick" used as application time base.
  * @param  htim : TIM handle
  * @retval None
  */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
  /* USER CODE BEGIN Callback 0 */

  /* USER CODE END Callback 0 */
  if (htim->Instance == TIM2) {
    HAL_IncTick();
  }
  /* USER CODE BEGIN Callback 1 */

  /* USER CODE END Callback 1 */
}

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

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两个任务交替执行，实验成功。

有疑惑的可以下载一下工程看看。
工程已上传https://download.csdn.net/download/Master_0_/86541339