【FreeRTOS】FreeRTOS操作系统在嵌入式单片机上裸机移植

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void vKeyHandlerTask( void *pvParameters )
{
    // Key handling is a continuous process and as such the task
    // is implemented using an infinite loop (as most real-time
    // tasks are).
    for( ;; )
    {
        [Block to wait for a key press event]
        [Process the key press]
    }
}

void vControlTask( void *pvParameters )
{
    for( ;; )
    {
        [Delay waiting for 2ms since the start of the previous cycle]
        [Sample the input]
        [Filter the sampled input]
        [Perform control algorithm]
        [Output result]
    }
}

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#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

#include "hc32f072.h"
extern uint32_t SystemCoreClock;

#define configUSE_PREEMPTION                1//抢占式调度器开关
#define configUSE_IDLE_HOOK                 0//空闲任务钩子函数
#define configUSE_TICK_HOOK                 0//时间片钩子函数
#define configCPU_CLOCK_HZ                  ( SystemCoreClock )//CPU主频
#define configTICK_RATE_HZ                  ( ( TickType_t ) 1000 )//RTOS节拍频率 即1秒的中断次数
#define configMAX_PRIORITIES                ( 5 )//可使用的最大优先级
#define configMINIMAL_STACK_SIZE            ( ( unsigned short ) 60 )//定义空闲任务使用的堆栈大小
#define configTOTAL_HEAP_SIZE               ( ( size_t ) ( 8*1024 ) )//RTOS内核总计可用的有效的RAM大小
#define configMAX_TASK_NAME_LEN             ( 12 )//任务名最大长度
#define configUSE_TRACE_FACILITY            1//是否启动可视化跟踪调试
#define configUSE_16_BIT_TICKS              0//系统节拍计数器的变量类型  0为32位 1为16为
#define configIDLE_SHOULD_YIELD             1//空闲任务放弃CPU使用权给其他同优先级的用户任务
#define configUSE_MUTEXES                   1//是否使用互斥信号量
#define configQUEUE_REGISTRY_SIZE           8//设置可以注册的信号量和消息队列个数
#define configCHECK_FOR_STACK_OVERFLOW      0//堆栈溢出检查 大于0有效
#define configUSE_RECURSIVE_MUTEXES         1//是否使用递归互斥信号量
#define configUSE_MALLOC_FAILED_HOOK        0//内存申请失败钩子函数
#define configUSE_APPLICATION_TASK_TAG      0//为任务分配标签
#define configUSE_COUNTING_SEMAPHORES       1//是否使用计数信号量
#define configGENERATE_RUN_TIME_STATS       0//是否启用运行时间统计功能
 
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES               0//启用协程，启用协程以后必须添加文件croutine.c
#define configMAX_CO_ROUTINE_PRIORITIES     ( 2 )//协程的有效优先级数目
 
/* Software timer definitions. */
#define configUSE_TIMERS                    0//是否启用软件定时器
#define configTIMER_TASK_PRIORITY           ( 2 )//软件定时器优先级
#define configTIMER_QUEUE_LENGTH            ( 5 )//软件定时器队列长度
#define configTIMER_TASK_STACK_DEPTH        ( 80 )//软件定时器任务堆栈大小
 
/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. *///是否启用RTOS API函数
#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
 
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
#define configASSERT( x ) if( ( x ) == 0 )  { taskDISABLE_INTERRUPTS(); for( ;; ); }
 
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names - or at least those used in the unmodified vector table. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler
 
#endif /* FREERTOS_CONFIG_H */

void STA_Task(void* param);
void IO_Task(void* param);
void TMP_Task(void* param);

static TaskHandle_t AppStaTask_handle = NULL;
static TaskHandle_t AppIOTask_handle = NULL;
static TaskHandle_t AppTmpTask_handle = NULL;

#define STA_TASK_SIZE 128
#define IO_TASK_SIZE 512
#define TMP_TASK_SIZE 128

int FreeRTOS_TaskCreate(void)
{
	BaseType_t xReturn1 = pdPASS;
	BaseType_t xReturn2 = pdPASS;
    
	//创建心跳灯任务
	xReturn1 = xTaskCreate((TaskFunction_t )STA_Task,       //任务入口函数
                        (const char*    )"StaTask",         //任务名字
                        (uint16_t       )STA_TASK_SIZE,     //任务栈大小
                        (void*          )NULL,              //任务入口函数参数
                        (UBaseType_t    )2,                 //任务的优先级
                        (TaskHandle_t*  )&AppStaTask_handle);//任务控制块指针
                        
    //创建输入输出任务
	xReturn2 = xTaskCreate((TaskFunction_t )IO_Task,        //任务入口函数
                        (const char*    )"IOTask",          //任务名字
                        (uint16_t       )IO_TASK_SIZE,      //任务栈大小
                        (void*          )NULL,              //任务入口函数参数
                        (UBaseType_t    )3,                 //任务的优先级
                        (TaskHandle_t*  )&AppIOTask_handle);//任务控制块指针
                        
    //创建加热任务(按键蜂鸣加热温度采样)
	xReturn1 = xTaskCreate((TaskFunction_t )TMP_Task,       //任务入口函数
                        (const char*    )"TmpTask",         //任务名字
                        (uint16_t       )TMP_TASK_SIZE,     //任务栈大小
                        (void*          )NULL,              //任务入口函数参数
                        (UBaseType_t    )4,                 //任务的优先级
                        (TaskHandle_t*  )&AppTmpTask_handle);//任务控制块指针

   if (pdPASS != xReturn1 || pdPASS != xReturn2)
    {
        return -1;  // 任务创建失败
    }

   vTaskStartScheduler();//启动调度
   
   return 0;
}

void STA_Task(void* param)
{
    while(1)
	{
        // 计算栈使用总量和百分比
        UBaseType_t uxUsedStackSize = STA_TASK_SIZE - uxTaskGetStackHighWaterMark(NULL);
        UBaseType_t uxUsagePercentage = (uxUsedStackSize * 100) / STA_TASK_SIZE;
        // 打印栈使用总量和百分比
        Dbg_Printf("STA_Task-->Stack Used: %u/%u (%u%%)\r\n", 
               (unsigned int)uxUsedStackSize, 
               (unsigned int)STA_TASK_SIZE, 
               (unsigned int)uxUsagePercentage);

        vTaskDelay(1000);
	}
}

void IO_Task(void* param)
{
    while(1)
	{
        // 计算栈使用总量和百分比
        UBaseType_t uxUsedStackSize = IO_TASK_SIZE - uxTaskGetStackHighWaterMark(NULL);
        UBaseType_t uxUsagePercentage = (uxUsedStackSize * 100) / IO_TASK_SIZE;
        // 打印栈使用总量和百分比
        Dbg_Printf("IO_Task-->Stack Used: %u/%u (%u%%)\r\n", 
               (unsigned int)uxUsedStackSize, 
               (unsigned int)IO_TASK_SIZE, 
               (unsigned int)uxUsagePercentage);

        vTaskDelay(1000);
	}
}

void TMP_Task(void* param)
{
    while(1)
	{
        // 计算栈使用总量和百分比
        UBaseType_t uxUsedStackSize = TMP_TASK_SIZE - uxTaskGetStackHighWaterMark(NULL);
        UBaseType_t uxUsagePercentage = (uxUsedStackSize * 100) / TMP_TASK_SIZE;
        // 打印栈使用总量和百分比
        Dbg_Printf("TMP_Task-->Stack Used: %u/%u (%u%%)\r\n", 
               (unsigned int)uxUsedStackSize, 
               (unsigned int)TMP_TASK_SIZE, 
               (unsigned int)uxUsagePercentage);

        vTaskDelay(1000);
	}
}

#include "ddl.h"
#include "Dbg.h"

#include "FreeRTOS.h"
#include "task.h"

static void App_SysClkInit(void)
{
    stc_sysctrl_clk_cfg_t stcCfg;
    stc_sysctrl_pll_cfg_t stcPLLCfg;

    Sysctrl_SetPeripheralGate(SysctrlPeripheralFlash, TRUE);    ///< 使能FLASH模块的外设时钟
    Flash_WaitCycle(FlashWaitCycle1);
    Sysctrl_SetRCHTrim(SysctrlRchFreq4MHz);             ///< PLL使用RCH作为时钟源，因此需要先设置RCH

    stcPLLCfg.enInFreq    = SysctrlPllInFreq4_6MHz;     ///< RCH 4MHz
    stcPLLCfg.enOutFreq   = SysctrlPllOutFreq36_48MHz;  ///< PLL 输出48MHz
    stcPLLCfg.enPllClkSrc = SysctrlPllRch;              ///< 输入时钟源选择RCH
    stcPLLCfg.enPllMul    = SysctrlPllMul12;            ///< 4MHz x 12 = 48MHz
    Sysctrl_SetPLLFreq(&stcPLLCfg);

    ///< 选择PLL作为HCLK时钟源;
    stcCfg.enClkSrc  = SysctrlClkPLL;
    ///< HCLK SYSCLK/2
    stcCfg.enHClkDiv = SysctrlHclkDiv1;
    ///< PCLK 为HCLK/8
    stcCfg.enPClkDiv = SysctrlPclkDiv1;
    ///< 系统时钟初始化
    Sysctrl_ClkInit(&stcCfg);

//    ///< 使用外部晶振
//    Sysctrl_SetXTHFreq(SysctrlXthFreq8_16MHz);
//    Sysctrl_XTHDriverCfg(SysctrlXtalDriver1);
//    Sysctrl_SetXTHStableTime(SysctrlXthStableCycle16384);
//    Sysctrl_ClkSourceEnable(SysctrlClkXTH, TRUE);
//    delay1ms(10);

//    ///< 时钟切换
//    Sysctrl_SysClkSwitch(SysctrlClkXTH);
}

int32_t main(void)
{
    //系统时钟
    App_SysClkInit();

    //打印初始化(调试用)
    Dbg_Init();
    Dbg_Cfg();
    
    //创建任务并启动
    FreeRTOS_TaskCreate();

    while(1);
}

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