本文的目标是创建了2个任务，最终实现开发板上的2个led交替闪烁。
AT 提供了一套完整的 BSP&Pack 用于开发（百度网盘链接中可找到）。 主要包括 at32f4xx 外 设 驱 动 库 、 内 核 相 关 文 件 、 完 整 的 应 用 例 程 以 及 能 够 支 持 Keil_v5 、 Keil_v4 、 IAR_v6 和 IAR_v7、IAR_v8等多种开发环境的 Pack 文件。
1. AT32F421 内核为 Cortex ® -M4F。CM4 内核文件拷贝进来，CM4 文件源码路径：BSP\AT32F4xx_StdPeriph_Lib_V1.2.9\Libraries\CMSIS\CM4\CoreSupport
AT 启动文件源码路径： BSP\AT32F4xx_StdPeriph_Lib_V1.2.9\Libraries\CMSIS\CM4\DeviceSupport\startup\mdk
启动文件的选择可以参考文档 《AT32F4xx标准库BSP&Pack应用指南.pdf》中的 2.2 BSP使用方法。因为移植比较简单，所以以下是从零移植。如果工程中已有 FreeRTOS 框架，则只需要替换即可。
2. 获取 FreeRTOS 源码
方法1： * FreeRTOS官网：http://www.freertos.org/ *
最后，拷贝 FreeRTOSConfig.h 文件到 user 文件夹，即是和 main.c 一起即可（可自由存放）。
FreeRTOSConfig.h 文件是 FreeRTOS 的工程配置文件。
主要用于配置和裁剪 FreeRTOS 内核。
移植OK后，Main.cw enain
#include <stdio.h>
#include "at32_board.h"
#include "FreeRTOS.h"
#include "task.h"
/** @addtogroup AT32Fxx_StdPeriph_Templates
* @{
*/
/** @addtogroup FreeRTOS_Demo
* @{
*/
/* Private define ------------------------------------------------------------*/
TaskHandle_t LED2_Handler;
TaskHandle_t LED3_Handler;
/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/
/* LED2 task */
void LED2_task_Function(void *pvParameters);
/* LED3 task */
void LED3_task_Function(void *pvParameters);
int main(void)
{
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4);
/*Configure LED2/3 in AT_START_BOARD*/
AT32_LEDn_Init(LED2);
AT32_LEDn_Init(LED3);
AT32_LEDn_OFF(LED2);
AT32_LEDn_OFF(LED3);
UART_Print_Init(115200);
/* Enter critical */
taskENTER_CRITICAL();
/* Create LED2 task */
if(xTaskCreate((TaskFunction_t )LED2_task_Function,
(const char* )"LED2_task",
(uint16_t )512,
(void* )NULL,
(UBaseType_t )2,
(TaskHandle_t* )&LED2_Handler) != pdPASS)
{
printf("LED2 task could not be created as there was insufficient heap memory remaining.\r\n");
}
else
{
printf("LED2 task was created successfully.\r\n");
}
/* Create LED3 task */
if(xTaskCreate((TaskFunction_t )LED3_task_Function,
(const char* )"LED3_task",
(uint16_t )512,
(void* )NULL,
(UBaseType_t )2,
(TaskHandle_t* )&LED3_Handler) != pdPASS)
{
printf("LED3 task could not be created as there was insufficient heap memory remaining.\r\n");
}
else
{
printf("LED3 task was created successfully.\r\n");
}
/* Exit critical */
taskEXIT_CRITICAL();
/* Start Scheduler */
vTaskStartScheduler();
}
/* LED2 task function */
void LED2_task_Function(void *pvParameters)
{
while(1)
{
AT32_LEDn_Toggle(LED2);
vTaskDelay(1000);
}
}
/* LED3 task function */
void LED3_task_Function(void *pvParameters)
{
while(1)
{
AT32_LEDn_Toggle(LED3);
vTaskDelay(500);
}
}
FreeRTOSConfig.h
/*
FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
All rights reserved
VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
This file is part of the FreeRTOS distribution.
FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************
FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html
***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************
http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?
http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.
http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.
http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.
http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.
http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.
http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.
1 tab == 4 spaces!
*/
#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_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configCPU_CLOCK_HZ ( ( unsigned long ) SystemCoreClock )
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES ( 5 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 128 )
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 8 * 1024 ) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 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 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetCurrentTaskHandle 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 0x0f
/* 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 0x01
/* 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) )
/* 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. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler
#endif /* FREERTOS_CONFIG_H */
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