使用 Clion (cmake) 运行FreeRTOS

这里使用的是 f407

1. 先用STM32CubeMX 建立一个可以运行的stm32项目，toolchain选择 SW4STM32

2. 官网下载源码

www.freertos.org

我这里下载的是FreeRTOSv202112.00.zip

解压缩后得到

需要以下几个文件夹或档案

FreeRTOS/Source下的所有的 .c 档案

FreeRTOS/Source/include

FreeRTOS/Source/portable/GCC/ARM_CM4F

FreeRTOS/Source/portable/MemMang里面的heap_4.c ( 可以参考 FreeRTOS基础二：堆内存管理之heap_4方案_哈士奇上蔚的博客-CSDN博客)

3.. 将 FreeRTOS/Demo/CORTEX_M4F_STM32F407ZG-SK里的FreeRTOSConfig.h拷贝到 FreeRTOS/Source/include 下面

全部需要的档案如下

把FreeRTOS的文件夹放到项目的根目录

4. 修改 FreeRTOSConfig.h

将45行的

#ifdef __ICCARM__

#include <stdint.h>

extern uint32_t SystemCoreClock;

#endif

修改为

#if defined (__ICCARM__) || defined (__CC_ARM) || defined (__GNUC__)

#include <stdint.h>

extern uint32_t SystemCoreClock;

#endif

或是直接去掉 #ifdef __ICCARM__的判断

将51行的configUSE_IDLE_HOOK 改为0

将52行的configUSE_TICK_HOOK改为0

将64行的configCHECK_FOR_STACK_OVERFLOW改为0

将66行的configUSE_MALLOC_FAILED_HOOK改为0

5. 修改cmake

在cmake里启用硬件浮点运算单元 FPU

#Uncomment for hardware floating point

add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)

add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)

add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)

cmake里添加include path

FreeRTOS/Source/include

FreeRTOS/Source/portable/GCC/ARM_CM4F

cmake里添加

file(GLOB_RECURSE SOURCES "FreeRTOS/*.*")

6. 将 stm32f4xx_it.c 里的

SVC_Handler

PendSV_Handler

SysTick_Handler

三个方法前面都加上__weak

因为这三个方法在我们添加的 FreeRTOS/Source/portable/GCC/ARM_CM4F/prot.c文件里有定义，会导致重定义

7. 修改main函数运行

以下是代码。完整项目可以在这里下载，硬石YS-F4Pro （f407）开发板可以直接运行

https://download.csdn.net/download/howard789/87177250

cmake

#THIS FILE IS AUTO GENERATED FROM THE TEMPLATE! DO NOT CHANGE!
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_VERSION 1)
cmake_minimum_required(VERSION 3.23)

# specify cross-compilers and tools
set(CMAKE_C_COMPILER arm-none-eabi-gcc)
set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
set(CMAKE_ASM_COMPILER  arm-none-eabi-gcc)
set(CMAKE_AR arm-none-eabi-ar)
set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
set(CMAKE_OBJDUMP arm-none-eabi-objdump)
set(SIZE arm-none-eabi-size)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)

# project settings
project(freeRTOS_demo C CXX ASM)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_C_STANDARD 11)

#Uncomment for hardware floating point
add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)
add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)

#Uncomment for software floating point
#add_compile_options(-mfloat-abi=soft)

add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0)

# uncomment to mitigate c++17 absolute addresses warnings
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-register")

# Enable assembler files preprocessing
add_compile_options($<$<COMPILE_LANGUAGE:ASM>:-x$<SEMICOLON>assembler-with-cpp>)

if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release")
    message(STATUS "Maximum optimization for speed")
    add_compile_options(-Ofast)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
    message(STATUS "Maximum optimization for speed, debug info included")
    add_compile_options(-Ofast -g)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
    message(STATUS "Maximum optimization for size")
    add_compile_options(-Os)
else ()
    message(STATUS "Minimal optimization, debug info included")
    add_compile_options(-Og -g)
endif ()

include_directories(
        FreeRTOS/Source/include
        FreeRTOS/Source/portable/GCC/ARM_CM4F

        Core/Inc Drivers/STM32F4xx_HAL_Driver/Inc Drivers/STM32F4xx_HAL_Driver/Inc/Legacy Drivers/CMSIS/Device/ST/STM32F4xx/Include Drivers/CMSIS/Include)

add_definitions(-DUSE_HAL_DRIVER -DSTM32F407xx)

file(GLOB_RECURSE SOURCES "startup/*.*" "Drivers/*.*" "Core/*.*" "FreeRTOS/*.*")

set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32F407IGTx_FLASH.ld)

add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map)
add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_link_options(-T ${LINKER_SCRIPT})

add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT})

set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)

add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD
        COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${PROJECT_NAME}.elf> ${HEX_FILE}
        COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${PROJECT_NAME}.elf> ${BIN_FILE}
        COMMENT "Building ${HEX_FILE}
Building ${BIN_FILE}")

main

/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2022 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "bsp_led.h"
static TaskHandle_t xHandleTaskLED1 = NULL;
static TaskHandle_t xHandleTaskLED2 = NULL;
static TaskHandle_t xHandleTaskLED3 = NULL;

/* 扩展变量 ------------------------------------------------------------------*/
/* 私有函数原形 --------------------------------------------------------------*/
static void vTaskLED1(void *pvParameters);
static void vTaskLED2(void *pvParameters);
static void vTaskLED3(void *pvParameters);
static void AppTaskCreate (void);

void vTaskLED1(void *pvParameters)
{
    while(1)
    {
        LED_StateSet(LED_ID_1,LED_TOGGLE);
        vTaskDelay(1000);
    }
}

void vTaskLED2(void *pvParameters)
{
    while(1)
    {
        LED_StateSet(LED_ID_2,LED_TOGGLE);

        vTaskDelay(2000);
    }
}

void vTaskLED3(void *pvParameters)
{
    while(1)
    {
        LED_StateSet(LED_ID_3,LED_TOGGLE);

        vTaskDelay(3000);
    }
}

void AppTaskCreate (void)
{
    xTaskCreate( vTaskLED1,   	/* 任务函数  */
                 "vTaskLED1",     	/* 任务名    */
                 512,               	/* 任务栈大小，单位word，也就是4字节 */
                 NULL,              	/* 任务参数  */
                 1,                 	/* 任务优先级*/
                 &xHandleTaskLED1 );  /* 任务句柄  */


    xTaskCreate( vTaskLED2,    		/* 任务函数  */
                 "vTaskLED2",  		/* 任务名    */
                 512,         		/* 任务栈大小，单位word，也就是4字节 */
                 NULL,        		/* 任务参数  */
                 2,           		/* 任务优先级*/
                 &xHandleTaskLED2 ); /* 任务句柄  */

    xTaskCreate( vTaskLED3,     		/* 任务函数  */
                 "vTaskLED3",   		/* 任务名    */
                 512,             		/* 任务栈大小，单位word，也就是4字节 */
                 NULL,           		/* 任务参数  */
                 3,               		/* 任务优先级*/
                 &xHandleTaskLED3 );  /* 任务句柄  */

}


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

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* 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();

    // 初始化LED
    LED_GPIO_Init();

    // 没有用freeRTOS的测试方法
//    LED_GPIO_Test();

    // 使用freeRTOS
    AppTaskCreate();

    /* 启动调度，开始执行任务 */
    vTaskStartScheduler();



}

/**
  * @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_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLM = 8;
  RCC_OscInitStruct.PLL.PLLN = 168;
  RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
  RCC_OscInitStruct.PLL.PLLQ = 4;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != 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();
  }
}

/**
  * @brief GPIO Initialization Function
  * @param None
  * @retval None
  */
static void MX_GPIO_Init(void)
{

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOH_CLK_ENABLE();
  __HAL_RCC_GPIOA_CLK_ENABLE();

}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @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 */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

bsp_led.h

//
// Created by hao on 2022/8/17.
//


#ifndef MY_BASIC_BSP_LED_H
#define MY_BASIC_BSP_LED_H

#include "stm32f4xx_hal.h"

#define LED_1_RCC_CLK_ENABLE()          __HAL_RCC_GPIOH_CLK_ENABLE()
#define LED_1_GPIO_PIN                  GPIO_PIN_9
#define LED_1_GPIOx                     GPIOH

#define LED_2_RCC_CLK_ENABLE()         __HAL_RCC_GPIOE_CLK_ENABLE()
#define LED_2_GPIO_PIN GPIO_PIN_5
#define LED_2_GPIOx GPIOE


#define LED_3_RCC_CLK_ENABLE()          __HAL_RCC_GPIOE_CLK_ENABLE()
#define LED_3_GPIO_PIN                  GPIO_PIN_6
#define LED_3_GPIOx                     GPIOE




typedef enum {
    LED_ON = 0,
    LED_OFF = 1,
    LED_TOGGLE = 2,
}LED_State_TypeDef;


typedef enum {
    LED_ID_1 = 1,
    LED_ID_2 = 2,
    LED_ID_3 = 3,

}LED_ID_TypeDef;


#define IS_LED_ID_TYPEDEF(id)           (((id) == LED_ID_1) || ((id) == LED_ID_2) || (id) == LED_ID_3))
#define IS_LED_State_TypeDef(state)     (((state) == LED_ON) || ((state) == LED_OFF) || ((state) == LED_TOGGLE))

void LED_GPIO_Init();


void LED_StateSet(LED_ID_TypeDef id,LED_State_TypeDef state);

void LED_GPIO_Test();
#endif //USE_LED

bsp_led.c

//
// Created by hao on 2022/8/17.
//



#include <stdbool.h>
#include "bsp_led.h"


void LED_GPIO_Init(){
    /* 定义IO硬件初始化结构体变量 */
    GPIO_InitTypeDef GPIO_InitStruct;


    LED_1_RCC_CLK_ENABLE();
    HAL_GPIO_WritePin(LED_1_GPIOx, LED_1_GPIO_PIN, GPIO_PIN_RESET);
    GPIO_InitStruct.Pin = LED_1_GPIO_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(LED_1_GPIOx, &GPIO_InitStruct);


    LED_2_RCC_CLK_ENABLE();
    HAL_GPIO_WritePin(LED_2_GPIOx, LED_2_GPIO_PIN, GPIO_PIN_RESET);
    GPIO_InitStruct.Pin = LED_2_GPIO_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(LED_2_GPIOx, &GPIO_InitStruct);


    LED_3_RCC_CLK_ENABLE();
    HAL_GPIO_WritePin(LED_3_GPIOx, LED_3_GPIO_PIN, GPIO_PIN_RESET);
    GPIO_InitStruct.Pin = LED_3_GPIO_PIN;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
    HAL_GPIO_Init(LED_3_GPIOx, &GPIO_InitStruct);

}



void LED_StateSet(LED_ID_TypeDef id,LED_State_TypeDef state){
    assert_param(IS_LED_ID_TYPEDEF(LEDx));
    assert_param(IS_LED_State_TypeDef(LEDx));
    switch (state) {
        case LED_ON:
            switch (id) {
                case LED_ID_1:
                    HAL_GPIO_WritePin(LED_1_GPIOx,LED_1_GPIO_PIN,GPIO_PIN_SET);break;
                case LED_ID_2:
                    HAL_GPIO_WritePin(LED_2_GPIOx,LED_2_GPIO_PIN,GPIO_PIN_SET);break;
#ifdef USE_LED3
                case LED_ID_3:
                    HAL_GPIO_WritePin(LED_3_GPIOx,LED_3_GPIO_PIN,GPIO_PIN_SET);break;
#endif
                default:
                    break;
            }
            break;
        case LED_OFF:
            switch (id) {
                case LED_ID_1:
                    HAL_GPIO_WritePin(LED_1_GPIOx,LED_1_GPIO_PIN,GPIO_PIN_RESET);
                    break;
                case LED_ID_2:
                    HAL_GPIO_WritePin(LED_2_GPIOx,LED_2_GPIO_PIN,GPIO_PIN_RESET);
                    break;
#ifdef USE_LED3
                case LED_ID_3:
                    HAL_GPIO_WritePin(LED_3_GPIOx,LED_3_GPIO_PIN,GPIO_PIN_RESET);
                    break;
#endif
                default:
                    break;
            }
            break;

        case LED_TOGGLE:
            switch (id) {
                case LED_ID_1:
                    HAL_GPIO_TogglePin(LED_1_GPIOx,LED_1_GPIO_PIN);
                    break;
                case LED_ID_2:
                    HAL_GPIO_TogglePin(LED_2_GPIOx,LED_2_GPIO_PIN);
                    break;
#ifdef USE_LED3
                case LED_ID_3:
                    HAL_GPIO_TogglePin(LED_3_GPIOx,LED_3_GPIO_PIN);
                    break;
#endif
                default:
                    break;
            }
            break;
        default:
            break;
    }

}

void LED_GPIO_Test(){
    int count =0;
    while (1){

        switch (count%3) {
            case 0:
                LED_StateSet(LED_ID_1,LED_ON);
                LED_StateSet(LED_ID_2,LED_OFF);
                LED_StateSet(LED_ID_3,LED_OFF);

                break;
            case 1:
                LED_StateSet(LED_ID_1,LED_OFF);
                LED_StateSet(LED_ID_2,LED_ON);
                LED_StateSet(LED_ID_3,LED_OFF);
                break;
            case 2:
                LED_StateSet(LED_ID_1,LED_OFF);
                LED_StateSet(LED_ID_2,LED_OFF);
                LED_StateSet(LED_ID_3,LED_ON);

                break;
            default:
                break;
        }
        count++;
        if(count==1000)count=0;
        HAL_Delay(1000);
    }

}