FreeRTOS的移植

1、官网下载FreeRTOSv202212.01，搜索官网下载即可。
2、新建一个FreeRTOSDemo的工程，可以把之前的工程中的Bootloader工程复制一份。
3、打开下载的freertos代码将相应代码移植到我们的工程中。
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protable文件夹，因为是gcc环境，所以保留Gcc文件夹。而N32G430的内核是CM4F，所以只保留ARM_CM4F

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MemMang只保留heap_4.c即可。

移植后的代码路径

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修改Makefile将移植过来的文件编译进去。

4、在工程根目录make。第一个错误如下：

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我们从demo中copy一份FreeRTOSConfig.h，我选择的是这个目录下的文件。将其放在freertos/include目录下

5、继续编译，第二个错误如下：

N32代码里并没有定义SystemCoreClock这个变量，我们在
system_n32g430.c添加
在FreeRTOSConfig.h中打开多编译器的支持。
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5、继续编译，第三个错误如下：

在makefile中添加浮点运算的支持。

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6、继续编译，第四个错误如下：

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修改FreeRTOSConfig.h文件如下：

7、继续编译，第五个错误：

屏蔽掉中断处理函数，文件为n32g430_it.c

8、再次编译编译通过。

9、修改systick计数器，文件bsp_delay.c,原来的内容全部屏蔽，修改为下面内容：

/*****************************************************************************
 * Copyright (c) 2019, Nations Technologies Inc.
 *
 * All rights reserved.
 * ****************************************************************************
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * - Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the disclaimer below.
 *
 * Nations' name may not be used to endorse or promote products derived from
 * this software without specific prior written permission.
 *
 * DISCLAIMER: THIS SOFTWARE IS PROVIDED BY NATIONS "AS IS" AND ANY EXPRESS OR
 * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT ARE
 * DISCLAIMED. IN NO EVENT SHALL NATIONS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA,
 * OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
 * LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
 * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
 * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * ****************************************************************************/

/**
*\*\file delay.c
*\*\author Nations
*\*\version v1.0.0
*\*\copyright Copyright (c) 2019, Nations Technologies Inc. All rights reserved.
**/


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

extern void xPortSysTickHandler(void);
//systick中断服务函数,使用ucos时用到
void SysTick_Handler(void)
{
    if(xTaskGetSchedulerState()!=taskSCHEDULER_NOT_STARTED)//系统已经运行
    {
       xPortSysTickHandler();
    }
}

uint32_t DBG_SysTick_Config()
{ 
	RCC_ClocksType RCC_Clocks;
	uint32_t ticks;
    
  	RCC_Clocks_Frequencies_Value_Get(&RCC_Clocks);
	ticks = (RCC_Clocks.SysclkFreq / configTICK_RATE_HZ);

  	if (ticks > SysTick_LOAD_RELOAD_Msk)  return (1);            /* Reload value impossible */

  	NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1);  /* set Priority for Cortex-M0 System Interrupts */                                       /* Load the SysTick Counter Value */
  	SysTick->CTRL  |= SysTick_CTRL_ENABLE_Msk;     
	SysTick->LOAD  = ticks;               /* Enable SysTick IRQ and SysTick Timer */
  	SysTick->CTRL  |= SysTick_CTRL_TICKINT_Msk;
  	return (0);                                                  /* Function successful */
}

#if 0
/**
 *\*\name    DBG_SysTick_Config.
 *\*\fun     System tick configuration.
 *\*\param   ticks :system tick
 *\*\return  none
**/
static uint32_t DBG_SysTick_Config(uint32_t ticks)
{ 
  if (ticks > SysTick_LOAD_RELOAD_Msk)  return (1);            /* Reload value impossible */
                                                               
  SysTick->LOAD  = (ticks & SysTick_LOAD_RELOAD_Msk) - 1;      /* set reload register */
  NVIC_SetPriority (SysTick_IRQn, (1<<__NVIC_PRIO_BITS) - 1);  /* set Priority for Cortex-M0 System Interrupts */
  SysTick->VAL   = 0;                                          /* Load the SysTick Counter Value */
  SysTick->CTRL  = SysTick_CTRL_CLKSOURCE_Msk | 
                   SysTick_CTRL_ENABLE_Msk;                    /* Enable SysTick IRQ and SysTick Timer */
  SysTick->CTRL  &= ~SysTick_CTRL_TICKINT_Msk;
  return (0);                                                  /* Function successful */
}

/**
 *\*\name    SysTick_Delay_Us.
 *\*\fun     microsecond delay.
 *\*\param   us :any number
 *\*\return  none
**/
void SysTick_Delay_Us( __IO uint32_t us)
{
	uint32_t i;	
  	RCC_ClocksType RCC_Clocks;
    
  	RCC_Clocks_Frequencies_Value_Get(&RCC_Clocks);
 	DBG_SysTick_Config(RCC_Clocks.SysclkFreq / 1000000);
	
	for(i=0;i<us;i++)
	{
		/* When the counter value decreases to 0, bit 16 of the CRTL register will be set to 1 */
		/* When set to 1, reading this bit will clear it to 0 */
		while( !((SysTick->CTRL)&(1<<16)) );
	}
	/* Turn off the SysTick timer */
	SysTick->CTRL &=~ SysTick_CTRL_ENABLE_Msk;
}

/**
 *\*\name    SysTick_Delay_Us.
 *\*\fun     millisecond delay.
 *\*\param   ms :any number
 *\*\return  none
**/
void SysTick_Delay_Ms( __IO uint32_t ms)
{
	uint32_t i;	
  	RCC_ClocksType RCC_Clocks;
    
  	RCC_Clocks_Frequencies_Value_Get(&RCC_Clocks);
  	DBG_SysTick_Config(RCC_Clocks.SysclkFreq / 1000);
	
	for(i=0;i<ms;i++)
	{
		/* When the counter value decreases to 0, bit 16 of the CRTL register will be set to 1 */
		/* When set to 1, reading this bit will clear it to 0 */
		while( !((SysTick->CTRL)&(1<<16)) );
	}
	/* Turn off the SysTick timer */
	SysTick->CTRL &=~ SysTick_CTRL_ENABLE_Msk;
}

#endif

10、继续编译，报错如下：
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修改FreeRTOSConfig.h，屏蔽掉

11、继续编译，报错如下

内存溢出了，我们在config.h文件修改，定义小一点，

再次编译，烧录验证现象。
1灯100ms闪烁，
2灯500ms闪烁。
至此，移植结束。