（5）基于FSP的FreeRTOS移植
?1、FreeRTOS
FreeRTOS是一個迷你的實時操作系統(tǒng)內(nèi)核。作為一個輕量級的操作系統(tǒng)，功能包括：任務管理、時間管理、信號量、消息隊列、內(nèi)存管理、記錄功能、軟件定時器、協(xié)程等，可基本滿足較小系統(tǒng)的需要。由于RTOS需占用一定的系統(tǒng)資源(尤其是RAM資源)，只有μC/OS-II、embOS、salvo、FreeRTOS等少數(shù)實時操作系統(tǒng)能在小RAM單片機上運行。相對μC/OS-II、embOS等商業(yè)操作系統(tǒng)，F(xiàn)reeRTOS操作系統(tǒng)是完全免費的操作系統(tǒng)，具有源碼公開、可移植、可裁減、調(diào)度策略靈活的特點，可以方便地移植到各種單片機上運行。
2、移植
（1）第一步：創(chuàng)建工程
修改時鐘
（2）第二步：LED配置
（3）第三步：FreeRTOS配置
FreeRTOS公共部分配置
LED線程配置
（4）第四部：任務入口函數(shù)編寫
/* led entry function *//* pvParameters contains TaskHandle_t */void led_task_entry(void * pvParameters){FSP_PARAMETER_NOT_USED(pvParameters);/* TODO: add your own code here */while(1){led_on();vTaskDelay(750);led_off();vTaskDelay(750);}}
（5）第五步：主函數(shù)處理
/* generated main source file - do not edit */extern void prt_task_create(void);extern TaskHandle_t prt_task;extern void led_task_create(void);extern TaskHandle_t led_task;uint32_t g_fsp_common_thread_count;bool g_fsp_common_initialized;SemaphoreHandle_t g_fsp_common_initialized_semaphore;StaticSemaphore_t g_fsp_common_initialized_semaphore_memory;void g_hal_init(void);/** Weak reference for tx_err_callback */void rtos_startup_err_callback_internal(void * p_instance, void * p_data);void rtos_startup_err_callback(void * p_instance, void * p_data) rtos_startup_err_callback_WEAK_ATTRIBUTE;/********************************************************************************************************************** @brief This is a weak example initialization error function. It should be overridden by defining a user function* with the prototype below.* - void rtos_startup_err_callback(void * p_instance, void * p_data)** @param[in] p_instance arguments used to identify which instance caused the error and p_data Callback arguments used to identify what error caused the callback.**********************************************************************************************************************/void rtos_startup_err_callback_internal(void * p_instance, void * p_data);void rtos_startup_err_callback_internal(void * p_instance, void * p_data){/** Suppress compiler warning for not using parameters. */FSP_PARAMETER_NOT_USED(p_instance);FSP_PARAMETER_NOT_USED(p_data);/** An error has occurred. Please check function arguments for more information. */BSP_CFG_HANDLE_UNRECOVERABLE_ERROR(0);}void rtos_startup_common_init(void);void rtos_startup_common_init(void){/* First thread will take care of common initialization. */BaseType_t err;err = xSemaphoreTake(g_fsp_common_initialized_semaphore, portMAX_DELAY);if (pdPASS != err){/* Check err, problem occurred. */rtos_startup_err_callback(g_fsp_common_initialized_semaphore, 0);}/* Only perform common initialization if this is the first thread to execute. */if (false == g_fsp_common_initialized){/* Later threads will not run this code. */g_fsp_common_initialized = true;/* Perform common module initialization. */g_hal_init();/* Now that common initialization is done, let other threads through. *//* First decrement by 1 since 1 thread has already come through. */g_fsp_common_thread_count--;while (g_fsp_common_thread_count > 0){err = xSemaphoreGive(g_fsp_common_initialized_semaphore);if (pdPASS != err){/* Check err, problem occurred. */rtos_startup_err_callback(g_fsp_common_initialized_semaphore, 0);}g_fsp_common_thread_count--;}}}int main(void){g_fsp_common_thread_count = 0;g_fsp_common_initialized = false;/* Create semaphore to make sure common init is done before threads start running. */g_fsp_common_initialized_semaphore =#if configSUPPORT_STATIC_ALLOCATIONxSemaphoreCreateCountingStatic(#elsexSemaphoreCreateCounting(#endif256,1#if configSUPPORT_STATIC_ALLOCATION, &g_fsp_common_initialized_semaphore_memory#endif);if (NULL == g_fsp_common_initialized_semaphore) {rtos_startup_err_callback(g_fsp_common_initialized_semaphore, 0);}/* Init RTOS tasks. */// prt_task_create();led_task_create();/* Start the scheduler. */vTaskStartScheduler();return 0;}#if configSUPPORT_STATIC_ALLOCATIONvoid vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer,uint32_t *pulIdleTaskStackSize) BSP_WEAK_REFERENCE;void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer,uint32_t *pulTimerTaskStackSize) BSP_WEAK_REFERENCE;/* If configSUPPORT_STATIC_ALLOCATION is set to 1, the application must provide an* implementation of vApplicationGetIdleTaskMemory() to provide the memory that is* used by the Idle task. */void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,StackType_t ** ppxIdleTaskStackBuffer,uint32_t * pulIdleTaskStackSize ){/* If the buffers to be provided to the Idle task are declared inside this* function then they must be declared static - otherwise they will be allocated on* the stack and so not exists after this function exits. */static StaticTask_t xIdleTaskTCB;static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];/* Pass out a pointer to the StaticTask_t structure in which the Idle* task's state will be stored. */*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;/* Pass out the array that will be used as the Idle task's stack. */*ppxIdleTaskStackBuffer = uxIdleTaskStack;/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.* Note that, as the array is necessarily of type StackType_t,* configMINIMAL_STACK_SIZE is specified in words, not bytes. */*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;}/* If configSUPPORT_STATIC_ALLOCATION is set to 1, the application must provide an* implementation of vApplicationGetTimerTaskMemory() to provide the memory that is* used by the RTOS daemon/time task. */void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,StackType_t ** ppxTimerTaskStackBuffer,uint32_t * pulTimerTaskStackSize ){/* If the buffers to be provided to the Timer task are declared inside this* function then they must be declared static - otherwise they will be allocated on* the stack and so not exists after this function exits. */static StaticTask_t xTimerTaskTCB;static StackType_t uxTimerTaskStack[ configMINIMAL_STACK_SIZE ];/* Pass out a pointer to the StaticTask_t structure in which the Idle* task's state will be stored. */*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;/* Pass out the array that will be used as the Timer task's stack. */*ppxTimerTaskStackBuffer = uxTimerTaskStack;/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.* Note that, as the array is necessarily of type StackType_t,* configMINIMAL_STACK_SIZE is specified in words, not bytes. */*pulTimerTaskStackSize = configMINIMAL_STACK_SIZE;}
（6）第六步：觀察結(jié)果
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