STM32F407 FreeRTOS 开发手册
ALIENTEK 探索者 FreeRTOS 开发教程
STM32F407
FreeRTOS 开发手册
V1.0
−ALIENTEK STM32F407 FreeRTOS 开发教程
左忠凯 著
1
STM32F407 FreeRTOS 开发手册
ALIENTEK 探索者 FreeRTOS 开发教程
文档更新说明
版本
版本更新说明
负责人 校审 发布日期
初稿:
第一章 FreeRTOS 简介
第二章 FreeRTOS 移植
第三章 FreeRTOS 系统配置
第四章 FreeRTOS 中断配置和临界段
第五章 FreeRTOS 任务基础知识
第六章 FreeRTOS 任务相关 API 函数
第七章 FreeRTOS 列表和列表项
第八章 FreeRTOS 任务创建和调度器开启
V1.0
第九章 FreeRTOS 任务切换
左忠凯 刘军
2016.11.26
第十章 FreeRTOS 系统内核控制函数
第十一章 FreeRTOS 其他任务 API 函数
第十二章 FreeRTOS 时间管理
第十三章 FreeRTOS 队列
第十四章 FreeRTOS 信号量
第十五章 FreeRTOS 软件定时器
第十六章 FreeRTOS 事件标志组
第十七章 FreeRTOS 内存管理
第十八章 FreeRTOS 任务通知
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目录
STM32F407 FreeRTOS 开发手册
ALIENTEK 探索者 FreeRTOS 开发教程
STM32F407 FreeRTOS 开发手册 V1.0 ............................................................................................ 1
声明 ................................................................................................................................................. 11
第一章 ..................................................................................................................... FreeRTOS 简介 . 12
1.1 初识 FreeRTOS .................................................................................................. 13
1.1.1 什么是 FreeRTOS? ................................................................................... 13
1.1.2 为什么选择 FreeRTOS? ........................................................................ 13
1.1.3 FreeRTOS 特点 ......................................................................................... 14
1.1.4 商业许可 .................................................................................................. 14
1.2 磨刀不误砍柴工 ................................................................................................ 15
1.2.1 资料查找 .................................................................................................. 15
1.2.2 FreeRTOS 官方文档 ................................................................................. 17
1.2.3 Cortex-M 架构资料 ................................................................................... 19
1.3 FreeRTOS 源码初探 ........................................................................................... 19
1.3.1 FreeRTOS 源码下载 ................................................................................. 19
1.3.2 FreeRTOS 文件预览 ................................................................................. 21
第二章 FreeRTOS 移植 ............................................................................................................... 26
2.1 准备工作 ............................................................................................................ 27
2.1.1 准备基础工程 .......................................................................................... 27
2.1.2 FreeRTOS 系统源码 ................................................................................. 27
2.2 FreeRTOS 移植 ................................................................................................... 27
2.2.1 向工程中添加相应文件 .......................................................................... 27
2.2.2 修改 SYSTEM 文件 ................................................................................. 31
2.3 移植验证实验 .................................................................................................... 35
2.3.1 实验程序设计 .......................................................................................... 35
2.3.2 实验程序运行结果分析 .......................................................................... 38
第三章 FreeRTOS 系统配置 ....................................................................................................... 40
3.1 FreeRTOSConfig.h 文件 ..................................................................................... 41
3.1 “INCLUDE_”开始的宏 ...................................................................................... 41
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STM32F407 FreeRTOS 开发手册
ALIENTEK 探索者 FreeRTOS 开发教程
3.2 “config”开始的宏 ............................................................................................... 42
第四章 FreeRTOS 中断配置和临界段 ....................................................................................... 50
4.1 Cortex-M 中断 .................................................................................................... 51
4.1.1 中断简介 .................................................................................................. 51
4.1.2 中断管理简介 .......................................................................................... 51
4.1.3 优先级分组定义 ...................................................................................... 52
4.1.4 优先级设置 .............................................................................................. 54
4.1.5 用于中断屏蔽的特殊寄存器 .................................................................. 55
4.2 FreeRTOS 中断配置宏 ....................................................................................... 56
4.2.1 configPRIO_BITS ..................................................................................... 56
4.2.2 configLIBRARY_LOWEST_INTERRUPT_PRIORITY ......................... 56
4.2.3 configKERNEL_INTERRUPT_PRIORITY ............................................. 56
4.2.4 configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY ............ 58
4.2.5 configMAX_SYSCALL_INTERRUPT_PRIORITY ................................ 58
4.3 FreeRTOS 开关中断 ........................................................................................... 59
4.4 临界段代码 ........................................................................................................ 59
4.4.1 任务级临界段代码保护 .......................................................................... 60
4.4.2 中断级临界段代码保护 .......................................................................... 61
4.5 FreeRTOS 中断测试实验 ................................................................................... 62
4.5.1 实验程序设计 .......................................................................................... 62
4.5.2 实验程序运行结果 .................................................................................. 66
第五章 FreeRTOS 任务基础知识 ............................................................................................... 68
5.1 什么是多任务系统? ........................................................................................ 69
5.2 FreeRTOS 任务与协程 ....................................................................................... 70
5.2.1 任务(Task)的特性 .................................................................................... 70
5.2.2 协程(Co-routine)的特性 .......................................................................... 71
5.3 任务状态 ............................................................................................................ 71
5.4 任务优先级 ........................................................................................................ 72
5.5 任务实现 ............................................................................................................ 72
5.6 任务控制块 ........................................................................................................ 73
5.7 任务堆栈 ............................................................................................................ 75
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STM32F407 FreeRTOS 开发手册
ALIENTEK 探索者 FreeRTOS 开发教程
第六章 FreeRTOS 任务相关 API 函数 ...................................................................................... 77
6.1 任务创建和删除 API 函数 ................................................................................ 78
6.2 任务创建和删除实验(动态方法) ..................................................................... 80
6.2.1 实验程序设计 .......................................................................................... 80
6.2.2 程序运行结果分析 .................................................................................. 84
6.3 任务创建和删除实验(静态方法) ..................................................................... 85
6.3.1 实验程序设计 .......................................................................................... 85
6.3.2 程序运行结果分析 .................................................................................. 90
6.4 任务挂起和恢复 API 函数 ................................................................................ 90
6.5 任务挂起和恢复实验 ........................................................................................ 91
6.5.1 实验程序设计 .......................................................................................... 91
6.5.2 程序运行结果分析 .................................................................................. 97
第七章 FreeRTOS 列表和列表项 ............................................................................................... 98
7.1 什么是列表和列表项? .................................................................................... 99
7.1.1 列表 .......................................................................................................... 99
7.1.2 列表项 ...................................................................................................... 99
7.1.3 迷你列表项 ............................................................................................ 100
7.2 列表和列表项初始化 ...................................................................................... 101
7.2.1 列表初始化 ............................................................................................ 101
7.2.2 列表项初始化 ........................................................................................ 102
7.3 列表项插入 ...................................................................................................... 102
7.3.1 列表项插入函数分析 ............................................................................ 102
7.3.2 列表项插入过程图示 ............................................................................ 104
7.4 列表项末尾插入 .............................................................................................. 105
7.4.1 列表项末尾插入函数分析 .................................................................... 105
7.4.2 列表项末尾插入图示 ............................................................................ 106
7.5 列表项的删除 .................................................................................................. 107
7.6 列表的遍历 ...................................................................................................... 108
7.7 列表项的插入和删除实验 .............................................................................. 109
7.7.1 实验程序设计 ........................................................................................ 109
7.7.2 程序运行结果分析 ................................................................................ 113
第八章 FreeRTOS 任务创建和调度器开启 ............................................................................. 117
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STM32F407 FreeRTOS 开发手册
ALIENTEK 探索者 FreeRTOS 开发教程
8.1 阅读本章所必备的知识 .................................................................................. 118
8.2 任务创建过程分析 .......................................................................................... 118
8.2.1 任务创建函数分析 ................................................................................ 118
8.2.2 任务初始化函数分析 ............................................................................ 120
8.2.3 任务堆栈初始化函数分析 .................................................................... 123
8.2.4 添加任务到就绪列表 ............................................................................ 125
8.3 调度器开启过程分析 ...................................................................................... 127
8.3.1 任务调度器开启函数分析 .................................................................... 127
8.3.2 内核相关硬件初始化函数分析 ............................................................ 129
8.3.3 使能 FPU 函数分析 ............................................................................... 129
8.3.4 启动第一个任务 .................................................................................... 130
8.3.5 SVC 中断服务函数 ................................................................................. 131
8.3.6 空闲任务 ................................................................................................ 135
第九章 FreeRTOS 任务切换 ..................................................................................................... 136
9.1 PendSV 异常 ..................................................................................................... 137
9.2 FreeRTOS 任务切换场合 ................................................................................. 138
9.2.1 执行系统调用 ........................................................................................ 138
9.2.2 系统滴答定时器(SysTick)中断 ............................................................. 139
9.3 PendSV 中断服务函数 ..................................................................................... 140
9.4 查找下一个要运行的任务 .............................................................................. 141
9.6 FreeRTOS 时间片调度 ..................................................................................... 143
9.6 时间片调度实验 .............................................................................................. 146
9.6.1 实验程序设计 ........................................................................................ 146
9.6.2 程序运行结果分析 ................................................................................ 149
第十章 FreeRTOS 系统内核控制函数 ..................................................................................... 150
10.1 内核控制函数预览 ........................................................................................ 151
10.2 内核控制函数详解 ........................................................................................ 151
第十一章 FreeRTOS 其他任务 API 函数 ................................................................................ 156
11.1 任务相关 API 函数预览 ................................................................................ 157
11.2 任务相关 API 函数详解 ................................................................................ 158
11.3 任务壮态查询 API 函数实验 ........................................................................ 165
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STM32F407 FreeRTOS 开发手册
ALIENTEK 探索者 FreeRTOS 开发教程
11.3.1 实验程序设计 ....................................................................................... 165
11.3.2 程序运行结果分析 ............................................................................... 170
11.4 任务运行时间信息统计实验 ........................................................................ 171
11.4.1 相关宏的设置 ....................................................................................... 171
11.4.2 实验程序设计 ....................................................................................... 173
11.4.3 程序运行结果分析 ............................................................................... 177
第十二章 FreeRTOS 时间管理 ................................................................................................. 178
12.1 FreeRTOS 延时函数 ....................................................................................... 179
12.1 函数 vTaskDelay() ................................................................................... 179
12.2 函数 prvAddCurrentTaskToDelayedList() .............................................. 180
12.3 函数 vTaskDelayUntil() .......................................................................... 182
12.2 FreeRTOS 系统时钟节拍 ............................................................................... 186
第十三章 FreeRTOS 队列 ......................................................................................................... 192
13.1 队列简介 ........................................................................................................ 193
13.2 队列结构体 .................................................................................................... 195
13.3 队列创建 ........................................................................................................ 196
13.3.1 函数原型 .............................................................................................. 196
13.3.2 队列创建函数详解 .............................................................................. 198
13.3.3 队列初始化函数 .................................................................................. 199
13.3.4 队列复位函数 ...................................................................................... 200
13.4 向队列发送消息 ............................................................................................ 202
13.4.1 函数原型 .............................................................................................. 202
13.4.2 任务级通用入队函数 .......................................................................... 206
13.4.3 中断级通用入队函数 .......................................................................... 210
13.5 队列上锁和解锁 ............................................................................................ 212
13.6 从队列读取消息 ............................................................................................ 214
13.7 队列操作实验 ................................................................................................ 218
13.7.1 实验程序设计 ...................................................................................... 218
13.7.2 程序运行结果分析 .............................................................................. 226
第十四章 FreeRTOS 信号量 ..................................................................................................... 228
14.1 信号量简介 .................................................................................................... 229
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STM32F407 FreeRTOS 开发手册
ALIENTEK 探索者 FreeRTOS 开发教程
14.2 二值信号量 .................................................................................................... 229
14.2.1 二值信号量简介 .................................................................................. 229
14.2.2 创建二值信号量 .................................................................................. 231
14.2.3 二值信号量创建过程分析 .................................................................. 232
14.2.4 释放信号量 .......................................................................................... 233
14.2.5 获取信号量 .......................................................................................... 234
14.3 二值信号量操作实验 .................................................................................... 236
14.3.1 实验程序设计 ...................................................................................... 236
14.3.2 程序运行结果分析 .............................................................................. 242
14.4 计数型信号量 ................................................................................................ 243
14.4.1 计数型信号量简介 .............................................................................. 243
14.4.2 创建计数型信号量 .............................................................................. 243
14.4.3 计数型信号量创建过程分析 .............................................................. 244
14.4.4 释放和获取计数信号量 ...................................................................... 245
14.5 计数型信号量操作实验 ................................................................................ 245
14.5.1 实验程序设计 ...................................................................................... 245
14.5.2 程序运行结果分析 .............................................................................. 249
14.6 优先级翻转 .................................................................................................... 250
14.7 优先级翻转实验 ............................................................................................ 251
14.7.1 实验程序设计 ...................................................................................... 251
14.7.2 程序运行结果分析 .............................................................................. 256
14.8 互斥信号量 .................................................................................................... 258
14.8.1 互斥信号量简介 .................................................................................. 258
14.8.2 创建互斥信号量 .................................................................................. 258
14.8.3 互斥信号量创建过程分析 .................................................................. 259
14.8.4 释放互斥信号量 .................................................................................. 261
14.8.5 获取互斥信号量 .................................................................................. 264
14.9 互斥信号量操作实验 .................................................................................... 269
14.9.1 实验程序设计 ...................................................................................... 269
14.9.2 程序运行结果分析 .............................................................................. 272
14.10 递归互斥信号量 .......................................................................................... 273
14.10.1 递归互斥信号量简介 ........................................................................ 273
14.10.2 创建互斥信号量 ................................................................................ 273
14.10.3 递归信号量创建过程分析 ................................................................ 274
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