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FreeRTOS-Lite

FreeRTOS 精简移植代码 - 适配 STM32 STD 与 HAL 库

FreeRTOSConfig.h 支持 Configuration Wizard

image-20241031172220232

Warning

若运行报错 Error: L6218E: Undefined symbol CPU_RunTime (referred from tasks.o).

请查看 FreeRTOSConfig.h 文件第 307-310 行代码，此处代码为运行时间统计功能所需代码，若不使用该功能则将 307-310 行代码注释即可，若使用该功能则查看下面 Note 内容

Note

当使用运行时间统计功能时需注意：

若工程中添加使用了 libstm 库，在 bsp_config.h 的 System configuration -> RTOS 中选择 FreeRTOS 即可，无须理会下面的步骤。

第 307~310 行的代码(如下)

#if (configGENERATE_RUN_TIME_STATS)
extern volatile uint32_t CPU_RunTime;

#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() (CPU_RunTime = 0ul)
#define portGET_RUN_TIME_COUNTER_VALUE() CPU_RunTime
#endif /* configGENERATE_RUN_TIME_STATS */

涉及的变量 CPU_RunTime 需根据所用芯片自行提供，以下提供 timbase.h 与 timbase.c 的参考实现：

// timbase.h
#ifndef __BSP_TIMBASE_H
#define __BSP_TIMBASE_H
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
#include "stm32f4xx_hal.h"

#define TIMBASE_TIM USE_TIM6

#if (TIMBASE_TIM == USE_TIM6)
#define FREERTOS_TIMBASE                  TIM6
#define FREERTOS_TIMBASE_Period           1000 - 1
#define FREERTOS_TIMBASE_Prescaler        71
#define FREERTOS_TIMBASE_IRQn             TIM6_DAC_IRQn
#define FREERTOS_TIMBASE_IRQHandler       TIM6_DAC_IRQHandler

#elif (TIMBASE_TIM == USE_TIM7)
#define FREERTOS_TIMBASE                  TIM7
#define FREERTOS_TIMBASE_Period           1000 - 1
#define FREERTOS_TIMBASE_Prescaler        71
#define FREERTOS_TIMBASE_IRQn             TIM7_IRQn
#define FREERTOS_TIMBASE_IRQHandler       TIM7_IRQHandler
#endif

void BSP_FREERTOS_TIMBASE_Init(void);

#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* !__BSP_TIMBASE_H */
// timbase.c
volatile uint32_t CPU_RunTime = 0UL;
TIM_HandleTypeDef FREERTOS_TIMBASE_Handle;

static void FREERTOS_TIMBASE_Config(void)
{
    FREERTOS_TIMBASE_Handle.Instance = FREERTOS_TIMBASE;
    FREERTOS_TIMBASE_Handle.Init.Period = FREERTOS_TIMBASE_Period;
    FREERTOS_TIMBASE_Handle.Init.Prescaler = FREERTOS_TIMBASE_Prescaler;
    FREERTOS_TIMBASE_Handle.Init.CounterMode = TIM_COUNTERMODE_UP;
    FREERTOS_TIMBASE_Handle.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_ENABLE;
    if (HAL_TIM_Base_Init(&FREERTOS_TIMBASE_Handle) != HAL_OK)
    {
        Error_Handler();
    }

#if (TIMBASE_TIM == USE_TIM6)
    __HAL_RCC_TIM6_CLK_ENABLE();
#elif (TIMBASE_TIM == USE_TIM7)
    __HAL_RCC_TIM7_CLK_ENABLE();
#endif
    HAL_NVIC_SetPriority(FREERTOS_TIMBASE_IRQn, 1, 0);
    HAL_NVIC_EnableIRQ(FREERTOS_TIMBASE_IRQn);
}

void BSP_FREERTOS_TIMBASE_Init(void)
{
    FREERTOS_TIMBASE_Config();
    HAL_TIM_Base_Start_IT(&FREERTOS_TIMBASE_Handle);
}

void FREERTOS_TIMBASE_IRQHandler(void)
{
    HAL_TIM_IRQHandler(&FREERTOS_TIMBASE_Handle);
    CPU_RunTime++;
}