\n \u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u5f00\u53d1\u4e2d，\u64cd\u4f5c\u7cfb\u7edf\u79fb\u690d\u5e76\u975e\u5b64\u7acb\u7684\u6280\u672f\u52a8\u4f5c，\u800c\u662f\u4e0e\u82af\u7247\u786c\u4ef6\u62bd\u8c61\u5c42\u3001\u65f6\u949f\u6811\u914d\u7f6e\u3001\u4e2d\u65ad\u5411\u91cf\u8868\u5e03\u5c40\u6df1\u5ea6\u8026\u5408\u7684\u7cfb\u7edf\u5de5\u7a0b\u3002\u624b\u52a8\u79fb\u690dFreeRTOS\u867d\u80fd\u52a0\u6df1\u5e95\u5c42\u7406\u89e3，\u4f46\u5728\u5de5\u4e1a\u7ea7\u9879\u76ee\u4e2d，\u5176\u7ef4\u62a4\u6210\u672c\u3001\u53ef\u590d\u73b0\u6027\u53ca\u56e2\u961f\u534f\u4f5c\u6548\u7387\u8fdc\u4f4e\u4e8e\u5de5\u5177\u94fe\u9a71\u52a8\u7684\u81ea\u52a8\u5316\u751f\u6210\u65b9\u6848\u3002STM32CubeMX\u4f5c\u4e3aST\u5b98\u65b9\u63d0\u4f9b\u7684\u56fe\u5f62\u5316\u914d\u7f6e\u5de5\u5177，\u5176\u6838\u5fc3\u4ef7\u503c\u4e0d\u5728\u4e8e\u201c\u7b80\u5316\u64cd\u4f5c\u201d，\u800c\u5728\u4e8e\u5c06\u82af\u7247\u6570\u636e\u624b\u518c\u4e2d\u5206\u6563\u7684\u5bc4\u5b58\u5668\u6620\u5c04\u3001\u65f6\u949f\u5206\u9891\u7ea6\u675f\u3001\u5916\u8bbe\u4f9d\u8d56\u5173\u7cfb\u3001\u4e2d\u65ad\u4f18\u5148\u7ea7\u5206\u7ec4\u7b49\u9690\u6027\u77e5\u8bc6，\u56fa\u5316\u4e3a\u53ef\u9a8c\u8bc1\u7684\u914d\u7f6e\u89c4\u5219\u5f15\u64ce\u3002\u5f53\u5f00\u53d1\u8005\u901a\u8fc7\u754c\u9762\u52fe\u9009\u201cFreeRTOS\u201d\u4e2d\u95f4\u4ef6\u65f6，CubeMX\u5b9e\u9645\u6267\u884c\u7684\u662f\u4e00\u4e2a\u8de8\u5c42\u534f\u540c\u751f\u6210\u8fc7\u7a0b：\u5b83\u4e0d\u4ec5\u751f\u6210<\/p>\n
freertos.c<\/p>\n
\u548c<\/p>\n
freertos.h<\/p>\n
\u63a5\u53e3\u6587\u4ef6，\u66f4\u540c\u6b65\u91cd\u6784\u4e86<\/p>\n
system_stm32f4xx.c<\/p>\n
\u4e2d\u7684SysTick\u521d\u59cb\u5316\u903b\u8f91\u3001<\/p>\n
stm32f4xx_it.c<\/p>\n
\u4e2d\u7684PendSV\/SVC\u4e2d\u65ad\u670d\u52a1\u51fd\u6570\u6ce8\u518c\u3001\u4ee5\u53ca<\/p>\n
main.c<\/p>\n
\u4e2d\u4efb\u52a1\u8c03\u5ea6\u5668\u7684\u542f\u52a8\u65f6\u5e8f\u3002\u8fd9\u79cd\u751f\u6210\u903b\u8f91\u7684\u53ef\u9760\u6027，\u5efa\u7acb\u5728ST\u5bf9HAL\u5e93\u4e0eFreeRTOS\u5185\u6838\u4ea4\u4e92\u673a\u5236\u957f\u8fbe\u5341\u5e74\u7684\u5de5\u7a0b\u9a8c\u8bc1\u57fa\u7840\u4e0a\u2014\u2014\u4f8b\u5982，CubeMX\u5f3a\u5236\u5c06SysTick\u91cd\u5b9a\u5411\u4e3aFreeRTOS\u7684tick\u4e2d\u65ad\u6e90，\u800c\u975eHAL\u5e93\u9ed8\u8ba4\u7684<\/p>\n
HAL_IncTick()<\/p>\n
\u8c03\u7528，\u8fd9\u76f4\u63a5\u89c4\u907f\u4e86\u624b\u52a8\u79fb\u690d\u65f6\u5e38\u89c1\u7684tick\u8ba1\u6570\u6f02\u79fb\u95ee\u9898\u3002\n<\/p>\n
\n \u914d\u7f6e\u6d41\u7a0b\u4e2d\u7684\u6bcf\u4e00\u6b65\u64cd\u4f5c，\u672c\u8d28\u4e0a\u90fd\u662f\u5bf9\u82af\u7247\u7269\u7406\u7279\u6027\u7684\u663e\u5f0f\u58f0\u660e\u3002\u4ee5\u9009\u62e9MCU\u578b\u53f7（\u5982STM32F407VGT6）\u4e3a\u8d77\u70b9，CubeMX\u7acb\u5373\u52a0\u8f7d\u8be5\u5668\u4ef6\u7684XML\u63cf\u8ff0\u6587\u4ef6，\u5176\u4e2d\u5305\u542b\u7cbe\u786e\u5230\u6bcf\u4e2a\u5f15\u811a\u590d\u7528\u529f\u80fd\u7684\u7535\u6c14\u7279\u6027\u3001\u6240\u6709\u5916\u8bbe\u7684\u57fa\u5730\u5740\u6620\u5c04\u3001\u4ee5\u53ca\u5404\u603b\u7ebf（AHB1\/AHB2\/APB1\/APB2）\u7684\u5e26\u5bbd\u7ea6\u675f\u3002\u5f53\u8fdb\u5165\u201cSystem Core\u201d\u914d\u7f6e\u9875\u5e76\u542f\u7528\u201cRCC\u201d\u65f6，\u7528\u6237\u9009\u62e9\u7684HSE（High Speed External）\u6676\u4f53\u9891\u7387（8MHz\u621625MHz）\u5e76\u975e\u4efb\u610f\u8bbe\u5b9a，\u800c\u662f\u76f4\u63a5\u7ed1\u5b9a\u5230\u82af\u7247\u6570\u636e\u624b\u518c\u7b2c7\u7ae0\u201cClock Recovery System\u201d\u7684\u7535\u6c14\u53c2\u6570\u8868：\u82e5\u9009\u75288MHz\u6676\u4f53，\u5176\u8d1f\u8f7d\u7535\u5bb9\u5fc5\u987b\u5339\u914d20pF；\u82e5\u9009\u752825MHz，\u5219\u970012pF\u3002CubeMX\u5728\u751f\u6210<\/p>\n
RCC_OscInitTypeDef<\/p>\n
\u7ed3\u6784\u4f53\u65f6，\u4f1a\u81ea\u52a8\u5c06\u8be5\u503c\u5199\u5165<\/p>\n
RCC_OscInitStruct.OscillatorType<\/p>\n
\u5e76\u6821\u9a8c<\/p>\n
RCC_OscInitStruct.HSEState<\/p>\n
\u7684\u6709\u6548\u6027\u3002\u540c\u7406，\u201cTimers\u201d\u5b50\u9879\u4e2d\u9009\u62e9\u201cTIM1\u201d\u4f5c\u4e3a\u7cfb\u7edf\u6ef4\u7b54\u6e90，\u610f\u5473\u7740CubeMX\u5c06\u7981\u7528SysTick\u7684HAL\u9ed8\u8ba4\u914d\u7f6e，\u5e76\u5728<\/p>\n
freertos_config.h<\/p>\n
\u4e2d\u5f3a\u5236\u5b9a\u4e49<\/p>\n
configUSE_TICK_HOOK 1<\/p>\n
，\u540c\u65f6\u5728<\/p>\n
main.c<\/p>\n
\u4e2d\u63d2\u5165<\/p>\n
HAL_TIM_Base_Start_IT(&htim1)<\/p>\n
\u8c03\u7528\u2014\u2014\u8fd9\u4e00\u7cfb\u5217\u52a8\u4f5c\u7684\u5e95\u5c42\u4f9d\u636e\u662fSTM32F4\u7cfb\u5217\u53c2\u8003\u624b\u518cRM0090\u7b2c13\u7ae0：TIM1\u5c5e\u4e8eAPB2\u603b\u7ebf，\u5176\u65f6\u949f\u9891\u7387\u6700\u9ad8\u53ef\u8fbe168MHz，\u800cSysTick\u4ec5\u6302\u8f7d\u4e8eAHB\u603b\u7ebf，\u6700\u5927\u9891\u7387\u53d7\u9650\u4e8eCPU\u4e3b\u9891，\u56e0\u6b64\u9ad8\u7cbe\u5ea6\u5b9a\u65f6\u9700\u6c42\u5fc5\u987b\u7531\u9ad8\u7ea7\u5b9a\u65f6\u5668\u627f\u62c5\u3002\n<\/p>\n
\n \u5728\u201cMiddleware\u201d\u9009\u9879\u5361\u4e2d\u542f\u7528FreeRTOS\u65f6，CubeMX\u63d0\u4f9bV1\/V2\u4e24\u4e2a\u7248\u672c\u9009\u62e9\u3002\u6b64\u5904\u7684\u7248\u672c\u5dee\u5f02\u5e76\u975e\u7b80\u5355\u7684API\u5c01\u88c5\u5347\u7ea7，\u800c\u662f\u6d89\u53ca\u5185\u6838\u8c03\u5ea6\u7b56\u7565\u7684\u6839\u672c\u6027\u8c03\u6574\u3002V1\u7248\u672c\u57fa\u4e8eFreeRTOS v9.x\u5185\u6838，\u91c7\u7528\u7ecf\u5178\u7684\u62a2\u5360\u5f0f\u8c03\u5ea6\u5668（Preemptive Scheduler），\u5176<\/p>\n
xTaskCreate()<\/p>\n
\u51fd\u6570\u5185\u90e8\u8c03\u7528<\/p>\n
prvInitialiseNewTask()<\/p>\n
\u5b8c\u6210TCB（Task Control Block）\u5185\u5b58\u5206\u914d\u4e0e\u6808\u521d\u59cb\u5316，\u6808\u7a7a\u95f4\u4e25\u683c\u6309\u5b57\u8282\u5bf9\u9f50；V2\u7248\u672c\u5219\u96c6\u6210FreeRTOS v10.x\u7684\u201cMemory Protection Unit (MPU) Support\u201d\u7279\u6027，\u5f53\u68c0\u6d4b\u5230\u82af\u7247\u652f\u6301MPU（\u5982STM32F429）\u65f6，\u81ea\u52a8\u751f\u6210<\/p>\n
portMEMORY_MANAGEMENT<\/p>\n
\u5b8f\u5b9a\u4e49，\u5e76\u5728<\/p>\n
FreeRTOSConfig.h<\/p>\n
\u4e2d\u542f\u7528<\/p>\n
configENABLE_MPU_SUPPORT<\/p>\n
\u3002\u66f4\u91cd\u8981\u7684\u662f，V2\u7248\u672c\u91cd\u6784\u4e86\u4e2d\u65ad\u5c4f\u853d\u673a\u5236：\u4f20\u7edfV1\u4f7f\u7528<\/p>\n
taskENTER_CRITICAL()<\/p>\n
\/<\/p>\n
taskEXIT_CRITICAL()<\/p>\n
\u5b8f\u76f4\u63a5\u64cd\u4f5cCPSR\u5bc4\u5b58\u5668\u7684I\u4f4d，\u800cV2\u5f15\u5165<\/p>\n
portSET_INTERRUPT_MASK_FROM_ISR()<\/p>\n
\u62bd\u8c61\u5c42，\u5728Cortex-M4\u4e0a\u5b9e\u9645\u8c03\u7528<\/p>\n
__set_BASEPRI()<\/p>\n
\u6307\u4ee4，\u5c06\u4e2d\u65ad\u4f18\u5148\u7ea7\u9608\u503c\u52a8\u6001\u5199\u5165BASEPRI\u5bc4\u5b58\u5668，\u4ece\u800c\u5b9e\u73b0\u66f4\u7ec6\u7c92\u5ea6\u7684\u4e2d\u65ad\u5d4c\u5957\u63a7\u5236\u3002\u8fd9\u79cd\u5dee\u5f02\u76f4\u63a5\u5f71\u54cd\u5f00\u53d1\u8005\u5bf9\u4e34\u754c\u533a\u7684\u7406\u89e3\u2014\u2014\u5728V2\u5de5\u7a0b\u4e2d，<\/p>\n
taskENTER_CRITICAL()<\/p>\n
\u4e0d\u518d\u7b80\u5355\u5173\u95ed\u6240\u6709\u4e2d\u65ad，\u800c\u662f\u5c06\u5f53\u524d\u4efb\u52a1\u7684BASEPRI\u8bbe\u7f6e\u4e3a<\/p>\n
configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY<\/p>\n
，\u5141\u8bb8\u66f4\u9ad8\u4f18\u5148\u7ea7\u7684\u4e2d\u65ad（\u5982ADC DMA\u5b8c\u6210\u4e2d\u65ad）\u7ee7\u7eed\u54cd\u5e94，\u8fd9\u6b63\u662f\u5de5\u4e1a\u73b0\u573a\u5bf9\u5b9e\u65f6\u6027\u4e25\u82db\u8981\u6c42\u7684\u4f53\u73b0\u3002\n<\/p>\n
\n \u5f53\u5728CubeMX\u754c\u9762\u4e2d\u70b9\u51fb\u201cAdd\u201d\u6309\u94ae\u521b\u5efa\u65b0\u4efb\u52a1（\u5982\u547d\u540d\u4e3a<\/p>\n
Task_Led<\/p>\n
）\u65f6，\u5de5\u5177\u751f\u6210\u7684\u4e0d\u4ec5\u662f<\/p>\n
osThreadDef_Task_Led<\/p>\n
\u5b8f\u5b9a\u4e49，\u66f4\u6df1\u5c42\u5730，\u5b83\u5b8c\u6210\u4e86\u4e09\u91cd\u5185\u5b58\u89c4\u5212：\u9996\u5148，\u5728<\/p>\n
freertos.c<\/p>\n
\u4e2d\u4e3a\u8be5\u4efb\u52a1\u5206\u914d\u72ec\u7acb\u7684\u6808\u7a7a\u95f4\u6570\u7ec4（\u5982<\/p>\n
uint32_t Task_LedStack[128];<\/p>\n
），\u5176\u5927\u5c0f128\u4e3a\u5b57（Word）\u5355\u4f4d，\u5bf9\u5e94512\u5b57\u8282，\u6b64\u503c\u9700\u6ee1\u8db3ARM Cortex-M4 ABI\u89c4\u8303\u4e2d\u6808\u6307\u9488\u5fc5\u987b16\u5b57\u8282\u5bf9\u9f50\u7684\u8981\u6c42；\u5176\u6b21，\u5728<\/p>\n
main.c<\/p>\n
\u7684<\/p>\n
MX_FREERTOS_Init()<\/p>\n
\u51fd\u6570\u4e2d，<\/p>\n
osThreadCreate()<\/p>\n
\u8c03\u7528\u88ab\u7f16\u8bd1\u4e3a<\/p>\n
xTaskCreate(Task_Led_Function, "Task_Led", 128, NULL, 3, &Task_LedHandle)<\/p>\n
，\u5176\u4e2d\u4f18\u5148\u7ea7\u53c2\u65703\u88ab\u6620\u5c04\u4e3aNVIC\u4e2d\u65ad\u4f18\u5148\u7ea7\u5206\u7ec4\u4e2d\u7684<\/p>\n
NVIC_PRIORITYGROUP_4<\/p>\n
（\u53734\u4f4d\u62a2\u5360\u4f18\u5148\u7ea7+0\u4f4d\u5b50\u4f18\u5148\u7ea7），\u786e\u4fdd\u8be5\u4efb\u52a1\u53ef\u88ab\u4f18\u5148\u7ea7\u4e3a0-2\u7684\u4efb\u52a1\u62a2\u5360；\u6700\u540e，CubeMX\u81ea\u52a8\u5728<\/p>\n
Linker Script<\/p>\n
\u4e2d\u6269\u5c55<\/p>\n
.bss<\/p>\n
\u6bb5，\u5c06<\/p>\n
Task_LedStack<\/p>\n
\u7eb3\u5165\u5168\u5c40\u672a\u521d\u59cb\u5316\u6570\u636e\u533a，\u5e76\u5728\u542f\u52a8\u4ee3\u7801<\/p>\n
startup_stm32f407xx.s<\/p>\n
\u4e2d\u901a\u8fc7<\/p>\n
_estack<\/p>\n
\u7b26\u53f7\u6821\u9a8c\u6808\u9876\u5730\u5740\u662f\u5426\u8d85\u51faSRAM\u8fb9\u754c（STM32F407VGT6\u7684SRAM1\u4e3a112KB）\u3002\u8fd9\u79cd\u5168\u94fe\u8def\u5185\u5b58\u7ba1\u63a7，\u5f7b\u5e95\u89c4\u907f\u4e86\u624b\u52a8\u79fb\u690d\u65f6\u56e0\u6808\u6ea2\u51fa\u5bfc\u81f4\u7684TCB\u7ed3\u6784\u4f53\u8986\u76d6\u3001\u4efb\u52a1\u53e5\u67c4\u5931\u6548\u7b49\u9690\u853d\u6545\u969c\u3002\n<\/p>\n
\n CubeMX\u751f\u6210\u7684\u5de5\u7a0b\u76ee\u5f55\u7edd\u975e\u7b80\u5355\u7684\u6587\u4ef6\u96c6\u5408，\u800c\u662f\u9075\u5faaARM CMSIS\u6807\u51c6\u7684\u5206\u5c42\u67b6\u6784，\u6bcf\u4e00\u5c42\u7ea7\u90fd\u627f\u8f7d\u7740\u660e\u786e\u7684\u804c\u8d23\u8fb9\u754c\u3002\u4ee5STM32F407\u4e3a\u4f8b，\u751f\u6210\u7684<\/p>\n
Core\/Inc<\/p>\n
\u76ee\u5f55\u4e0b<\/p>\n
main.h<\/p>\n
\u6587\u4ef6\u5e76\u975e\u666e\u901a\u5934\u6587\u4ef6，\u800c\u662f\u6574\u4e2a\u5de5\u7a0b\u7684\u914d\u7f6e\u67a2\u7ebd：\u5b83\u901a\u8fc7\u6761\u4ef6\u7f16\u8bd1\u5b8f<\/p>\n
#ifdef USE_HAL_DRIVER<\/p>\n
\u63a7\u5236HAL\u5e93\u521d\u59cb\u5316\u6d41\u7a0b，\u901a\u8fc7<\/p>\n
#define HAL_MODULE_ENABLED<\/p>\n
\u663e\u5f0f\u58f0\u660e\u5df2\u542f\u7528\u7684\u5916\u8bbe\u6a21\u5757（\u5982<\/p>\n
#define HAL_GPIO_MODULE_ENABLED<\/p>\n
），\u5e76\u901a\u8fc7<\/p>\n
#include "stm32f4xx_hal_conf.h"<\/p>\n
\u5f15\u5165\u7528\u6237\u81ea\u5b9a\u4e49\u7684HAL\u914d\u7f6e\u3002\u8fd9\u79cd\u8bbe\u8ba1\u4f7f\u5f97\u5f00\u53d1\u8005\u65e0\u9700\u4fee\u6539\u542f\u52a8\u4ee3\u7801\u5373\u53ef\u5207\u6362\u5e95\u5c42\u9a71\u52a8\u6a21\u578b\u2014\u2014\u5f53\u9700\u8981\u88f8\u673a\u5f00\u53d1\u65f6，\u4ec5\u9700\u6ce8\u91ca<\/p>\n
USE_HAL_DRIVER<\/p>\n
\u5b8f，CubeMX\u751f\u6210\u7684<\/p>\n
system_stm32f4xx.c<\/p>\n
\u4ecd\u53ef\u6b63\u5e38\u5de5\u4f5c，\u56e0\u5176<\/p>\n
SystemInit()<\/p>\n
\u51fd\u6570\u72ec\u7acb\u4e8eHAL\u5e93\u5b58\u5728\u3002\n<\/p>\n
Startup\/startup_stm32f407xx.s<\/p>\n
\u6587\u4ef6\u4e2d\u7684<\/p>\n
Reset_Handler<\/p>\n
\u6807\u7b7e，\u662f\u6574\u4e2a\u7cfb\u7edf\u8fd0\u884c\u7684\u7edd\u5bf9\u8d77\u70b9\u3002CubeMX\u5728\u6b64\u5904\u6ce8\u5165\u7684\u5173\u952e\u903b\u8f91\u662f<\/p>\n
SystemInit()<\/p>\n
\u8c03\u7528\u65f6\u673a\u7684\u7cbe\u786e\u63a7\u5236：\u5728\u8df3\u8f6c\u81f3<\/p>\n
main()<\/p>\n
\u4e4b\u524d，<\/p>\n
Reset_Handler<\/p>\n
\u5fc5\u987b\u5b8c\u6210\u4e09\u9636\u6bb5\u521d\u59cb\u5316\u2014\u2014\u7b2c\u4e00\u9636\u6bb5\u6267\u884c<\/p>\n
SystemInit()<\/p>\n
，\u914d\u7f6eFlash\u9884\u53d6\u7f13\u51b2\u3001\u6307\u4ee4\u7f13\u5b58\u3001\u6570\u636e\u7f13\u5b58\u53ca\u5411\u91cf\u8868\u504f\u79fb（<\/p>\n
SCB->VTOR = FLASH_BASE | 0x00000000<\/p>\n
）；\u7b2c\u4e8c\u9636\u6bb5\u7531<\/p>\n
main()<\/p>\n
\u51fd\u6570\u5185\u7684<\/p>\n
HAL_Init()<\/p>\n
\u5b8c\u6210，\u521d\u59cb\u5316HAL\u5e93\u7684\u65f6\u95f4\u57fa\u51c6（<\/p>\n
HAL_InitTick(TICK_INT_PRIORITY)<\/p>\n
）；\u7b2c\u4e09\u9636\u6bb5\u624d\u662f<\/p>\n
MX_FREERTOS_Init()<\/p>\n
，\u6b64\u65f6SysTick\u5df2\u88abHAL\u91cd\u5b9a\u5411\u4e3aFreeRTOS tick\u6e90\u3002\u8fd9\u79cd\u65f6\u5e8f\u4e0d\u53ef\u98a0\u5012：\u82e5\u5728<\/p>\n
SystemInit()<\/p>\n
\u524d\u8c03\u7528<\/p>\n
HAL_Init()<\/p>\n
，\u5219<\/p>\n
HAL_GetTick()<\/p>\n
\u5c06\u8fd4\u56de0；\u82e5\u5728<\/p>\n
HAL_Init()<\/p>\n
\u524d\u542f\u52a8FreeRTOS\u8c03\u5ea6\u5668，\u5219<\/p>\n
xTaskGetTickCount()<\/p>\n
\u56e0\u7f3a\u5c11SysTick\u521d\u59cb\u5316\u800c\u6c38\u8fdc\u4e3a0\u3002CubeMX\u901a\u8fc7\u5728<\/p>\n
main.c<\/p>\n
\u4e2d\u4e25\u683c\u6392\u5217<\/p>\n
HAL_Init()<\/p>\n
\u2192<\/p>\n
SystemClock_Config()<\/p>\n
\u2192<\/p>\n
MX_GPIO_Init()<\/p>\n
\u2192<\/p>\n
MX_FREERTOS_Init()<\/p>\n
\u7684\u8c03\u7528\u987a\u5e8f，\u5c06\u8fd9\u4e9b\u65f6\u5e8f\u7ea6\u675f\u56fa\u5316\u4e3a\u4ee3\u7801\u5951\u7ea6\u3002\n<\/p>\n
Middlewares\/Third_Party\/FreeRTOS\/Source\/CMSIS_RTOS_V1<\/p>\n
\u76ee\u5f55\u4e0b\u7684<\/p>\n
cmsis_os.c<\/p>\n
\u6587\u4ef6，\u662fCubeMX\u5b9e\u73b0HAL\u4e0eFreeRTOS\u89e3\u8026\u7684\u6838\u5fc3\u3002\u8be5\u6587\u4ef6\u5c06FreeRTOS\u539f\u751fAPI（\u5982<\/p>\n
xTaskCreate()<\/p>\n
\u3001<\/p>\n
xQueueCreate()<\/p>\n
）\u5c01\u88c5\u4e3aCMSIS-RTOS v1\u6807\u51c6\u63a5\u53e3（\u5982<\/p>\n
osThreadCreate()<\/p>\n
\u3001<\/p>\n
osMessageCreate()<\/p>\n
），\u5176\u672c\u8d28\u662f\u51fd\u6570\u6307\u9488\u8868\u7684\u9759\u6001\u7ed1\u5b9a\u3002\u4ee5<\/p>\n
osThreadCreate()<\/p>\n
\u4e3a\u4f8b，\u5176\u5185\u90e8\u5b9e\u73b0\u4e3a：\n<\/p>\n
osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument) {
\n return (osThreadId)xTaskCreate(
\n (TaskFunction_t)thread_def->pthread,
\n thread_def->name,
\n thread_def->stacksize \/ sizeof(uint32_t), \/\/ \u6808\u5927\u5c0f\u8f6c\u4e3a\u5b57\u6570
\n argument,
\n (UBaseType_t)thread_def->tpriority,
\n (TaskHandle_t*)thread_def->tcb
\n );
\n}<\/p>\n
\n \u6b64\u5904\u7684<\/p>\n
thread_def->stacksize \/ sizeof(uint32_t)<\/p>\n
\u8f6c\u6362\u63ed\u793a\u4e86\u5173\u952e\u7ec6\u8282：CubeMX\u5728GUI\u4e2d\u8f93\u5165\u7684\u6808\u5927\u5c0f\u5355\u4f4d\u662f\u201c\u5b57\u8282\u201d，\u4f46FreeRTOS\u5185\u6838\u8981\u6c42\u4ee5\u201c\u5b57\u201d\u4e3a\u5355\u4f4d，\u5c01\u88c5\u5c42\u81ea\u52a8\u5b8c\u6210\u5355\u4f4d\u6362\u7b97\u3002\u66f4\u6df1\u5c42\u7684\u662f，<\/p>\n
thread_def->tcb<\/p>\n
\u6307\u5411\u7684<\/p>\n
TaskHandle_t*<\/p>\n
\u7c7b\u578b，\u5728FreeRTOS\u4e2d\u5b9e\u9645\u4e3a<\/p>\n
StaticTask_t*<\/p>\n
\u7ed3\u6784\u4f53\u6307\u9488，\u8be5\u7ed3\u6784\u4f53\u5728<\/p>\n
freertos.c<\/p>\n
\u4e2d\u88ab\u9759\u6001\u58f0\u660e\u4e3a<\/p>\n
static StaticTask_t Task_LedBuffer;<\/p>\n
，\u4ece\u800c\u907f\u514d\u52a8\u6001\u5185\u5b58\u5206\u914d\u2014\u2014\u8fd9\u6b63\u662fCubeMX\u9ed8\u8ba4\u542f\u7528<\/p>\n
configSUPPORT_STATIC_ALLOCATION 1<\/p>\n
\u7684\u5de5\u7a0b\u610f\u4e49：\u5728\u8d44\u6e90\u53d7\u9650\u7684\u5d4c\u5165\u5f0f\u73af\u5883\u4e2d，\u9759\u6001\u5206\u914dTCB\u548c\u6808\u7a7a\u95f4\u53ef\u5f7b\u5e95\u6d88\u9664<\/p>\n
pvPortMalloc()<\/p>\n
\u5931\u8d25\u7684\u98ce\u9669，\u7b26\u5408IEC 61508\u529f\u80fd\u5b89\u5168\u8ba4\u8bc1\u8981\u6c42\u3002\n<\/p>\n
Src\/stm32f4xx_it.c<\/p>\n
\u6587\u4ef6\u4e2d\u7684\u4e2d\u65ad\u670d\u52a1\u51fd\u6570（ISR）\u751f\u6210，\u4f53\u73b0\u4e86CubeMX\u5bf9Cortex-M4\u5f02\u5e38\u6a21\u578b\u7684\u6df1\u5ea6\u7406\u89e3\u3002\u4ee5USART1\u63a5\u6536\u4e2d\u65ad\u4e3a\u4f8b，CubeMX\u751f\u6210\u7684<\/p>\n
void USART1_IRQHandler(void)<\/p>\n
\u51fd\u6570\u5185\u90e8\u5305\u542b：\n<\/p>\n
HAL_UART_IRQHandler(&huart1); \/\/ \u8c03\u7528HAL\u4e2d\u65ad\u5904\u7406
\nif (__HAL_UART_GET_FLAG(&huart1, UART_FLAG_IDLE) != RESET) {
\n __HAL_UART_CLEAR_IDLEFLAG(&huart1); \/\/ \u6e05\u9664\u7a7a\u95f2\u4e2d\u65ad\u6807\u5fd7
\n xSemaphoreGiveFromISR(xUart1Semaphore, &xHigherPriorityTaskWoken); \/\/ \u91ca\u653e\u4e8c\u503c\u4fe1\u53f7\u91cf
\n}
\nportYIELD_FROM_ISR(xHigherPriorityTaskWoken); \/\/ \u6761\u4ef6\u89e6\u53d1\u4efb\u52a1\u5207\u6362<\/p>\n
\n \u8fd9\u6bb5\u4ee3\u7801\u7684\u7cbe\u5999\u4e4b\u5904\u5728\u4e8e：<\/p>\n
HAL_UART_IRQHandler()<\/p>\n
\u4ec5\u5904\u7406\u6807\u51c6\u4e2d\u65ad（\u5982RXNE\u3001TC），\u800c\u7a7a\u95f2\u4e2d\u65ad（IDLE）\u9700\u5355\u72ec\u5904\u7406，\u56e0\u4e3aIDLE\u6807\u5fd7\u8868\u793a\u4e00\u5e27\u6570\u636e\u63a5\u6536\u5b8c\u6bd5，\u662f\u5e94\u7528\u5c42\u89e3\u6790\u5b8c\u6574\u534f\u8bae\u5305\u7684\u5173\u952e\u4e8b\u4ef6\u3002CubeMX\u81ea\u52a8\u4e3a\u6bcf\u4e2a\u542f\u7528\u7684UART\u5916\u8bbe\u751f\u6210\u5bf9\u5e94\u7684\u4fe1\u53f7\u91cf（<\/p>\n
xUart1Semaphore<\/p>\n
），\u5e76\u5728<\/p>\n
main.c<\/p>\n
\u4e2d\u901a\u8fc7<\/p>\n
xSemaphoreCreateBinary()<\/p>\n
\u521b\u5efa，\u5176\u53e5\u67c4\u88ab\u4f20\u9012\u81f3ISR\u3002<\/p>\n
portYIELD_FROM_ISR()<\/p>\n
\u7684\u8c03\u7528\u5219\u786e\u4fdd\u5f53\u9ad8\u4f18\u5148\u7ea7\u4efb\u52a1\u56e0\u83b7\u53d6\u4fe1\u53f7\u91cf\u800c\u5c31\u7eea\u65f6，\u7acb\u5373\u89e6\u53d1\u4e0a\u4e0b\u6587\u5207\u6362，\u800c\u975e\u7b49\u5f85\u4e0b\u4e00\u4e2atick\u4e2d\u65ad\u2014\u2014\u8fd9\u5b9e\u73b0\u4e86\u771f\u6b63\u7684\u96f6\u5ef6\u8fdf\u4e8b\u4ef6\u54cd\u5e94，\u662fFreeRTOS\u5728\u7269\u8054\u7f51\u7ec8\u7aef\u8bbe\u5907\u4e2d\u66ff\u4ee3\u88f8\u673a\u72b6\u6001\u673a\u7684\u6838\u5fc3\u4f18\u52bf\u3002\n<\/p>\n
\n \u201c\u5b89\u53a8\u201d\u7cfb\u7edf\u5e76\u975eFreeRTOS\u7684\u7b80\u5355\u6f14\u793a\u6848\u4f8b，\u800c\u662f\u5178\u578b\u7684\u8fb9\u7f18-\u4e91\u534f\u540c\u7269\u8054\u7f51\u67b6\u6784，\u5176\u6280\u672f\u9009\u578b\u76f4\u6307\u5de5\u4e1a\u73b0\u573a\u7684\u5b9e\u9645\u7ea6\u675f\u3002STM32F103C8T6\u4f5c\u4e3a\u8fb9\u7f18\u8282\u70b9\u63a7\u5236\u5668，\u517632KB Flash\/10KB RAM\u7684\u8d44\u6e90\u9650\u5236，\u51b3\u5b9a\u4e86\u5fc5\u987b\u91c7\u7528\u8f7b\u91cf\u7ea7\u534f\u8bae\u6808\u4e0e\u9759\u6001\u5185\u5b58\u7ba1\u7406；ESP8266-01S Wi-Fi\u6a21\u5757\u627f\u62c5\u534f\u8bae\u8f6c\u6362\u89d2\u8272，\u5c06\u4e32\u53e3\u900f\u4f20\u6570\u636e\u5c01\u88c5\u4e3aMQTT\u62a5\u6587；EMQX\u670d\u52a1\u5668\u4f5c\u4e3a\u5f00\u6e90MQTT Broker，\u63d0\u4f9b\u53d1\u5e03\/\u8ba2\u9605（Pub\/Sub）\u6d88\u606f\u8def\u7531；Android\u5ba2\u6237\u7aef\u5219\u901a\u8fc7WebSocket\u957f\u8fde\u63a5\u8ba2\u9605\u4e3b\u9898，\u5b9e\u73b0\u53cc\u5411\u63a7\u5236\u3002\u8fd9\u79cd\u5206\u5c42\u8bbe\u8ba1\u5c06\u590d\u6742\u6027\u89e3\u8026：STM32\u4e13\u6ce8\u4f20\u611f\u5668\u91c7\u96c6\u4e0e\u672c\u5730\u6267\u884c（\u5982\u706b\u7130\u68c0\u6d4b\u89e6\u53d1\u7ee7\u7535\u5668），ESP8266\u4e13\u6ce8\u7f51\u7edc\u901a\u4fe1，\u4e91\u7aef\u4e13\u6ce8\u6570\u636e\u6301\u4e45\u5316\u4e0e\u4e1a\u52a1\u903b\u8f91，Android\u7aef\u4e13\u6ce8\u4eba\u673a\u4ea4\u4e92\u2014\u2014\u5404\u5c42\u53ef\u72ec\u7acb\u5347\u7ea7，\u4e92\u4e0d\u5f71\u54cd\u3002\n<\/p>\n
\n \u5728STM32F103C8T6\u4e0a，FreeRTOS\u4efb\u52a1\u5212\u5206\u4e25\u683c\u9075\u5faa\u201c\u5355\u4e00\u804c\u8d23\u201d\u4e0e\u201c\u5b9e\u65f6\u6027\u5206\u7ea7\u201d\u539f\u5219\u3002CubeMX\u751f\u6210\u7684\u9ed8\u8ba4\u4efb\u52a1\u7ed3\u6784\u88ab\u91cd\u6784\u4e3a\u56db\u4e2a\u6838\u5fc3\u4efb\u52a1：<\/p>\n
–<\/p>\n
Task_SensorRead<\/p>\n
（\u4f18\u5148\u7ea74）：\u4ee5100ms\u5468\u671f\u8f6e\u8be2DHT22\u6e29\u6e7f\u5ea6\u3001MQ-2\u70df\u96fe\u3001MQ-5\u5929\u7136\u6c14\u3001MQ-7\u4e00\u6c27\u5316\u78b3\u4f20\u611f\u5668，\u91c7\u7528\u963b\u585e\u5f0fHAL_UART_Receive()\u8bfb\u53d6\u4e32\u53e3\u6570\u636e，\u8d85\u65f6\u65f6\u95f4\u8bbe\u4e3a50ms\u3002\u5176\u9ad8\u4f18\u5148\u7ea7\u786e\u4fdd\u73af\u5883\u6570\u636e\u91c7\u96c6\u4e0d\u88ab\u4f4e\u4f18\u5148\u7ea7\u4efb\u52a1\u963b\u585e\u3002<\/p>\n
–<\/p>\n
Task_Control<\/p>\n
（\u4f18\u5148\u7ea73）：\u76d1\u542c\u6765\u81eaESP8266\u7684AT\u6307\u4ee4\u54cd\u5e94，\u89e3\u6790\u4e91\u7aef\u4e0b\u53d1\u7684\u63a7\u5236\u547d\u4ee4（\u5982\u201dOPEN_WINDOW\u201d），\u9a71\u52a8\u6b65\u8fdb\u7535\u673a（ULN2003\u9a71\u52a8）\u6267\u884c\u5f00\u7a97\u52a8\u4f5c\u3002\u4f7f\u7528<\/p>\n
xQueueReceive()<\/p>\n
\u4ece\u4e32\u53e3\u63a5\u6536\u961f\u5217\u83b7\u53d6\u547d\u4ee4，\u907f\u514d\u5fd9\u7b49\u5f85\u6d88\u8017CPU\u3002<\/p>\n
–<\/p>\n
Task_Alert<\/p>\n
（\u4f18\u5148\u7ea72）：\u76d1\u63a7<\/p>\n
Task_SensorRead<\/p>\n
\u53d1\u5e03\u7684\u62a5\u8b66\u6807\u5fd7（\u901a\u8fc7<\/p>\n
xEventGroupSetBits()<\/p>\n
\u8bbe\u7f6e<\/p>\n
ALERT_GROUP<\/p>\n
），\u5f53\u68c0\u6d4b\u5230\u706b\u7130（\u7ea2\u5916\u4f20\u611f\u5668\u8f93\u51fa\u9ad8\u7535\u5e73）\u6216\u6c14\u4f53\u6d53\u5ea6\u8d85\u9650（\u7ecfADC\u91c7\u6837\u6bd4\u8f83），\u7acb\u5373\u89e6\u53d1\u8702\u9e23\u5668（GPIO\u7ffb\u8f6c）\u5e76\u70b9\u4eaeLED，\u540c\u65f6\u901a\u8fc7<\/p>\n
xQueueSend()<\/p>\n
\u5411<\/p>\n
Task_Network<\/p>\n
\u53d1\u9001\u62a5\u8b66\u4e8b\u4ef6\u3002<\/p>\n
–<\/p>\n
Task_Network<\/p>\n
（\u4f18\u5148\u7ea71）：\u4f5c\u4e3a\u7f51\u7edc\u901a\u4fe1\u4e2d\u67a2，\u4ece<\/p>\n
Task_Alert<\/p>\n
\u63a5\u6536\u4e8b\u4ef6\u540e，\u6784\u9020MQTT PUBLISH\u62a5\u6587（\u4e3b\u9898<\/p>\n
\/kitchen\/alert<\/p>\n
，QoS=1），\u901a\u8fc7<\/p>\n
HAL_UART_Transmit()<\/p>\n
\u53d1\u9001\u81f3ESP8266；\u540c\u65f6\u76d1\u542c\u4e32\u53e3\u63a5\u6536\u961f\u5217，\u5c06\u63a5\u6536\u5230\u7684\u624b\u673aAPP\u63a7\u5236\u6307\u4ee4\u8f6c\u53d1\u81f3<\/p>\n
Task_Control<\/p>\n
\u3002\u5176\u4f4e\u4f18\u5148\u7ea7\u8bbe\u8ba1\u786e\u4fdd\u7f51\u7edcI\/O\u4e0d\u62a2\u5360\u4f20\u611f\u5668\u91c7\u96c6\u7684\u5b9e\u65f6\u6027\u3002\n<\/p>\n
\n \u8fd9\u79cd\u4efb\u52a1\u4f18\u5148\u7ea7\u68af\u5ea6（4>3>2>1）\u4e0e\u4e2d\u65ad\u4f18\u5148\u7ea7\u5206\u7ec4（NVIC_PRIORITYGROUP_2）\u534f\u540c\u5de5\u4f5c：\u5f53ADC\u8f6c\u6362\u5b8c\u6210\u89e6\u53d1DMA\u4f20\u8f93\u65f6，DMA\u4e2d\u65ad\u4f18\u5148\u7ea7（\u9ed8\u8ba4\u4e3a0）\u9ad8\u4e8e\u6240\u6709\u4efb\u52a1，\u786e\u4fdd\u91c7\u6837\u6570\u636e\u96f6\u4e22\u5931；\u800c<\/p>\n
Task_SensorRead<\/p>\n
\u7684\u9ad8\u4f18\u5148\u7ea7\u5219\u4fdd\u8bc1\u5176\u80fd\u53ca\u65f6\u5904\u7406DMA\u4f20\u8f93\u5b8c\u6210\u4e2d\u65ad（<\/p>\n
HAL_ADC_ConvCpltCallback()<\/p>\n
）\u53d1\u5e03\u7684\u4fe1\u53f7\u91cf\u3002\n<\/p>\n
\n MQ\u7cfb\u5217\u6c14\u4f53\u4f20\u611f\u5668\u7684\u6a21\u62df\u8f93\u51fa\u6613\u53d7\u7535\u6e90\u6ce2\u52a8\u4e0e\u6e29\u5ea6\u6f02\u79fb\u5f71\u54cd，CubeMX\u751f\u6210\u7684ADC\u914d\u7f6e\u9700\u9488\u5bf9\u6027\u4f18\u5316\u3002\u4ee5ADC1\u901a\u90530（PA0）\u91c7\u96c6MQ-2\u4e3a\u4f8b，<\/p>\n
MX_ADC1_Init()<\/p>\n
\u51fd\u6570\u4e2d\u5173\u952e\u53c2\u6570\u8bbe\u7f6e：\n<\/p>\n
hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV4; \/\/ ADC\u65f6\u949f=APB2\/4=42MHz，\u6ee1\u8db314\u4f4d\u7cbe\u5ea6\u8981\u6c42
\nhadc1.Init.Resolution = ADC_RESOLUTION_12B; \/\/ 12\u4f4d\u5206\u8fa8\u7387\u5e73\u8861\u901f\u5ea6\u4e0e\u7cbe\u5ea6
\nhadc1.Init.DataAlign = ADC_DATAALIGN_RIGHT; \/\/ \u53f3\u5bf9\u9f50\u4fbf\u4e8e\u622a\u53d6\u4f4e10\u4f4d
\nhadc1.Init.ScanConvMode = ENABLE; \/\/ \u626b\u63cf\u6a21\u5f0f\u652f\u6301\u591a\u901a\u9053
\nhadc1.Init.EOCSelection = ADC_EOC_SEQ_CONV; \/\/ \u5e8f\u5217\u8f6c\u6362\u7ed3\u675f\u6807\u5fd7，\u907f\u514d\u5355\u6b21\u8f6c\u6362\u8bef\u89e6\u53d1
\nhadc1.Init.DMAContinuousRequests = ENABLE; \/\/ DMA\u8fde\u7eed\u8bf7\u6c42，\u51cf\u5c11CPU\u5e72\u9884<\/p>\n
\n \u66f4\u5173\u952e\u7684\u662f\u8f6f\u4ef6\u6ee4\u6ce2：\u5728<\/p>\n
Task_SensorRead<\/p>\n
\u4e2d，\u5bf9\u6bcf\u6b21ADC\u91c7\u6837\u503c\u6267\u884c\u6ed1\u52a8\u5e73\u5747（\u7a97\u53e3\u5927\u5c0f8），\u5e76\u7ed3\u5408\u6e29\u5ea6\u8865\u507f\u7b97\u6cd5\u2014\u2014DHT22\u6d4b\u5f97\u7684\u73af\u5883\u6e29\u5ea6\u7528\u4e8e\u4fee\u6b63MQ-2\u7684Rs\/R0\u6bd4\u503c\u67e5\u8868，\u6700\u7ec8\u6d53\u5ea6\u503c\u901a\u8fc7<\/p>\n
pow(10, (log10(Rs_R0)-B)\/A)<\/p>\n
\u516c\u5f0f\u8ba1\u7b97（A\/B\u4e3a\u4f20\u611f\u5668\u6807\u5b9a\u7cfb\u6570）\u3002\u8fd9\u79cd\u8f6f\u786c\u534f\u540c\u8bbe\u8ba1，\u4f7fCO\u6d53\u5ea6\u6d4b\u91cf\u8bef\u5dee\u4ece\u00b115%\u964d\u81f3\u00b15%，\u6ee1\u8db3GB 15322.1-2019\u300a\u53ef\u71c3\u6c14\u4f53\u63a2\u6d4b\u5668\u300b\u6807\u51c6\u3002\n<\/p>\n
\n STM32\u4e0eESP8266\u95f4\u7684UART1\u901a\u4fe1，\u91c7\u7528\u201c\u547d\u4ee4-\u54cd\u5e94\u201d\u534a\u53cc\u5de5\u534f\u8bae，CubeMX\u914d\u7f6e\u9700\u517c\u987e\u7535\u6c14\u7279\u6027\u4e0e\u534f\u8bae\u9c81\u68d2\u6027\u3002<\/p>\n
MX_USART1_UART_Init()<\/p>\n
\u4e2d：\n<\/p>\n
husart1.Init.BaudRate = 115200; \/\/ \u9ad8\u6ce2\u7279\u7387\u964d\u4f4e\u4f20\u8f93\u5ef6\u8fdf
\nhusart1.Init.WordLength = UART_WORDLENGTH_8B; \/\/ 8\u4f4d\u6570\u636e\u4f4d\u517c\u5bb9AT\u6307\u4ee4\u96c6
\nhusart1.Init.StopBits = UART_STOPBITS_1; \/\/ 1\u4f4d\u505c\u6b62\u4f4d\u6807\u51c6\u914d\u7f6e
\nhusart1.Init.Parity = UART_PARITY_NONE; \/\/ \u65e0\u6821\u9a8c\u63d0\u5347\u6709\u6548\u5e26\u5bbd
\nhusart1.Init.HwFlowCtl = UART_HWCONTROL_NONE; \/\/ \u786c\u4ef6\u6d41\u63a7\u7981\u7528，\u7b80\u5316\u7535\u8def
\nhusart1.Init.OverSampling = UART_OVERSAMPLING_16; \/\/ 16\u500d\u8fc7\u91c7\u6837\u589e\u5f3a\u6297\u5e72\u6270<\/p>\n
\n \u4e3a\u5e94\u5bf9Wi-Fi\u6a21\u5757\u5076\u53d1\u7684AT\u6307\u4ee4\u8d85\u65f6，<\/p>\n
Task_Network<\/p>\n
\u5b9e\u73b0\u8d85\u65f6\u91cd\u4f20\u673a\u5236：\u53d1\u9001<\/p>\n
AT+CIPSEND=…<\/p>\n
\u6307\u4ee4\u540e，\u542f\u52a8<\/p>\n
xTimerStart()<\/p>\n
\u521b\u5efa\u76845\u79d2\u8d85\u65f6\u5b9a\u65f6\u5668；\u82e5\u5728\u5b9a\u65f6\u5668\u5230\u671f\u524d\u6536\u5230<\/p>\n
SEND OK<\/p>\n
\u54cd\u5e94，\u5219\u505c\u6b62\u5b9a\u65f6\u5668\u5e76\u7ee7\u7eed；\u5426\u5219，\u8c03\u7528<\/p>\n
xQueueReset()<\/p>\n
\u6e05\u7a7a\u63a5\u6536\u961f\u5217，\u91cd\u65b0\u53d1\u9001\u6307\u4ee4\u3002\u540c\u65f6，\u63a5\u6536\u7f13\u51b2\u533a\u91c7\u7528\u73af\u5f62\u961f\u5217（<\/p>\n
RingBuffer_t<\/p>\n
\u7ed3\u6784\u4f53），\u7531<\/p>\n
USART1_IRQHandler()<\/p>\n
\u5728DMA\u63a5\u6536\u5b8c\u6210\u4e2d\u65ad\u4e2d\u5199\u5165，<\/p>\n
Task_Network<\/p>\n
\u5728\u4efb\u52a1\u4e0a\u4e0b\u6587\u4e2d\u8bfb\u53d6，\u5f7b\u5e95\u907f\u514d\u4e34\u754c\u533a\u7ade\u4e89\u3002\n<\/p>\n
\n CubeMX\u751f\u6210\u7684\u5de5\u7a0b\u867d\u5927\u5e45\u964d\u4f4e\u5165\u95e8\u95e8\u69db，\u4f46\u5176\u81ea\u52a8\u5316\u903b\u8f91\u4e5f\u9690\u85cf\u7740\u82e5\u5e72\u201c\u53cd\u76f4\u89c9\u201d\u9677\u9631，\u9700\u7ed3\u5408\u786c\u4ef6\u8c03\u8bd5\u7ecf\u9a8c\u65b9\u80fd\u89c4\u907f\u3002\n<\/p>\n
\n \u5b57\u5e55\u4e2d\u63d0\u53ca\u7684\u201c\u4e2d\u6587\u76ee\u5f55\u62a5\u9519\u201d\u73b0\u8c61，\u6839\u6e90\u5728\u4e8eKeil MDK\u7f16\u8bd1\u5668\u5de5\u5177\u94fe（ARMCC）\u5bf9\u6587\u4ef6\u8def\u5f84\u7f16\u7801\u7684\u517c\u5bb9\u6027\u7f3a\u9677\u3002\u5f53\u5de5\u7a0b\u8def\u5f84\u5305\u542b\u4e2d\u6587\u5b57\u7b26（\u5982<\/p>\n
D:\\\\\u5d4c\u5165\u5f0f\u9879\u76ee\\\\\u5b89\u53a8\u7cfb\u7edf<\/p>\n
）\u65f6，ARMCC\u5728\u8c03\u7528<\/p>\n
armasm.exe<\/p>\n
\u6c47\u7f16\u542f\u52a8\u6587\u4ef6\u65f6，\u4f1a\u5c06\u8def\u5f84\u5b57\u7b26\u4e32\u9519\u8bef\u89e3\u6790\u4e3aGBK\u7f16\u7801，\u5bfc\u81f4<\/p>\n
startup_stm32f407xx.s<\/p>\n
\u4e2d\u7684<\/p>\n
IMPORT SystemInit<\/p>\n
\u6307\u4ee4\u65e0\u6cd5\u6b63\u786e\u5b9a\u4f4d\u7b26\u53f7，\u94fe\u63a5\u65f6\u62a5\u9519<\/p>\n
L6218E: Undefined symbol SystemInit<\/p>\n
\u3002\u6b64\u95ee\u9898\u4e0eCubeMX\u65e0\u5173，\u800c\u662f\u5de5\u5177\u94fe\u5e95\u5c42\u9650\u5236\u3002\u89e3\u51b3\u65b9\u6848\u5fc5\u987b\u4ece\u6784\u5efa\u73af\u5883\u5c42\u9762\u89e3\u51b3：\u5728Keil\u4e2d\u8bbe\u7f6e<\/p>\n
Options for Target \u2192 C\/C++ \u2192 Misc Controls<\/p>\n
，\u6dfb\u52a0<\/p>\n
–unicode<\/p>\n
\u53c2\u6570\u5f3a\u5236UTF-8\u7f16\u7801；\u6216\u66f4\u5f7b\u5e95\u5730，\u5c06\u5de5\u7a0b\u8fc1\u79fb\u81f3\u82f1\u6587\u8def\u5f84（\u5982<\/p>\n
D:\\\\EmbeddedProjects\\\\AnChu<\/p>\n
），\u5e76\u786e\u4fddWindows\u7cfb\u7edf\u533a\u57df\u8bbe\u7f6e\u4e2d\u201cBeta\u7248：\u4f7f\u7528Unicode UTF-8\u63d0\u4f9b\u5168\u7403\u8bed\u8a00\u652f\u6301\u201d\u9009\u9879\u672a\u52fe\u9009\u2014\u2014\u8be5\u9009\u9879\u4f1a\u5168\u5c40\u6539\u53d8CMD\u7f16\u7801，\u53cd\u800c\u52a0\u5267\u5de5\u5177\u94fe\u6df7\u4e71\u3002\n<\/p>\n
\n \u5f53CubeMX\u914d\u7f6eFreeRTOS\u540e，<\/p>\n
HAL_InitTick()<\/p>\n
\u51fd\u6570\u4f1a\u8c03\u7528<\/p>\n
HAL_NVIC_SetPriority(SysTick_IRQn, TICK_INT_PRIORITY, 0x00)<\/p>\n
\u8bbe\u7f6eSysTick\u4e2d\u65ad\u4f18\u5148\u7ea7\u3002\u82e5\u5f00\u53d1\u8005\u5728<\/p>\n
main.c<\/p>\n
\u4e2d\u540e\u7eed\u53c8\u8c03\u7528<\/p>\n
HAL_NVIC_SetPriority(USART1_IRQn, 2, 0)<\/p>\n
，\u5219\u53ef\u80fd\u56e0<\/p>\n
TICK_INT_PRIORITY<\/p>\n
\u503c\u8bbe\u7f6e\u4e0d\u5f53\u5f15\u53d1\u6b7b\u9501\u3002\u4f8b\u5982，\u82e5<\/p>\n
TICK_INT_PRIORITY=3<\/p>\n
（\u5bf9\u5e94NVIC\u4f18\u5148\u7ea7\u5206\u7ec42\u4e0b\u7684\u62a2\u5360\u4f18\u5148\u7ea73），\u800c<\/p>\n
USART1_IRQn<\/p>\n
\u4f18\u5148\u7ea7\u8bbe\u4e3a2，\u5219USART\u4e2d\u65ad\u53ef\u62a2\u5360SysTick，\u5bfc\u81f4<\/p>\n
xTaskIncrementTick()<\/p>\n
\u6267\u884c\u4e0d\u5b8c\u6574，<\/p>\n
xNextTaskUnblockTime<\/p>\n
\u66f4\u65b0\u5f02\u5e38，\u6700\u7ec8<\/p>\n
vTaskDelay()<\/p>\n
\u5931\u6548\u3002\u6b63\u786e\u505a\u6cd5\u662f：\u5728<\/p>\n
FreeRTOSConfig.h<\/p>\n
\u4e2d\u4e25\u683c\u5b9a\u4e49<\/p>\n
configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15<\/p>\n
（4\u4f4d\u62a2\u5360\u4f18\u5148\u7ea7\u7684\u6700\u5927\u503c），\u5e76\u786e\u4fdd\u6240\u6709\u5916\u8bbe\u4e2d\u65ad\u4f18\u5148\u7ea7\u6570\u503c\u5747\u5c0f\u4e8e\u8be5\u503c（\u6570\u503c\u8d8a\u5c0f\u4f18\u5148\u7ea7\u8d8a\u9ad8），\u4f7fSysTick\u59cb\u7ec8\u62e5\u6709\u6700\u9ad8\u62a2\u5360\u6743\u3002\n<\/p>\n
Task_SensorRead<\/p>\n
\u4e2d\u82e5\u672a\u5bf9DHT22\u768416\u4f4dCRC\u6821\u9a8c\u7ed3\u679c\u8fdb\u884c\u8fb9\u754c\u68c0\u67e5，\u53ef\u80fd\u5bfc\u81f4\u5c40\u90e8\u53d8\u91cf<\/p>\n
uint16_t crc<\/p>\n
\u8d8a\u754c\u5199\u5165\u76f8\u90bb\u5185\u5b58，\u6070\u597d\u8986\u76d6<\/p>\n
Task_Control<\/p>\n
\u7684TCB\u4e2d<\/p>\n
pxTopOfStack<\/p>\n
\u5b57\u6bb5\u3002\u6b64\u65f6<\/p>\n
Task_Control<\/p>\n
\u5728\u5207\u6362\u65f6\u4ece\u9519\u8bef\u6808\u9876\u6062\u590d\u5bc4\u5b58\u5668，\u8868\u73b0\u4e3aPC\u6307\u9488\u8df3\u8f6c\u81f3\u975e\u6cd5\u5730\u5740（\u59820x20000000），\u89e6\u53d1HardFault\u3002\u6b64\u7c7b\u6545\u969c\u96be\u4ee5\u901a\u8fc7\u5e38\u89c4\u8c03\u8bd5\u53d1\u73b0，\u56e0\u6808\u6ea2\u51fa\u53d1\u751f\u5728\u4efb\u52a1\u8fd0\u884c\u65f6，\u800c\u975e\u7f16\u8bd1\u671f\u3002CubeMX\u867d\u63d0\u4f9b\u6808\u5927\u5c0f\u5efa\u8bae\u503c，\u4f46\u771f\u5b9e\u9700\u6c42\u9700\u5b9e\u6d4b：\u5728<\/p>\n
Task_SensorRead<\/p>\n
\u5165\u53e3\u6dfb\u52a0<\/p>\n
uxTaskGetStackHighWaterMark(NULL)<\/p>\n
\u65e5\u5fd7，\u6301\u7eed\u8fd0\u884c24\u5c0f\u65f6\u89c2\u5bdf\u6700\u5c0f\u5269\u4f59\u6808\u7a7a\u95f4，\u82e5\u4f4e\u4e8e20%，\u5219\u9700\u589e\u5927\u6808\u5c3a\u5bf8\u3002\u66f4\u53ef\u9760\u7684\u9632\u62a4\u662f\u542f\u7528FreeRTOS\u7684\u6808\u6ea2\u51fa\u94a9\u5b50\u51fd\u6570：\u5728<\/p>\n
FreeRTOSConfig.h<\/p>\n
\u4e2d\u5b9a\u4e49<\/p>\n
configCHECK_FOR_STACK_OVERFLOW 2<\/p>\n
，\u5e76\u5728<\/p>\n
vApplicationStackOverflowHook()<\/p>\n
\u4e2d\u7f6e\u4f4dLED，\u5b9e\u73b0\u6545\u969c\u5373\u65f6\u544a\u8b66\u3002\n<\/p>\n
\n \u201c\u5b89\u53a8\u201d\u7cfb\u7edf\u5728\u7701\u7ea7\u7ade\u8d5b\u4e2d\u83b7\u5956，\u5370\u8bc1\u4e86\u5176\u67b6\u6784\u8bbe\u8ba1\u7684\u5408\u7406\u6027，\u4f46\u8ddd\u79bb\u91cf\u4ea7\u4ecd\u6709\u5173\u952e\u9e3f\u6c9f\u3002\u5de5\u4e1a\u7ea7\u4ea7\u54c1\u9700\u5728CubeMX\u751f\u6210\u7684\u6846\u67b6\u4e0a，\u53e0\u52a0\u4e09\u91cd\u52a0\u56fa：\n<\/p>\n
\n \u5f53\u524d\u8bbe\u8ba1\u4e2d，\u6240\u6709\u4f20\u611f\u5668\u5e38\u7535\u5de5\u4f5c，\u5f85\u673a\u7535\u6d41\u8fbe25mA\u3002\u91cf\u4ea7\u9700\u542f\u7528STM32F103\u7684Stop Mode：\u5728<\/p>\n
Task_SensorRead<\/p>\n
\u7a7a\u95f2\u65f6，\u8c03\u7528<\/p>\n
HAL_PWR_EnterSTOPMode(PWR_LOWPOWERREGULATOR_ON, PWR_STOPENTRY_WFI)<\/p>\n
，\u6b64\u65f6CPU\u3001PLL\u3001HSI\u5173\u95ed，\u4ec5LSI（37kHz）\u548cRTC\u8fd0\u884c\u3002\u4e3a\u5524\u9192，\u9700\u914d\u7f6eEXTI\u7ebf（\u5982PA0\u63a5DHT22\u6570\u636e\u7ebf），\u5f53\u4f20\u611f\u5668\u53d1\u51fa\u8d77\u59cb\u8109\u51b2\u65f6\u89e6\u53d1\u4e2d\u65ad\u9000\u51faStop Mode\u3002CubeMX\u4e2d\u9700\u5728\u201cPower\u201d\u914d\u7f6e\u9875\u542f\u7528<\/p>\n
Low Power Modes<\/p>\n
，\u5e76\u751f\u6210<\/p>\n
HAL_PWR_EnableWakeUpPin()<\/p>\n
\u8c03\u7528，\u5426\u5219\u5524\u9192\u5931\u8d25\u3002\n<\/p>\n
\n \u7ade\u8d5b\u7248\u901a\u8fc7ST-Link\u70e7\u5f55\u56fa\u4ef6，\u91cf\u4ea7\u9700OTA\u5347\u7ea7\u3002\u65b9\u6848\u662f\u5728<\/p>\n
Task_Network<\/p>\n
\u4e2d\u96c6\u6210DFU（Device Firmware Upgrade）\u534f\u8bae：\u5f53\u63a5\u6536\u5230<\/p>\n
UPDATE_START<\/p>\n
\u6307\u4ee4\u65f6，\u64e6\u9664Flash\u4e2d\u7528\u6237APP\u533a\u57df（0x08004000-0x0801FFFF），\u63a5\u6536\u65b0\u56fa\u4ef6bin\u6570\u636e\u5e76\u6821\u9a8cCRC32；\u5347\u7ea7\u5b8c\u6210\u540e\u8df3\u8f6c\u81f3\u65b0APP\u3002\u5173\u952e\u5b89\u5168\u63aa\u65bd\u5305\u62ec：\u56fa\u4ef6\u5305AES-128\u52a0\u5bc6（\u5bc6\u94a5\u5b58\u50a8\u4e8eOTP\u533a\u57df）\u3001\u7b7e\u540d\u9a8c\u7b7e（ECDSA-SHA256）\u3001\u53ccBank\u5907\u4efd（Bank1\u4e3a\u5f53\u524d\u8fd0\u884c\u533a，Bank2\u4e3a\u5347\u7ea7\u533a），\u786e\u4fdd\u5347\u7ea7\u5931\u8d25\u53ef\u56de\u6eda\u3002\n<\/p>\n
\n \u7ade\u8d5b\u5f00\u53d1\u677f\u672a\u8003\u8651\u7535\u78c1\u517c\u5bb9，\u91cf\u4ea7PCB\u5fc5\u987b\u9075\u5faa：\u7535\u6e90\u5c42\u5b8c\u6574\u94fa\u94dc，\u6a21\u62df\u5730（AGND）\u4e0e\u6570\u5b57\u5730（DGND）\u5355\u70b9\u8fde\u63a5\u4e8eADC\u53c2\u8003\u7535\u538b\u65c1；MQ\u4f20\u611f\u5668\u6a21\u62df\u8d70\u7ebf\u8fdc\u79bb\u9ad8\u901f\u6570\u5b57\u7ebf（\u5982USART TX），\u957f\u5ea6<5cm；\u6240\u6709\u672a\u7528IO\u53e3\u914d\u7f6e\u4e3a<\/p>\n
GPIO_MODE_ANALOG<\/p>\n
\u5e76\u4e0b\u62c9，\u6291\u5236\u9ad8\u9891\u566a\u58f0\u8026\u5408；\u6676\u632f\u7535\u8def\u7d27\u90bbMCU，\u5339\u914d\u7535\u5bb9\u76f4\u8fde\u6676\u632f\u5f15\u811a，\u907f\u514d\u8d70\u7ebf\u8fc7\u5b54\u3002\u8fd9\u4e9b\u7ec6\u8282\u867d\u4e0d\u5728CubeMX\u914d\u7f6e\u8303\u7574，\u5374\u662f\u4ea7\u54c1\u901a\u8fc7CE\/FCC\u8ba4\u8bc1\u7684\u7269\u7406\u57fa\u7840\u3002\n<\/p>\n
\n \u6211\u66fe\u5728\u67d0\u71c3\u6c14\u62a5\u8b66\u5668\u9879\u76ee\u4e2d，\u56e0\u5ffd\u7565AGND\/DGND\u5355\u70b9\u8fde\u63a5，\u5bfc\u81f4\u5728\u7535\u78c1\u7089\u5de5\u4f5c\u65f6MQ-5\u4f20\u611f\u5668\u8bfb\u6570\u8df3\u53d830%，\u6700\u7ec8\u901a\u8fc7\u5728PCB\u9876\u5c42\u94fa\u8bbeAGND\u94dc\u7b94\u5e76\u625310\u4e2a\u8fc7\u5b54\u8fde\u63a5\u5230\u5e95\u5c42DGND，\u624d\u5c06\u5e72\u6270\u6291\u5236\u81f3\u53ef\u63a5\u53d7\u8303\u56f4\u3002\u8fd9\u7c7b\u7ecf\u9a8c\u65e0\u6cd5\u4ece\u6559\u7a0b\u4e2d\u83b7\u5f97，\u552f\u6709\u5728\u771f\u5b9e\u4ea7\u7ebf\u4e2d\u53cd\u590d\u6dec\u70bc\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
1. STM32CubeMX\u81ea\u52a8\u751f\u6210FreeRTOS\u5de5\u7a0b\u7684\u5de5\u7a0b\u5b9e\u8df5\u903b\u8f91\u5728\u5d4c\u5165\u5f0f\u7cfb\u7edf\u5f00\u53d1\u4e2d，\u64cd\u4f5c\u7cfb\u7edf\u79fb\u690d\u5e76\u975e\u5b64\u7acb\u7684\u6280\u672f\u52a8\u4f5c，\u800c\u662f\u4e0e\u82af\u7247\u786c\u4ef6\u62bd\u8c61\u5c42\u3001\u65f6\u949f\u6811\u914d\u7f6e\u3001\u4e2d\u65ad\u5411\u91cf\u8868\u5e03\u5c40\u6df1\u5ea6\u8026\u5408\u7684\u7cfb\u7edf\u5de5\u7a0b\u3002\u624b\u52a8\u79fb\u690dFreeRTOS\u867d\u80fd\u52a0\u6df1\u5e95\u5c42\u7406\u89e3，\u4f46\u5728\u5de5\u4e1a\u7ea7\u9879\u76ee\u4e2d，\u5176\u7ef4\u62a4\u6210\u672c\u3001\u53ef\u590d\u73b0\u6027\u53ca\u56e2\u961f\u534f\u4f5c\u6548\u7387\u8fdc\u4f4e\u4e8e\u5de5\u5177\u94fe\u9a71\u52a8\u7684\u81ea\u52a8\u5316\u751f\u6210\u65b9\u6848\u3002STM32CubeMX\u4f5c\u4e3aST\u5b98\u65b9\u63d0\u4f9b\u7684\u56fe\u5f62\u5316\u914d\u7f6e\u5de5\u5177，\u5176\u6838\u5fc3\u4ef7\u503c\u4e0d\u5728\u4e8e\u201c\u7b80\u5316\u64cd\u4f5c\u201d<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[8422,5078,6117],"topic":[],"class_list":["post-77015","post","type-post","status-publish","format-standard","hentry","category-server","tag-8422","tag-freertos","tag-stm32cubemx"],"yoast_head":"\n