1. 手动移植FreeRTOS V9.00到 Stm32F103C8T6

记录移植过程，以便以后查看：

1.使用cubeMAX配置一个工程

a.选择单片机型号：

 b。设置SWD调试，选TIM4作为系统时钟，systick要用来跑freeRTOS

 c.NVIC默认使用Group4

 配置GPIO，我这里配置了两个引脚，作为LED输出

d,RCC都选外部晶振

 e。配置时钟树，HCLK 72Mhz

 f。project 配置我使用MDK ，5.27版本，其他默认

 g.这里我配置使用必需的库并单独生成.c和.h

 f.创建代码，结束创建

2.下载 freeRTOs源码

 3.在我自己创建的工程里面新建FreeRTOS文件，结构如下：

 把源码的FreeRTOSv9.0.0\FreeRTOS\Source 文件夹下的c文件复制到src中，

把FreeRTOSv9.0.0\FreeRTOS\Source\portable\MemMang中内存管理文件   heap_4.c 加到port中

FreeRTOSv9.0.0\FreeRTOS\Source\portable\RVDS\ARM_CM3 下文件加入port

FreeRTOSv9.0.0\FreeRTOS\Demo\CORTEX_STM32F103_Keil 下FreeRTOSConfig.h文件放到port中

FreeRTOSv9.0.0\FreeRTOS\Source\include  头文件放到Inc中

最后如下：

4.打开keil工程，添加头文件和源文件

5.修改freeRTOS config 文件：具体参考如下：

/*
FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
All rights reserved

VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

This file is part of the FreeRTOS distribution.

FreeRTOS is free software; you can redistribute it and/or modify it under
the terms of the GNU General Public License (version 2) as published by the
Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

***************************************************************************
>>! NOTE: The modification to the GPL is included to allow you to !<<
>>! distribute a combined work that includes FreeRTOS without being !<<
>>! obliged to provide the source code for proprietary components !<<
>>! outside of the FreeRTOS kernel. !<<
***************************************************************************

FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
FOR A PARTICULAR PURPOSE. Full license text is available on the following
link: http://www.freertos.org/a00114.html

***************************************************************************
* *
* FreeRTOS provides completely free yet professionally developed, *
* robust, strictly quality controlled, supported, and cross *
* platform software that is more than just the market leader, it *
* is the industry's de facto standard. *
* *
* Help yourself get started quickly while simultaneously helping *
* to support the FreeRTOS project by purchasing a FreeRTOS *
* tutorial book, reference manual, or both: *
* http://www.FreeRTOS.org/Documentation *
* *
***************************************************************************

http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
the FAQ page "My application does not run, what could be wrong?". Have you
defined configASSERT()?

http://www.FreeRTOS.org/support - In return for receiving this top quality
embedded software for free we request you assist our global community by
participating in the support forum.

http://www.FreeRTOS.org/training - Investing in training allows your team to
be as productive as possible as early as possible. Now you can receive
FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
Ltd, and the world's leading authority on the world's leading RTOS.

http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
including FreeRTOS+Trace - an indispensable productivity tool, a DOS
compatible FAT file system, and our tiny thread aware UDP/IP stack.

http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
licenses offer ticketed support, indemnification and commercial middleware.

http://www.SafeRTOS.com - High Integrity Systems also provide a safety
engineered and independently SIL3 certified version for use in safety and
mission critical applications that require provable dependability.

1 tab == 4 spaces!
*/

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

/*-----------------------------------------------------------
* Application specific definitions.
*
* These definitions should be adjusted for your particular hardware and
* application requirements.
*
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
*
* See http://www.freertos.org/a00110.html.
*----------------------------------------------------------*/

#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)
#include <stdint.h>
extern uint32_t SystemCoreClock;
#endif

//¶ÏÑÔ
#define vAssertCalled(char,int) //printf("Error:%s,%d\r\n",char,int)
#define configASSERT(x) if((x)==0) vAssertCalled(__FILE__,__LINE__)

#define configUSE_PREEMPTION 1
#define configUSE_TIME_SLICING 1

#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1

#define configCPU_CLOCK_HZ (SystemCoreClock)
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )

#define configMAX_PRIORITIES ( 32 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 128 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 10 * 1024 ) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 1

#define configUSE_TASK_NOTIFICATIONS 1
#define configUSE_QUEUE_SETS 1
#define configUSE_TICKLESS_IDLE 0
#define configUSE_MUTEXES 1
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_MALLOC_FAILED_HOOK 0
#define configUSE_APPLICATION_TASK_TAG 0
#define configUSE_COUNTING_SEMAPHORES 1

#define configQUEUE_REGISTRY_SIZE 8

#define configCHECK_FOR_STACK_OVERFLOW 0

#define configSUPPORT_DYNAMIC_ALLOCATION 1

#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0

#define configGENERATE_RUN_TIME_STATS 0
#define configUSE_TRACE_FACILITY 0
#define configUSE_STATS_FORMATTING_FUNCTIONS 0

#define configUSE_CO_ROUTINES 0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

#define configUSE_TIMERS 1
#define configTIMER_TASK_PRIORITY (configMAX_PRIORITIES-1)
#define configTIMER_QUEUE_LENGTH 5
#define configTIMER_TASK_STACK_DEPTH (configMINIMAL_STACK_SIZE*2)

#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_vTaskPrioritySet 1
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 1
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_eTaskGetState 1
#define INCLUDE_xTimerPendFunctionCall 1

#ifdef __NVIC_PRIO_BITS
#define configPRIO_BITS __NVIC_PRIO_BITS
#else
#define configPRIO_BITS 4
#endif

#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY 15
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY 5

#define configKERNEL_INTERRUPT_PRIORITY ( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
#define configMAX_SYSCALL_INTERRUPT_PRIORITY ( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )

#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler

#endif /* FREERTOS_CONFIG_H */

6.编译工程，会发现这个问题

 找到中断处理函数，屏蔽这三个中断即可

7.编译成功后，创建一个任务，测试两个LED是否是一起亮一起灭，如果是就说明成功了