FreeRTOS 系统配置

3.1 FreeRTOSConfig.h 文件

配置基本是通过在 FreeRTOSConfig.h 中使用“#define” 这样的语句来定义宏定义实现的

在目录 ..\FreeRTOSv10.2.1_191129\FreeRTOS\Demo\CORTEX_M4F_STM32F407ZG-SK 下

/*
 * FreeRTOS Kernel V10.2.1
 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * http://www.FreeRTOS.org
 * http://aws.amazon.com/freertos
 *
 * 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
 *----------------------------------------------------------*/

/* Ensure stdint is only used by the compiler, and not the assembler. */
#ifdef __ICCARM__
	#include <stdint.h>
	extern uint32_t SystemCoreClock;
#endif

#define configUSE_PREEMPTION			1
#define configUSE_IDLE_HOOK				1
#define configUSE_TICK_HOOK				1
#define configCPU_CLOCK_HZ				( SystemCoreClock )
#define configTICK_RATE_HZ				( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES			( 5 )
#define configMINIMAL_STACK_SIZE		( ( unsigned short ) 130 )
#define configTOTAL_HEAP_SIZE			( ( size_t ) ( 75 * 1024 ) )
#define configMAX_TASK_NAME_LEN			( 10 )
#define configUSE_TRACE_FACILITY		1
#define configUSE_16_BIT_TICKS			0
#define configIDLE_SHOULD_YIELD			1
#define configUSE_MUTEXES				1
#define configQUEUE_REGISTRY_SIZE		8
#define configCHECK_FOR_STACK_OVERFLOW	2
#define configUSE_RECURSIVE_MUTEXES		1
#define configUSE_MALLOC_FAILED_HOOK	1
#define configUSE_APPLICATION_TASK_TAG	0
#define configUSE_COUNTING_SEMAPHORES	1
#define configGENERATE_RUN_TIME_STATS	0

/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 		0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

/* Software timer definitions. */
#define configUSE_TIMERS				1
#define configTIMER_TASK_PRIORITY		( 2 )
#define configTIMER_QUEUE_LENGTH		10
#define configTIMER_TASK_STACK_DEPTH	( configMINIMAL_STACK_SIZE * 2 )

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */
#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

/* Cortex-M specific definitions. */
#ifdef __NVIC_PRIO_BITS
	/* __BVIC_PRIO_BITS will be specified when CMSIS is being used. */
	#define configPRIO_BITS       		__NVIC_PRIO_BITS
#else
	#define configPRIO_BITS       		4        /* 15 priority levels */
#endif

/* The lowest interrupt priority that can be used in a call to a "set priority"
function. */
#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY			0xf

/* The highest interrupt priority that can be used by any interrupt service
routine that makes calls to interrupt safe FreeRTOS API functions.  DO NOT CALL
INTERRUPT SAFE FREERTOS API FUNCTIONS FROM ANY INTERRUPT THAT HAS A HIGHER
PRIORITY THAN THIS! (higher priorities are lower numeric values. */
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY	5

/* Interrupt priorities used by the kernel port layer itself.  These are generic
to all Cortex-M ports, and do not rely on any particular library functions. */
#define configKERNEL_INTERRUPT_PRIORITY 		( configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
/* !!!! configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to zero !!!!
See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html. */
#define configMAX_SYSCALL_INTERRUPT_PRIORITY 	( configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS) )
	
/* Normal assert() semantics without relying on the provision of an assert.h
header file. */
#define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }	
	
/* Definitions that map the FreeRTOS port interrupt handlers to their CMSIS
standard names. */
#define vPortSVCHandler SVC_Handler
#define xPortPendSVHandler PendSV_Handler
#define xPortSysTickHandler SysTick_Handler

#endif /* FREERTOS_CONFIG_H */

3.1.1 “INCLUDE_”开始的宏

源码在..\FreeRTOSv10.2.1_191129\FreeRTOS\Source，tasks.c中

#define INCLUDE_vTaskPrioritySet 1

#if ( INCLUDE_vTaskPrioritySet == 1 )

	void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
	{
	TCB_t *pxTCB;
	UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
	BaseType_t xYieldRequired = pdFALSE;

		configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );

		/* Ensure the new priority is valid. */
		if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
		{
			uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}

		taskENTER_CRITICAL();
		{
		    //...
		}
		taskEXIT_CRITICAL();
	}

#endif /* INCLUDE_vTaskPrioritySet */

#define INCLUDE_uxTaskPriorityGet 1

#if ( INCLUDE_uxTaskPriorityGet == 1 )

	UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
	{
	TCB_t const *pxTCB;
	UBaseType_t uxReturn;

		taskENTER_CRITICAL();
		{
			/* If null is passed in here then it is the priority of the task
			that called uxTaskPriorityGet() that is being queried. */
			pxTCB = prvGetTCBFromHandle( xTask );
			uxReturn = pxTCB->uxPriority;
		}
		taskEXIT_CRITICAL();

		return uxReturn;
	}

#endif /* INCLUDE_uxTaskPriorityGet */

#define INCLUDE_vTaskDelete 1

#if( INCLUDE_vTaskDelete == 1 )

	PRIVILEGED_DATA static List_t xTasksWaitingTermination;	
      /*< Tasks that have been deleted - but their memory not yet freed. */
	PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;

#endif

#if ( INCLUDE_vTaskDelete == 1 )

	static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;

#endif

#if ( INCLUDE_vTaskDelete == 1 )

	void vTaskDelete( TaskHandle_t xTaskToDelete )
	{
	TCB_t *pxTCB;

		taskENTER_CRITICAL();
		{
			traceTASK_DELETE( pxTCB );
		}
		taskEXIT_CRITICAL();

		/* Force a reschedule if it is the currently running task that has just
		been deleted. */
		if( xSchedulerRunning != pdFALSE )
		{

		}
	}

#endif /* INCLUDE_vTaskDelete */

#if ( INCLUDE_vTaskDelete == 1 )
   else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
   {
    	/* The task being queried is referenced from the deleted
	   tasks list, or it is not referenced from any lists at
	   all. */
	   eReturn = eDeleted;
   }
#endif

#if( INCLUDE_vTaskDelete == 1 )
{
	if( pxTCB == NULL )
	{
		/* Search the deleted list. */
		pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
	}
}
#endif

#if( INCLUDE_vTaskDelete == 1 )
{
	/* Fill in an TaskStatus_t structure with information on
	each task that has been deleted but not yet cleaned up. */
	uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ]),
                                           &xTasksWaitingTermination, eDeleted );
}#endif

#if ( INCLUDE_vTaskDelete == 1 )
  {
	vListInitialise( &xTasksWaitingTermination );
  }
	
#endif /* INCLUDE_vTaskDelete */

#if ( INCLUDE_vTaskDelete == 1 )
	{
		TCB_t *pxTCB;

		/* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
		being called too often in the idle task. */
		while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
		{
			taskENTER_CRITICAL();
			{
                             //...
			}
			taskEXIT_CRITICAL();

			prvDeleteTCB( pxTCB );
		}
	}
	#endif /* INCLUDE_vTaskDelete */

#if ( INCLUDE_vTaskDelete == 1 )

	static void prvDeleteTCB( TCB_t *pxTCB )
	{
		/* This call is required specifically for the TriCore port.  It must be
		above the vPortFree() calls.  The call is also used by ports/demos that
		want to allocate and clean RAM statically. */
		portCLEAN_UP_TCB( pxTCB );

		/* Free up the memory allocated by the scheduler for the task.  It is up
		to the task to free any memory allocated at the application level. */
		#if ( configUSE_NEWLIB_REENTRANT == 1 )
		{
			_reclaim_reent( &( pxTCB->xNewLib_reent ) );
		}
		#endif /* configUSE_NEWLIB_REENTRANT */

		#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && 
                     ( configSUPPORT_STATIC_ALLOCATION == 0 ) && 
                     ( portUSING_MPU_WRAPPERS == 0 ) )
		{
	         //...
		}
		#elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) 
      /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
		{
		  //...
		}
		#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
	}

#endif /* INCLUDE_vTaskDelete */

#define INCLUDE_vTaskCleanUpResources 1

#define INCLUDE_vTaskSuspend 1

#define INCLUDE_vTaskDelayUntil 1

#if ( INCLUDE_vTaskDelayUntil == 1 )

	void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
	{
	TickType_t xTimeToWake;
	BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;

		configASSERT( pxPreviousWakeTime );
		configASSERT( ( xTimeIncrement > 0U ) );
		configASSERT( uxSchedulerSuspended == 0 );

		vTaskSuspendAll();
		{
                   //...
		}
		xAlreadyYielded = xTaskResumeAll();

		/* Force a reschedule if xTaskResumeAll has not already done so, we may
		have put ourselves to sleep. */
		if( xAlreadyYielded == pdFALSE )
		{
			portYIELD_WITHIN_API();
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}
	}

#endif /* INCLUDE_vTaskDelayUntil */

#define INCLUDE_vTaskDelay 1

#if ( INCLUDE_vTaskDelay == 1 )

	void vTaskDelay( const TickType_t xTicksToDelay )
	{
	BaseType_t xAlreadyYielded = pdFALSE;

		/* A delay time of zero just forces a reschedule. */
		if( xTicksToDelay > ( TickType_t ) 0U )
		{
			//...
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}

		/* Force a reschedule if xTaskResumeAll has not already done so, we may
		have put ourselves to sleep. */
		if( xAlreadyYielded == pdFALSE )
		{
			portYIELD_WITHIN_API();
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}
	}

#endif /* INCLUDE_vTaskDelay */

FreeRTOS 系统配置

3.1 FreeRTOSConfig.h 文件

3.1.1 “INCLUDE_”开始的宏

#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

3.1 .2“config”开始的宏