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windows clion MingW cmake 编译运行 FreeRTOS

news 2026/5/12 11:22:40

说明

在 windows 平台上，使用 clion IDE，cmake 方式编译 FreeRTOS，编译工具链使用 MingW gcc

下载 FreeRTOS

可以只下载FreeRTOS-Kernel，也可以下载整个 FreeRTOS（包括 git 子模块，体积较大）
https://github.com/FreeRTOS/FreeRTOS-Kernel.git

clion 工程目录

目录如下，FreeRTOS-Kernel为 FreeRTOS 内核代码， port 为 FreeRTOS 适配， sim 为 main 函数入口，用户应用。

CMakeLists.txt FreeRTOS-Kernel port sim

编写`CMakeLists.txt`

当前不直接使用FreeRTOS-Kernel自带的CMakeLists.txt，内容如下

cmake_minimum_required(VERSION3.15)project(rtos-sim)add_definitions(-DprojCOVERAGE_TEST=0)include_directories(port)include_directories(FreeRTOS-Kernel/include FreeRTOS-Kernel/portable/MSVC-MingW port)set(FREERTOS_SOURCES FreeRTOS-Kernel/croutine.c FreeRTOS-Kernel/event_groups.c FreeRTOS-Kernel/list.c FreeRTOS-Kernel/queue.c FreeRTOS-Kernel/stream_buffer.c FreeRTOS-Kernel/tasks.c FreeRTOS-Kernel/timers.c)set(FREERTOS_PORT_SOURCES FreeRTOS-Kernel/portable/MSVC-MingW/port.c FreeRTOS-Kernel/portable/MemMang/heap_4.c port/rtos_port.c)add_executable(rtos-sim sim/main.c${FREERTOS_SOURCES}${FREERTOS_PORT_SOURCES})target_link_libraries(rtos-sim winmm)

【注意】PC端使用FreeRTOS-Kernel/portable/MSVC-MingW
port/rtos_port.c内容如下，主要为 FreeRTOS 需要适配的几个函数，其中 HOOK 函数可以为空函数

#include<stdio.h>#include"FreeRTOS.h"voidvAssertCalled(unsignedlongulLine,constchar*constpcFileName){}voidvApplicationGetIdleTaskMemory(StaticTask_t**ppxIdleTaskTCBBuffer,StackType_t**ppxIdleTaskStackBuffer,uint32_t*pulIdleTaskStackSize){staticStaticTask_t xIdleTaskTCB;staticStackType_t uxIdleTaskStack[configMINIMAL_STACK_SIZE];*ppxIdleTaskTCBBuffer=&xIdleTaskTCB;*ppxIdleTaskStackBuffer=uxIdleTaskStack;*pulIdleTaskStackSize=configMINIMAL_STACK_SIZE;}voidvApplicationGetTimerTaskMemory(StaticTask_t**ppxTimerTaskTCBBuffer,StackType_t**ppxTimerTaskStackBuffer,uint32_t*pulTimerTaskStackSize){staticStaticTask_t xTimerTaskTCB;staticStackType_t uxTimerTaskStack[configTIMER_TASK_STACK_DEPTH];*ppxTimerTaskTCBBuffer=&xTimerTaskTCB;*ppxTimerTaskStackBuffer=uxTimerTaskStack;*pulTimerTaskStackSize=configTIMER_TASK_STACK_DEPTH;}unsignedlongulGetRunTimeCounterValue(void){#if0LARGE_INTEGER liCurrentCount;unsignedlongulReturn;/* What is the performance counter value now? */QueryPerformanceCounter(&liCurrentCount);/* Subtract the performance counter value reading taken when the application started to get a count from that reference point, then scale to (simulated) 1/100ths of a millisecond. */if(llTicksPerHundedthMillisecond==0){/* The trace macros are probably calling this function before the scheduler has been started. */ulReturn=0;}else{ulReturn=(unsignedlong)((liCurrentCount.QuadPart-llInitialRunTimeCounterValue)/llTicksPerHundedthMillisecond);}returnulReturn;#endifreturn0;}voidvApplicationIdleHook(void){}voidvApplicationDaemonTaskStartupHook(void){}voidvConfigureTimerForRunTimeStats(void){#if0LARGE_INTEGER liPerformanceCounterFrequency,liInitialRunTimeValue;/* Initialise the variables used to create the run time stats time base. Run time stats record how much time each task spends in the Running state. */if(QueryPerformanceFrequency(&liPerformanceCounterFrequency)==0){llTicksPerHundedthMillisecond=1;}else{/* How many times does the performance counter increment in 1/100th millisecond. */llTicksPerHundedthMillisecond=liPerformanceCounterFrequency.QuadPart/100000LL;/* What is the performance counter value now, this will be subtracted from readings taken at run time. */QueryPerformanceCounter(&liInitialRunTimeValue);llInitialRunTimeCounterValue=liInitialRunTimeValue.QuadPart;}#endif}voidvApplicationTickHook(void){}voidvApplicationMallocFailedHook(void){printf("%s : memory alloc failed\n",__func__);}

port/FreeRTOSConfig.h，这个来自 FreeRTOS 的 demo，FreeRTOS\FreeRTOS\Demo\WIN32-MingW，基本可以不改动，如下

/* * FreeRTOS V202212.00 * Copyright (C) 2020 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. * * https://www.FreeRTOS.org * https://github.com/FreeRTOS * */#ifndefFREERTOS_CONFIG_H#defineFREERTOS_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 * https://www.FreeRTOS.org/a00110.html *----------------------------------------------------------*/#defineconfigUSE_PREEMPTION1#defineconfigUSE_PORT_OPTIMISED_TASK_SELECTION1#defineconfigUSE_IDLE_HOOK1#defineconfigUSE_TICK_HOOK1#defineconfigUSE_DAEMON_TASK_STARTUP_HOOK1#defineconfigTICK_RATE_HZ(1000)/* In this non-real time simulated environment the tick frequency has to be at least a multiple of the Win32 tick frequency, and therefore very slow. */#defineconfigMINIMAL_STACK_SIZE((unsignedshort)70)/* In this simulated case, the stack only has to hold one small structure as the real stack is part of the win32 thread. */#defineconfigTOTAL_HEAP_SIZE((size_t)(100*1024))#defineconfigMAX_TASK_NAME_LEN(12)#defineconfigUSE_TRACE_FACILITY1#defineconfigIDLE_SHOULD_YIELD1#defineconfigUSE_MUTEXES1#defineconfigCHECK_FOR_STACK_OVERFLOW0#defineconfigUSE_RECURSIVE_MUTEXES1#defineconfigQUEUE_REGISTRY_SIZE20#defineconfigUSE_APPLICATION_TASK_TAG1#defineconfigUSE_COUNTING_SEMAPHORES1#defineconfigUSE_ALTERNATIVE_API0#defineconfigUSE_QUEUE_SETS1#defineconfigUSE_TASK_NOTIFICATIONS1#defineconfigSUPPORT_STATIC_ALLOCATION1/* Tick type width is defined based on the compiler type (32bit or 64bit). */#ifdef__x86_64__#defineconfigTICK_TYPE_WIDTH_IN_BITSTICK_TYPE_WIDTH_64_BITS#else#defineconfigTICK_TYPE_WIDTH_IN_BITSTICK_TYPE_WIDTH_32_BITS#endif/* Software timer related configuration options. The maximum possible task priority is configMAX_PRIORITIES - 1. The priority of the timer task is deliberately set higher to ensure it is correctly capped back to configMAX_PRIORITIES - 1. */#defineconfigUSE_TIMERS1#defineconfigTIMER_TASK_PRIORITY(configMAX_PRIORITIES-1)#defineconfigTIMER_QUEUE_LENGTH20#defineconfigTIMER_TASK_STACK_DEPTH(configMINIMAL_STACK_SIZE*2)#defineconfigMAX_PRIORITIES(7)/* Run time stats gathering configuration options. */unsignedlongulGetRunTimeCounterValue(void);/* Prototype of function that returns run time counter. */voidvConfigureTimerForRunTimeStats(void);/* Prototype of function that initialises the run time counter. */#defineconfigGENERATE_RUN_TIME_STATS1#defineportCONFIGURE_TIMER_FOR_RUN_TIME_STATS()vConfigureTimerForRunTimeStats()#defineportGET_RUN_TIME_COUNTER_VALUE()ulGetRunTimeCounterValue()/* Co-routine related configuration options. */#defineconfigUSE_CO_ROUTINES0#defineconfigMAX_CO_ROUTINE_PRIORITIES(2)/* This demo can use of one or more example stats formatting functions. These format the raw data provided by the uxTaskGetSystemState() function in to human readable ASCII form. See the notes in the implementation of vTaskList() within FreeRTOS/Source/tasks.c for limitations. */#defineconfigUSE_STATS_FORMATTING_FUNCTIONS0/* Enables the test whereby a stack larger than the total heap size is requested. */#defineconfigSTACK_DEPTH_TYPEuint32_t/* Set the following definitions to 1 to include the API function, or zero to exclude the API function. In most cases the linker will remove unused functions anyway. */#defineINCLUDE_vTaskPrioritySet1#defineINCLUDE_uxTaskPriorityGet1#defineINCLUDE_vTaskDelete1#defineINCLUDE_vTaskCleanUpResources0#defineINCLUDE_vTaskSuspend1#defineINCLUDE_vTaskDelayUntil1#defineINCLUDE_vTaskDelay1#defineINCLUDE_uxTaskGetStackHighWaterMark1#defineINCLUDE_uxTaskGetStackHighWaterMark21#defineINCLUDE_xTaskGetSchedulerState1#defineINCLUDE_xTimerGetTimerDaemonTaskHandle1#defineINCLUDE_xTaskGetIdleTaskHandle1#defineINCLUDE_xTaskGetHandle1#defineINCLUDE_eTaskGetState1#defineINCLUDE_xSemaphoreGetMutexHolder1#defineINCLUDE_xTimerPendFunctionCall1#defineINCLUDE_xTaskAbortDelay1#defineconfigINCLUDE_MESSAGE_BUFFER_AMP_DEMO0#if(configINCLUDE_MESSAGE_BUFFER_AMP_DEMO==1)externvoidvGenerateCoreBInterrupt(void*xUpdatedMessageBuffer);#definesbSEND_COMPLETED(pxStreamBuffer)vGenerateCoreBInterrupt(pxStreamBuffer)#endif/* configINCLUDE_MESSAGE_BUFFER_AMP_DEMO */externvoidvAssertCalled(unsignedlongulLine,constchar*constpcFileName);/* projCOVERAGE_TEST should be defined on the command line so this file can be used with multiple project configurations. If it is */#ifndefprojCOVERAGE_TEST#errorprojCOVERAGE_TEST should be defined to1or0on the command line.#endif#if(projCOVERAGE_TEST==1)/* Insert NOPs in empty decision paths to ensure both true and false paths are being tested. */#definemtCOVERAGE_TEST_MARKER()__asmvolatile("NOP")/* Ensure the tick count overflows during the coverage test. */#if(configTICK_TYPE_WIDTH_IN_BITS==TICK_TYPE_WIDTH_64_BITS)#defineconfigINITIAL_TICK_COUNT0xffffffffffffd800ULL#else#defineconfigINITIAL_TICK_COUNT0xffffd800UL#endif/* Allows tests of trying to allocate more than the heap has free. */#defineconfigUSE_MALLOC_FAILED_HOOK0/* To test builds that remove the static qualifier for debug builds. */#defineportREMOVE_STATIC_QUALIFIER#else/* It is a good idea to define configASSERT() while developing. configASSERT() uses the same semantics as the standard C assert() macro. Don't define configASSERT() when performing code coverage tests though, as it is not intended to asserts() to fail, some some code is intended not to run if no errors are present. */#defineconfigASSERT(x)if((x)==0)vAssertCalled(__LINE__,__FILE__)#defineconfigUSE_MALLOC_FAILED_HOOK1/* Include the FreeRTOS+Trace FreeRTOS trace macro definitions. */// #include "trcRecorder.h"#endif#endif/* FREERTOS_CONFIG_H */

接下来就是sim/main.c，也就是主程序 main 函数，当前创建一个 FreeRTOS 的 task，如果 task 正常运行，就说明 FreeRTOS 在 PC 端适配初步成功

#include<stdio.h>#include"FreeRTOS.h"#include"task.h"#defineTEST_01_TASK_PRIORITY2#defineTEST_01_STACK_SIZE1024staticvoidtest_01(void*pvParameters){uint32_tcnt=0;while(1){vTaskDelay(2000*portTICK_PERIOD_MS);printf("%s : cnt = %d\n",__func__,cnt++);}}intmain(intargc,char*argv[]){xTaskCreate(test_01,"test_01",TEST_01_STACK_SIZE,NULL,TEST_01_TASK_PRIORITY,NULL);/* Start the scheduler itself. */vTaskStartScheduler();return0;}