FreeRTOS的配置：

FreeRTOSConfig.h文件中的配置如下：

/* Ensure stdint is only used by the compiler, and not the assembler. */

#if defined(__ICCARM__) || defined(__CC_ARM) || defined(__GNUC__)

#include

extern volatile uint32_t ulHighFrequencyTimerTicks;

#endif

#define configUSE_PREEMPTION         1

#define configUSE_IDLE_HOOK          0

#define configUSE_TICK_HOOK          0

#define configCPU_CLOCK_HZ           ( ( unsigned long ) 72000000 )

#define configTICK_RATE_HZ           ( ( TickType_t ) 1000 )

#define configMAX_PRIORITIES         ( 5 )

#define configMINIMAL_STACK_SIZE     ( ( unsigned short ) 128 )

#define configTOTAL_HEAP_SIZE        ( ( size_t ) ( 17 * 1024 ) )

#define configMAX_TASK_NAME_LEN      ( 16 )

#define configUSE_TRACE_FACILITY      1

#define configUSE_16_BIT_TICKS       0

#define configIDLE_SHOULD_YIELD      1

/* Run time and task stats gathering related definitions. */

#define configGENERATE_RUN_TIME_STATS                1

#define configUSE_STATS_FORMATTING_FUNCTIONS         1

#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()     (ulHighFrequencyTimerTicks = 0ul)

#define portGET_RUN_TIME_COUNTER_VALUE()             ulHighFrequencyTimerTicks

//#define portALT_GET_RUN_TIME_COUNTER_VALUE           1

/* Co-routine definitions. */

#define configUSE_CO_ROUTINES            0

#define configMAX_CO_ROUTINE_PRIORITIES ( 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      0

#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              0x0f

/* 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         0x01