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chore: upgrade FreeRTOS to v2 (CMSIS-RTOS_V2), update CubeMX project config

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- Remove CMSIS-RTOS v1 (cmsis_os.h/cmsis_os.c), add CMSIS-RTOS v2 (cmsis_os2.c/freertos_os2.h/mpool.h)
- Update FreeRTOS kernel, port, and headers to match v2 integration
- Remove unused heap implementations, keep heap_4
- Update CubeMX project config (.mxproject, .ioc, CMakeLists.txt)
- Update FreeRTOSConfig.h, freertos.c, main.c, stm32h7xx_it.c
- Update application modules (master_machine, dmmotor)
- Add CMSIS-RTOS2 headers, mpu_syscall_numbers.h, newlib/picolibc support
This commit is contained in:
李傲琦
2026-05-30 20:40:00 +08:00
parent b7328a0c93
commit 8763b25839
63 changed files with 27596 additions and 23151 deletions
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cmake/stm32cubemx/CMakeLists.txt
+24 -1
View File
@@ -16,6 +16,10 @@ set(MX_Include_Dirs
${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/Target
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32H7xx_HAL_Driver/Inc/Legacy
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/include
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/RTOS2/Include
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32H7xx/Include
@@ -31,6 +35,7 @@ set(MX_Application_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App/usbd_cdc_if.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/adc.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/dma.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/fdcan.c
@@ -90,6 +95,19 @@ set(USB_Device_Library_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c
)
set(FreeRTOS_Src
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/Common/mpu_wrappers_v2.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/list.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/queue.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/tasks.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/timers.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
)
# Link directories setup
set(MX_LINK_DIRS
@@ -99,7 +117,7 @@ set(MX_LINK_DIRS
set(MX_LINK_LIBS
STM32_Drivers
${TOOLCHAIN_LINK_LIBRARIES}
USB_Device_Library
USB_Device_Library
FreeRTOS
)
@@ -116,6 +134,11 @@ target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
# Create USB_Device_Library static library
add_library(USB_Device_Library OBJECT)
target_sources(USB_Device_Library PRIVATE ${USB_Device_Library_Src})
target_link_libraries(USB_Device_Library PUBLIC stm32cubemx)
# Create FreeRTOS static library
add_library(FreeRTOS OBJECT)
target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})
target_link_libraries(FreeRTOS PUBLIC stm32cubemx)