步骤一、正常配置cubemx。

这一步骤就不过多介绍了，正常配就好了

步骤二、下面三个中断向量必须取消勾选

然后生成代码：

步骤三、选中RTX5系统

按照下面三个步骤即可：

步骤四、取消startup到目录

设置那些到此就好了，接下来在main文件里添加启动代码

步骤五：添加启动代码

1、添加头文件

在/* USER CODE BEGIN Includes */的下一行添加

#include "bsp.h"
#include "RTE_Components.h"             #ifdef RTE_Compiler_EventRecorder#include "EventRecorder.h"            #endif
#include "cmsis_os2.h"

注意：#include "bsp.h"是我自己的头文件

2、添加tick等函数

在/* USER CODE BEGIN 0 */下一行添加

uint32_t HAL_GetTick (void) {static uint32_t ticks = 0U;uint32_t i;if (osKernelGetState () == osKernelRunning) {return ((uint32_t)osKernelGetTickCount ());} /* If Kernel is not running wait approximately 1 ms then increment and return auxiliary tick counter value */for (i = (SystemCoreClock >> 14U); i > 0U; i--) { __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); }return ++ticks; }
extern void app_main (void* arg);

注意：extern void app_main (void* arg);是我自己的函数

3、添加启动代码

在 /* USER CODE BEGIN 2 */下一行添加

 bsp_Init();#ifdef RTE_Compiler_EventRecorderEventRecorderInitialize(EventRecordAll, 1);#endifSystemCoreClockUpdate();osKernelInitialize();                 // Initialize CMSIS-RTOSosThreadNew(app_main, NULL, NULL);    // Create application main threadosKernelStart();

注意：bsp_Init();是我自己定义的外设驱动初始化函数。在bsp.c里。
到此，结束。

我自己的分类：

下面给我自己app_main.c，app_main.c，app_main.h，bsp.c及 bsp.h内容，仅供参考：

main.c

/* USER CODE BEGIN Header */
/********************************************************************************* @file           : main.c* @brief          : Main program body******************************************************************************* @attention** <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.* All rights reserved.</center></h2>** This software component is licensed by ST under BSD 3-Clause license,* the "License"; You may not use this file except in compliance with the* License. You may obtain a copy of the License at:*                        opensource.org/licenses/BSD-3-Clause********************************************************************************/
/* USER CODE END Header *//* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "can.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include "fmc.h"/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "bsp.h"
#include "RTE_Components.h"             #ifdef RTE_Compiler_EventRecorder#include "EventRecorder.h"            #endif
#include "cmsis_os2.h"
/* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD *//* USER CODE END PTD *//* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD *//* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM *//* USER CODE END PM *//* Private variables ---------------------------------------------------------*//* USER CODE BEGIN PV *//* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP *//* USER CODE END PFP *//* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint32_t HAL_GetTick (void) {static uint32_t ticks = 0U;uint32_t i;if (osKernelGetState () == osKernelRunning) {return ((uint32_t)osKernelGetTickCount ());} /* If Kernel is not running wait approximately 1 ms then increment and return auxiliary tick counter value */for (i = (SystemCoreClock >> 14U); i > 0U; i--) { __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); __NOP(); }return ++ticks; }
extern void app_main (void* arg);
/* USER CODE END 0 *//*** @brief  The application entry point.* @retval int*/
int main(void)
{/* USER CODE BEGIN 1 *//* USER CODE END 1 *//* MCU Configuration--------------------------------------------------------*//* Reset of all peripherals, Initializes the Flash interface and the Systick. */HAL_Init();/* USER CODE BEGIN Init *//* USER CODE END Init *//* Configure the system clock */SystemClock_Config();/* USER CODE BEGIN SysInit *//* USER CODE END SysInit *//* Initialize all configured peripherals */MX_GPIO_Init();MX_TIM2_Init();MX_TIM5_Init();MX_UART4_Init();MX_USART3_UART_Init();MX_TIM4_Init();MX_FMC_Init();MX_CAN1_Init();MX_TIM1_Init();MX_TIM9_Init();/* USER CODE BEGIN 2 */bsp_Init();#ifdef RTE_Compiler_EventRecorderEventRecorderInitialize(EventRecordAll, 1);#endifSystemCoreClockUpdate();osKernelInitialize();                 // Initialize CMSIS-RTOSosThreadNew(app_main, NULL, NULL);    // Create application main threadosKernelStart();/* USER CODE END 2 *//* Infinite loop *//* USER CODE BEGIN WHILE */while (1){/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}/* USER CODE END 3 */
}/*** @brief System Clock Configuration* @retval None*/
void SystemClock_Config(void)
{RCC_OscInitTypeDef RCC_OscInitStruct = {0};RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};/** Configure the main internal regulator output voltage */__HAL_RCC_PWR_CLK_ENABLE();__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);/** Initializes the CPU, AHB and APB busses clocks */RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;RCC_OscInitStruct.HSEState = RCC_HSE_ON;RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;RCC_OscInitStruct.PLL.PLLM = 25;RCC_OscInitStruct.PLL.PLLN = 360;RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;RCC_OscInitStruct.PLL.PLLQ = 8;if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK){Error_Handler();}/** Activate the Over-Drive mode */if (HAL_PWREx_EnableOverDrive() != HAL_OK){Error_Handler();}/** Initializes the CPU, AHB and APB busses clocks */RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK){Error_Handler();}
}/* USER CODE BEGIN 4 *//* USER CODE END 4 *//*** @brief  This function is executed in case of error occurrence.* @retval None*/
void Error_Handler(void)
{/* USER CODE BEGIN Error_Handler_Debug *//* User can add his own implementation to report the HAL error return state *//* USER CODE END Error_Handler_Debug */
}#ifdef  USE_FULL_ASSERT
/*** @brief  Reports the name of the source file and the source line number*         where the assert_param error has occurred.* @param  file: pointer to the source file name* @param  line: assert_param error line source number* @retval None*/
void assert_failed(uint8_t *file, uint32_t line)
{ /* USER CODE BEGIN 6 *//* User can add his own implementation to report the file name and line number,tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) *//* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT *//************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

app_main.c

#include "bsp.h"
#include "cmsis_os2.h"                  // ::CMSIS:RTOS2
#include "app_main.h"/* 任务句柄 */
osThreadId_t led_ids  = NULL;
osThreadId_t main_ids  = NULL;
osThreadId_t epos_ids = NULL;
osThreadId_t temperature_ids = NULL;/*timer*/
osTimerId_t  timer0_id;//200ms 定时器
osTimerId_t  timer1_id;//1000mS定时器/*Mutex &semaphore & queue handle*/
osSemaphoreId_t     sid_Semaphore_softtimer0;
osSemaphoreId_t     sid_Semaphore_softtimer1;
osSemaphoreId_t   sid_Semaphore_exit;//外部中断osMessageQueueId_t  mid_MsgQueue_ICAPTURE;//输入捕获值
osMessageQueueId_t  mid_MsgQueue_EPOS_rx;
osMessageQueueId_t  mid_MsgQueue_WLAN_rx;
osMessageQueueId_t  mid_MsgQueue_Set_EPOS;
osMessageQueueId_t  mid_MsgQueue_Set_temperature;
osMessageQueueId_t  mid_MsgQueue_feedbak_temperature;
osMessageQueueId_t  mid_MsgQueue_feedback_EPOS;/*event*/
osEventFlagsId_t    mid_event_Inited;uint64_t appmain_StackMemory[STACK_SIZE2K]   __attribute__((at(0x20028000)));   //0x20028000 ~ 0x200287ff size 2k
uint64_t SR2_StackMemory[STACK_SIZE2K]       __attribute__((at(0x20028800)));   //0x20028800 ~ 0x200289ff size 2K
uint64_t led_StackMemory[STACK_SIZE2K]       __attribute__((at(0x20029000)));   //0x20028a00 ~ 0x20028bff size 2K
uint64_t epos_StackMemory[STACK_SIZE2K]      __attribute__((at(0x20029800)));   //0x20028c00 ~ 0x20028fff size 2k
/*----------------------------------------------------------------------------
Initilise main thread*---------------------------------------------------------------------------*/static const osThreadAttr_t ThreadAttr_MAIN = {.name = "Main_Thread",                                                        //This decleration requires C99 to be selected in the project compiler options.priority=osPriorityNormal,.stack_mem = &appmain_StackMemory[0],.stack_size =sizeof(appmain_StackMemory)
};/*----------------------------------------------------------------------------
Initilise LED thread*---------------------------------------------------------------------------*/static const osThreadAttr_t ThreadAttr_LED = {.name = "LED_Thread",                                                       //This decleration requires C99 to be selected in the project compiler options.priority=osPriorityRealtime,//osPriorityAboveNormal,//osPriorityNormal,//,.stack_mem = &led_StackMemory[0],.stack_size =sizeof(led_StackMemory),
};/*----------------------------------------------------------------------------
Initilise SR2*---------------------------------------------------------------------------*/
static const osThreadAttr_t ThreadAttr_TEMP = {.name = "SR2_Thread",                                                        //This decleration requires C99 to be selected in the project compiler options.priority=osPriorityNormal,.stack_mem = &SR2_StackMemory[0],.stack_size =sizeof(SR2_StackMemory),
};/*----------------------------------------------------------------------------
Initilise SR2*---------------------------------------------------------------------------*/
static const osThreadAttr_t ThreadAttr_EPOS = {.name = "EPOS_Thread",                                                       //This decleration requires C99 to be selected in the project compiler options.priority=osPriorityNormal,.stack_mem = &epos_StackMemory[0],.stack_size =sizeof(epos_StackMemory),
};static const osSemaphoreAttr_t semAttr_SEM1 = {.name = "sid_Semaphore_exit",
};static const osEventFlagsAttr_t EventFlagAttr_Inited= {.name = "Inite_Events",
};
/*
*********************************************************************************************************
*   函 数 名: AppTaskCreate
*   功能说明: 创建应用任务
*   形    参: 无
*   返 回 值: 无
*********************************************************************************************************
*/static void AppTaskCreate (void)
{led_ids=osThreadNew(led_thread, NULL, &ThreadAttr_LED);temperature_ids=osThreadNew(temperature_thread, NULL, &ThreadAttr_TEMP);main_ids=osThreadNew(main_thread, NULL, &ThreadAttr_MAIN);epos_ids=osThreadNew(epos_thread, NULL, &ThreadAttr_EPOS);
}/*
*********************************************************************************************************
*   函 数 名: AppObjCreate
*   功能说明: 创建任务通信机制
*   形    参: 无
*   返 回 值: 无
*********************************************************************************************************
*/
static const  osTimerAttr_t timerAttr_timer0 = {.name = "timer_0",
};
static const  osTimerAttr_t timerAttr_timer1 = {.name = "timer_1",
};
static const  osMessageQueueAttr_t MessageAttr_epos4rx = {.name = "EPOS4_rx",
};
static const  osMessageQueueAttr_t MessageAttr_epos4set = {.name = "EPOS4_set",
};
//软件定时器0中断回调函数
void callback0(void *param)
{switch( (uint32_t) param){     case 0:osSemaphoreRelease(sid_Semaphore_softtimer0);//200mS break;}
}
//软件定时器1中断回调函数
void callback1(void *param)
{switch( (uint32_t) param){     case 0:osSemaphoreRelease(sid_Semaphore_softtimer1);//1000mS break;}
}
/*----------------------------------------------------------------------------*      Message Queue creation & usage*      Initilise the LED's, Create the semaphore *---------------------------------------------------------------------------*/
int AppObjCreate (void)
{/*timer*/timer0_id = osTimerNew(&callback0, osTimerPeriodic,(void *)0, &timerAttr_timer0);    //软件定时器timer0 200msif (timer0_id == NULL)return -1;osTimerStart(timer0_id, 200);//200mS定时开始计时timer1_id = osTimerNew(&callback1, osTimerPeriodic,(void *)0, &timerAttr_timer1);   //软件定时器timer1 1Sif (timer1_id == NULL)return -1;
//  osTimerStart(timer1_id, 1000);//1S定时开始计时    /*Creat queue*/mid_MsgQueue_EPOS_rx = osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(loopData_Typedef), &MessageAttr_epos4rx);if (mid_MsgQueue_EPOS_rx == NULL) {return -1;}  mid_MsgQueue_WLAN_rx = osMessageQueueNew(modBUS_Rx_frame_item,sizeof(loopData_Typedef), NULL);if (mid_MsgQueue_WLAN_rx == NULL) {return -1;} mid_MsgQueue_ICAPTURE=osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(icapture_t), NULL);if (mid_MsgQueue_ICAPTURE == NULL) {return -1;}mid_MsgQueue_Set_EPOS = osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(val_set_t), &MessageAttr_epos4set);if (mid_MsgQueue_Set_EPOS == NULL) {return -1;}mid_MsgQueue_Set_temperature = osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(val_set_t), NULL);if (mid_MsgQueue_Set_temperature == NULL) {return -1;}mid_MsgQueue_feedback_EPOS = osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(fb_EPOS_t), NULL);if (mid_MsgQueue_feedback_EPOS == NULL) {return -1;}mid_MsgQueue_feedbak_temperature = osMessageQueueNew(msgQUEUE_OBJECTS,sizeof(fb_TEMP_t), NULL);if (mid_MsgQueue_feedbak_temperature == NULL) {return -1; // Message Queue object not created, handle failure}
/* Creat Semaphore *//*timer*/sid_Semaphore_softtimer0 = osSemaphoreNew(1, 0, NULL );if(sid_Semaphore_softtimer0 == NULL){return -1;}sid_Semaphore_softtimer1 = osSemaphoreNew(1, 0, NULL );    if(sid_Semaphore_softtimer1 == NULL){return -1;}sid_Semaphore_exit = osSemaphoreNew(1, 0, &semAttr_SEM1 );   if(sid_Semaphore_exit == NULL){return -1;// Semaphore object not created, handle failure}/*event*/    mid_event_Inited = osEventFlagsNew(&EventFlagAttr_Inited);if(mid_event_Inited == NULL){return -1;}return (0);
}void app_main (void const* arg)
{/* 创建任务 */AppTaskCreate();/* 创建任务通信机制 */AppObjCreate();while(1) {if(sfr_Disp.runState == EError){LED_RUNNING_OFF();LED_ERROR_Toggle();                   }else{LED_ERROR_OFF();//拉低 LED_RUNNING_Toggle();}osDelay(200);}
}

app_main.h

#ifndef __APP_MAIN_H__
#define __APP_MAIN_H__
#include "cmsis_os2.h"               #define STACK_SIZE2K   256
#define STACK_SIZE512  64
#define msgQUEUE_OBJECTS 5 /* 任务句柄 */
extern  osThreadId_t    smc_ids;
extern  osThreadId_t    main_ids;
extern  osThreadId_t    epos_ids;
extern  osThreadId_t    temperature_ids;
extern  osThreadId_t  updata_ids;/*queue*/
extern  osMessageQueueId_t  mid_MsgQueue_ICAPTURE;//输入捕获
extern  osMessageQueueId_t  mid_MsgQueue_EPOS_rx;
extern  osMessageQueueId_t  mid_MsgQueue_WLAN_rx;
extern  osMessageQueueId_t  mid_MsgQueue_Set_EPOS;
extern  osMessageQueueId_t  mid_MsgQueue_Set_temperature;
extern  osMessageQueueId_t  mid_MsgQueue_feedbak_temperature;
extern  osMessageQueueId_t  mid_MsgQueue_feedback_EPOS;/*semaphore*/
extern  osSemaphoreId_t     sid_Semaphore_softtimer0;
extern  osSemaphoreId_t     sid_Semaphore_softtimer1;
extern  osSemaphoreId_t   sid_Semaphore_exit;//epos/*timer*/
extern  osTimerId_t     timer0_id;//200ms  定时
extern  osTimerId_t     timer1_id;//1000mS 定时/*event*/
extern  osEventFlagsId_t    mid_event_Inited;/* 供外部调用的函数声明 */
static void AppTaskCreate (void);
int  AppObjCreate (void);
#endif

bsp.c

#include "bsp.h"
/*
*********************************************************************************************************
*   函 数 名: bsp_Init
*   功能说明: 初始化硬件设备。只需要调用一次。该函数配置CPU寄存器和外设的寄存器并初始化一些全局变量。
*            全局变量。
*   形    参: 无
*   返 回 值: 无
*********************************************************************************************************
*/
void bsp_Init(void)
{/*由于ST固件库的启动文件已经执行了CPU系统时钟的初始化，所以不必再次重复配置系统时钟。启动文件配置了CPU主时钟频率、内部Flash访问速度和可选的外部SRAM FSMC初始化。系统时钟缺省配置为72MHz，如果需要更改，可以修改 system_stm32f10x.c 文件*/SDRAM_Initialization_Sequence(&hsdram1);/*SDRAM初始化*/bsp_InitUart();     /* 初始化串口 */bsp_InitPWM();bsp_InitIcapture();
//      W25QXX_Init();
//      bsp_InitLed();      /* 初始LED指示灯端口 */
//      bsp_InitKey();      /* 初始化按键 */
//      bsp_InitLcd();      /* 初始lcd */
//    bsp_InitSram();   /* 初始sram  测试 */
//      bsp_Initcan();      /* 初始can1  */}

bsp.h
/*
*********************************************************************************************************
*
*   模块名称 : 驱动模块
*   文件名称 : bsp.h
*   版    本 : V1.0
*   说    明 : 头文件
*
*
*********************************************************************************************************
*/
#ifndef __BSP_H__
#define __BSP_H__/*C lib*/
#include <string.h>
#include <stdio.h>
#include "stm32f4xx_hal.h"
#include "main.h"/*thread*/
#include "temperture_thread.h"
#include "epos_thread.h"
#include "main_thread.h"
#include "led_thread.h"bsp.h
/*stm32 lib*/
#include "usart.h"/*bsp*/
#include "app_main.h"
#include "bsp_usart.h"
#include "bsp_w25qxx.h"
#include "bsp_led.h"
#include "pub_delay.h"
#include "bsp_SDRAM.h"
#include "bsp_ModbusSlave.h"
#include "bsp_pwm.h"
#include "bsp_icapture.h"/* 供外部调用的函数声明 */
void bsp_Init(void);#endif

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