依据以上文档，写FreeRTOS程序

要将上述代码转换为使用FreeRTOS的程序，我们需要对代码进行一些结构调整，以适应FreeRTOS的任务调度机制。以下是基于FreeRTOS的示例程序：

#include "FreeRTOS.h"
#include "task.h"
#include "delay.h"
#include "sys.h"
#include "lcd.h"
#include "touch.h"
#include "gui.h"
#include "test.h"
#include "DS2431.h"
#include "DS2807.h"
#include "adc.h"
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "key.h"
#include "led.h"
#include "usart.h"

// 定义任务句柄
TaskHandle_t xTask1Handle = NULL;
TaskHandle_t xTask2Handle = NULL;

// 全局变量
uint8_t led_state = 0;
uint8_t led_count = 0;
uint8_t sensor1 = 0;
uint8_t sensor2 = 0;
unsigned char arr1_id[8];
unsigned char arr2_id[8];
unsigned char write_data[128];
unsigned char read_data[128];
unsigned char status;
unsigned char position[5] = { 12, 41, 65, 89, 12 };
unsigned char position_data[5];

// 任务1：处理按键和LED
void vTask1(void *pvParameters)
{
    (void)pvParameters;
    while (1)
    {
        if (KEY0 == 1)
        {
            vTaskDelay(pdMS_TO_TICKS(20)); // 去抖动
            if (++led_count > 25)
            {
                led_count = 0;
                if (led_state)
                {
                    GPIO_ResetBits(GPIOA, GPIO_Pin_8);
                }
                else
                {
                    GPIO_SetBits(GPIOA, GPIO_Pin_8);
                }
                led_state = !led_state;
            }
        }
        else
        {
            led_count = 0;
            GPIO_ResetBits(GPIOA, GPIO_Pin_8);
        }
        vTaskDelay(pdMS_TO_TICKS(10)); // 降低CPU占用率
    }
}

// 任务2：处理传感器读取和显示
void vTask2(void *pvParameters)
{
    (void)pvParameters;
    while (1)
    {
        if (KEY0 == 0)
        {
            GPIO_SetBits(GPIOA, GPIO_Pin_4);
            vTaskDelay(pdMS_TO_TICKS(150)); // 去抖动

            if (DS2431_ReadRom(arr1_id) == 0)
            {
                printf("DS2431 found with serial number: %02X %02X %02X %02X %02X %02X %02X %02X\r\n",
                       arr1_id[0], arr1_id[1], arr1_id[2], arr1_id[3],
                       arr1_id[4], arr1_id[5], arr1_id[6], arr1_id[7]);
                Show_Str(3, 20, GREEN, YELLOW, (u8 *)"DS28E07+ A ID:", 24, 1);
                sprintf((char *)arr1_id, "%02X%02X%02X%02X%02X%02X%02X%02X\r\n",
                        arr1_id[0], arr1_id[1], arr1_id[2], arr1_id[3],
                        arr1_id[4], arr1_id[5], arr1_id[6], arr1_id[7]);
                Show_Str(1, 40, RED, RED, arr1_id, 15, 1);
                sensor1 = 1;
            }
            else
            {
                printf("DS2431_ReadRom failed，请检查硬件连线 \r\n");
                Show_Str(3, 20, BLUE, BLUE, (u8 *)" A IC is error!", 24, 1);
                sensor1 = 0;
            }

            vTaskDelay(pdMS_TO_TICKS(30));

            if (DS2807_ReadRom(arr2_id) == 0)
            {
                printf("DS2807 found with serial number: %02X %02X %02X %02X %02X %02X %02X %02X\r\n",
                       arr2_id[0], arr2_id[1], arr2_id[2], arr2_id[3],
                       arr2_id[4], arr2_id[5], arr2_id[6], arr2_id[7]);
                Show_Str(3, 60, GREEN, YELLOW, (u8 *)"DS28E07+ B ID:", 24, 1);
                sprintf((char *)arr2_id, "%02X%02X%02X%02X%02X%02X%02X%02X\r\n",
                        arr2_id[0], arr2_id[1], arr2_id[2], arr2_id[3],
                        arr2_id[4], arr2_id[5], arr2_id[6], arr2_id[7]);
                Show_Str(1, 80, RED, RED, arr2_id, 15, 1);
                sensor2 = 1;
            }
            else
            {
                printf("DS2807_ReadRom failed，请检查硬件连线 \r\n");
                Show_Str(3, 60, BLUE, BLUE, (u8 *)" B IC is error!", 24, 1);
                sensor2 = 0;
            }

            if (sensor1 == 1 && sensor2 == 1)
            {
                GPIO_ResetBits(GPIOA, GPIO_Pin_4);
                vTaskDelay(pdMS_TO_TICKS(300));
                GPIO_SetBits(GPIOB, GPIO_Pin_7); // PASS
                vTaskDelay(pdMS_TO_TICKS(300));
                GPIO_ResetBits(GPIOB, GPIO_Pin_7);
                GPIO_ResetBits(GPIOC, GPIO_Pin_7);
            }
            else
            {
                GPIO_ResetBits(GPIOB, GPIO_Pin_7);
                GPIO_SetBits(GPIOC, GPIO_Pin_7); // PASS
                vTaskDelay(pdMS_TO_TICKS(300));
                GPIO_ResetBits(GPIOA, GPIO_Pin_4);
            }
        }
        vTaskDelay(pdMS_TO_TICKS(100)); // 降低CPU占用率
    }
}

int main(void)
{
    /* 初始化write_data 装ascii */
    for (int idx = 0; idx < 128; idx++)
    {
        write_data[idx] = idx;
    }

    Stm32_Clock_Init(9);       /* 系统时钟设置 */
    delay_init(72);            // 延时初始化
    uart_init(72, 9600);       /* 串口初始化为9600 */
    KEY_Init();
    LED_Init();
    Adc_Init();
    DS2431_Init();
    DS2807_Init();
    LCD_Init(); // 液晶屏初始化
    LCD_Clear(BLACK); // 清屏
    POINT_COLOR = WHITE;

    // 创建任务
    xTaskCreate(vTask1, "Task1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, &xTask1Handle);
    xTaskCreate(vTask2, "Task2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, &xTask2Handle);

    // 启动调度器
    vTaskStartScheduler();

    // 如果调度器退出（不应该发生），则进入死循环
    for (;;)
    {
        ;
    }
}

### 说明
1. **任务创建**：在`main`函数中创建了两个任务`vTask1`和`vTask2`，分别处理按键和LED以及传感器读取和显示。
2. **任务调度**：使用`vTaskStartScheduler()`启动FreeRTOS调度器。
3. **任务延迟**：使用`vTaskDelay(pdMS_TO_TICKS(ms))`来实现任务延迟，替代原有的`delay_ms(ms)`。
4. **任务优先级**：任务优先级设置为`tskIDLE_PRIORITY + 1`，确保任务优先级高于空闲任务。

这样，程序就可以在FreeRTOS环境下运行，并且能够更好地管理多个任务。