再用freertos结合hal库写一个中级功能

好的，我可以给您提供一个使用FreeRTOS和HAL库编写的LED闪烁任务作为示例。

首先，我们需要在stm32cubeMX中配置一个GPIO引脚作为输出，用于控制LED灯的开关。然后，我们需要在main.c中初始化FreeRTOS和HAL库，并创建一个任务来闪烁LED灯。

下面是示例代码：

#include "main.h"
#include "cmsis_os.h"

/* Private variables ---------------------------------------------------------*/
TIM_HandleTypeDef htim2;

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_TIM2_Init(void);
void LEDToggleTask(void const * argument);

int main(void)
{
  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* Configure the system clock */
  SystemClock_Config();

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM2_Init();

  /* Initialize FreeRTOS */
  osKernelInitialize();

  /* Create the LED toggle task */
  osThreadDef(LEDTask, LEDToggleTask, osPriorityNormal, 0, 128);
  osThreadCreate(osThread(LEDTask), NULL);

  /* Start FreeRTOS */
  osKernelStart();

  /* We should never get here as control is now taken by the scheduler */

  /* Infinite loop */
  while (1)
  {
  }
}

void LEDToggleTask(void const * argument)
{
  /* Infinite loop */
  for(;;)
  {
    HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);
    osDelay(500);
  }
}

void MX_GPIO_Init(void)
{
  GPIO_InitTypeDef GPIO_InitStruct = {0};

  /* GPIO Ports Clock Enable */
  __HAL_RCC_GPIOA_CLK_ENABLE();

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(LED_GPIO_Port, LED_Pin, GPIO_PIN_RESET);

  /*Configure GPIO pin : LED_Pin */
  GPIO_InitStruct.Pin = LED_Pin;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Pull = GPIO_NOPULL;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(LED_GPIO_Port, &GPIO_InitStruct);
}

void MX_TIM2_Init(void)
{
  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
  TIM_MasterConfigTypeDef sMasterConfig = {0};

  htim2.Instance = TIM2;
  htim2.Init.Prescaler = 8000-1;
  htim2.Init.CounterMode = TIM_COUNTERMODE_UP;
  htim2.Init.Period = 1000-1;
  htim2.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
  if (HAL_TIM_Base_Init(&htim2) != HAL_OK)
  {
    Error_Handler();
  }

  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
  if (HAL_TIM_ConfigClockSource(&htim2, &sClockSourceConfig) != HAL_OK)
  {
    Error_Handler();
  }

  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
  if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
  {
    Error_Handler();
  }

  if (HAL_TIM_Base_Start(&htim2) != HAL_OK)
  {
    Error_Handler();
  }
}

void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
  {
    Error_Handler();
  }
}

void Error_Handler(void)
{
  /* User can add his own implementation to report the HAL error return state */
  while(1)
  {
  }
}

#ifdef  USE_FULL_ASSERT
void assert_failed(uint8_t *file, uint32_t line)
{ 
}
#endif

在上面的代码中，我们创建了一个LEDToggleTask，它会在GPIO引脚上控制LED灯的开关。我们还使用HAL库初始化了GPIO引脚和定时器，以便在任务中使用。最后，我们启动了FreeRTOS内核并让它运行。

请注意，这只是一个示例，您可以根据自己的需求修改和定制代码。