# STM32FreeRTOS

**Repository Path**: kaikong/STM32FreeRTOS

## Basic Information

- **Project Name**: STM32FreeRTOS
- **Description**: Real Time Operating System implemented for STM32
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2019-10-18
- **Last Updated**: 2026-05-13

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# STM32 FreeRTOS Library for Arduino

This is a port of FreeRTOS for STM32 as Arduino libraries.

For more information about FreeRTOS, visit the [FreeRTOS Web Site](http://www.freertos.org/ "FreeRTOS").
Also, See the very useful [Getting Started](http://www.freertos.org/FreeRTOS-quick-start-guide.html "Quick Start Guide") page.

This library provides 2 FreeRTOS versions:
 * [9.0.0](http://www.freertos.org/FreeRTOS-V9.html)
 * [10.0.1](http://www.freertos.org/FreeRTOS-V10.html)

Both have been modified by ST (See st_readme.txt in FreeRTOS Source).

These are the same provided with the [STM32Cube MCU Packages](http://www.st.com/en/embedded-software/stm32cube-mcu-packages.html)

## Configuration

FreeRTOS has several configuration options, which can be specified from within the FreeRTOSConfig.h file.

This library provides a default FreeRTOS configuration file named `FreeRTOSConfig_Default.h`.

User can provide his own FreeRTOS configuration file at sketch level by adding his configuration in a file named `STM32FreeRTOSConfig.h`.

Or add extra FreeRTOS configuration to the default at sketch level by adding an extra configuration in a file named `STM32FreeRTOSConfig_extra.h`.

Heap allocation schemes are provided by FreeRTOS, see [Memory allocation implementations included in the RTOS source](https://www.freertos.org/a00111.html).
To extend those schemes a thread-safe heap allocation using C runtime (Newlib) has been added based on Dave Nadler work:

http://www.nadler.com/embedded/newlibAndFreeRTOS.html

By default, the `heap_useNewlib.c` is used. It can be changed thanks a define in the configuration file:
```
/* Define memory allocation implementations to use:
 * 1 to 5 for heap_[1-5].c
 * -1 for heap_useNewlib.c
 * Default -1 see heap.c
 */
```

Since v10.0.1, CMSIS-RTOSv2 can be used instead of default CMSIS-RTOS.

`configUSE_CMSIS_RTOS_V2` has to be defined and set to `1` to use
CMSIS-RTOSv2.


## Limitations

* MPU: not supported.
* No CMSIS-RTOSv2 support provided. It is provided as example.

## Files & Configuration

* STM32FreeRTOS.h : Must always be #include first. It references required include files.
* STM32FreeRTOSConfig.h : If exist at sketch level, it contains the FreeRTOS configurations.
* STM32FreeRTOSConfig_extra.h : If exist at sketch level, it contains extra FreeRTOS configurations.
* FreeRTOSConfig_Default.h : Contains the default FreeRTOS configurations for this STM32 port if `STM32FreeRTOSConfig.h` doesn't exist.

## Test results (using [Arduino_Core_STM32](https://github.com/stm32duino/Arduino_Core_STM32))

### STM32FreeRTOS v9.0.x
| Board | AnalogRead_DigitalRead | Blink_AnalogRead | frBlink | frBlinkPrint | frJitter | frLiuLayland |
| --- | :---: | :---: | :---: | :---: | :---: | :---: |
| [Nucleo F091RC](http://www.st.com/en/evaluation-tools/nucleo-f091rc.html) | PASSED | PASSED | PASSED | PASSED | PASSED | FAILED |
| [Nucleo F103RB](http://www.st.com/en/evaluation-tools/nucleo-f103rb.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |
| [Nucleo F303RE](http://www.st.com/en/evaluation-tools/nucleo-f303re.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |
| [Nucleo F429ZI](http://www.st.com/en/evaluation-tools/nucleo-f429zi.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |
| [STM32F746G-DISCOVERY](http://www.st.com/en/evaluation-tools/32f746gdiscovery.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |
| [Nucleo L053R8](http://www.st.com/en/evaluation-tools/nucleo-l053r8.html) | PASSED* | PASSED* | PASSED* | PASSED* | PASSED* | FAILED |
| [Nucleo L152RE](http://www.st.com/en/evaluation-tools/nucleo-l152re.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |
| [B-L475E-IOT01A](http://www.st.com/en/evaluation-tools/b-l475e-iot01a.html) | PASSED | PASSED | PASSED | PASSED | PASSED | PASSED |

### STM32FreeRTOS v10.0.x
| Board | AnalogRead_DigitalRead | frBlinkPrint | frLiuLayland | frBlink (CMSIS-RTOSv2) | Blinky (CMSIS-RTOSv2) |
| --- | :---: | :---: | :---: | :---: | :---: |
| [Nucleo F091RC](http://www.st.com/en/evaluation-tools/nucleo-f091rc.html) | PASSED | PASSED | FAILED | PASSED | PASSED |
| [Nucleo F103RB](http://www.st.com/en/evaluation-tools/nucleo-f103rb.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
| [Nucleo F303RE](http://www.st.com/en/evaluation-tools/nucleo-f303re.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
| [Nucleo F429ZI](http://www.st.com/en/evaluation-tools/nucleo-f429zi.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
| [STM32F746G-DISCOVERY](http://www.st.com/en/evaluation-tools/32f746gdiscovery.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
| [Nucleo-G071RB](https://www.st.com/en/evaluation-tools/nucleo-g071rb.html) | PASSED | PASSED | FAILED | PASSED | PASSED |
| [Nucleo H743ZI](https://www.st.com/en/evaluation-tools/nucleo-h743zi.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
| [Nucleo L053R8](http://www.st.com/en/evaluation-tools/nucleo-l053r8.html) | PASSED* | PASSED* | FAILED | PASSED | PASSED |
| [Nucleo L152RE](http://www.st.com/en/evaluation-tools/nucleo-l152re.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
| [B-L475E-IOT01A](http://www.st.com/en/evaluation-tools/b-l475e-iot01a.html) | PASSED | PASSED | PASSED | PASSED | PASSED |
| [P-Nucleo-WB55RG](https://www.st.com/en/evaluation-tools/p-nucleo-wb55.html) | PASSED | PASSED | FAILED | PASSED | PASSED |

\* PASSED with `configUSE_NEWLIB_REENTRANT` set to 0 due to small RAM.