Porting FreeRTOS to STM32 From Scratch

01 Why Port FreeRTOS Yourself? Understand why manually porting FreeRTOS to STM32 is useful when you want to learn the scheduler, interrupt, stack, and build-system boundaries instead of treating the RTOS as generated project code. 02 Preparing an STM32 CMake Project for FreeRTOS Prepare an existing STM32 CMake project for FreeRTOS by choosing source layout, configuration locations, include boundaries, and build ownership before adding kernel files. 03 Adding FreeRTOS Source Files to the Build Add the FreeRTOS kernel, Cortex-M portable layer, heap implementation, and include paths to an STM32 CMake project without hiding what each file contributes. 04 Understanding the FreeRTOS Portable Layer Understand what the FreeRTOS portable layer does on STM32, including stack setup, scheduler startup, critical sections, and Cortex-M exception-based context switching. 05 Configuring FreeRTOSConfig.h for STM32 Configure the FreeRTOSConfig.h settings needed for first STM32 scheduler bring-up, including tick rate, CPU clock assumptions, priorities, assertions, allocation, and minimal kernel features. 06 Setting Up the SysTick Timer for the RTOS Tick Connect the FreeRTOS scheduler tick to the Cortex-M SysTick timer on STM32 and understand how tick rate, CPU clock, interrupt priority, and delay timing fit together. 07 Wiring PendSV and SVC for Context Switching Wire the Cortex-M PendSV and SVC exception handlers used by the FreeRTOS port so the scheduler can start the first task and switch task contexts on STM32. 08 Creating the First FreeRTOS Tasks on STM32 Create minimal FreeRTOS tasks on STM32, start the scheduler, and verify that task switching is working without adding unnecessary application complexity. 09 Debugging the FreeRTOS Scheduler Bring-Up Debug common FreeRTOS scheduler bring-up failures on STM32, including failed task creation, default handler traps, missing ticks, stack problems, priority mistakes, and assertions. 10 Using Queues and Delays Without Breaking Timing Use FreeRTOS queues and delays on STM32 while keeping timing, blocking behavior, queue capacity, and ISR boundaries explicit. 11 Moving Peripheral Work into FreeRTOS Tasks Move STM32 peripheral work into FreeRTOS tasks without turning every driver into an RTOS dependency or hiding timing and interrupt boundaries. 12 When to Use Bare Metal, HAL, or FreeRTOS on STM32 Choose between a simple bare-metal loop, STM32 HAL callbacks, project-specific drivers, and FreeRTOS tasks based on timing, complexity, concurrency, debugging cost, and firmware structure.