一、安装和配置CMSIS_RTOS.

1.打开KEIL工程，点击MANAGE RUN-TIME Environment图标。

2.勾选CMSIS CORE和RTX.

3.配置RTOS 时钟频率、任务栈大小和数量， 软件定时器.

二、CMSIS_RTOS内核启动和创建线程。

1.包含头文件。

#include "cmsis_os.h"               // CMSIS RTOS header file

2.内核初始化和启动。

int main(){
osKernelInitialize ();                    // initialize CMSIS-RTOS
..do something..
osKernelStart (); while(1){}
}

3.创建线程。

osThreadId main_ID,led_ID1,led_ID2;
osThreadDef(led_thread2, osPriorityAboveNormal, 1, 0);
osThreadDef(led_thread1, osPriorityNormal, 1, 0);void led_thread1 (void const *argument) {}
void led_thread2 (void const *argument) {}int main(){osKernelInitialize ();                    // initialize CMSIS-RTOS// create 'thread' functions that start executing,led_ID1 = osThreadCreate(osThread(led_thread1), 0);led_ID2 = osThreadCreate(osThread(led_thread2), 0);osKernelStart (); while(1){}}

三、Signals、Semaphores信号量、互斥锁、消息队列、Memory pool、消息邮箱。

1.Signals。

每个线程有16个flag,任何线程也可以清除其它线程的信号.
int32_t osSignalSet ( osThreadId thread_id, int32_t signals);
int32_t osSignalClear ( osThreadId thread_id, int32_t signals);

eg:
1.设置信号
osSignalSet (led_ID2,0x01);
2.等待信号触发：
osSignalWait (0x01,osWaitForever);

2.Semaphores信号量。

	// 定义变量osSemaphoreId sem1;osSemaphoreDef(sem1);.....// 任务1void led_thread1 (void const *argument) {while(1){osSemaphoreRelease(sem1);...}}// 任务2void led_thread2 (void const *argument) {while(1){osSemaphoreWait(sem1, osWaitForever);....}}// 初始化int main(){...sem1 = osSemaphoreCreate(osSemaphore(sem1), 0);...}

3.互斥锁

	// 定义变量osMutexId uart_mutex;osMutexDef (uart_mutex);.....// 任务1void led_thread1 (void const *argument) {while(1){osMutexWait(uart_mutex, osWaitForever);...do something...osMutexRelease(uart_mutex); }}// 初始化int main(){...uart_mutex = osMutexCreate(osMutex(uart_mutex));...}

4.消息队列

	// 定义变量osMessageQId Q_LED;osMessageQDef (Q_LED,16_Message_Slots,unsigned int);osEvent result;.....// 任务1void led_thread1 (void const *argument) {while(1){osMessagePut(Q_LED,0x0,osWaitForever);...}}// 任务2void led_thread2 (void const *argument) {while(1){result = osMessageGet(Q_LED,osWaitForever);LED_data = result.value.v;....}}// 初始化int main(){...Q_LED = osMessageCreate(osMessageQ(Q_LED),NULL);...}

5.Memory pool

	// 定义变量typedef struct {uint8_t LED0;uint8_t LED1;uint8_t LED2;uint8_t  LED3;} memory_block_t;osPoolDef(led_pool,ten_blocks,memory_block_t);osPoolId( led_pool);// 任务1void led_thread1 (void const *argument) {while(1){*led_data = (memory_block_t *) osPoolAlloc(led_pool);led_data->LED0 = 0;led_data->LED1 = 1;led_data->LED2 = 2;led_data->LED3 = 3;osMessagePut(Q_LED,(uint32_t)led_data,osWaitForever);...}}// 任务2void led_thread2 (void const *argument) {osEvent event; memory_block_t * received;while(1){		event = osMessageGet(Q_LED,osWatiForever);*received = (memory_block *)event.value.p;led_on(received->LED0);....}}// 初始化int main(){...led_pool = osPoolCreate(osPool(led_pool));...}

6.消息邮箱

	typedef struct {uint8_t LED0;uint8_t LED1;uint8_t LED2;uint8_t LED3;} mail_format;osMailQDef(mail_box, sixteen_mail_slots, mail_format);osMailQId mail_box;// 任务1void led_thread1 (void const *argument) {while(1){LEDtx = (mail_format*)osMailAlloc(mail_box, osWaitForever);LEDtx->LED0 = led0[index];LEDtx->LED1 = led1[index];LEDtx->LED2 = led2[index];LEDtx->LED3 = led3[index];osMailPut(mail_box, LEDtx);...}}// 任务2void led_thread2 (void const *argument) {while(1){		evt = osMailGet(mail_box, osWaitForever); if(evt.status == osEventMail){LEDrx = (mail_format*)evt.value.p;LED_Out((LEDrx->LED0|LEDrx->LED1|LEDrx->LED2|LEDrx->LED3)<<8);osMailFree(mail_box, LEDrx);....}}// 初始化int main(){...mail_box = osMailCreate(osMailQ(mail_box), NULL);...}