cubemx-HAL-freertos与C++工程报错

2019-10-30

使用stm32与C++进行程序编写，根据网络上的教程一开始能进行程序编写，但是我添加freertos发现多个文件报错，经过一番折腾之后终于是解决了这个问题

出错信息

compiling heap_4.c...
../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c(193): error:  #513: a value of type "void *" cannot be assigned to an entity of type "BlockLink_t *"
  						pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c(275): error:  #513: a value of type "void *" cannot be assigned to an entity of type "BlockLink_t *"
  		pxLink = ( void * ) puc;
../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c(350): error:  #513: a value of type "void *" cannot be assigned to an entity of type "A_BLOCK_LINK *"
  	xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c(358): error:  #513: a value of type "void *" cannot be assigned to an entity of type "BlockLink_t *"
  	pxEnd = ( void * ) uxAddress;
../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c(364): error:  #513: a value of type "void *" cannot be assigned to an entity of type "BlockLink_t *"
  	pxFirstFreeBlock = ( void * ) pucAlignedHeap;
../Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c: 0 warnings, 5 errors
compiling cmsis_os2.c...
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(661): error:  #513: a value of type "void *" cannot be assigned to an entity of type "TaskStatus_t *"
      task  = pvPortMalloc (count * sizeof(TaskStatus_t));
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(887): error:  #513: a value of type "void *" cannot be assigned to an entity of type "TimerCallback_t *"
      callb = pvPortMalloc (sizeof(TimerCallback_t));
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(1062): error:  #167: argument of type "void *" is incompatible with parameter of type "StaticEventGroup_t *"
        hEventGroup = xEventGroupCreateStatic (attr->cb_mem);
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(1254): error:  #167: argument of type "void *" is incompatible with parameter of type "StaticQueue_t *"
            hMutex = xSemaphoreCreateRecursiveMutexStatic (attr->cb_mem);
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(1257): error:  #167: argument of type "void *" is incompatible with parameter of type "StaticQueue_t *"
            hMutex = xSemaphoreCreateMutexStatic (attr->cb_mem);
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(1613): error:  #167: argument of type "void *" is incompatible with parameter of type "std::uint8_t *"
        hQueue = xQueueCreateStatic (msg_count, msg_size, attr->mq_mem, attr->cb_mem);
../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c(1613): error:  #167: argument of type "void *" is incompatible with parameter of type "StaticQueue_t *"

这里只贴了一部分，根据信息可以知道是C++的类型转换不允许（void *）转换，所以第一直觉是直接改变类型
在我改变类型之后，的确不会报错，但是一运行就进入SVC_Handler中断，进入的位置

__asm void vPortSVCHandler( void )
{
        PRESERVE8

        ldr        r3, =pxCurrentTCB        /* Restore the context. */
        ldr r1, [r3]                        /* Use pxCurrentTCBConst to get the pxCurrentTCB address. */
        ldr r0, [r1]                        /* The first item in pxCurrentTCB is the task top of stack. */
        ldmia r0!, {r4-r11}                /* Pop the registers that are not automatically saved on exception entry and the critical nesting count. */
        msr psp, r0                                /* Restore the task stack pointer. */
        isb
        mov r0, #0
        msr        basepri, r0
        orr r14, #0xd
        bx r14
}

解决办法

在找解决办法的时候，发现网友说可以在keil中改变文件类型，对单独的文件使用C++编译；这就是解决办法
但是每次使用cubemx更新文件之后，需要再次设置文件属性。
1. 不要改变option/c/c++中的设置
2. 右键main.c，在options for file中改变‘file type’，选择‘C++ source file’
3. 同样改变freertos.c文件
4. 添加自己的CPP文件（注意后缀）
  
  编译一下，就大功告成了