I’m training porting FreeRTOS 7.4.1 on STM32F407VGT6 in Keil IDE. I’m doing everything as for STM32F103 with some different (changing portable directory on “portable\RVDS\ARM_CM4F\”).
my code :

#include "stm32f4xx.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_gpio.h"

#include "FreeRTOS.h"
#include "task.h"
//#include "queue.h"


#define LED4 GPIO_Pin_12
#define LED5 GPIO_Pin_14

void InitGPIO(void)
{
   GPIO_InitTypeDef GPIO_InitStructure;
   
   RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD,ENABLE);
   GPIO_InitStructure.GPIO_Pin = LED4|LED5;
   GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
   GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
   GPIO_Init(GPIOD, &GPIO_InitStructure);   
}

void prvSetupHardware( void )
{
   InitGPIO();
}

void vTaskLED4(void *pvParameters) 
{
   for (;;) 
   {
      GPIO_ToggleBits(GPIOD,LED4);
    vTaskDelay(500);
   }
}

void vTaskLED5(void *pvParameters) 
{
   for (;;) 
   {
      GPIO_SetBits(GPIOD,LED5);   
      vTaskDelay(300);
      GPIO_ResetBits(GPIOD,LED5);   
      vTaskDelay(700);
   }
} 



int main(void)
{
   prvSetupHardware();

   xTaskCreate(vTaskLED4,(signed char*)"LED4",configMINIMAL_STACK_SIZE,
            NULL, tskIDLE_PRIORITY + 1, NULL);
   
   xTaskCreate(vTaskLED4,(signed char*)"LED5",configMINIMAL_STACK_SIZE,
            NULL, tskIDLE_PRIORITY + 1, NULL);
   
   vTaskStartScheduler(); // Start the scheduler. 

   while(1);
}

After compiling project I have seen more error:

Rebuild target ‘STM32F4′
assembling startup_stm32f4xx.s…
compiling system_stm32f4xx.c…
compiling stm32f4xx_rcc.c…
compiling stm32f4xx_gpio.c…
compiling main.c…
compiling croutine.c…
compiling list.c…
compiling queue.c…
compiling tasks.c…
compiling timers.c…
linking…
STM32F4.axf: Error: L6218E: Undefined symbol pvPortMalloc (referred from croutine.o).
STM32F4.axf: Error: L6218E: Undefined symbol ulPortSetInterruptMask (referred from croutine.o).
STM32F4.axf: Error: L6218E: Undefined symbol vPortClearInterruptMask (referred from croutine.o).
STM32F4.axf: Error: L6218E: Undefined symbol vPortEnterCritical (referred from queue.o).
STM32F4.axf: Error: L6218E: Undefined symbol vPortExitCritical (referred from queue.o).
STM32F4.axf: Error: L6218E: Undefined symbol vPortFree (referred from queue.o).
STM32F4.axf: Error: L6218E: Undefined symbol vPortYield (referred from queue.o).
STM32F4.axf: Error: L6218E: Undefined symbol pxPortInitialiseStack (referred from tasks.o).
STM32F4.axf: Error: L6218E: Undefined symbol vApplicationIdleHook (referred from tasks.o).
STM32F4.axf: Error: L6218E: Undefined symbol vApplicationStackOverflowHook (referred from tasks.o).
STM32F4.axf: Error: L6218E: Undefined symbol vApplicationTickHook (referred from tasks.o).
STM32F4.axf: Error: L6218E: Undefined symbol vPortEndScheduler (referred from tasks.o).
STM32F4.axf: Error: L6218E: Undefined symbol xPortStartScheduler (referred from tasks.o).
Target not created

How I can fix this?

I would suggest removing croutine.c from your build, unless you are actually using co-routines, which I would have thought unlikely.

“STM32F4.axf: Error: L6218E: Undefined symbol pvPortMalloc (referred from croutine.o).”

pvPortMalloc is implemented in heap_1.c, heap_2.c, heap_3.c and heap_4.c. You need to include one of these in your build, as described in the source files section of the following page: http://www.freertos.org/Creating-a-new-FreeRTOS-project.html

“STM32F4.axf: Error: L6218E: Undefined symbol ulPortSetInterruptMask (referred from croutine.o).”

You are also not building the required portable layer files. I suggest you try following the instructions on the above linked page then come back and post the results.

Regards.