FreeRTOS一些基础问题总结

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于 2024-08-16 21:57:06 发布

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分类专栏： FreeRTOS STM32 文章标签：单片机嵌入式硬件 stm32

本文链接：https://blog.csdn.net/jjh135445/article/details/141233645

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1.freeRTOS的数据类型定义（portmacro.h文件里）

解读：

FreeRTOS编程风格_哔哩哔哩_bilibili

1.变量名和函数名

2.宏定义

代码：

/*
 * FreeRTOS Kernel V10.4.6
 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * SPDX-License-Identifier: MIT
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

#ifndef PORTMACRO_H
    #define PORTMACRO_H

    #ifdef __cplusplus
        extern "C" {
    #endif

/*------------------------------------------------------------------------------
 * Port specific definitions.
 *
 * The settings in this file configure FreeRTOS correctly for the given hardware
 * and compiler.
 *
 * These settings should not be altered.
 *------------------------------------------------------------------------------
 */

    #ifndef configENABLE_FPU
        #error configENABLE_FPU must be defined in FreeRTOSConfig.h.  Set configENABLE_FPU to 1 to enable the FPU or 0 to disable the FPU.
    #endif /* configENABLE_FPU */

    #ifndef configENABLE_MPU
        #error configENABLE_MPU must be defined in FreeRTOSConfig.h.  Set configENABLE_MPU to 1 to enable the MPU or 0 to disable the MPU.
    #endif /* configENABLE_MPU */

    #ifndef configENABLE_TRUSTZONE
        #error configENABLE_TRUSTZONE must be defined in FreeRTOSConfig.h.  Set configENABLE_TRUSTZONE to 1 to enable TrustZone or 0 to disable TrustZone.
    #endif /* configENABLE_TRUSTZONE */

/*-----------------------------------------------------------*/

/**
 * @brief Type definitions.
 */
    #define portCHAR          char
    #define portFLOAT         float
    #define portDOUBLE        double
    #define portLONG          long
    #define portSHORT         short
    #define portSTACK_TYPE    uint32_t
    #define portBASE_TYPE     long

    typedef portSTACK_TYPE   StackType_t;
    typedef long             BaseType_t;
    typedef unsigned long    UBaseType_t;

    #if ( configUSE_16_BIT_TICKS == 1 )
        typedef uint16_t     TickType_t;
        #define portMAX_DELAY              ( TickType_t ) 0xffff
    #else
        typedef uint32_t     TickType_t;
        #define portMAX_DELAY              ( TickType_t ) 0xffffffffUL

/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
 * not need to be guarded with a critical section. */
        #define portTICK_TYPE_IS_ATOMIC    1
    #endif
/*-----------------------------------------------------------*/

/**
 * Architecture specifics.
 */
    #define portARCH_NAME                      "Cortex-M23"
    #define portSTACK_GROWTH                   ( -1 )
    #define portTICK_PERIOD_MS                 ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
    #define portBYTE_ALIGNMENT                 8
    #define portNOP()
    #define portINLINE                         __inline
    #ifndef portFORCE_INLINE
        #define portFORCE_INLINE               inline __attribute__( ( always_inline ) )
    #endif
    #define portHAS_STACK_OVERFLOW_CHECKING    1
    #define portDONT_DISCARD                   __attribute__( ( used ) )
/*-----------------------------------------------------------*/

/**
 * @brief Extern declarations.
 */
    extern BaseType_t xPortIsInsideInterrupt( void );

    extern void vPortYield( void ) /* PRIVILEGED_FUNCTION */;

    extern void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */;
    extern void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */;

    extern uint32_t ulSetInterruptMask( void ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;
    extern void vClearInterruptMask( uint32_t ulMask ) /* __attribute__(( naked )) PRIVILEGED_FUNCTION */;

    #if ( configENABLE_TRUSTZONE == 1 )
        extern void vPortAllocateSecureContext( uint32_t ulSecureStackSize ); /* __attribute__ (( naked )) */
        extern void vPortFreeSecureContext( uint32_t * pulTCB ) /* __attribute__ (( naked )) PRIVILEGED_FUNCTION */;
    #endif /* configENABLE_TRUSTZONE */

    #if ( configENABLE_MPU == 1 )
        extern BaseType_t xIsPrivileged( void ) /* __attribute__ (( naked )) */;
        extern void vResetPrivilege( void ) /* __attribute__ (( naked )) */;
    #endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/

/**
 * @brief MPU specific constants.
 */
    #if ( configENABLE_MPU == 1 )
        #define portUSING_MPU_WRAPPERS    1
        #define portPRIVILEGE_BIT         ( 0x80000000UL )
    #else
        #define portPRIVILEGE_BIT         ( 0x0UL )
    #endif /* configENABLE_MPU */


/* MPU regions. */
    #define portPRIVILEGED_FLASH_REGION                   ( 0UL )
    #define portUNPRIVILEGED_FLASH_REGION                 ( 1UL )
    #define portUNPRIVILEGED_SYSCALLS_REGION              ( 2UL )
    #define portPRIVILEGED_RAM_REGION                     ( 3UL )
    #define portSTACK_REGION                              ( 4UL )
    #define portFIRST_CONFIGURABLE_REGION                 ( 5UL )
    #define portLAST_CONFIGURABLE_REGION                  ( 7UL )
    #define portNUM_CONFIGURABLE_REGIONS                  ( ( portLAST_CONFIGURABLE_REGION - portFIRST_CONFIGURABLE_REGION ) + 1 )
    #define portTOTAL_NUM_REGIONS                         ( portNUM_CONFIGURABLE_REGIONS + 1 )   /* Plus one to make space for the stack region. */

/* Device memory attributes used in MPU_MAIR registers.
 *
 * 8-bit values encoded as follows:
 *  Bit[7:4] - 0000 - Device Memory
 *  Bit[3:2] - 00 --> Device-nGnRnE
 *				01 --> Device-nGnRE
 *				10 --> Device-nGRE
 *				11 --> Device-GRE
 *  Bit[1:0] - 00, Reserved.
 */
    #define portMPU_DEVICE_MEMORY_nGnRnE                  ( 0x00 )   /* 0000 0000 */
    #define portMPU_DEVICE_MEMORY_nGnRE                   ( 0x04 )   /* 0000 0100 */
    #define portMPU_DEVICE_MEMORY_nGRE                    ( 0x08 )   /* 0000 1000 */
    #define portMPU_DEVICE_MEMORY_GRE                     ( 0x0C )   /* 0000 1100 */

/* Normal memory attributes used in MPU_MAIR registers. */
    #define portMPU_NORMAL_MEMORY_NON_CACHEABLE           ( 0x44 )   /* Non-cacheable. */
    #define portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE    ( 0xFF )   /* Non-Transient, Write-back, Read-Allocate and Write-Allocate. */

/* Attributes used in MPU_RBAR registers. */
    #define portMPU_REGION_NON_SHAREABLE                  ( 0UL << 3UL )
    #define portMPU_REGION_INNER_SHAREABLE                ( 1UL << 3UL )
    #define portMPU_REGION_OUTER_SHAREABLE                ( 2UL << 3UL )

    #define portMPU_REGION_PRIVILEGED_READ_WRITE          ( 0UL << 1UL )
    #define portMPU_REGION_READ_WRITE                     ( 1UL << 1UL )
    #define portMPU_REGION_PRIVILEGED_READ_ONLY           ( 2UL << 1UL )
    #define portMPU_REGION_READ_ONLY                      ( 3UL << 1UL )

    #define portMPU_REGION_EXECUTE_NEVER                  ( 1UL )
/*-----------------------------------------------------------*/

/**
 * @brief Settings to define an MPU region.
 */
    typedef struct MPURegionSettings
    {
        uint32_t ulRBAR; /**< RBAR for the region. */
        uint32_t ulRLAR; /**< RLAR for the region. */
    } MPURegionSettings_t;

/**
 * @brief MPU settings as stored in the TCB.
 */
    typedef struct MPU_SETTINGS
    {
        uint32_t ulMAIR0;                                              /**< MAIR0 for the task containing attributes for all the 4 per task regions. */
        MPURegionSettings_t xRegionsSettings[ portTOTAL_NUM_REGIONS ]; /**< Settings for 4 per task regions. */
    } xMPU_SETTINGS;
/*-----------------------------------------------------------*/

/**
 * @brief SVC numbers.
 */
    #define portSVC_ALLOCATE_SECURE_CONTEXT    0
    #define portSVC_FREE_SECURE_CONTEXT        1
    #define portSVC_START_SCHEDULER            2
    #define portSVC_RAISE_PRIVILEGE            3
/*-----------------------------------------------------------*/

/**
 * @brief Scheduler utilities.
 */
    #define portYIELD()                                 vPortYield()
    #define portNVIC_INT_CTRL_REG     ( *( ( volatile uint32_t * ) 0xe000ed04 ) )
    #define portNVIC_PENDSVSET_BIT    ( 1UL << 28UL )
    #define portEND_SWITCHING_ISR( xSwitchRequired )    do { if( xSwitchRequired ) portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT; } while( 0 )
    #define portYIELD_FROM_ISR( x )                     portEND_SWITCHING_ISR( x )
/*-----------------------------------------------------------*/

/**
 * @brief Critical section management.
 */
    #define portSET_INTERRUPT_MASK_FROM_ISR()         ulSetInterruptMask()
    #define portCLEAR_INTERRUPT_MASK_FROM_ISR( x )    vClearInterruptMask( x )
    #define portDISABLE_INTERRUPTS()                  __asm volatile ( " cpsid i " ::: "memory" )
    #define portENABLE_INTERRUPTS()                   __asm volatile ( " cpsie i " ::: "memory" )
    #define portENTER_CRITICAL()                      vPortEnterCritical()
    #define portEXIT_CRITICAL()                       vPortExitCritical()
/*-----------------------------------------------------------*/

/**
 * @brief Tickless idle/low power functionality.
 */
    #ifndef portSUPPRESS_TICKS_AND_SLEEP
        extern void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime );
        #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime )    vPortSuppressTicksAndSleep( xExpectedIdleTime )
    #endif
/*-----------------------------------------------------------*/

/**
 * @brief Task function macros as described on the FreeRTOS.org WEB site.
 */
    #define portTASK_FUNCTION_PROTO( vFunction, pvParameters )    void vFunction( void * pvParameters )
    #define portTASK_FUNCTION( vFunction, pvParameters )          void vFunction( void * pvParameters )
/*-----------------------------------------------------------*/

    #if ( configENABLE_TRUSTZONE == 1 )

/**
 * @brief Allocate a secure context for the task.
 *
 * Tasks are not created with a secure context. Any task that is going to call
 * secure functions must call portALLOCATE_SECURE_CONTEXT() to allocate itself a
 * secure context before it calls any secure function.
 *
 * @param[in] ulSecureStackSize The size of the secure stack to be allocated.
 */
        #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )    vPortAllocateSecureContext( ulSecureStackSize )

/**
 * @brief Called when a task is deleted to delete the task's secure context,
 * if it has one.
 *
 * @param[in] pxTCB The TCB of the task being deleted.
 */
        #define portCLEAN_UP_TCB( pxTCB )                           vPortFreeSecureContext( ( uint32_t * ) pxTCB )
    #endif /* configENABLE_TRUSTZONE */
/*-----------------------------------------------------------*/

    #if ( configENABLE_MPU == 1 )

/**
 * @brief Checks whether or not the processor is privileged.
 *
 * @return 1 if the processor is already privileged, 0 otherwise.
 */
        #define portIS_PRIVILEGED()      xIsPrivileged()

/**
 * @brief Raise an SVC request to raise privilege.
 *
 * The SVC handler checks that the SVC was raised from a system call and only
 * then it raises the privilege. If this is called from any other place,
 * the privilege is not raised.
 */
        #define portRAISE_PRIVILEGE()    __asm volatile ( "svc %0 \n" ::"i" ( portSVC_RAISE_PRIVILEGE ) : "memory" );

/**
 * @brief Lowers the privilege level by setting the bit 0 of the CONTROL
 * register.
 */
        #define portRESET_PRIVILEGE()    vResetPrivilege()
    #else
        #define portIS_PRIVILEGED()
        #define portRAISE_PRIVILEGE()
        #define portRESET_PRIVILEGE()
    #endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/

/**
 * @brief Barriers.
 */
    #define portMEMORY_BARRIER()    __asm volatile ( "" ::: "memory" )
/*-----------------------------------------------------------*/

    #ifdef __cplusplus
        }
    #endif

#endif /* PORTMACRO_H */

2.FreeRTOS 定时器（stm32f103）-TIM3_Int_Init(10000-1,7200-1)的解释

FreeRTOS 定时器（stm32f103）
解释：TIM3_Int_Init(10000-1,7200-1); //初始化定时器 3，定时器周期 1S
TIM5_Int_Init(10000-1,7200-1); //初始化定时器 5，定时器周期 1S
解释：
TIM3_Int_Init(10000-1,7200-1)这一句是1s进入一次的中断。正点原子的中断代码，7200是分频系数，10000是预装载值。我们使用的是TIM3.根据时钟树，可以知道TIM3挂载在APB1下，APB1的时钟频率是=36MHZ，但是因为我们分频系数不等于1，所以TIM3的时钟为APB1的频率*2=72MHZ。

TIM3_Int_Init(9999,7199)
参数1：9999，溢出值（从0开始）
参数2：7199，分频值（从0开始）

72MHz÷7200=10KHz=0.1ms，每0.1ms记一次数，计数到10000为1000ms=1s，即每1s进一次中断。

3.freertos任务（Task）

优先级数字越低表示任务的优先级越低，0 的优先级最低，configMAX_PRIORITIES-1 的优
先级最高。空闲任务的优先级最低，为 0。

4.FreeRTOS移植以及任务

FreeRTOS移植
1.在sys.h中需要把SYSTEM_SUPPORT_OS 改为 1，支持我们使用 FreeRTOS

//0,不支持 os
//1,支持 os
#define SYSTEM_SUPPORT_OS 1 //定义系统文件夹是否支持 OS

2.出现报错
..\SYSTEM\usart\usart.c(6): error: #5: cannot open source input file "includes.h": No such file or directory
即需要修改usart.c 文件：

默认是添加的 UCOS 中的 includes.h 头文件，修改以后如下：
//如果使用 os,则包括下面的头文件即可.
#if SYSTEM_SUPPORT_OS
#include "FreeRTOS.h" //os 使用
#endif

3.delay.c函数需要大改

reeRTOS 的系统时钟是由滴答定时器提供的，需要根据FreeRTOS的系统节拍来初始化滴答定时器，delay_init()就是来完成这个功能的。
FreeRTOS 的系统时钟节拍由宏 configTICK_RATE_HZ 来设置，这个值我们可以自由设置，但是一旦设置好以后我们就要根据这个值来初始化滴答定时器，其实就是设置滴答定时器的中断周期。在基础例程中滴答定时器的时钟频率设置的是 AHB 的 1/8，这里为了兼容 FreeRTOS 将滴答定时器的时钟频率改为了 AHB，也就是 72MHz！这一点一定要注意！
完整delay.c文件

#include "delay.h"
// 	 
//如果需要使用OS,则包括下面的头文件即可.
#if SYSTEM_SUPPORT_OS
#include "FreeRTOS.h"					//ucos 使用	  
#include "task.h"  //文件在FreeRTOS\include
#endif


static u8  fac_us=0;							//us延时倍乘数			   
static u16 fac_ms=0;							//ms延时倍乘数,在ucos下,代表每个节拍的ms数

extern void xPortSysTickHandler(void);
 //systick中断服务函数,使用ucos时用到
void SysTick_Handler(void)
    {
        if(xTaskGetSchedulerState()!=taskSCHEDULER_NOT_STARTED)
        {
            xPortSysTickHandler();
        }
    }

//初始化延迟函数
//SYSTICK的时钟固定为AHB时钟，基础例程里面SYSTICK时钟频率为AHB/8
//这里为了兼容FreeRTOS，所以将SYSTICK的时钟频率改为AHB的频率！
//SYSCLK:系统时钟频率
void delay_init()
{
	u32 reload;
	SysTick_CLKSourceConfig(SysTick_CLKSource_HCLK);//选择外部时钟  HCLK
	fac_us=SystemCoreClock/1000000;				//不论是否使用OS,fac_us都需要使用
	reload=SystemCoreClock/1000000;				//每秒钟的计数次数 单位为M  
	reload*=1000000/configTICK_RATE_HZ;			//根据configTICK_RATE_HZ设定溢出时间
												//reload为24位寄存器,最大值:16777216,在72M下,约合0.233s左右	
	fac_ms=1000/configTICK_RATE_HZ;				//代表OS可以延时的最少单位	   

	SysTick->CTRL|=SysTick_CTRL_TICKINT_Msk;   	//开启SYSTICK中断
	SysTick->LOAD=reload; 						//每1/configTICK_RATE_HZ秒中断一次	
	SysTick->CTRL|=SysTick_CTRL_ENABLE_Msk;   	//开启SYSTICK    
}

//延时nus
//nus:要延时的us数.	
//nus:0~204522252(最大值即2^32/fac_us@fac_us=168)	    								   
void delay_us(u32 nus)
{		
	u32 ticks;
	u32 told,tnow,tcnt=0;
	u32 reload=SysTick->LOAD;				//LOAD的值	    	 
	ticks=nus*fac_us; 						//需要的节拍数 
	told=SysTick->VAL;        				//刚进入时的计数器值
	while(1)
	{
		tnow=SysTick->VAL;	
		if(tnow!=told)
		{	    
			if(tnow<told)tcnt+=told-tnow;	//这里注意一下SYSTICK是一个递减的计数器就可以了.
			else tcnt+=reload-tnow+told;	    
			told=tnow;
			if(tcnt>=ticks)break;			//时间超过/等于要延迟的时间,则退出.
		}  
	};										    
}  
//延时nms
//nms:要延时的ms数
//nms:0~65535
void delay_ms(u32 nms)
{	
	if(xTaskGetSchedulerState()!=taskSCHEDULER_NOT_STARTED)//系统已经运行
	{		
		if(nms>=fac_ms)						//延时的时间大于OS的最少时间周期 
		{ 
   			vTaskDelay(nms/fac_ms);	 		//FreeRTOS延时
		}
		nms%=fac_ms;						//OS已经无法提供这么小的延时了,采用普通方式延时    
	}
	delay_us((u32)(nms*1000));				//普通方式延时
}

## FreeRTOS任务

//延时nms,不会引起任务调度
//nms:要延时的ms数
void delay_xms(u32 nms)
{
	u32 i;
	for(i=0;i<nms;i++) delay_us(1000);
}

任务句柄： * TaskHandle_t

struct tskTaskControlBlock; /* The old naming convention is used to prevent breaking kernel aware debuggers. */
typedef struct tskTaskControlBlock * TaskHandle_t;
```
最终要溯源到 tskTaskControlBlock， tskTaskControlBlock是一个任务句柄结构体，在tasks.c文件中

```c
ypedef struct tskTaskControlBlock       /* The old naming convention is used to prevent breaking kernel aware debuggers. */
{
    volatile StackType_t * pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */

    #if ( portUSING_MPU_WRAPPERS == 1 )
        xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
    #endif

    ListItem_t xStateListItem;                  /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
    ListItem_t xEventListItem;                  /*< Used to reference a task from an event list. */
    UBaseType_t uxPriority;                     /*< The priority of the task.  0 is the lowest priority. */
    StackType_t * pxStack;                      /*< Points to the start of the stack. */
    char pcTaskName[ configMAX_TASK_NAME_LEN ]; /*< Descriptive name given to the task when created.  Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */

    #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
        StackType_t * pxEndOfStack; /*< Points to the highest valid address for the stack. */
    #endif

    #if ( portCRITICAL_NESTING_IN_TCB == 1 )
        UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
    #endif

    #if ( configUSE_TRACE_FACILITY == 1 )
        UBaseType_t uxTCBNumber;  /*< Stores a number that increments each time a TCB is created.  It allows debuggers to determine when a task has been deleted and then recreated. */
        UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
    #endif

    #if ( configUSE_MUTEXES == 1 )
        UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
        UBaseType_t uxMutexesHeld;
    #endif

    #if ( configUSE_APPLICATION_TASK_TAG == 1 )
        TaskHookFunction_t pxTaskTag;
    #endif

    #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
        void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
    #endif

    #if ( configGENERATE_RUN_TIME_STATS == 1 )
        configRUN_TIME_COUNTER_TYPE ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
    #endif

    #if ( configUSE_NEWLIB_REENTRANT == 1 )

        /* Allocate a Newlib reent structure that is specific to this task.
         * Note Newlib support has been included by popular demand, but is not
         * used by the FreeRTOS maintainers themselves.  FreeRTOS is not
         * responsible for resulting newlib operation.  User must be familiar with
         * newlib and must provide system-wide implementations of the necessary
         * stubs. Be warned that (at the time of writing) the current newlib design
         * implements a system-wide malloc() that must be provided with locks.
         *
         * See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
         * for additional information. */
        struct  _reent xNewLib_reent;
    #endif

    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
        volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
        volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
    #endif

    /* See the comments in FreeRTOS.h with the definition of
     * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
    #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
        uint8_t ucStaticallyAllocated;                     /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
    #endif

    #if ( INCLUDE_xTaskAbortDelay == 1 )
        uint8_t ucDelayAborted;
    #endif

    #if ( configUSE_POSIX_ERRNO == 1 )
        int iTaskErrno;
    #endif
} tskTCB;

xTaskCreate()函数的参数：

BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
                            const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                            const configSTACK_DEPTH_TYPE usStackDepth,
                            void * const pvParameters,
                            UBaseType_t uxPriority,
                            TaskHandle_t * const pxCreatedTask )