FreeRTOS学习笔记——创建任务

主机环境:Windows

开发环境:MDK4.7.2

FreeRTOS版本:FreeRTOS8.1.2

目标环境:STM32F030C8T6

FreeRTOS中一个很重要的结构就是TCB任务控制块了，来实现对任务的管理，TCB的结构定义在tasks.c文件中

typedef struct tskTaskControlBlock
{
	volatile StackType_t	*pxTopOfStack;	

	#if ( portUSING_MPU_WRAPPERS == 1 )
		xMPU_SETTINGS	xMPUSettings;	
	#endif

	ListItem_t			xGenericListItem;	
	ListItem_t			xEventListItem;		
	UBaseType_t			uxPriority;			
	StackType_t			*pxStack;		
	char				pcTaskName[ configMAX_TASK_NAME_LEN ];

	#if ( portSTACK_GROWTH > 0 )
		StackType_t		*pxEndOfStack;		
	#endif

	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
		UBaseType_t 	uxCriticalNesting; 
	#endif

	#if ( configUSE_TRACE_FACILITY == 1 )
		UBaseType_t		uxTCBNumber;	
		UBaseType_t  	uxTaskNumber;		
	#endif

	#if ( configUSE_MUTEXES == 1 )
		UBaseType_t 	uxBasePriority;		
		UBaseType_t 	uxMutexesHeld;
	#endif

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

	#if ( configGENERATE_RUN_TIME_STATS == 1 )
		uint32_t		ulRunTimeCounter;	
	#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. */
		struct 	_reent xNewLib_reent;
	#endif

} tskTCB;

由于FreeRTOS是用户可配置的，一些不需要的功能我们可以不添加以便节省资源，在STM32F0C8T6中是没有MPU(内存保护单元)的，因此这块代码完全不必去了解，另外一些应用程序调试、跟踪以及程序运行状态的一些参数我们也可以暂时不去管理，其中最基本的几个属性有栈顶指针pxTopOfStack、状态项xGenericListItem、事件项xEventListItem、任务优先级uxPriority、用户栈空间起始地址pxStack以及任务名称pcTaskName，其中任务长度是有限制的，configMAX_TASK_NAME_LEN有用户在FreeRTOSConfig.h文件中配置，根据MCU的栈增长方向可能需要栈底指针属性。

FreeRTOS的任务创建是以宏定义形式调用的形式如下

xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask )

实际中是调用的下面函数

xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) )

在tasks.c中还有一些需要用的变量如下

/* Other file private variables. --------------------------------*/
PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks 	= ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickType_t xTickCount 				= ( TickType_t ) 0U;
PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority 		= tskIDLE_PRIORITY;
PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning 		= pdFALSE;
PRIVILEGED_DATA static volatile UBaseType_t uxPendedTicks 			= ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile BaseType_t xYieldPending 			= pdFALSE;
PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows 			= ( BaseType_t ) 0;
PRIVILEGED_DATA static UBaseType_t uxTaskNumber 					= ( UBaseType_t ) 0U;
PRIVILEGED_DATA static volatile TickTy