FreeRtos学习笔记---------------创建任务（静态方法）

使用静态方法创建任务

一、打开configSUPPORT_STATIC_ALLOCATION

#define configSUPPORT_STATIC_ALLOCATION  1

之后需要配置定时器和空闲任务所需内存

// 空闲任务所需堆栈
static StackType_t     IdleTaskStack[configMINIMAL_STACK_SIZE];
static StaticTask_t    IdleTaskTCB;


//定时器任务所需堆栈
static StackType_t     TimerTaskStack[configTIMER_TASK_STACK_DEPTH];
static StaticTask_t    TimerTaskTCB;



// 空闲任务所需内存
void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
                                               StackType_t ** ppxIdleTaskStackBuffer,
                                               uint32_t * pulIdleTaskStackSize )/*lint !e526 Symbol not defined as it is an application callback. */
{
	*ppxIdleTaskTCBBuffer = &IdleTaskTCB;
	*ppxIdleTaskStackBuffer = IdleTaskStack;
	* pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}


//定时器任务所需内存
void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
                                               StackType_t ** ppxIdleTaskStackBuffer,
                                               uint32_t * pulIdleTaskStackSize )/*lint !e526 Symbol not defined as it is an application callback. */
{
	*ppxIdleTaskTCBBuffer = &TimerTaskTCB;
	*ppxIdleTaskStackBuffer =TimerTaskStack;
	* pulIdleTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}

二、创建任务

TaskHandle_t xTaskCreateStatic(     TaskFunction_t pxTaskCode,
                                    const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                    const uint32_t ulStackDepth,
                                    void * const pvParameters,
                                    UBaseType_t uxPriority,
                                    StackType_t * const puxStackBuffer,
                                    StaticTask_t * const pxTaskBuffer );			

1.我们需要保存静态创建的任务的任务句柄

TaskHandle_t  StartTaskHandle;
StartTaskHandle = xTaskCreateStatic（。。。）;
// 保存该任务的任务句柄，并赋值给StartTaskHandle

2.然后定义几个参数

#define StartTaskSize    128    //堆栈大小
#define StartTask_PRIO    1     //优先级
StackType_t StartTask_Size[StartTaskSize];     //任务堆栈
StaticTask_t StartTaskTCB;   //任务控制块

3.添加到函数

StartTaskHandle =  xTaskCreateStatic(    (TaskFunction_t) start_task,
                                         (char * ) "start_task", /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                         (uint32_t) StartTaskSize,
                                         (void *) NULL,
                                         (UBaseType_t) StartTask_PRIO,
                                         (StackType_t *) StartTask_Size,
                                         (StaticTask_t * ) &StartTaskTCB );			

4.开启任务调度

vTaskStartScheduler();

5.编写task1()和task2()

void task1()
{
	 while(1)
	 {
	vTaskDelay(500);
	GPIO_ResetBits(GPIOG,GPIO_Pin_1 );
	vTaskDelay(500);
	GPIO_SetBits(GPIOG,GPIO_Pin_1 );

	 }
}
void task2()
{
	while(1)
	{
	vTaskDelay(300);
	GPIO_ResetBits(GPIOG,GPIO_Pin_8);
	vTaskDelay(300);
	GPIO_SetBits(GPIOG,GPIO_Pin_8);

	}
}
//不要忘了声明

6.编写start_task函数,并定义参数

#define Task1_Size    128
#define Task1_PRIO    2
StackType_t Task1_stack[StartTaskSize];
StaticTask_t Task1TCB;

#define Task2_Size    128
#define Task2_PRIO    3
StackType_t Task2_stack[StartTaskSize];
StaticTask_t Task2TCB;

TaskHandle_t  Task1_Handler;
TaskHandle_t  Task2_Handler;

void start_task()
{
	
	//任务1
	Task1_Handler =  xTaskCreateStatic(  (TaskFunction_t) task1,
                                         (char * ) "task1", /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                         (uint32_t) Task1_Size,
                                         (void *) NULL,
                                         (UBaseType_t) Task1_PRIO,
                                         (StackType_t *) Task1_stack,
                                         (StaticTask_t * ) &Task1TCB );		

	//任务2																		 
	Task2_Handler =  xTaskCreateStatic(  (TaskFunction_t) task2,
                                         (char * ) "task2", /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                                         (uint32_t) Task2_Size,
                                         (void *) NULL,
                                         (UBaseType_t) Task2_PRIO,
                                         (StackType_t *) Task2_stack,
                                         (StaticTask_t * ) &Task2TCB );		
																				 
											vTaskDelete(StartTaskHandle);


}

任务创建成功