freeRTOS静态任务创建示例

目录

1. 前言

2. 源码分析

2.1 xTaskCreateStatic

2.1 prvInitialiseNewTask

2.2 prvAddNewTaskToReadyList

3. 接口封装

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1. 前言

        随着功能安全愈发被重视，RTOS逐渐禁用动态内存，以牺牲RAM资源为代价，获得更高的稳定性。FreeRTOS V9.00及更高版本支持通过静态内存创建如任务、软件定时器、信号量等内核对象，其主要思想是不再从堆中分配内存，而是由应用软件注册静态缓冲区来创建对象。本文主要分析静态任务的创建及相关代码。

        使用静态内存分配创建任务主要由以下几个优点：

        ①任务的任务控制块（TCB）和栈（STACK)可以放在指定的内存位置，内核将该控制权下放给应用软件；

        ②RAM的最大占用可以在链接时确定，而不是运行时间，RAM溢出时，程序会链接失败，从而提前暴露出问题，提高软件的安全稳定性；

        FreeRTOS为静态任务的创建提供了接口：

 TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
                                 const char * const pcName,
                                 const uint32_t ulStackDepth,
                                 void * const pvParameters,
                                 UBaseType_t uxPriority,
                                 StackType_t * const puxStackBuffer,
                                 StaticTask_t * const pxTaskBuffer );

        必须在 FreeRTOSConfig.h 中将configSUPPORT_STATIC_ALLOCATION设置为 1，此 RTOS API 函数才可用，更多信息请参考：This page describes the FreeRTOS xTaskCreateStatic() API function which allows an RTOS task to be created using statically allocated RAM.

        由于RTOS厂家众多，虽然本文以FreeRTOS为基础，演示静态任务的创建，但仍希望能为应用程序封装一个抽象的中间层，以保证一定的可移植性。

2. 源码分析

2.1 xTaskCreateStatic

#if ( configSUPPORT_STATIC_ALLOCATION == 1 )

    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 )
    {
        TCB_t * pxNewTCB;
        TaskHandle_t xReturn;

        configASSERT( puxStackBuffer != NULL );
        configASSERT( pxTaskBuffer != NULL );

        #if ( configASSERT_DEFINED == 1 )
            {
                /* Sanity check that the size of the structure used to declare a
                 * variable of type StaticTask_t equals the size of the real task
                 * structure. */
                volatile size_t xSize = sizeof( StaticTask_t );
                configASSERT( xSize == sizeof( TCB_t ) );
                ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
            }
        #endif /* configASSERT_DEFINED */

        if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
        {
            /* The memory used for the task's TCB and stack are passed into this
             * function - use them. */
            pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
            pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;

            #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
                {
                    /* Tasks can be created statically or dynamically, so note this
                     * task was created statically in case the task is later deleted. */
                    pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
                }
            #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */

            prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
            prvAddNewTaskToReadyList( pxNewTCB );
        }
        else
        {
            xReturn = NULL;
        }

        return xReturn;
    }

#endif /* SUPPORT_STATIC_ALLOCATION */

        该函数主要是完成以下几件事情：

        ①在TCB中标记该任务的栈和TCB都是静态内存，以供后续可能存在的任务删除处理函数使用；

        ②初始化任务，将栈的内存空间地址注册到TCB中；

        ③将任务加入就绪任务列表中；

2.1 prvInitialiseNewTask

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

static void prvInitialiseNewTask( 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,
                                  TaskHandle_t * const pxCreatedTask,
                                  TCB_t * pxNewTCB,
                                  const MemoryRegion_t * const xRegions )
{
    StackType_t * pxTopOfStack;
    UBaseType_t x;

    #if ( portUSING_MPU_WRAPPERS == 1 )
        /* Should the task be created in privileged mode? */
        BaseType_t xRunPrivileged;

        if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
        {
            xRunPrivileged = pdTRUE;
        }
        else
        {
            xRunPrivileged = pdFALSE;
        }
        uxPriority &= ~portPRIVILEGE_BIT;
    #endif /* portUSING_MPU_WRAPPERS == 1 */

    /* Avoid dependency on memset() if it is not required. */
    #if ( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
        {
            /* Fill the stack with a known value to assist debugging. */
            ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
        }
    #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */

    /* Calculate the top of stack address.  This depends on whether the stack
     * grows from high memory to low (as per the 80x86) or vice versa.
     * portSTACK_GROWTH is used to make the result positive or negative as required
     * by the port. */
    #if ( portSTACK_GROWTH < 0 )
        {
            pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
            pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE