6.STM32freeRTOS---动态/静态创建任务与删除

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前言

本次实验用来熟悉任务创建和删除的API。

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一、动态创建任务与删除

#include "sys.h"
#include "usart.h"
#include "led.h"
#include "delay.h"

#include "FreeRTOS.h"
#include "task.h"

#define start_task_size 52
#define start_task_pro   1
TaskHandle_t startTask_handler;
void start_task(void *pram);

#define led_task1_size 100
#define led_task1_pro  3
TaskHandle_t ledTask1_handler;
void led_task1(void *pram);

#define led_task2_size 100
#define led_task2_pro  2
TaskHandle_t ledTask2_handler;
void led_task2(void *pram);

int main(void)
{
	
	delay_init();									//延时函数初始化	  
	uart_init(115200);								//初始化串口
	LED_Init(); 									//初始化LED
	
	xTaskCreate(
						(TaskFunction_t )start_task,
                        (const char * 		) "start_task",     
                        (uint16_t		)start_task_size ,
                        (void *  		)NULL,
                        (UBaseType_t	) start_task_pro,
                        (TaskHandle_t * )startTask_handler );

    vTaskStartScheduler();//开始任务调度
}

/*88888888888888888888888888888888888888888888888888888888888888888888*/

void start_task(void *pram)
{
	BaseType_t Return;
	
	taskENTER_CRITICAL();
	
	xTaskCreate(
						(TaskFunction_t )led_task1,
                        (const char * 	) "led_task1",     
                        (uint16_t		)led_task1_size ,
                        (void *  		)NULL,
                        (UBaseType_t	) led_task1_pro,
                        (TaskHandle_t * )ledTask1_handler );
			
	Return = xTaskCreate(
						(TaskFunction_t )led_task2,
                        (const char *	) "led_task2",     
                        (uint16_t		)led_task2_size ,
                        (void *  		)NULL,
                        (UBaseType_t	) led_task2_pro,
                        (TaskHandle_t * )ledTask2_handler );
						
	if(Return == pdPASS)
	{
		printf("ledTask2_handler creat \n");
	
	}
						
	vTaskDelete(NULL);
	taskEXIT_CRITICAL();

}

void led_task1(void *pram)
{
	uint8_t temp1 = 0;
	while(1)
	{
		temp1 += 1;
		printf("temp1 = %d\n",temp1);
		if(temp1 == 5)
		{
			temp1 = 0;
		}
		vTaskDelay(1000);
	}
}
void led_task2(void *pram)
{
	uint8_t temp2 = 0;
	while(1)
	{
		temp2 += 1;
		printf("temp2 = %d\n",temp2);
		if(temp2 == 3)
		{
			temp2 = 0;
			printf("TASK2 delete \n");
			vTaskDelete(NULL);
		}
		vTaskDelay(1000);
	}
}

注意：这里的任务是自杀式删除。

二、静态创建任务与删除

1.

#include "sys.h"
#include "usart.h"
#include "led.h"
#include "delay.h"



#include "FreeRTOS.h"
#include "task.h"


#define start_task_size 52
#define start_task_pro   1
StackType_t startStack[start_task_size];
StaticTask_t startTaskTCB;
TaskHandle_t startTask_handler;
void start_task(void *pram);


#define task1_size 52
#define task1_pro  3
StackType_t task1Stack[task1_size];
StaticTask_t task1TaskTCB;
TaskHandle_t Task1_handler;
void task1(void *pram);



#define task2_size 52
#define task2_pro  2
StackType_t task2Stack[task2_size];
StaticTask_t task2TaskTCB;
TaskHandle_t Task2_handler;
void task2(void *pram);



// 空闲任务堆栈
static StackType_t IdleTaskStack[configMINIMAL_STACK_SIZE];
//空闲任务控制块
static StaticTask_t IdleTaskTCB;

/*

//定时器服务任务堆栈
static StackType_t timerTaskStack[configTIMER_TASK_STACK_DEPTH];
//定时器服务任务控制块
static StaticTask_t timerTaskTCB;

*/




//获取空闲任务堆栈和任务控制块。
void vApplicationGetIdleTaskMemory(StaticTask_t **ppxIdleTaskTCBBuffer,
									StackType_t **ppxIdleTaskStackBuffer,
									uint32_t *pulIdleTaskStackSize)
{
	*ppxIdleTaskTCBBuffer = &IdleTaskTCB;
	*ppxIdleTaskStackBuffer = IdleTaskStack;
	*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
/*
//获取定时器任务堆栈和任务控制块。
void vApplicationGetTimerTaskMemory(StaticTask_t **ppxTimerTaskTCBBuffer,
									StackType_t **ppxTimerTaskStackBuffer,
									uint32_t *pulTimerTaskStackSize)
{
	*ppxTimerTaskTCBBuffer = &timerTaskTCB;
	*ppxTimerTaskStackBuffer = timerTaskStack;
	*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
}

*/

int main(void)
{
	
	delay_init();									//延时函数初始化	  
	uart_init(115200);								//初始化串口
	LED_Init(); 									//初始化LED

	
	startTask_handler =  xTaskCreateStatic( 
											(TaskFunction_t) start_task,
											( char * ) "start_task",
											( uint32_t) start_task_size,
											(void *  )NULL,
											(UBaseType_t) start_task_pro,
											(StackType_t * ) startStack,
											(StaticTask_t *  )&startTaskTCB );


    vTaskStartScheduler();//开始任务调度

}

/*88888888888888888888888888888888888888888888888888888888888888888888*/

void start_task(void *pram)
{
	
	taskENTER_CRITICAL();
	
	xTaskCreateStatic( 
											(TaskFunction_t) task1,
											( char * ) "task1",
											( uint32_t) task1_size,
											(void *  )NULL,
											(UBaseType_t) task1_pro,
											(StackType_t * ) task1Stack,
											(StaticTask_t *  )&task1TaskTCB );
						
						
	xTaskCreateStatic( 
											(TaskFunction_t) task2,
											( char * ) "task2",
											( uint32_t) task2_size,
											(void *  )NULL,
											(UBaseType_t) task2_pro,
											(StackType_t * ) task2Stack,
											(StaticTask_t *  )&task2TaskTCB );
						
						
	vTaskDelete(NULL);

	taskEXIT_CRITICAL();

}

void task1(void *pram)
{
	uint8_t temp1 = 0;
	while(1)
	{
		temp1 += 1;
		printf("temp1 = %d\n",temp1);
		
		if(temp1 == 5)
		{
			temp1 = 0;
			
		}
		vTaskDelay(1000);
	}

}


void task2(void *pram)
{
	uint8_t temp2 = 0;
	
	
	while(1)
	{
		temp2 += 1;
		printf("temp2 = %d\n",temp2);
		
		if(temp2 == 3)
		{
			temp2 = 0;
			printf("TASK2 delete \n");
			vTaskDelete(NULL);
			
		}
		vTaskDelay(1000);
	
	}

}

注意：
静态任务的创建与动态任务的创建的区别在于：动态是编译器帮助堆栈的分配，但是静态就需要我们自己去手动分配一个堆栈。
这就需要运用到一个：vApplicationGetIdleTaskMemory这个函数来手动分配堆栈。

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遇到的问题

（1）我想要通过任务1来删除任务2，但是把任务1自己删除了。但是经过排查，可以确定的是，任务2是成功创建了的。原因现在暂时还不清楚。