FreeRTOS 任务创建与删除（内部分配栈）

最新推荐文章于 2024-09-30 21:58:51 发布

谦魏

最新推荐文章于 2024-09-30 21:58:51 发布

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文章标签：单片机 c语言

本文链接：https://blog.csdn.net/qq1314010/article/details/142340400

版权

#include "freertos_demo.h"
#include "./BSP/KEY/key.h"
#include "./BSP/LCD/lcd.h"
#include "./BSP/LED/led.h"
#include "./SYSTEM/usart/usart.h"
/*FreeRTOS*********************************************************************************************/
#include "FreeRTOS.h"
#include "task.h"

#define STARTTASKSTACKSIZE 128
#define STARTTASKPRIO 1
TaskHandle_t StartTaskHandle;

#define TASK1STACKSIZE 128
#define TASK2STACKSIZE 128
#define TASK3STACKSIZE 128

#define TASK1PRIO 2
#define TASK2PRIO 3
#define TASK3PRIO 4

TaskHandle_t Task1Handle;
TaskHandle_t Task2Handle;
TaskHandle_t Task3Handle;

void Task1Code(void* pvParameters)
{
    for (;;)
    {
        printf("任务1运行中.\n");
        LED0_TOGGLE();
        vTaskDelay(500);
    }
}
void Task2Code(void* pvParameters)
{
    for (;;)
    {
        printf("任务2运行中.\n");
        LED1_TOGGLE();
        vTaskDelay(500);
    }
}
void Task3Code(void* pvParameters)
{
    static uint8_t key_num = 0;
    for (;;)
    {
        key_num = key_scan(0);
        if (key_num == KEY0_PRES && Task1Handle != NULL)
        {
            printf("删除task1.\n");
            vTaskDelete(Task1Handle);
            Task1Handle = NULL;
        }
        else if (key_num == KEY1_PRES && Task2Handle != NULL)
        {
            printf("删除task2.\n");
            vTaskDelete(Task2Handle);
            Task2Handle = NULL;
        }else if(key_num == KEY2_PRES && Task2Handle == NULL && Task1Handle == NULL)
        {
            printf("重新创建任务.\n");
            xTaskCreate(Task1Code, "Task1", TASK1STACKSIZE, NULL, TASK1PRIO, &Task1Handle);
            xTaskCreate(Task2Code, "Task2", TASK2STACKSIZE, NULL, TASK2PRIO, &Task2Handle);
        }
        vTaskDelay(10);
    }
}

void StartTaskCode(void* pvParameters)
{
    xTaskCreate(Task1Code, "Task1", TASK1STACKSIZE, NULL, TASK1PRIO, &Task1Handle);
    xTaskCreate(Task2Code, "Task2", TASK2STACKSIZE, NULL, TASK2PRIO, &Task2Handle);
    xTaskCreate(Task3Code, "Task3", TASK3STACKSIZE, NULL, TASK3PRIO, &Task3Handle);
    vTaskDelete(NULL);
}

void freertos_demo(void)
{
    xTaskCreate(StartTaskCode, "StartTask", STARTTASKSTACKSIZE, NULL, STARTTASKPRIO, &StartTaskHandle);
    vTaskStartScheduler();
}

学习了任务调度的方法不是并行任务阻塞时低优先级任务执行
动态创建任务 FreeRTOS自己在堆中分配任务栈内存优先级数字越大优先级越高需要开启任务调度