UCOS III任务创建

创建任务就是将任务控制块、任务堆栈、任务代码等联系在一起，并且初始化任务控制块的相应字段。在UCOSIII中我们通过函数OSTaskCreate ();来创建任务，OSTaskCreate();函数原型如下（在os_task.c中有定义）。创建一个任务之后，刚创建的任务就会进入就绪状态，注意！不能够在中断服务程序中调用OSTaskCreate ();函数创建任务。

 创建任务注意一下参数：任务控制块、任务堆栈、任务优先级、任务函数。

void  OSTaskCreate (OS_TCB        *p_tcb,
                    CPU_CHAR      *p_name,
                    OS_TASK_PTR    p_task,
                    void          *p_arg,
                    OS_PRIO        prio,
                    CPU_STK       *p_stk_base,
                    CPU_STK_SIZE   stk_limit,
                    CPU_STK_SIZE   stk_size,
                    OS_MSG_QTY     q_size,
                    OS_TICK        time_quanta,
                    void          *p_ext,
                    OS_OPT         opt,
                    OS_ERR        *p_err)
{
    CPU_STK_SIZE   i;
#if OS_CFG_TASK_REG_TBL_SIZE > 0u
    OS_REG_ID      reg_nbr;
#endif
#if defined(OS_CFG_TLS_TBL_SIZE) && (OS_CFG_TLS_TBL_SIZE > 0u)
    OS_TLS_ID      id;
#endif

    CPU_STK       *p_sp;
    CPU_STK       *p_stk_limit;
    CPU_SR_ALLOC();



#ifdef OS_SAFETY_CRITICAL
    if (p_err == (OS_ERR *)0) {
        OS_SAFETY_CRITICAL_EXCEPTION();
        return;
    }
#endif

#ifdef OS_SAFETY_CRITICAL_IEC61508
    if (OSSafetyCriticalStartFlag == DEF_TRUE) {
       *p_err = OS_ERR_ILLEGAL_CREATE_RUN_TIME;
        return;
    }
#endif

#if OS_CFG_CALLED_FROM_ISR_CHK_EN > 0u
    if (OSIntNestingCtr > (OS_NESTING_CTR)0) {              /* ---------- CANNOT CREATE A TASK FROM AN ISR ---------- */
       *p_err = OS_ERR_TASK_CREATE_ISR;
        return;
    }
#endif

#if OS_CFG_ARG_CHK_EN > 0u                                  /* ---------------- VALIDATE ARGUMENTS ------------------ */
    if (p_tcb == (OS_TCB *)0) {                             /* User must supply a valid OS_TCB                        */
       *p_err = OS_ERR_TCB_INVALID;
        return;
    }
    if (p_task == (OS_TASK_PTR)0) {                         /* User must supply a valid task                          */
       *p_err = OS_ERR_TASK_INVALID;
        return;
    }
    if (p_stk_base == (CPU_STK *)0) {                       /* User must supply a valid stack base address            */
       *p_err = OS_ERR_STK_INVALID;
        return;
    }
    if (stk_size < OSCfg_StkSizeMin) {                      /* User must supply a valid minimum stack size            */
       *p_err = OS_ERR_STK_SIZE_INVALID;
        return;
    }
    if (stk_limit >= stk_size) {                            /* User must supply a valid stack limit                   */
       *p_err = OS_ERR_STK_LIMIT_INVALID;
        return;
    }
    if (prio >= OS_CFG_PRIO_MAX) {                          /* Priority must be within 0 and OS_CFG_PRIO_MAX-1        */
       *p_err = OS_ERR_PRIO_INVALID;
        return;
    }
#endif

#if OS_CFG_ISR_POST_DEFERRED_EN > 0u
    if (prio == (OS_PRIO)0) {
        if (p_tcb != &OSIntQTaskTCB) {
           *p_err = OS_ERR_PRIO_INVALID;                    /* Not allowed to use priority 0                          */
            return;
        }
    }
#endif

    if (prio == (OS_CFG_PRIO_MAX - 1u)) {
        if (p_tcb != &OSIdleTaskTCB) {
           *p_err = OS_ERR_PRIO_INVALID;                    /* Not allowed to use same priority as idle task          */
            return;
        }
    }

    OS_TaskInitTCB(p_tcb);                                  /* Initialize the TCB to default values                   */

   *p_err = OS_ERR_NONE;
                                                            /* --------------- CLEAR THE TASK'S STACK --------------- */
    if ((opt & OS_OPT_TASK_STK_CHK) != (OS_OPT)0) {         /* See if stack checking has been enabled                 */
        if ((opt & OS_OPT_TASK_STK_CLR) != (OS_OPT)0) {     /* See if stack needs to be cleared                       */
            p_sp = p_stk_base;
            for (i = 0u; i < stk_size; i++) {               /* Stack grows from HIGH to LOW memory                    */
               *p_sp = (CPU_STK)0;                          /* Clear from bottom of stack and up!                     */
                p_sp++;
            }
        }
    }
                                                            /* ------- INITIALIZE THE STACK FRAME OF THE TASK ------- */
#if (CPU_CFG_STK_GROWTH == CPU_STK_GROWTH_HI_TO_LO)
    p_stk_limit = p_stk_base + stk_limit;
#else
    p_stk_limit = p_stk_base + (stk_size - 1u) - stk_limit;
#endif

    p_sp = OSTaskStkInit(p_task,
                         p_arg,
                         p_stk_base,
                         p_stk_limit,
                         stk_size,
                         opt);

                                                            /* -------------- INITIALIZE THE TCB FIELDS ------------- */
    p_tcb->TaskEntryAddr = p_task;                          /* Save task entry point address                          */
    p_tcb->TaskEntryArg  = p_arg;                           /* Save task entry argument                               */

    p_tcb->NamePtr       = p_name;                          /* Save task name                                         */

    p_tcb->Prio          = prio;                            /* Save the task's priority                               */

    p_tcb->StkPtr        = p_sp;                            /* Save the new top-of-stack pointer                      */
    p_tcb->StkLimitPtr   = p_stk_limit;                     /* Save the stack limit pointer                           */

    p_tcb->TimeQuanta    = time_quanta;                     /* Save the #ticks for time slice (0 means not sliced)    */
#if OS_CFG_SCHED_ROUND_ROBIN_EN > 0u
    if (time_quanta == (OS_TICK)0) {
        p_tcb->TimeQuantaCtr = OSSchedRoundRobinDfltTimeQuanta;
    } else {
        p_tcb->TimeQuantaCtr = time_quanta;
    }
#endif
    p_tcb->ExtPtr        = p_ext;                           /* Save pointer to TCB extension                          */
    p_tcb->StkBasePtr    = p_stk_base;                      /* Save pointer to the base address of the stack          */
    p_tcb->StkSize       = stk_size;                        /* Save the stack size (in number of CPU_STK elements)    */
    p_tcb->Opt           = opt;                             /* Save task options                                      */

#if OS_CFG_TASK_REG_TBL_SIZE > 0u
    for (reg_nbr = 0u; reg_nbr < OS_CFG_TASK_REG_TBL_SIZE; reg_nbr++) {
        p_tcb->RegTbl[reg_nbr] = (OS_REG)0;
    }
#endif

#if OS_CFG_TASK_Q_EN > 0u
    OS_MsgQInit(&p_tcb->MsgQ,                               /* Initialize the task's message queue                    */
                q_size);
#else
    (void)&q_size;
#endif

    OSTaskCreateHook(p_tcb);                                /* Call user defined hook                                 */

#if defined(OS_CFG_TLS_TBL_SIZE) && (OS_CFG_TLS_TBL_SIZE > 0u)
    for (id = 0u; id < OS_CFG_TLS_TBL_SIZE; id++) {
        p_tcb->TLS_Tbl[id] = (OS_TLS)0;
    }
    OS_TLS_TaskCreate(p_tcb);                               /* Call TLS hook                                          */
#endif
                                                            /* --------------- ADD TASK TO READY LIST --------------- */
    OS_CRITICAL_ENTER();
    OS_PrioInsert(p_tcb->Prio);
    OS_RdyListInsertTail(p_tcb);

#if OS_CFG_DBG_EN > 0u
    OS_TaskDbgListAdd(p_tcb);
#endif

    OSTaskQty++;                                            /* Increment the #tasks counter                           */

    if (OSRunning != OS_STATE_OS_RUNNING) {                 /* Return if multitasking has not started                 */
        OS_CRITICAL_EXIT();
        return;
    }

    OS_CRITICAL_EXIT_NO_SCHED();

    OSSched();
}

*p_tcb ------ 任务的控制块OS_TCB 
*p_name ------ 指向任务的名字 
p_task ------ 执行任务代码，也就是任务函数的名字 
*p_arg ------ 传递给任务的参数 

prio ------ 任务优先级，数值越低优先级越高，用户不能够使用系统任务使用的那些优先级，

                优先级0：中断服务服务管理任务 OS_IntQTask()

                优先级1：时钟节拍任务 OS_TickTask()
                优先级2：定时任务 OS_TmrTask()
                优先级OS_CFG_PRIO_MAX-2：统计任务 OS_StatTask()
                优先级OS_CFG_PRIO_MAX-1：空闲任务 OS_IdleTask() 
*p_stk_base ------ 指向任务堆栈的基地址 
stk_limit ------ 任务堆栈深度，用来检测和确保堆栈不溢出 
stk_size ------ 任务堆栈大小 
q_size COSIII------ 使用任务消息队列时 任务内部消息队列能够接收的最大消息数目,为0时禁止接收消息
time_quanta ------ 同一优先级下的多个任务是采用时间片轮转调度。当使能时间片轮转时的时间片长度，为0时为默认长度。在使能时间片轮转调用时用来设置时间片长度，默认节拍为时钟节拍除以10. 
*p_ext ------ 指向用户补充的存储区。 
opt ------ 包含任务的特定选项，有如下选项可以设置。 
OS_OPT_TASK_NONE 表示没有任何选项 
OS_OPT_TASK_STK_CHK 指定是否允许检测该任务的堆栈 
OS_OPT_TASK_STK_CLR 指定是否清除该任务的堆栈 
OS_OPT_TASK_SAVE_FP 指定是否存浮点寄存器，CPU需要浮点运算硬件并且有专用代码保护浮点 寄存器 
*p_err ------ 用来保存调用该函数后返回的错误代码。