freeRTOS

1. task 的几种状态

 2.main.c

  HAL_Init();
  xTaskCreate(vTask1, "vTask1", 1024, NULL, 2, &xHandle1);
  xTaskCreate(vTask2, "vTask2", 1024, NULL, 2, &xHandle2);
  vTaskStartScheduler();

3.tskTCB TCB_t:

typedef struct tskTaskControlBlock       /* The old naming convention is used to prevent breaking kernel aware debuggers. */
{
    volatile StackType_t * pxTopOfStack; /**< Points to the location of the last item placed on the tasks stack.  THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */

    #if ( portUSING_MPU_WRAPPERS == 1 )
        xMPU_SETTINGS xMPUSettings; /**< The MPU settings are defined as part of the port layer.  THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
    #endif

    #if ( configUSE_CORE_AFFINITY == 1 ) && ( configNUMBER_OF_CORES > 1 )
        UBaseType_t uxCoreAffinityMask; /**< Used to link the task to certain cores.  UBaseType_t must have greater than or equal to the number of bits as configNUMBER_OF_CORES. */
    #endif

    ListItem_t xStateListItem;                  /**< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
    ListItem_t xEventListItem;                  /**< Used to reference a task from an event list. */
    UBaseType_t uxPriority;                     /**< The priority of the task.  0 is the lowest priority. */
    StackType_t * pxStack;                      /**< Points to the start of the stack. */
    #if ( configNUMBER_OF_CORES > 1 )
        volatile BaseType_t xTaskRunState;      /**< Used to identify the core the task is running on, if the task is running. Otherwise, identifies the task's state - not running or yielding. */
        UBaseType_t uxTaskAttributes;           /**< Task's attributes - currently used to identify the idle tasks. */
    #endif
    char pcTaskName[ configMAX_TASK_NAME_LEN ]; /**< Descriptive name given to the task when created.  Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */

    #if ( configUSE_TASK_PREEMPTION_DISABLE == 1 )
        BaseType_t xPreemptionDisable; /**< Used to prevent the task from being preempted. */
    #endif

    #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
        StackType_t * pxEndOfStack; /**< Points to the highest valid address for the stack. */
    #endif

    #if ( portCRITICAL_NESTING_IN_TCB == 1 )
        UBaseType_t uxCriticalNesting; /**< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
    #endif

    #if ( configUSE_TRACE_FACILITY == 1 )
        UBaseType_t uxTCBNumber;  /**< Stores a number that increments each time a TCB is created.  It allows debuggers to determine when a task has been deleted and then recreated. */
        UBaseType_t uxTaskNumber; /**< Stores a number specifically for use by third party trace code. */
    #endif

    #if ( configUSE_MUTEXES == 1 )
        UBaseType_t uxBasePriority; /**< The priority last assigned to the task - used by the priority inheritance mechanism. */
        UBaseType_t uxMutexesHeld;
    #endif

    #if ( configUSE_APPLICATION_TASK_TAG == 1 )
        TaskHookFunction_t pxTaskTag;
    #endif

    #if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
        void * pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
    #endif

    #if ( configGENERATE_RUN_TIME_STATS == 1 )
        configRUN_TIME_COUNTER_TYPE ulRunTimeCounter; /**< Stores the amount of time the task has spent in the Running state. */
    #endif

    #if ( configUSE_C_RUNTIME_TLS_SUPPORT == 1 )
        configTLS_BLOCK_TYPE xTLSBlock; /**< Memory block used as Thread Local Storage (TLS) Block for the task. */
    #endif

    #if ( configUSE_TASK_NOTIFICATIONS == 1 )
        volatile uint32_t ulNotifiedValue[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
        volatile uint8_t ucNotifyState[ configTASK_NOTIFICATION_ARRAY_ENTRIES ];
    #endif

    /* See the comments in FreeRTOS.h with the definition of
     * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
    #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
        uint8_t ucStaticallyAllocated;                     /**< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
    #endif

    #if ( INCLUDE_xTaskAbortDelay == 1 )
        uint8_t ucDelayAborted;
    #endif

    #if ( configUSE_POSIX_ERRNO == 1 )
        int iTaskErrno;
    #endif
} tskTCB;