FreeRTOS学习笔记-------任务创建函数详解

任务控制块

任务控制块中主要保存着任务的优先级、任务名以及任务函数的栈起始地址等信息，经过裁剪后的官方源码如下所示：

typedef struct tskTaskControlBlock       
{
    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. */
    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. */
    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. */
} tskTCB;

任务创建函数

以动态创建任务为例，创建函数如下：

    BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
                            const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                            const configSTACK_DEPTH_TYPE usStackDepth,
                            void * const pvParameters,
                            UBaseType_t uxPriority,
                            TaskHandle_t * const pxCreatedTask );

通过分析官方源码可知，任务创建函数的主要内容包括：

• 分配任务函数所需的栈；
• 分配任务控制块的内存；
• 初始化任务控制块的内容；
• 将pxTaskCode和pvParameters写入已经分配好的栈中；(不保存在任务控制块中)
• 将任务添加进就绪态的链表中。

相关代码经过裁剪后如下所示：

#if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )

    BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
                            const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
                            const configSTACK_DEPTH_TYPE usStackDepth,
                            void * const pvParameters,
                            UBaseType_t uxPriority,
                            TaskHandle_t * const pxCreatedTask )
    {
        TCB_t * pxNewTCB;
        BaseType_t xReturn;
                
        StackType_t * pxStack;

        // 分配任务所需要的栈
        pxStack = pvPortMallocStack( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); 

        // 分配TCB所需的内存
        pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
        
        // 初始化TCB内容并初始化栈
        prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
        // 将任务写入就绪态链表
        prvAddNewTaskToReadyList( pxNewTCB );
    }

#endif /* configSUPPORT_DYNAMIC_ALLOCATION */


// prvInitialiseNewTask函数会将pxTaskCode和pvParameters写入栈中
pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );

StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
                                     TaskFunction_t pxCode,
                                     void * pvParameters )
{
    /* Simulate the stack frame as it would be created by a context switch
     * interrupt. */
    pxTopOfStack--;                                                      /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
    *pxTopOfStack = portINITIAL_XPSR;                                    /* xPSR */
    pxTopOfStack--;
    *pxTopOfStack = ( ( StackType_t ) pxCode ) & portSTART_ADDRESS_MASK; /* PC */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) prvTaskExitError;                    /* LR */

    pxTopOfStack -= 5;                                                   /* R12, R3, R2 and R1. */
    *pxTopOfStack = ( StackType_t ) pvParameters;                        /* R0 */
    pxTopOfStack -= 8;                                                   /* R11, R10, R9, R8, R7, R6, R5 and R4. */

    return pxTopOfStack;
}

根据以上代码可知，在执行任务时，pxTaskCode将被写入PC寄存器中，pvParameters被写入R0寄存器中。任务创建函数执行完后，任务所需的栈示意图如下。