FreeRtos阅读理解（一）

问题：stm32的单片机如何一步步搭建freertos系统的

任务创建

 xTaskCreate( I2CUARTRtcTxTask,
		"I2CUARTRtcTxTask",
		4096,
		NULL,
		tskIDLE_PRIORITY + 5,
		NULL );

任务函数

void I2CUARTRtcTxTask()
{

	char SendData[1024*2];
	unsigned int Strlen;

	while(1)
	{
		Strlen = sprintf(SendData,"\r\nxTaskGetTickCount %d  #RANGEA,COM1,0,79.8,FIN.652,0.064,-123012087.828177,0.170,3065.667,43.8,2.014,08101c44,12,0,23408423.421,0.874,-95853580.323351,0.211,2390.062,34.9,1.014,01301c4b,15,0,22639511.848,0.056,-118971436.822733,0.151,-2647.560,47.2,2.014,08101c64,1,2390.062,34.9,1.014,01301c4b,15,0,22639511.848,0.056,-118971436.822733,0.151,-2647.560,47.2,2.014,08101c64,15,0,22639511.678,0.800,-92705014.723780,0.187,-2062.739,39.3,1.014,01301c6b,32,0,23300781.401,0.063,-122446433.689426,0.175,2494.081,43.0,2.014,08101c84,32,0,23300783.461,0.896,-95412812.706330,0.211,1944.748,35.3,1.014,01301c8b,20,0,19817521.422,0.0,0.164,268.409,44.9,2.05,0,22639511.678,0.800,-92705014.723780,0.187,-2062.739,39.3,1.014,01301c6b,32,0,23300781.401,0.063,-122446433.689426,0.175,2494.081,43.0,2.014,08101c84,32,0,23300783.461,0.896,-95412812.706330,0.211,1944.748,35.3,1.014,01301c8b,20,0,19817521.422,0.0,0.164,268.409,44.9,2.014,08101cc4,20,0,19817521.508,0.652,-8114943wwwwwwqqq\r\n",xTaskGetTickCount());
		I2CUartPutData(-1,SendData,Strlen);

		vTaskDelay(10);
	}
}

 

•   xTaskCreate

/**
 * task. h
 *<pre>
 BaseType_t xTaskCreate(
							  TaskFunction_t pvTaskCode,
							  const char * const pcName,
							  uint16_t usStackDepth,
							  void *pvParameters,
							  UBaseType_t uxPriority,
							  TaskHandle_t *pvCreatedTask
						  );</pre>
 *
 * Create a new task and add it to the list of tasks that are ready to run.
 *
 * xTaskCreate() can only be used to create a task that has unrestricted
 * access to the entire microcontroller memory map.  Systems that include MPU
 * support can alternatively create an MPU constrained task using
 * xTaskCreateRestricted().
 *
 * @param pvTaskCode Pointer to the task entry function.  Tasks
 * must be implemented to never return (i.e. continuous loop).
 *
 * @param pcName A descriptive name for the task.  This is mainly used to
 * facilitate debugging.  Max length defined by configMAX_TASK_NAME_LEN - default
 * is 16.
 *
 * @param usStackDepth The size of the task stack specified as the number of
 * variables the stack can hold - not the number of bytes.  For example, if
 * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes
 * will be allocated for stack storage.
 *
 * @param pvParameters Pointer that will be used as the parameter for the task
 * being created.
 *
 * @param uxPriority The priority at which the task should run.  Systems that
 * include MPU support can optionally create tasks in a privileged (system)
 * mode by setting bit portPRIVILEGE_BIT of the priority parameter.  For
 * example, to create a privileged task at priority 2 the uxPriority parameter
 * should be set to ( 2 | portPRIVILEGE_BIT ).
 *
 * @param pvCreatedTask Used to pass back a handle by which the created task
 * can be referenced.
 *
 * @return pdPASS if the task was successfully created and added to a ready
 * list, otherwise an error code defined in the file projdefs.h
 *
 * Example usage:
   <pre>
 // Task to be created.
 void vTaskCode( void * pvParameters )
 {
	 for( ;; )
	 {
		 // Task code goes here.
	 }
 }

 // Function that creates a task.
 void vOtherFunction( void )
 {
 static uint8_t ucParameterToPass;
 TaskHandle_t xHandle = NULL;

	 // Create the task, storing the handle.  Note that the passed parameter ucParameterToPass
	 // must exist for the lifetime of the task, so in this case is declared static.  If it was just an
	 // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
	 // the new task attempts to access it.
	 xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
     configASSERT( xHandle );

	 // Use the handle to delete the task.
     if( xHandle != NULL )
     {
	     vTaskDelete( xHandle );
     }
 }
   </pre>
 * \defgroup xTaskCreate xTaskCreate
 * \ingroup Tasks
 */
#define xTaskCreate( pvTaskCode, pcName, usStackDepth, pvParameters, uxPriority, pxCreatedTask ) xTaskGenericCreate( ( pvTaskCode ), ( pcName ), ( usStackDepth ), ( pvParameters ), ( uxPriority ), ( pxCreatedTask ), ( NULL ), ( NULL ) )

• xTaskGenericCreate

void* IdleTCB = NULL;
BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask, StackType_t * const puxStackBuffer, const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
{
	BaseType_t xReturn;
	TCB_t * pxNewTCB;
	StackType_t *pxTopOfStack;

	configASSERT( pxTaskCode );
	configASSERT( ( ( uxPriority & ( UBaseType_t ) ( ~portPRIVILEGE_BIT ) ) < ( UBaseType_t ) configMAX_PRIORITIES ) );

	/* Allocate the memory required by the TCB and stack for the new task,
	checking that the allocation was successful. */
	pxNewTCB = prvAllocateTCBAndStack( ulStackDepth, puxStackBuffer );

	if( pxNewTCB != NULL )
	{
		#if( portUSING_MPU_WRAPPERS == 1 )
			/* Should the task be created in privileged mode? */
			BaseType_t xRunPrivileged;
			if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
			{
				xRunPrivileged = pdTRUE;
			}
			else
			{
				xRunPrivileged = pdFALSE;
			}
			uxPriority &= ~portPRIVILEGE_BIT;

			if( puxStackBuffer != NULL )
			{
				/* The application provided its own stack.  Note this so no
				attempt is made to delete the stack should that task be
				deleted. */
				pxNewTCB->xUsingStaticallyAllocatedStack = pdTRUE;
			}
			else
			{
				/* The stack was allocated dynamically.  Note this so it can be
				deleted again if the task is deleted. */
				pxNewTCB->xUsingStaticallyAllocatedStack = pdFALSE;
			}
		#endif /* portUSING_MPU_WRAPPERS == 1 */

		/* Calculate the top of stack address.  This depends on whether the
		stack grows from high memory to low (as per the 80x86) or vice versa.
		portSTACK_GROWTH is used to make the result positive or negative as
		required by the port. */
		#if( portSTACK_GROWTH < 0 )
		{
			pxTopOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint16_t ) 1 );
			pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 MISRA exception.  Avoiding casts between pointers and integers is not practical.  Size differences accounted for using portPOINTER_SIZE_TYPE type. */

			/* Check the alignment of the calculated top of stack is correct. */
			configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
		}
		#else /* portSTACK_GROWTH */
		{
			pxTopOfStack = pxNewTCB->pxStack;

			/* Check the alignment of the stack buffer is correct. */
			configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );

			/* If we want to use stack checking on architectures that use
			a positive stack growth direction then we also need to store the
			other extreme of the stack space. */
			pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - 1 );
		}
		#endif /* portSTACK_GROWTH */

		/* Setup the newly allocated TCB with the initial state of the task. */
		prvInitialiseTCBVariables( pxNewTCB, pcName, uxPriority, xRegions, ulStackDepth );
		pxNewTCB->FreeStackSpace = ((unsigned int)pxTopOfStack - (unsigned int)pxNewTCB->pxStack)/sizeof(StackType_t) + 1;
		/* Initialize the TCB stack to look as if the task was already running,
		but had been interrupted by the scheduler.  The return address is set
		to the start of the task function. Once the stack has been initialised
		the	top of stack variable is updated. */
		#if( portUSING_MPU_WRAPPERS == 1 )
		{
			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
		}
		#else /* portUSING_MPU_WRAPPERS */
		{
			pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
		}
		#endif /* portUSING_MPU_WRAPPERS */

		if( ( void * ) pxCreatedTask != NULL )
		{
			/* Pass the TCB out - in an anonymous way.  The calling function/
			task can use this as a handle to delete the task later if
			required.*/
			*pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}

		/* Ensure interrupts don't access the task lists while they are being
		updated. */
		taskENTER_CRITICAL();
		{
			uxCurrentNumberOfTasks++;
			if( pxCurrentTCB == NULL )
			{
				/* There are no other tasks, or all the other tasks are in
				the suspended state - make this the current task. */
				pxCurrentTCB =  pxNewTCB;

				if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
				{
					/* This is the first task to be created so do the preliminary
					initialisation required.  We will not recover if this call
					fails, but we will report the failure. */
					prvInitialiseTaskLists();
				}
				else
				{
					mtCOVERAGE_TEST_MARKER();
				}
			}
			else
			{
				/* If the scheduler is not already running, make this task the
				current task if it is the highest priority task to be created
				so far. */
				if( xSchedulerRunning == pdFALSE )
				{
					if( pxCurrentTCB->uxPriority <= uxPriority )
					{
						pxCurrentTCB = pxNewTCB;
					}
					else
					{
						mtCOVERAGE_TEST_MARKER();
					}
				}
				else
				{
					mtCOVERAGE_TEST_MARKER();
				}
			}

			uxTaskNumber++;

			#if ( configUSE_TRACE_FACILITY == 1 )
			{
				/* Add a counter into the TCB for tracing only. */
				pxNewTCB->uxTCBNumber = uxTaskNumber;
			}
			#endif /* configUSE_TRACE_FACILITY */
			traceTASK_CREATE( pxNewTCB, ulStackDepth);

			prvAddTaskToReadyList( pxNewTCB );

			xReturn = pdPASS;
			portSETUP_TCB( pxNewTCB );
		}
		taskEXIT_CRITICAL();
	}
	else
	{
		xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
		traceTASK_CREATE_FAILED();
	}

	if( xReturn == pdPASS )
	{
		if( xSchedulerRunning != pdFALSE )
		{
			/* If the created task is of a higher priority than the current task
			then it should run now. */
			if( pxCurrentTCB->uxPriority < uxPriority )
			{
				taskYIELD_IF_USING_PREEMPTION();
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}

	#if ( MIPS_ESTIMATE_EN == 1 )
		// initialize MIPS related statistic
		//pxNewTCB->UserTaskInfo.StackUsed = 0;
	#endif
	}

	return xReturn;
}

• prvAllocateTCBAndStack 

如果堆栈向下增长，则分配堆栈，然后分配TCB，这样堆栈就不会增长到TCB中。同样，如果堆栈增大，则分配TCB，然后分配堆栈 

static TCB_t *prvAllocateTCBAndStack( const uint32_t ulStackDepth, StackType_t * const puxStackBuffer )
{
TCB_t *pxNewTCB;

	/* If the stack grows down then allocate the stack then the TCB so the stack
	does not grow into the TCB.  Likewise if the stack grows up then allocate
	the TCB then the stack. */
	#if( portSTACK_GROWTH > 0 )
	{
		/* Allocate space for the TCB.  Where the memory comes from depends on
		the implementation of the port malloc function. */
		pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );

		if( pxNewTCB != NULL )
		{
			/* Allocate space for the stack used by the task being created.
			The base of the stack memory stored in the TCB so the task can
			be deleted later if required. */
			pxNewTCB->pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) ulStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

			if( pxNewTCB->pxStack == NULL )
			{
				/* Could not allocate the stack.  Delete the allocated TCB. */
				vPortFree( pxNewTCB );
				pxNewTCB = NULL;
			}
		}
	}
	#else /* portSTACK_GROWTH */
	{
	StackType_t *pxStack;

		/* Allocate space for the stack used by the task being created. */
		pxStack = ( StackType_t * ) pvPortMallocAligned( ( ( ( size_t ) ulStackDepth ) * sizeof( StackType_t ) ), puxStackBuffer ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */

		if( pxStack != NULL )
		{
			/* Allocate space for the TCB.  Where the memory comes from depends
			on the implementation of the port malloc function. */
			pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );

			if( pxNewTCB != NULL )
			{
				/* Store the stack location in the TCB. */
				pxNewTCB->pxStack = pxStack;
			}
			else
			{
				/* The stack cannot be used as the TCB was not created.  Free it
				again. */
				vPortFree( pxStack );
			}
		}
		else
		{
			pxNewTCB = NULL;
		}
	}
	#endif /* portSTACK_GROWTH */

	if( pxNewTCB != NULL )
	{
		/* Avoid dependency on memset() if it is not required. */
		#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) )
		{
			/* Just to help debugging. */
			( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
		}
		#endif /* ( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) ) ) */
	}

	return pxNewTCB;
}

• 分配堆内存：

/* Return the memory space pointed to - jumping over the
                    BlockLink_t structure at its start. */
                    pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );

                    /* This block is being returned for use so must be taken out
                    of the list of free blocks. */
                    pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;

void *pvPortMalloc( size_t xWantedSize )
{
BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
void *pvReturn = NULL;

	vTaskSuspendAll();
	{
		/* If this is the first call to malloc then the heap will require
		initialisation to setup the list of free blocks. */
		if( pxEnd == NULL )
		{
			prvHeapInit();
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}

		/* Check the requested block size is not so large that the top bit is
		set.  The top bit of the block size member of the BlockLink_t structure
		is used to determine who owns the block - the application or the
		kernel, so it must be free. */
		if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
		{
			/* The wanted size is increased so it can contain a BlockLink_t
			structure in addition to the requested amount of bytes. */
			if( xWantedSize > 0 )
			{
				xWantedSize += xHeapStructSize;

				/* Ensure that blocks are always aligned to the required number
				of bytes. */
				if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
				{
					/* Byte alignment required. */
					xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
					configASSERT( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) == 0 );
				}
				else
				{
					mtCOVERAGE_TEST_MARKER();
				}
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}

			if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
			{
				/* Traverse the list from the start	(lowest address) block until
				one	of adequate size is found. */
				pxPreviousBlock = &xStart;
				pxBlock = xStart.pxNextFreeBlock;
				while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
				{
					pxPreviousBlock = pxBlock;
					pxBlock = pxBlock->pxNextFreeBlock;
				}

				/* If the end marker was reached then a block of adequate size
				was	not found. */
				if( pxBlock != pxEnd )
				{
					/* Return the memory space pointed to - jumping over the
					BlockLink_t structure at its start. */
					pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );

					/* This block is being returned for use so must be taken out
					of the list of free blocks. */
					pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;

					/* If the block is larger than required it can be split into
					two. */
					if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
					{
						/* This block is to be split into two.  Create a new
						block following the number of bytes requested. The void
						cast is used to prevent byte alignment warnings from the
						compiler. */
						pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
						configASSERT( ( ( ( size_t ) pxNewBlockLink ) & portBYTE_ALIGNMENT_MASK ) == 0 );

						/* Calculate the sizes of two blocks split from the
						single block. */
						pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
						pxBlock->xBlockSize = xWantedSize;

						/* Insert the new block into the list of free blocks. */
						prvInsertBlockIntoFreeList( pxNewBlockLink );
					}
					else
					{
						mtCOVERAGE_TEST_MARKER();
					}

					xFreeBytesRemaining -= pxBlock->xBlockSize;

					if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
					{
						xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
					}
					else
					{
						mtCOVERAGE_TEST_MARKER();
					}

					/* The block is being returned - it is allocated and owned
					by the application and has no "next" block. */
					pxBlock->xBlockSize |= xBlockAllocatedBit;
					pxBlock->pxNextFreeBlock = NULL;
				}
				else
				{
					mtCOVERAGE_TEST_MARKER();
				}
			}
			else
			{
				mtCOVERAGE_TEST_MARKER();
			}
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}

		traceMALLOC( pvReturn, xWantedSize );
	}
	( void ) xTaskResumeAll();

	#if( configUSE_MALLOC_FAILED_HOOK == 1 )
	{
		if( pvReturn == NULL )
		{
			extern void vApplicationMallocFailedHook( void );
			vApplicationMallocFailedHook();
		}
		else
		{
			mtCOVERAGE_TEST_MARKER();
		}
	}
	#endif

	configASSERT( ( ( ( size_t ) pvReturn ) & portBYTE_ALIGNMENT_MASK ) == 0 );
	return pvReturn;
}