创建task

1. 定义堆栈

存储task的地方

static StackType_t aos_loop_proc_stack[1024];

2. 定义task

static StaticTask_t aos_loop_proc_task;

下面是FreeRTOS里对task的定义

typedef struct xSTATIC_TCB
{
	void				*pxDummy1;
	#if ( portUSING_MPU_WRAPPERS == 1 )
		xMPU_SETTINGS	xDummy2;
	#endif
	StaticListItem_t	xDummy3[ 2 ];
	UBaseType_t			uxDummy5;
	void				*pxDummy6;
	uint8_t				ucDummy7[ configMAX_TASK_NAME_LEN ];
	#if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
		void			*pxDummy8;
	#endif
	#if ( portCRITICAL_NESTING_IN_TCB == 1 )
		UBaseType_t		uxDummy9;
	#endif
	#if ( configUSE_TRACE_FACILITY == 1 )
		UBaseType_t		uxDummy10[ 2 ];
	#endif
	#if ( configUSE_MUTEXES == 1 )
		UBaseType_t		uxDummy12[ 2 ];
	#endif
	#if ( configUSE_APPLICATION_TASK_TAG == 1 )
		void			*pxDummy14;
	#endif
	#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
		void			*pvDummy15[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
	#endif
	#if ( configGENERATE_RUN_TIME_STATS == 1 )
		uint32_t		ulDummy16;
	#endif
	#if ( configUSE_NEWLIB_REENTRANT == 1 )
		struct	_reent	xDummy17;
	#endif
	#if ( configUSE_TASK_NOTIFICATIONS == 1 )
		uint32_t 		ulDummy18;
		uint8_t 		ucDummy19;
	#endif
	#if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
		uint8_t			uxDummy20;
	#endif

	#if( INCLUDE_xTaskAbortDelay == 1 )
		uint8_t ucDummy21;
	#endif
	#if ( configUSE_POSIX_ERRNO == 1 )
		int				iDummy22;
	#endif
} StaticTask_t;

3. 初始化系统以及系统线程

system_init();
system_thread_init();

4. 创建线程

TaskHandle_t xTaskCreateStatic(	
	TaskFunction_t pxTaskCode,          //任务函数
	const char * const pcName,		//PC名称/*lint !e971 Unqualified char types are allowed for strings and single characters only. */
									const uint32_t ulStackDepth, //堆栈深度，即堆栈大小
									void * const pvParameters,// 参数
									UBaseType_t uxPriority,//优先级
									StackType_t * const puxStackBuffer, //堆buffer地址
									StaticTask_t * const pxTaskBuffer )//task buffer地址

涉及的数据类型

>TaskFunction_t     void (*TaskFunction_t)( void * )  即任意函数
> uint32_t          long unsigned int
> UBaseType_t       long unsigned int
> StackType_t       long unsigned int
> StaticTask_t      typedef struct xSTATIC_TCB

实例

xTaskCreateStatic(aos_loop_proc, (char*)"event_loop", 1024, NULL, 15, aos_loop_proc_stack, &aos_loop_proc_task);

启动系统调度器

vTaskStartScheduler();

本文地址：https://blog.csdn.net/weixin_44095069/article/details/108580788