4-FreeRTOS 静态任务的创建/删除

 1 //空闲任务所需内存
 2 void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,
 3                                     StackType_t ** ppxIdleTaskStackBuffer,
 4                                     uint32_t * pulIdleTaskStackSize )
 5 {
 6     
 7     * ppxIdleTaskTCBBuffer = &IdleTaskTCB;//空闲任务控制块
 8     * ppxIdleTaskStackBuffer= IdleTaskStack; //空闲任务任务堆栈
 9     * pulIdleTaskStackSize = configMINIMAL_STACK_SIZE; //堆栈大小
10   
11 }
12 
13 
14 //定时器任务所需内存
15 void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
16                                      StackType_t ** ppxTimerTaskStackBuffer,
17                                      uint32_t * pulTimerTaskStackSize )
18 {
19     
20     * ppxTimerTaskTCBBuffer = &TimerTaskTCB;//任务控制块
21     * ppxTimerTaskStackBuffer= TimerTaskStack; //任务堆栈
22     * pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH; //堆栈大小
23   
24 }

  1 //----------------------------------------任务优先级
  2 #define START_TASK_PRIO 1 
  3 #define TASK1_PRIO 2 
  4 #define TASK2_PRIO 3 //优先级高
  5 
  6 //----------------------------------------任务堆栈大小
  7 #define START_STK_SIZE 128
  8 #define TASK1_STK_SIZE 128 
  9 #define TASK2_STK_SIZE 128 
 10 
 11 //----------------------------------------任务堆栈
 12 StackType_t StartTaskStack[START_STK_SIZE]; 
 13 StackType_t Task1TaskStack[TASK1_STK_SIZE];
 14 StackType_t Task2TaskStack[TASK2_STK_SIZE];
 15 
 16 //----------------------------------------任务控制块
 17 StaticTask_t StartTaskTCB; 
 18 StaticTask_t Task1TaskTCB;
 19 StaticTask_t Task2TaskTCB;
 20 
 21 
 22 //----------------------------------------任务句柄
 23 TaskHandle_t Task1_Handler; 
 24 TaskHandle_t Task2_Handler; 
 25 TaskHandle_t StartTask_Handler; 
 26 
 27 
 28 //----------------------------------------任务函数
 29 void start_task(void *pvParameters); 
 30 void task1_task(void *pvParameters); 
 31 void task2_task(void *pvParameters); 
 32 
 33 
 34 
 35 //定时器任务所需内存
 36 void vApplicationGetTimerTaskMemory( StaticTask_t ** ppxTimerTaskTCBBuffer,
 37                                      StackType_t ** ppxTimerTaskStackBuffer,
 38                                      uint32_t * pulTimerTaskStackSize )
 39 {
 40     
 41     * ppxTimerTaskTCBBuffer = &TimerTaskTCB;//任务控制块
 42     * ppxTimerTaskStackBuffer= TimerTaskStack; //任务堆栈
 43     * pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH; //堆栈大小
 44   
 45 }
 46 
 47 
 48 
 49 int main(void)
 50 {
 51   User_GPIO_Init();
 52     Delay_init();
 53     USART_Config();
 54     
 55 //    TIM6_Time_Init(9999,7199);//定时1s
 56 //  TIM7_Time_Init(9999,7199);//定时1s
 57 
 58     
 59     StartTask_Handler= xTaskCreateStatic( (TaskFunction_t) start_task,
 60                          (const char * ) "start_task",     
 61                          (uint32_t) START_STK_SIZE,  //任务堆栈大小
 62                          (void * ) NULL,
 63                          (UBaseType_t) START_TASK_PRIO,
 64                          (StackType_t * ) StartTaskStack,
 65                          (StaticTask_t *) &StartTaskTCB);
 66                                  
 67     if(StartTask_Handler==NULL) //创建成功
 68          GPIO_SetBits(GPIOA, GPIO_Pin_8);
 69         
 70     vTaskStartScheduler(); //开启任务调度
 71     
 72 }
 73 
 74 void start_task( void * pvParameters )
 75 {
 76     taskENTER_CRITICAL(); //进入临界区
 77     
 78    //创建任务Task1
 79     Task1_Handler= xTaskCreateStatic( (TaskFunction_t ) task1_task,
 80                                          (const char *   ) "task1_task",     
 81                                          (uint32_t       ) TASK1_STK_SIZE,  //任务堆栈大小
 82                                          (void *         ) NULL,
 83                                          (UBaseType_t    ) TASK1_PRIO,
 84                                          (StackType_t   *) Task1TaskStack,
 85                                          (StaticTask_t  *) &Task1TaskTCB );
 86                                          
 87                                          
 88   //创建任务Task2
 89     Task2_Handler= xTaskCreateStatic( (TaskFunction_t) task2_task,
 90                                          (const char   *) "task2_task",     
 91                                          (uint32_t      ) TASK2_STK_SIZE,  //任务堆栈大小
 92                                          (void *        ) NULL,
 93                                          (UBaseType_t   ) TASK2_PRIO,
 94                                          (StackType_t  *) Task2TaskStack,
 95                                          (StaticTask_t *) &Task2TaskTCB );
 96                                          
 97                                          
 98                                                  
 99         vTaskDelete(StartTask_Handler); //vTaskDelete(NULL)也可以   删除开始任务
100         taskEXIT_CRITICAL();            //退出临界区                                                 
101 }
102 
103 
104 
105 void task1_task(void *pvParameters)
106 {  
107     uint8_t count_num=0; 
108    
109     while(1)
110     {
111       count_num++;
112         printf("任务1执行：%d次\n", count_num);
113         
114         if(count_num==5) 
115         {
116           vTaskDelete(Task2_Handler);
117             printf("任务2被任务1删除\n");
118         }            
119         if(count_num==10)  
120         {
121             printf("任务1被删除\n");
122           vTaskDelete(NULL);  //将自身任务删除
123             
124         }
125         vTaskDelay(1000);  //延时1000个时钟节拍，就是1s   configTICK_RATE_HZ
126     }
127         
128 }
129  
130 void task2_task(void *pvParameters)
131 {  
132     uint8_t count_num1=0;
133    while(1)
134    {
135      count_num1++;
136      printf("任务2执行：%d次\n", count_num1);
137          vTaskDelay(1000);
138   }
139 }