一.动态创建任务

1.函数xTaskCreate()

BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, // 函数指针, 任务函数const char * const pcName, // 任务的名字const configSTACK_DEPTH_TYPE usStackDepth, // 栈大小,单位为word,10表示40字节void * const pvParameters, // 调用任务函数时传入的参数UBaseType_t uxPriority, // 优先级TaskHandle_t * const pxCreatedTask ); // 任务句柄, 以后使用它来操作这个任务

2.实现 

void Task1Function(void*param)
{while(1){printf("1");}
}void Task2Function(void*param)
{while(1){printf("2");}
}int main( void )
{TaskHandle_t xHandleTask1;
#ifdef DEBUGdebug();
#endifprvSetupHardware();printf("hello,world,nimade!\r\n");xTaskCreate(Task1Function,"Task1",100,NULL,1,&xHandleTask1);xTaskCreate(Task2Function,"Task2",100,NULL,1,NULL);/* Start the scheduler. */vTaskStartScheduler();/* Will only get here if there was not enough heap space to create theidle task. */return 0;
}

二.静态创建任务

TCB结构体得事先分配好栈，栈要事先分配好定义一个数组。

1.函数xTaskCreateStatic()

    TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,const char * const pcName, const uint32_t ulStackDepth,void * const pvParameters,UBaseType_t uxPriority,StackType_t * const puxStackBuffer,StaticTask_t * const pxTaskBuffer )

配置这个函数要先配置configSUPPORT_STATIC_ALLOCATION

 同时还要配置Idle线程

StackType_t xIdleTaskStack[100];//100*4字节
StaticTask_t xIdleTaskTCB;void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,StackType_t ** ppxIdleTaskStackBuffer,uint32_t * pulIdleTaskStackSize )
{*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;*ppxIdleTaskStackBuffer = xIdleTaskStack;*pulIdleTaskStackSize = 100;
}

2.实现

void Task4Function(void*param)
{while(1){     printf("3");}
}StackType_t xTask4Stack[100];//100*4字节
StaticTask_t xTask4TCB;StackType_t xIdleTaskStack[100];//100*4字节
StaticTask_t xIdleTaskTCB;void vApplicationGetIdleTaskMemory( StaticTask_t ** ppxIdleTaskTCBBuffer,StackType_t ** ppxIdleTaskStackBuffer,uint32_t * pulIdleTaskStackSize )
{*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;*ppxIdleTaskStackBuffer = xIdleTaskStack;*pulIdleTaskStackSize = 100;
}int main( void )
{LED_Init();TaskHandle_t xHandleTask1;
#ifdef DEBUGdebug();
#endifprvSetupHardware();printf("hello,world,nimade!\r\n");xTaskCreateStatic(Task4Function,"Task4",100,NULL,1,xTask4Stack,&xTask4TCB);/* Start the scheduler. */vTaskStartScheduler();/* Will only get here if there was not enough heap space to create theidle task. */return 0;
}