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用法基本和Linux下的多线程编程类似

探索者开发版实验

动态创建4个任务start_task task1 task2 task3  优先级依次为1 2 3 4 （注意优先级不能为0,0是空闲任务）

我的理解：主线程start_task 主线程   task1 task2 task3为子线程

#include "sys.h"
#include "delay.h"
#include "usart.h"
#include "led.h"
#include "FreeRTOS.h"
#include "task.h"

#define START_TASK_PRIO 1  //任务优先级
#define START_STK_SIZE  120  //任务堆栈
TaskHandle_t Start_Handler;
void start_task(void *pvParameters);

#define Task1_TASK_PRIO 2  //任务优先级
#define Task1_STK_SIZE  120  //任务堆栈
TaskHandle_t Task1_Handler;
void task1_task(void *pvParameters);

#define Task2_TASK_PRIO 3  //任务优先级
#define Task2_STK_SIZE  120  //任务堆栈
TaskHandle_t Task2_Handler;
void task2_task(void *pvParameters);

#define Task3_TASK_PRIO 4  //任务优先级
#define Task3_STK_SIZE  120  //任务堆栈
TaskHandle_t Task3_Handler;
void task3_task(void *pvParameters);



//*******************下面注释掉的代码是通过 位带 操作实现IO口控制**************************************

int main(void)
{ 
  uart_init(115200);
	delay_init(168);		  //初始化延时函数
	LED_Init();		        //初始化LED端口
  while(1)
	{
		 xTaskCreate((TaskFunction_t) start_task,
							    (char *) "start_task",
							    (uint16_t) START_STK_SIZE,
							     (void *) NULL,
							     (UBaseType_t) START_TASK_PRIO,
							     (TaskHandle_t *) &Start_Handler ); /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
			
	   vTaskStartScheduler();//   开启任务调度器  注意一定要开启
	 }
}


//创建开始任务
void start_task(void *pvParameters)
{
	//创建task1
	xTaskCreate((TaskFunction_t) task1_task,
							    (char *) "task1_task",
							    (uint16_t) Task1_STK_SIZE,
							     (void *) NULL,
							     (UBaseType_t) Task1_TASK_PRIO,
							     (TaskHandle_t *) &Task1_Handler ); /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
	//创建task2
	xTaskCreate((TaskFunction_t) task2_task,
							    (char *) "task2_task",
							    (uint16_t) Task2_STK_SIZE,
							     (void *) NULL,
							     (UBaseType_t) Task2_TASK_PRIO,
							     (TaskHandle_t *) &Task2_Handler ); /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
//创建task3
xTaskCreate((TaskFunction_t) task3_task,
							    (char *) "task3_task",
							    (uint16_t) Task3_STK_SIZE,
							     (void *) NULL,
							     (UBaseType_t) Task3_TASK_PRIO,
							     (TaskHandle_t *) &Task3_Handler ); /*lint !e971 Unqualified char types are allowed for strings and single characters only. */		
vTaskDelete(Start_Handler);									 

}

void task1_task(void *pvParameters)
{
	while(1)
	{
		printf("task 1 is ok\r\n");
		vTaskDelay(500);
	}
	
}
void task2_task(void *pvParameters)
{
	while(1)
	{
		printf("task 2 is ok\r\n");
		vTaskDelay(800);
	}
	
}
void task3_task(void *pvParameters)
{
	while(1)
	{
		printf("task 3 is ok\r\n");
		vTaskDelay(1000);
	}
}