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 DEBUG
  debug();
#endif

	prvSetupHardware();

	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 the
	idle 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 DEBUG
  debug();
#endif

	prvSetupHardware();

	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 the
	idle task. */
	return 0;
}