FreeRTOS 任务创建和删除（静态）

#define configSUPPORT_STATIC_ALLOCATION 1   //打开静态方法

StackType_t TaskStackBuffer[50];    //任务堆栈大小

StaticTask_t TaskTCBBuffer;         //任务控制块大小

StackType_t TaskStackBuffer0[50];

StaticTask_t TaskTCBBuffer0;

StackType_t TaskStackBuffer1[50];

StaticTask_t TaskTCBBuffer1;

TaskHandle_t taskhandle0;

TaskHandle_t taskhandle1;

StaticTask_t pxIdleTaskTCBBuffer;

StackType_t pxIdleTaskStackBuffer[configMINIMAL_STACK_SIZE];

//需要用户添加定义

void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer,

                                    StackType_t **ppxIdleTaskStackBuffer,

                                    uint32_t *pulIdleTaskStackSize )

{

    *ppxIdleTaskTCBBuffer = &pxIdleTaskTCBBuffer;

    *ppxIdleTaskStackBuffer = pxIdleTaskStackBuffer;

    *pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;

}

void vTask0(void *t)

{

    int i = 0;

    while(1)

    {

        i++;

        if(i == 5)

        {

            vTaskDelete(taskhandle1);

            printf("vTask0: delete vTask1.\r\n");

        }

        printf("vTask: 0.\r\n");

        vTaskDelay(1000);

    }

}

void vTask1(void *t)

{

    while(1)

    {

        printf("vTask: 1.\r\n");

        vTaskDelay(1000);

    }

}

void start_vTask(void *t)

{

    taskhandle0 = xTaskCreateStatic( vTask0,

                                    "vTask0",

                                    50,

                                    ( void * ) NULL,

                                    2,

                                    (StackType_t *const)TaskStackBuffer0,

                                    (StaticTask_t *const)&TaskTCBBuffer0 );

    taskhandle1 = xTaskCreateStatic( vTask1,

                                    "vTask1",

                                    50,

                                    ( void * ) NULL,

                                    3,

                                    (StackType_t *const)TaskStackBuffer1,

                                    (StaticTask_t *const)&TaskTCBBuffer1 );

    vTaskDelete(NULL);

}

int main(void)

{

    xTaskCreateStatic( start_vTask,

                        "start_vTask",

                        50,

                        ( void * ) NULL,

                        1,

                        (StackType_t *const)TaskStackBuffer,

                        (StaticTask_t *const)&TaskTCBBuffer );

    vTaskStartScheduler();

}

运行结果：