2、任务管理

一个函数 如：void <b><font color="#64b5f6">ATaskFunction</font>&nbsp;</b>(void *<b>pvParameters)</b>&nbsp; &nbsp; //Parameter 参数

无返回值 void

每个任务/函数都有自己的栈

可以一个函数，多个调度

<font color="#000000">BaseType_t</font> <b><font color="#64b5f6">xTaskCreate</font></b>( TaskFunction_t <b>pxTaskCode, </b>// 函数指针, <b><font color="#ff0000">任务函数</font></b><br>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;const char *<b> const pcName</b>, // <b><font color="#ff0000">任务的名字</font></b><br>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;const <b>configSTACK_DEPTH_TYPE</b> <b>usStackDepth</b>, // <b><font color="#ff0000">栈大小</font></b>,单位为word,10表示40字节&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;void * <b>const pvParameters</b>, // 调用任务函数时传入的参数<br>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;UBaseType_t <b>uxPriority</b>, // <font color="#ff0000"><b>优先级</b></font><br>&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;TaskHandle_t * <b>const pxCreatedTask</b> ); // 任务<font color="#ff0000"><b>句柄</b></font>, 以后使用它来操作这个任务&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; ）

例子&nbsp; &nbsp; &nbsp; <font color="#64b5f6"><b>xTaskCreate</b></font>(vTask1, "Task 1", 1000, NULL, 1, NULL);<br>

void <b><font color="#64b5f6">vTaskDelete</font></b>( TaskHandle_t <b>xTaskToDelete</b> )&nbsp; &nbsp;

参数：<font color="#64b5f6"><b>vTaskDelete</b></font>(<b>NULL</b>)&nbsp; 自杀&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp;<font color="#64b5f6"><b>vTaskDelete</b></font>(<b>pvTaskCode</b>)&nbsp;被杀&nbsp; &nbsp; <b>&nbsp; pvTaskCode&nbsp; --&gt; 自己的句柄&nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; &nbsp; </b>杀人<b>&nbsp; &nbsp; &nbsp; pvTaskCode&nbsp; --&gt; 别人的句柄</b>

范围&nbsp;&nbsp;0~(<b><font color="#ff00ff">configMAX_PRIORITIES </font>– 1</b>)，越大优先级越高

<b><font color="#64b5f6">vTaskDelay</font></b>(2);&nbsp; &nbsp;//等待2个Tick，假设<b><font color="#ff00ff">configTICK_RATE_HZ</font>=100,</b> Tick周期时10ms, 等待20ms<br>

<b><font color="#64b5f6">vTaskDelay</font></b>(<b style=""><font color="#ff00ff">pdMS_TO_TICKS</font></b>(100));&nbsp; &nbsp;//等待100ms<br><br>

时间阻塞

同步事件阻塞

void <font color="#64b5f6"><b>vTaskSuspend</b></font>( TaskHandle_t xTaskToSuspend );<br>

参数： NULL（暂停自己） &nbsp;<font color="#ff00ff" style="font-weight: bold;">别人的句柄</font><font color="#000000" style="">（暂停别人）</font>

退出暂停状态（别人调用）&nbsp; <font color="#7b1fa2">&nbsp;Resume（简历、恢复）</font><br>

<font color="#64b5f6"><b>vTaskDelay</b></font>(n)

<b><font color="#64b5f6"><strike style="">xTaskDelayUntil</strike></font></b>(&amp;Pre, n)

空闲任务优先级为0：它不能阻碍用户任务运行<br>

<span style="font-weight: normal;">空闲任务要么处于就绪态，要么处于运行态，永远不会阻塞</span>

执行一些低优先级的、后台的、需要连续执行的函数<br>

测量系统的空闲时间

让系统进入省电模式

定义宏&nbsp;&nbsp;<span class="tag">#define</span>&nbsp;<b>configUSE_IDLE_HOOK</b>&nbsp;&nbsp;<b>1</b>

使用函数&nbsp;<b style="color: rgb(100, 181, 246);">vApplicationIdleHook</b><font color="#000000">（）</font>

<b><font color="#000000">configUSE_PREEMPTION</font><font color="#64b5f6">&nbsp;</font></b> 优先级抢占

<b><font color="#000000">configUSE_TIME_SLICING</font></b>&nbsp;&nbsp;时间片轮转

<b><font color="#000000">configIDLE_SHOULD_YIELD&nbsp;&nbsp;</font></b>空闲任务是否让步于用户任务