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：