xTaskCreate() function

task. h @code{c} BaseType_t xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const configSTACK_DEPTH_TYPE uxStackDepth, void *pvParameters, UBaseType_t uxPriority, TaskHandle_t *pxCreatedTask ); @endcode Create a new task and add it to the list of tasks that are ready to run. Internally, within the FreeRTOS implementation, tasks use two blocks of memory. The first block is used to hold the task's data structures. The second block is used by the task as its stack. If a task is created using xTaskCreate() then both blocks of memory are automatically dynamically allocated inside the xTaskCreate() function. (see https://www.FreeRTOS.org/a00111.html). If a task is created using xTaskCreateStatic() then the application writer must provide the required memory. xTaskCreateStatic() therefore allows a task to be created without using any dynamic memory allocation. See xTaskCreateStatic() for a version that does not use any dynamic memory allocation. xTaskCreate() can only be used to create a task that has unrestricted access to the entire microcontroller memory map. Systems that include MPU support can alternatively create an MPU constrained task using xTaskCreateRestricted(). Example usage: @code{c} // Task to be created. void vTaskCode( void * pvParameters ) { for( ;; ) { // Task code goes here. } } // Function that creates a task. void vOtherFunction( void ) { static uint8_t ucParameterToPass; TaskHandle_t xHandle = NULL; // Create the task, storing the handle. Note that the passed parameter ucParameterToPass // must exist for the lifetime of the task, so in this case is declared static. If it was just an // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time // the new task attempts to access it. xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle ); configASSERT( xHandle ); // Use the handle to delete the task. if( xHandle != NULL ) { vTaskDelete( xHandle ); } } @endcode