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[Task Creation]

task. h
BaseType_t xTaskCreate( TaskFunction_t pvTaskCode, const char * const pcName, unsigned short usStackDepth, void *pvParameters, UBaseType_t uxPriority, TaskHandle_t *pvCreatedTask );

Create a new task and add it to the list of tasks that are ready to run.

If you are using FreeRTOS-MPU then it is recommended to use xTaskCreateRestricted() in place of xTaskCreate(). Using xTaskCreate() with FreeRTOS-MPU allows tasks to be created to run in either Privileged or User modes (see the description of uxPriority below). When Privileged mode it used the task will have access to the entire memory map, when User mode is used the task will have access to only its stack. In both cases the MPU will not automatically catch stack overflows, although the standard FreeRTOS stack overflow detection schemes can still be used. xTaskCreateRestricted() permits much greater flexibility.

pvTaskCode Pointer to the task entry function. Tasks must be implemented to never return (i.e. continuous loop).
pcName A descriptive name for the task. This is mainly used to facilitate debugging. Max length defined by configMAX_TASK_NAME_LEN.
usStackDepth The size of the task stack specified as the number of variables the stack can hold - not the number of bytes. For example, if the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes will be allocated for stack storage. The stack depth multiplied by the stack width must not exceed the maximum value that can be contained in a variable of type size_t.

See the FAQ How big should the stack be?

pvParameters Pointer that will be used as the parameter for the task being created.
uxPriority The priority at which the task should run.

Systems that include MPU support can optionally create tasks in a privileged (system) mode by setting bit portPRIVILEGE_BIT of the priority parameter. For example, to create a privileged task at priority 2 the uxPriority parameter should be set to ( 2 | portPRIVILEGE_BIT ).

pvCreatedTask Used to pass back a handle by which the created task can be referenced.
pdPASS if the task was successfully created and added to a ready list, otherwise an error code defined in the file projdefs. h
Example usage:
/* Task to be created. */
void vTaskCode( void * pvParameters )
  for( ;; )
      /* Task code goes here. */

/* Function that creates a task. */
void vOtherFunction( void )
static unsigned char 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 );

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