Create a new task and add it to the list of tasks that are ready to run.
must be set to 1 in FreeRTOSConfig.h, or left undefined (in which case it will
default to 1), for this RTOS API function to be available.
Each task requires RAM that is used to hold the task state, and used by the task
as its stack. If a task is created using xTaskCreate() then the required RAM is automatically
allocated from the FreeRTOS heap. If a task is created
using xTaskCreateStatic() then the RAM is
provided by the application writer, so it can be statically allocated at compile time. See the
Static Vs Dynamic allocation
page for more information.
A descriptive name for the task. This is mainly used to facilitate
debugging, but can also be used to
obtain a task handle.
The maximum length of a task's name is defined by
configMAX_TASK_NAME_LEN in FreeRTOSConfig.h.
The number of words (not bytes!) to allocate
for use as the task's
stack. For example, if the stack is 16-bits wide and usStackDepth is
100, then 200 bytes will be allocated for use as the task's stack.
As another example, if the stack is 32-bits wide and usStackDepth is
400 then 1600 bytes will be allocated for use as the task's stack.
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.
A value that is passed as the paramater to the created task.
If pvParameters is set to the address of a variable then the variable
must still exist when the created task executes - so it is not valid
to pass the address of a stack variable.
The priority at which the
created task will execute.
Systems that include MPU support can optionally create a task in a
privileged (system) mode by setting the bit portPRIVILEGE_BIT in uxPriority.
For example, to create a privileged task at priority 2 set uxPriority
to ( 2 | portPRIVILEGE_BIT ).
Priorities are asserted to be less than configMAX_PRIORITIES.
If configASSERT is undefined, priorities are silently capped at (configMAX_PRIORITIES - 1).
Used to pass a handle to the created task out of the xTaskCreate()
function. pxCreatedTask is optional and can be set to NULL.
If the task was created successfully then pdPASS is returned. Otherwise
errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY is returned.
/* Task to be created. */
void vTaskCode( void * pvParameters )
/* The parameter value is expected to be 1 as 1 is passed in the
pvParameters value in the call to xTaskCreate() below. configASSERT( ( ( uint32_t ) pvParameters ) == 1 );
for( ;; )
/* Task code goes here. */
/* Function that creates a task. */
void vOtherFunction( void )
TaskHandle_t xHandle = NULL;
/* Create the task, storing the handle. */
xReturned = xTaskCreate(
vTaskCode, /* Function that implements the task. */
"NAME", /* Text name for the task. */
STACK_SIZE, /* Stack size in words, not bytes. */
( void * ) 1, /* Parameter passed into the task. */
tskIDLE_PRIORITY,/* Priority at which the task is created. */
&xHandle ); /* Used to pass out the created task's handle. */
if( xReturned == pdPASS )
/* The task was created. Use the task's handle to delete the task. */ vTaskDelete( xHandle );
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