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Chapter 3
L3-2(6)
The fourth argument of OSTaskCreate() is the actual argument that the task
receives when it first begins. In other words, the “ p_arg” of MyTask() . In the
example a NULL pointer is passed, and thus “ p_arg ” for AppTaskStart() will
be a NULL pointer.
The argument passed to the task can actually be any pointer. For example, the
user may pass a pointer to a data structure containing parameters for the task.
L3-2(7)
L3-2(8)
L3-2(9)
L3-2(10)
L3-2(11)
The next argument to OSTaskCreate() is the priority of the task. The
priority establishes the relative importance of this task with respect to the
other tasks in the application. A low-priority number indicates a high
priority (or more important task). Set the priority of the task to any value
between 1 and OS_CFG_PRIO_MAX-2 , inclusively. Avoid using priority #0, and
priority OS_CFG_PRIO_MAX-1 , because these are reserved for μC/OS-III.
OS_CFG_PRIO_MAX is a compile time configuration constant, which is declared
in OS_CFG.H .
The sixth argument to OSTaskCreate() is the base address of the stack
assigned to this task. The base address is always the lowest memory location of
the stack.
The next argument specifies the location of a “watermark” in the task’s stack
that can be used to determine the allowable stack growth of the task. See
Chapter 5, “Task Management” on page 75 for more details on using this
feature. In the code above, the value represents the amount of stack space (in
CPU_STK elements) before the stack is empty. In other words, in the example,
the limit is reached when there is 10% of the stack left.
The eighth argument to OSTaskCreate() specifies the size of the task’s stack in
number of CPU_STK elements (not bytes). For example, if allocating 1 Kbyte of
stack space for a task and the CPU_STK is a 32-bit word, then pass 256.
The next three arguments are skipped as they are not relevant for the current
discussion. The next argument to OSTaskCreate() specifies options. In this
example, we specify that the stack will be checked at run time (assuming the
statistic task was enabled in OS_CFG.H ), and that the contents of the stack will
be cleared when the task is created.
56
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