Hands-On RTOS with Microcontrollers

Creating a task

When a task is created using dynamically allocated memory, the call will look something like this (see Chapter 7, The FreeRTOS Scheduler, for more details on the parameters that are not related to memory allocation):

BaseType_t retVal = xTaskCreate( Task1, "task1", StackSizeWords, NULL,        tskIDLE_PRIORITY + 2, tskHandlePtr);assert_param(retVal != pdPASS);

There are a few relevant pieces of information, relevant to memory allocation, to note about this call:

• The call to xTaskCreate may fail. This is because there is no guarantee that enough space will be available for storing the task's stack and TCB on the FreeRTOS heap. The only way to ensure that it was created successfully is to check the return value, retVal.
• The only parameter ...