Hands-On RTOS with Microcontrollers

Checking the return value

When creating a few tasks in main before starting the scheduler, it's necessary to check the return values as each task is created. Of course, there are many ways to accomplish this. Let's take a look at two of them:

1. The first is by wrapping the call in an if statement with an inlined infinite while loop:

if( xTaskCreate(GreenTask, "GreenTask", STACK_SIZE, NULL,                 tskIDLE_PRIORITY + 2, NULL) != pdPASS){ while(1) }

2. The second is by using ASSERT rather than the infinite while loop. If your project has ASSERT support, then it would be better to use ASSERT, rather than the infinite while loop. Since our project already has HAL included, we can make use of the assert_param macro:

retVal = xTaskCreate(BlueTask, "BlueTask", ...