在真正启动调度器之前，先创建空闲任务，初始化一些变量。真正启动调度器的函数是xPortStartScheduler
/* 启动调度器 */
void vTaskStartScheduler( void )
{
BaseType_t xReturn;
#if (configSUPPORT_STATIC_ALLOCATION == 1)
{
StaticTask_t *pxIdleTaskTCBBuffer = NULL;
StackType_t *pxIdleTaskStackBuffer = NULL;
uint32_t ulIdleTaskStackSize;
vApplicationGetIdleTaskMemory(&pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize);
xIdleTaskHandle = xTaskCreateStatic(prvIdleTask, configIDLE_TASK_NAME, ulIdleTaskStackSize,
(void *)NULL, portPRIVILEGE_BIT, pxIdleTaskStackBuffer,
pxIdleTaskTCBBuffer);
if(xIdleTaskHandle != NULL)
{
xReturn = pdPASS;
}
else
{
xReturn = pdFAIL;
}
}
#else
{
/* 创建空闲任务 */
xReturn = xTaskCreate(prvIdleTask, configIDLE_TASK_NAME, configMINIMAL_STACK_SIZE,
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