add API (tos_task_create_dyn & tos_task_walkthru & tos_task_curr_task_get)

tos_task_create_dyn: create task with dynamic allocated task handler and stack
tos_task_walkthru: API to walk through the statistic list of all the existing task
tos_task_curr_task_get: get current running task handler

board/ALIENTEK-MiniSTM32F103RCT6/TOS-CONFIG/tos_config.h

@@ -11,6 +11,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN       0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN            1u
 
 #define TOS_CFG_MMBLK_EN            1u

board/ALIENTEK_Apollo_STM32F767/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN       0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN            1u
 
 #define TOS_CFG_MMBLK_EN            1u

board/ALIENTEK_EXPLORER_STM32F407ZGT6/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/ALIENTEK_Elite_STM32F103ZET6/TOS-CONFIG/tos_config.h

@@ -11,6 +11,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN       0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN            1u
 
 #define TOS_CFG_MMBLK_EN            1u

board/ALIENTEK_Pandora_STM32L475/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           1u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/ALIENTEK_STM32F429/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN       0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN            1u
 
 #define TOS_CFG_MMBLK_EN            1u

board/ALIENTEK_W601/TOS_CONFIG/tos_config.h

@@ -11,6 +11,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN       0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN            1u
 
 #define TOS_CFG_MMBLK_EN            1u

board/ALIENTEK_WarShip_STM32F103ZET6/TOS-CONFIG/tos_config.h

@@ -11,6 +11,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN       0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN            1u
 
 #define TOS_CFG_MMBLK_EN            1u

board/BearPi_STM32L431RC/TOS-CONFIG/tickless/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           1u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/BearPi_STM32L431RC/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN        1u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/Fire_STM32F103VEtx/TOS-CONFIG/tos_config.h

@@ -11,6 +11,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN       0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN            1u
 
 #define TOS_CFG_MMBLK_EN            1u

board/GigaDevice_GD32F207ZET6/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/GigaDevice_GD32VF103C_START/TOS_CONFIG/tos_config.h

@@ -13,6 +13,8 @@
 // 配置TencentOS tiny是否校验指针合法
 #define TOS_CFG_OBJECT_VERIFY 0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 // TencentOS tiny 事件模块功能宏
 #define TOS_CFG_EVENT_EN 1u
 

board/HC32L136_K8TA/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/N32G020K8_TB_V11/tencent_os_mqtt/TOS-CONFIG/tos_config.h

@@ -11,6 +11,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NUCLEO_STM32F072RB/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NUCLEO_STM32F103RB/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NUCLEO_STM32F401RE/TOS_CONFIG/tos_config.h

@@ -1,46 +1,48 @@
-   #ifndef TOS_CONFIG_H
+#ifndef TOS_CONFIG_H
-   #define  TOS_CONFIG_H
+#define  TOS_CONFIG_H
 
-   #include "stm32f4xx.h"				                  
+#include "stm32f4xx.h"
 
-   #define TOS_CFG_TASK_PRIO_MAX           10u			
+#define TOS_CFG_TASK_PRIO_MAX           10u
 
-   #define TOS_CFG_ROUND_ROBIN_EN          1u			
+#define TOS_CFG_ROUND_ROBIN_EN          1u
 
-   #define TOS_CFG_OBJECT_VERIFY           0u
+#define TOS_CFG_OBJECT_VERIFY           0u
 
-   #define TOS_CFG_EVENT_EN                1u
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
 
-   #define TOS_CFG_MMBLK_EN                1u
+#define TOS_CFG_EVENT_EN                1u
 
-   #define TOS_CFG_MMHEAP_EN               1u
+#define TOS_CFG_MMBLK_EN                1u
 
-   #define TOS_CFG_MMHEAP_DEFAULT_POOL_SIZE        0x100
+#define TOS_CFG_MMHEAP_EN               1u
 
-   #define TOS_CFG_MUTEX_EN                1u
+#define TOS_CFG_MMHEAP_DEFAULT_POOL_SIZE        0x100
 
-   #define TOS_CFG_QUEUE_EN                1u
+#define TOS_CFG_MUTEX_EN                1u
 
-   #define TOS_CFG_TIMER_EN                1u
+#define TOS_CFG_QUEUE_EN                1u
 
-   #define TOS_CFG_SEM_EN                  1u
+#define TOS_CFG_TIMER_EN                1u
-   
-   #define TOS_CFG_TICKLESS_EN             0u
-   
-   #if (TOS_CFG_QUEUE_EN > 0u)
-   #define TOS_CFG_MSG_EN     1u
-   #else
-   #define TOS_CFG_MSG_EN     0u
-   #endif
 
-   #define TOS_CFG_MSG_POOL_SIZE           10u
+#define TOS_CFG_SEM_EN                  1u
 
-   #define TOS_CFG_IDLE_TASK_STK_SIZE      128u
+#define TOS_CFG_TICKLESS_EN             0u
 
-   #define TOS_CFG_CPU_TICK_PER_SECOND     1000u
+#if (TOS_CFG_QUEUE_EN > 0u)
+#define TOS_CFG_MSG_EN     1u
+#else
+#define TOS_CFG_MSG_EN     0u
+#endif
 
-   #define TOS_CFG_CPU_CLOCK     (SystemCoreClock)
+#define TOS_CFG_MSG_POOL_SIZE           10u
 
-   #define TOS_CFG_TIMER_AS_PROC           1u
+#define TOS_CFG_IDLE_TASK_STK_SIZE      128u
 
-   #endif
+#define TOS_CFG_CPU_TICK_PER_SECOND     1000u
+
+#define TOS_CFG_CPU_CLOCK     (SystemCoreClock)
+
+#define TOS_CFG_TIMER_AS_PROC           1u
+
+#endif

board/NUCLEO_STM32F746ZG/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN       0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN            1u
 
 #define TOS_CFG_MMBLK_EN            1u
@@ -29,7 +31,7 @@
 
 #define TOS_CFG_TICKLESS_EN         0u
 
-#define TOS_CFG_VFS_EN				0u
+#define TOS_CFG_VFS_EN              0u
 
 #if (TOS_CFG_QUEUE_EN > 0u)
 #define TOS_CFG_MSG_EN     1u

board/NUCLEO_STM32G070RB/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NUCLEO_STM32L053R8/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NUCLEO_STM32L073RZ/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NUCLEO_STM32L432KC/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NUCLEO_STM32L433RC/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NUCLEO_STM32L476RG/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NUCLEO_STM32L496ZG/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NXP-FRDM-KL27Z/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NXP_FRDM_KL25Z/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NXP_Kinetis_K64/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/NXP_LPC824Lite/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/Nordic_NRF51822/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                0u

board/Nordic_NRF52832/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                0u

board/Nordic_NRF52840/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                0u

board/QEMU_Spike/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY 0u // 配置TencentOS tiny是否校验指针合法
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN 1u // TencentOS tiny 事件模块功能宏
 
 #define TOS_CFG_MMHEAP_EN 1u // 配置TencentOS tiny是否开启动态内存模块

board/RHF76_STM32L072CBxx_Lora/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN       0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN            1u
 
 #define TOS_CFG_MMBLK_EN            1u

board/STM32F103_SIM800A/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN       0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN            1u
 
 #define TOS_CFG_MMBLK_EN            1u

board/STM32F407VGT6_discovery/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/STM32F746NGH6_discovery/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN       0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN            1u
 
 #define TOS_CFG_MMBLK_EN            1u

board/Sipeed_LonganNano/TOS_CONFIG/tos_config.h

@@ -13,6 +13,8 @@
 // 配置TencentOS tiny是否校验指针合法
 #define TOS_CFG_OBJECT_VERIFY 0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 // TencentOS tiny 事件模块功能宏
 #define TOS_CFG_EVENT_EN 1u
 

board/TI_MSP432P401R_LaunchPad/TOS_CONFIG/tos_config.h

@@ -10,6 +10,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/TOS_tiny_EVK_STM32L431CBT6/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           1u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/TencentOS_tiny_EVB_MX/TOS-CONFIG/tickless/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           1u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/TencentOS_tiny_EVB_MX/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           1u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/TencentOS_tiny_EVB_MX_Plus/TOS-CONFIG/tickless/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           1u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

board/TencentOS_tiny_EVB_MX_Plus/TOS-CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           1u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  1u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u
@@ -43,7 +45,7 @@
 
 #define TOS_CFG_MSG_POOL_SIZE           3u
 
-#define TOS_CFG_IDLE_TASK_STK_SIZE      512u
+#define TOS_CFG_IDLE_TASK_STK_SIZE      128u
 
 #define TOS_CFG_CPU_TICK_PER_SECOND     1000u
 

board/YS_STM32F407IGTx/TOS_CONFIG/tos_config.h

@@ -9,6 +9,8 @@
 
 #define TOS_CFG_OBJECT_VERIFY_EN           0u
 
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN  0u
+
 #define TOS_CFG_EVENT_EN                1u
 
 #define TOS_CFG_MMBLK_EN                1u

kernel/core/include/tos_config_check.h

@@ -40,8 +40,12 @@
 #error  "INVALID config, TOS_CFG_TASK_PRIO_MAX must be >= 8"
 #endif
 
+#if     (TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u) && (TOS_CFG_MMHEAP_EN == 0u)
+#error  "INVALID config, must enable TOS_CFG_MMHEAP_EN to support dynamic task create"
+#endif
+
 #if     (TOS_CFG_QUEUE_EN > 0u) && (TOS_CFG_MSG_EN == 0u)
-#error  "INVALID config, must enable tos_msg to use tos_queue"
+#error  "INVALID config, must enable TOS_CFG_MSG_EN to use tos_queue"
 #endif
 
 #if     ((TOS_CFG_TIMER_EN > 0u) && !defined(TOS_CFG_TIMER_AS_PROC))
@@ -55,7 +59,7 @@
 #endif
 
 #if     (TOS_CFG_VFS_EN > 0u) && (TOS_CFG_MMHEAP_EN == 0u)
-#error  "INVALID config, must enable tos_mmheap to use tos_vfs"
+#error  "INVALID config, must enable TOS_CFG_MMHEAP_EN to use tos_vfs"
 #endif
 
 #ifndef  TOS_CFG_CPU_HRTIMER_EN

kernel/core/include/tos_config_default.h

@@ -33,6 +33,15 @@
 /////////////////////////////////////////
 
 
+/////////////////////////////////////////
+// disable dynamic task create
+#ifdef TOS_CFG_TASK_DYNAMIC_CREATE_EN
+#undef  TOS_CFG_TASK_DYNAMIC_CREATE_EN
+#endif
+#define TOS_CFG_TASK_DYNAMIC_CREATE_EN      0u
+/////////////////////////////////////////
+
+
 /////////////////////////////////////////
 // disable event
 #ifdef TOS_CFG_EVENT_EN
@@ -167,7 +176,11 @@
 #else /* TOS_CFG_EVENT_DRIVEN_EN */
 
 #ifndef TOS_CFG_TASK_STACK_DRAUGHT_DEPTH_DETACT_EN
-#define TOS_CFG_TASK_STACK_DRAUGHT_DEPTH_DETACT_EN  0u
+#define  TOS_CFG_TASK_STACK_DRAUGHT_DEPTH_DETACT_EN  0u
+#endif
+
+#ifndef TOS_CFG_TASK_DYNAMIC_CREATE_EN
+#define  TOS_CFG_TASK_DYNAMIC_CREATE_EN     0u
 #endif
 
 #ifndef TOS_CFG_ROUND_ROBIN_EN
@@ -275,6 +288,13 @@
 #endif
 #endif
 
+#if (TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u)
+#if TOS_CFG_IDLE_TASK_STK_SIZE < 512
+#undef TOS_CFG_IDLE_TASK_STK_SIZE
+#define TOS_CFG_IDLE_TASK_STK_SIZE          512u
+#endif
+#endif
+
 #ifndef TOS_CFG_FAULT_BACKTRACE_EN
 #define  TOS_CFG_FAULT_BACKTRACE_EN         0u
 #endif

kernel/core/include/tos_err.h

@@ -91,6 +91,7 @@ typedef enum k_err_en {
     K_ERR_TASK_SUSPEND_IDLE,
     K_ERR_TASK_STK_OVERFLOW,
     K_ERR_TASK_STK_SIZE_INVALID,
+    K_ERR_TASK_OUT_OF_MEMORY,
 
     K_ERR_TICKLESS_WKUP_ALARM_NOT_INSTALLED     = 2000u,
     K_ERR_TICKLESS_WKUP_ALARM_NO_INIT,

kernel/core/include/tos_global.h

@@ -44,7 +44,15 @@ extern k_stack_t            k_idle_task_stk[];
 extern k_stack_t           *const k_idle_task_stk_addr;
 extern size_t               const k_idle_task_stk_size;
 
-/* list to hold all the task delayed or pend for timeout */
+#if TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u
+/* list to hold all the destroyed dynamic created tasks */
+extern k_list_t             k_dead_task_list;
+#endif
+
+/* list to hold all the tasks for statistics */
+extern k_list_t             k_stat_list;
+
+/* list to hold all the tasks delayed or pend for timeout */
 extern k_list_t             k_tick_list;
 
 /* how many ticks will be triggered in a second */

kernel/core/include/tos_sem.h

@@ -23,8 +23,24 @@
 typedef struct k_sem_st {
     pend_obj_t      pend_obj;
     k_sem_cnt_t     count;
+    k_sem_cnt_t     count_max;
 } k_sem_t;
 
+/**
+ * @brief Create a semaphore with a limitation of maximum count.
+ * create a semaphore with a limitation of maximum count.
+ *
+ * @attention None
+ *
+ * @param[in]   sem         pointer to the handler of the semaphore.
+ * @param[in]   init_count  initial count of the semaphore.
+ * @param[in]   max_count   maximum count of the semaphore.
+ *
+ * @return  errcode
+ * @retval  #K_ERR_NONE                   return successfully.
+ */
+__API__ k_err_t tos_sem_create_max(k_sem_t *sem, k_sem_cnt_t init_count, k_sem_cnt_t max_count);
+
 /**
  * @brief Create a semaphore.
  * create a semaphore.
@@ -32,6 +48,7 @@ typedef struct k_sem_st {
  * @attention None
  *
  * @param[in]   sem         pointer to the handler of the semaphore.
+ * @param[in]   init_count  initial count of the semaphore.
  *
  * @return  errcode
  * @retval  #K_ERR_NONE                   return successfully.

kernel/core/include/tos_sys.h

@@ -31,10 +31,11 @@ typedef enum knl_state_en {
 typedef enum knl_obj_type_en {
     KNL_OBJ_TYPE_NONE       = 0x0000,
     KNL_OBJ_TYPE_TASK       = 0xDAD1,
-    KNL_OBJ_TYPE_TIMER      = 0xDAD2,
+    KNL_OBJ_TYPE_TASK_DYN   = 0xDAD2,
+    KNL_OBJ_TYPE_TIMER      = 0xDAD3,
     KNL_OBJ_TYPE_MSG_QUEUE  = 0xDAD4,
-    KNL_OBJ_TYPE_MMBLK_POOL = 0xDAD8,
+    KNL_OBJ_TYPE_MMBLK_POOL = 0xDAD5,
-    KNL_OBJ_TYPE_FIFO       = 0xDAE1,
+    KNL_OBJ_TYPE_FIFO       = 0xDAD6,
 } knl_obj_type_t;
 
 typedef struct knl_object_st {

kernel/core/include/tos_task.h

@@ -61,6 +61,8 @@
 
 typedef void (*k_task_entry_t)(void *arg);
 
+typedef void (*k_task_walker)(k_task_t *task);
+
 /**
  * task control block
  */
@@ -80,6 +82,12 @@ typedef struct k_task_st {
     k_stack_t          *stk_base;           /**< task stack base address */
     size_t              stk_size;           /**< stack size of the task */
 
+#if TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u
+    k_list_t            dead_list;          /**< when a dynamic allocated task destroyed, we hook the task's dead_list to the k_dead_task_list */
+#endif
+
+    k_list_t            stat_list;          /**< list for hooking us to the k_stat_list */
+
     k_tick_t            tick_expires;       /**< if we are in k_tick_list, how much time will we wait for? */
 
     k_list_t            tick_list;          /**< list for hooking us to the k_tick_list */
@@ -131,7 +139,6 @@ typedef struct k_task_st {
  * @param[in]   stk_base    stack base address of the task.
  * @param[in]   stk_size    stack size of the task.
  * @param[in]   timeslice   time slice of the task.
- * @param[in]   opt         option for the function call.
  *
  * @return  errcode
  * @retval  #K_ERR_TASK_STK_SIZE_INVALID    stack size is invalid.
@@ -161,6 +168,51 @@ __API__ k_err_t tos_task_create(k_task_t *task,
  */
 __API__ k_err_t tos_task_destroy(k_task_t *task);
 
+#if TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u
+
+/**
+ * @brief Create a task with a dynamic allocated task handler and stack.
+ * create a task with a dynamic allocated task handler and stack.
+ *
+ * @attention a task created by tos_task_create_dyn, should be destroyed by tos_task_destroy_dyn.
+ * @param[out]  task        dynamic allocated task handler.
+ * @param[in]   name        name of the task.
+ * @param[in]   entry       running entry of the task.
+ * @param[in]   arg         argument for the entry of the task.
+ * @param[in]   prio        priority of the task.
+ * @param[in]   stk_size    stack size of the task.
+ * @param[in]   timeslice   time slice of the task.
+ *
+ * @return  errcode
+ * @retval  #K_ERR_TASK_STK_SIZE_INVALID    stack size is invalid.
+ * @retval  #K_ERR_TASK_PRIO_INVALID        priority is invalid.
+ * @retval  #K_ERR_TASK_OUT_OF_MEMORY       out of memory(insufficient heap memory).
+ * @retval  #K_ERR_NONE                     return successfully.
+ */
+__API__ k_err_t tos_task_create_dyn(k_task_t **task,
+                                                    char *name,
+                                                    k_task_entry_t entry,
+                                                    void *arg,
+                                                    k_prio_t prio,
+                                                    size_t stk_size,
+                                                    k_timeslice_t timeslice);
+
+/**
+ * @brief Destroy a dynamic created task.
+ * delete a dynamic created task.
+ *
+ * @attention the API to destroy a dynamic created task.
+ *
+ * @param[in]   task        pointer to the handler of the task to be deleted.
+ *
+ * @return  errcode
+ * @retval  #K_ERR_TASK_DESTROY_IDLE    attempt to destroy idle task.
+ * @retval  #K_ERR_NONE                 return successfully.
+ */
+__API__ k_err_t tos_task_destroy_dyn(k_task_t *task);
+
+#endif
+
 /**
  * @brief Delay current task for ticks.
  * Delay for a specified amount of ticks.
@@ -245,6 +297,18 @@ __API__ k_err_t tos_task_prio_change(k_task_t *task, k_prio_t prio_new);
  */
 __API__ void    tos_task_yield(void);
 
+/**
+ * @brief Get current running task.
+ * Get current running task.
+ *
+ * @attention is kernel is not running, you'll get K_NULL
+ *
+ * @param   None
+ *
+ * @return  current running task handler
+ */
+__API__ k_task_t *tos_task_curr_task_get(void);
+
 
 #if TOS_CFG_TASK_STACK_DRAUGHT_DEPTH_DETACT_EN > 0u
 
@@ -264,6 +328,30 @@ __API__ k_err_t tos_task_stack_draught_depth(k_task_t *task, int *depth);
 
 #endif
 
+/**
+ * @brief Walk through all the tasks in the statistic list.
+ *
+ * @attention None
+ *
+ * @param[in]   walker      a function involved when meeting each tasks in the list.
+ *
+ * @return  None
+ */
+__API__ void tos_task_walkthru(k_task_walker walker);
+
+/**
+ * @brief A debug API for display all tasks information.
+ *
+ * @attention None
+ *
+ * @param   None
+ *
+ * @return  None
+ */
+__DEBUG__ void tos_task_info_display(void);
+
+__KERNEL__ void task_free_all(void);
+
 __KERNEL__ __STATIC_INLINE__ int task_state_is_ready(k_task_t *task)
 {
     return task->state == K_TASK_STATE_READY;
@@ -324,5 +412,36 @@ __KERNEL__ __STATIC_INLINE__ void task_state_set_sleeping(k_task_t *task)
     task->state |= K_TASK_STATE_SLEEP;
 }
 
+__DEBUG__ __STATIC_INLINE__ void task_default_walker(k_task_t *task)
+{
+    char *state_str;
+
+    tos_kprintln("tsk name: %s", task->name);
+
+    if (task->state == K_TASK_STATE_PENDTIMEOUT_SUSPENDED) {
+        state_str = "PENDTIMEOUT_SUSPENDED";
+    } else if (task->state == K_TASK_STATE_PEND_SUSPENDED) {
+        state_str = "PEND_SUSPENDED";
+    } else if (task->state == K_TASK_STATE_SLEEP_SUSPENDED) {
+        state_str = "SLEEP_SUSPENDED";
+    } else if (task->state == K_TASK_STATE_PENDTIMEOUT) {
+        state_str = "PENDTIMEOUT";
+    } else if (task->state == K_TASK_STATE_SUSPENDED) {
+        state_str = "SUSPENDED";
+    } else if (task->state == K_TASK_STATE_PEND) {
+        state_str = "PEND";
+    } else if (task->state == K_TASK_STATE_SLEEP) {
+        state_str = "SLEEP";
+    } else if (task->state == K_TASK_STATE_READY) {
+        state_str = "READY";
+    }
+    tos_kprintln("tsk stat: %s", state_str);
+
+    tos_kprintln("stk size: %d", task->stk_size);
+    tos_kprintln("stk base: 0x%x", task->stk_base);
+    tos_kprintln("stk top : 0x%x", (cpu_addr_t)task->stk_base + task->stk_size);
+    tos_kprintln("");
+}
+
 #endif /* _TOS_TASK_H_ */
 

kernel/core/tos_global.c

@@ -36,6 +36,12 @@ k_tick_t            k_cpu_tick_per_second       = TOS_CFG_CPU_TICK_PER_SECOND;
 
 k_cycle_t           k_cpu_cycle_per_tick        = (k_cycle_t)0u;
 
+#if TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u
+TOS_LIST_DEFINE(k_dead_task_list);
+#endif
+
+TOS_LIST_DEFINE(k_stat_list);
+
 TOS_LIST_DEFINE(k_tick_list);
 
 #if TOS_CFG_FAULT_BACKTRACE_EN > 0u

kernel/core/tos_sched.c

@@ -96,27 +96,6 @@ __KERNEL__ void readyqueue_init(void)
     }
 }
 
-__DEBUG__ void readyqueue_walkthru(void)
-{
-    uint8_t i;
-    k_task_t *task;
-    k_list_t *task_list, *curr;
-
-    tos_kprintf("==========================\n");
-    tos_kprintf("%d\n", k_rdyq.highest_prio);
-
-    for (i = 0; i < TOS_CFG_TASK_PRIO_MAX; ++i) {
-        task_list = &k_rdyq.task_list_head[i];
-        if (!tos_list_empty(task_list)) {
-            TOS_LIST_FOR_EACH(curr, task_list) {
-                task = TOS_LIST_ENTRY(curr, k_task_t, pend_list);
-                tos_kprintf("----  %d   %d   [%d]  %s\n", task->prio, i, task->state, task->name);
-            }
-        }
-    }
-    tos_kprintf("\n\n");
-}
-
 __KERNEL__ void readyqueue_add_head(k_task_t *task)
 {
     k_prio_t task_prio;

kernel/core/tos_sem.c

@@ -19,16 +19,22 @@
 
 #if TOS_CFG_SEM_EN > 0u
 
-__API__ k_err_t tos_sem_create(k_sem_t *sem, k_sem_cnt_t init_count)
+__API__ k_err_t tos_sem_create_max(k_sem_t *sem, k_sem_cnt_t init_count, k_sem_cnt_t max_count)
 {
     TOS_PTR_SANITY_CHECK(sem);
 
     pend_object_init(&sem->pend_obj, PEND_TYPE_SEM);
-    sem->count = init_count;
+    sem->count      = init_count;
+    sem->count_max  = max_count;
 
     return K_ERR_NONE;
 }
 
+__API__ k_err_t tos_sem_create(k_sem_t *sem, k_sem_cnt_t init_count)
+{
+    return tos_sem_create_max(sem, init_count, (k_sem_cnt_t)-1);
+}
+
 __API__ k_err_t tos_sem_destroy(k_sem_t *sem)
 {
     TOS_CPU_CPSR_ALLOC();
@@ -69,7 +75,7 @@ __STATIC__ k_err_t sem_do_post(k_sem_t *sem, opt_post_t opt)
 
     TOS_CPU_INT_DISABLE();
 
-    if (sem->count == (k_sem_cnt_t)-1) {
+    if (sem->count == sem->count_max) {
         TOS_CPU_INT_ENABLE();
         return K_ERR_SEM_OVERFLOW;
     }

kernel/core/tos_sys.c

@@ -268,6 +268,10 @@ __STATIC__ void knl_idle_entry(void *arg)
     arg = arg; // make compiler happy
 
     while (K_TRUE) {
+#if TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u
+        task_free_all();
+#endif
+
 #if TOS_CFG_PWR_MGR_EN > 0u
         pm_power_manager();
 #endif

kernel/core/tos_task.c

@@ -23,6 +23,10 @@ __STATIC_INLINE__ void task_reset(k_task_t *task)
     knl_object_deinit(&task->knl_obj);
 #endif
 
+#if TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u
+    tos_list_init(&task->dead_list);
+#endif
+    tos_list_init(&task->stat_list);
     tos_list_init(&task->tick_list);
     tos_list_init(&task->pend_list);
 
@@ -102,6 +106,8 @@ __API__ k_err_t tos_task_create(k_task_t *task,
     }
 
     task_reset(task);
+    tos_list_add(&task->stat_list, &k_stat_list);
+
 #if TOS_CFG_OBJECT_VERIFY_EN > 0u
     knl_object_init(&task->knl_obj, KNL_OBJ_TYPE_TASK);
 #endif
@@ -136,30 +142,14 @@ __API__ k_err_t tos_task_create(k_task_t *task,
     return K_ERR_NONE;
 }
 
-__API__ k_err_t tos_task_destroy(k_task_t *task)
+__STATIC__ k_err_t task_do_destroy(k_task_t *task)
 {
     TOS_CPU_CPSR_ALLOC();
 
-    TOS_IN_IRQ_CHECK();
-
-    if (unlikely(!task)) {
-        task = k_curr_task;
-    }
-
-#if TOS_CFG_OBJECT_VERIFY_EN > 0u
-    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK)) {
-        return K_ERR_OBJ_INVALID;
-    }
-#endif
-
     if (knl_is_idle(task)) {
         return K_ERR_TASK_DESTROY_IDLE;
     }
 
-    if (knl_is_self(task) && knl_is_sched_locked()) {
-        return K_ERR_SCHED_LOCKED;
-    }
-
     TOS_CPU_INT_DISABLE();
 
 #if TOS_CFG_MUTEX_EN > 0u
@@ -179,7 +169,9 @@ __API__ k_err_t tos_task_destroy(k_task_t *task)
         pend_list_remove(task);
     }
 
+    tos_list_del(&task->stat_list);
     task_reset(task);
+
     task_state_set_deleted(task);
 
     TOS_CPU_INT_ENABLE();
@@ -188,6 +180,147 @@ __API__ k_err_t tos_task_destroy(k_task_t *task)
     return K_ERR_NONE;
 }
 
+__API__ k_err_t tos_task_destroy(k_task_t *task)
+{
+    TOS_IN_IRQ_CHECK();
+
+    if (unlikely(!task)) {
+        task = k_curr_task;
+    }
+
+    if (knl_is_self(task) && knl_is_sched_locked()) {
+        return K_ERR_SCHED_LOCKED;
+    }
+
+#if TOS_CFG_OBJECT_VERIFY_EN > 0u
+    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK)) {
+        return K_ERR_OBJ_INVALID;
+    }
+#endif
+
+    return task_do_destroy(task);
+}
+
+#if TOS_CFG_TASK_DYNAMIC_CREATE_EN > 0u
+
+__API__ k_err_t tos_task_create_dyn(k_task_t **task,
+                                                    char *name,
+                                                    k_task_entry_t entry,
+                                                    void *arg,
+                                                    k_prio_t prio,
+                                                    size_t stk_size,
+                                                    k_timeslice_t timeslice)
+{
+    k_err_t err;
+    k_task_t *the_task;
+    k_stack_t *stk_base;
+
+    TOS_IN_IRQ_CHECK();
+
+    TOS_PTR_SANITY_CHECK(task);
+    TOS_PTR_SANITY_CHECK(entry);
+
+    if (unlikely(stk_size < sizeof(cpu_context_t))) {
+        return K_ERR_TASK_STK_SIZE_INVALID;
+    }
+
+    if (unlikely(prio == K_TASK_PRIO_IDLE)) {
+        return K_ERR_TASK_PRIO_INVALID;
+    }
+
+    if (unlikely(prio > K_TASK_PRIO_IDLE)) {
+        return K_ERR_TASK_PRIO_INVALID;
+    }
+
+    the_task = tos_mmheap_alloc(sizeof(k_task_t));
+    if (!the_task) {
+        return K_ERR_TASK_OUT_OF_MEMORY;
+    }
+
+    stk_base = tos_mmheap_aligned_alloc(stk_size, sizeof(cpu_addr_t));
+    if (!stk_base) {
+        tos_mmheap_free(the_task);
+        return K_ERR_TASK_OUT_OF_MEMORY;
+    }
+
+    err = tos_task_create(the_task, name, entry, arg, prio, stk_base, stk_size, timeslice);
+    if (err != K_ERR_NONE) {
+        tos_mmheap_free(stk_base);
+        tos_mmheap_free(the_task);
+        return err;
+    }
+
+#if TOS_CFG_OBJECT_VERIFY_EN > 0u
+    knl_object_init(&the_task->knl_obj, KNL_OBJ_TYPE_TASK_DYN);
+#endif
+
+    *task = the_task;
+
+    return K_ERR_NONE;
+}
+
+__API__ k_err_t tos_task_destroy_dyn(k_task_t *task)
+{
+    k_err_t err;
+
+    TOS_IN_IRQ_CHECK();
+
+    if (unlikely(!task)) {
+        task = k_curr_task;
+    }
+
+    if (knl_is_self(task) && knl_is_sched_locked()) {
+        return K_ERR_SCHED_LOCKED;
+    }
+
+#if TOS_CFG_OBJECT_VERIFY_EN > 0u
+    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK_DYN)) {
+        return K_ERR_OBJ_INVALID;
+    }
+#endif
+
+    tos_knl_sched_lock();
+
+    err = task_do_destroy(task);
+    if (err != K_ERR_NONE) {
+        tos_knl_sched_unlock();
+        return err;
+    }
+
+    if (knl_is_self(task)) { // we are destroying ourself
+        // in this situation, we cannot just free ourself's task stack because we are using it
+        // we count on the idle task to free the memory
+        tos_list_add(&task->dead_list, &k_dead_task_list);
+    } else {
+        tos_mmheap_free(task->stk_base);
+        tos_mmheap_free(task);
+    }
+
+    tos_knl_sched_unlock();
+
+    return K_ERR_NONE;
+}
+
+__KERNEL__ void task_free_all(void)
+{
+    TOS_CPU_CPSR_ALLOC();
+    k_task_t *task;
+    k_list_t *curr, *next;
+
+    TOS_CPU_INT_DISABLE();
+
+    TOS_LIST_FOR_EACH_SAFE(curr, next, &k_dead_task_list) {
+        task = TOS_LIST_ENTRY(curr, k_task_t, dead_list);
+        tos_list_del(&task->dead_list);
+        tos_mmheap_free(task->stk_base);
+        tos_mmheap_free(task);
+    }
+
+    TOS_CPU_INT_ENABLE();
+}
+
+#endif
+
 __API__ void tos_task_yield(void)
 {
     TOS_CPU_CPSR_ALLOC();
@@ -216,7 +349,8 @@ __API__ k_err_t tos_task_prio_change(k_task_t *task, k_prio_t prio_new)
     TOS_IN_IRQ_CHECK();
 
 #if TOS_CFG_OBJECT_VERIFY_EN > 0u
-    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK)) {
+    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK) &&
+        !knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK_DYN)) {
         return K_ERR_OBJ_INVALID;
     }
 #endif
@@ -278,7 +412,8 @@ __API__ k_err_t tos_task_suspend(k_task_t *task)
     }
 
 #if TOS_CFG_OBJECT_VERIFY_EN > 0u
-    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK)) {
+    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK) &&
+        !knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK_DYN)) {
         return K_ERR_OBJ_INVALID;
     }
 #endif
@@ -311,7 +446,8 @@ __API__ k_err_t tos_task_resume(k_task_t *task)
     TOS_PTR_SANITY_CHECK(task);
 
 #if TOS_CFG_OBJECT_VERIFY_EN > 0u
-    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK)) {
+    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK) &&
+        !knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK_DYN)) {
         return K_ERR_OBJ_INVALID;
     }
 #endif
@@ -378,7 +514,8 @@ __API__ k_err_t tos_task_delay_abort(k_task_t *task)
     TOS_IN_IRQ_CHECK();
 
 #if TOS_CFG_OBJECT_VERIFY_EN > 0u
-    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK)) {
+    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK) &&
+        !knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK_DYN)) {
         return K_ERR_OBJ_INVALID;
     }
 #endif
@@ -404,6 +541,45 @@ __API__ k_err_t tos_task_delay_abort(k_task_t *task)
     return K_ERR_NONE;
 }
 
+__API__ k_task_t *tos_task_curr_task_get(void)
+{
+    TOS_CPU_CPSR_ALLOC();
+    k_task_t *curr_task = K_NULL;
+
+    TOS_CPU_INT_DISABLE();
+    if (likely(tos_knl_is_running())) {
+        curr_task = k_curr_task;
+    }
+    TOS_CPU_INT_ENABLE();
+
+    return curr_task;
+}
+
+__API__ void tos_task_walkthru(k_task_walker walker)
+{
+    TOS_CPU_CPSR_ALLOC();
+    k_task_t *task;
+    k_list_t *curr;
+
+    if (!walker) {
+        return;
+    }
+
+    TOS_CPU_INT_DISABLE();
+
+    TOS_LIST_FOR_EACH(curr, &k_stat_list) {
+        task = TOS_LIST_ENTRY(curr, k_task_t, stat_list);
+        walker(task);
+    }
+
+    TOS_CPU_INT_ENABLE();
+}
+
+__DEBUG__ void tos_task_info_display(void)
+{
+    tos_task_walkthru(task_default_walker);
+}
+
 #if TOS_CFG_TASK_STACK_DRAUGHT_DEPTH_DETACT_EN > 0u
 
 __API__ k_err_t tos_task_stack_draught_depth(k_task_t *task, int *depth)
@@ -418,7 +594,8 @@ __API__ k_err_t tos_task_stack_draught_depth(k_task_t *task, int *depth)
     }
 
 #if TOS_CFG_OBJECT_VERIFY_EN > 0u
-    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK)) {
+    if (!knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK) &&
+        !knl_object_verify(&task->knl_obj, KNL_OBJ_TYPE_TASK_DYN)) {
         return K_ERR_OBJ_INVALID;
     }
 #endif