93 lines
2.9 KiB
C
93 lines
2.9 KiB
C
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/*
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初始化
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线程都需要在此处配置任务句柄 队列ID等等
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要在user_task.h中定义一系列参数 其中各个线程的属性在user_task.c中定
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "Device\bmi088.h"
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#include "task\user_task.h"
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#include "can_use.h"
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#include "cmd.h"
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#include "Action.h"
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* \brief 初始 在此函数中可以初始化任务，队列，信号量等，初始化完成后，自己删除自己
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*
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* \param argument 未使用参数传递
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*/
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void Task_Init(void *argument) {
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(void)argument;
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////
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Config_Get(&task_runtime.config);
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osKernelLock();
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/* 任务*/
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task_runtime.thread.atti_esti =
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osThreadNew(Task_AttiEsti, NULL, &attr_atti_esti);
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task_runtime.thread.dr16 =
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osThreadNew(Task_dr16,NULL,&attr_dr16);
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task_runtime.thread.can =
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osThreadNew(Task_can,NULL,&attr_can);
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task_runtime.thread.cmd =
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osThreadNew(Task_cmd,NULL,&attr_cmd);
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task_runtime.thread.nuc =
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osThreadNew(Task_nuc,NULL,&attr_nuc);
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task_runtime.thread.up=
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osThreadNew(Task_up,NULL,&attr_up);
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task_runtime.thread.error_detect =
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osThreadNew(Task_error_detect,NULL,&attr_error_detect);
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/* 消息队列 */
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/* can */
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task_runtime.msgq.can.feedback.CAN_feedback =
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osMessageQueueNew(2u, sizeof(CAN_t), NULL);
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task_runtime.msgq.can.feedback.shoot5065_feedback =
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osMessageQueueNew(2u, sizeof(CAN_t), NULL);
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task_runtime.msgq.can.output.shoot5065 =
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osMessageQueueNew(2u, sizeof(CAN_VescOutput_t), NULL);
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task_runtime.msgq.can.output.chassis3508 =
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osMessageQueueNew(2u, sizeof(CAN_DJIOutput_t), NULL);
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task_runtime.msgq.can.output.pitch6020 =
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osMessageQueueNew(2u, sizeof(CAN_DJIOutput_t), NULL);
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task_runtime.msgq.can.output.chassis6020 =
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osMessageQueueNew(2u, sizeof(CAN_DJIOutput_t), NULL);
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/* imu */
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task_runtime.msgq.imu.accl =
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osMessageQueueNew(2u, sizeof(AHRS_Accl_t), NULL);
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task_runtime.msgq.imu.eulr =
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osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
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task_runtime.msgq.imu.gyro =
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osMessageQueueNew(2u, sizeof(AHRS_Gyro_t), NULL);
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/*cmd */
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task_runtime.msgq.cmd.raw.rc =
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osMessageQueueNew(3u, sizeof(CMD_RC_t), NULL);
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task_runtime.msgq.cmd.raw.nuc =
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osMessageQueueNew(3u,sizeof(CMD_NUC_t), NULL);
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osKernelUnlock();
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osThreadTerminate(osThreadGetId()); /* 结束自身 */
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}
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