85 lines
2.2 KiB
C
85 lines
2.2 KiB
C
/*
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保存任务属性，生成任务时使用。
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堆栈大小取决于自己设定，堆栈溢出（分配的内存过小）可能导致陀螺仪解算的欧拉角出问题。
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堆栈分配过大可能导致各个线程跑飞（怀疑是内存不够导致的）。
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！！！如果出现各种跑飞和奇怪的问题，请合理怀疑是否是堆栈内存分配的问题。
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对于内存分配的一些理论规则：
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此处堆栈存放的都是一些局部变量和全局变量，需要根据线程自身的需求大小进行设定。
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task\user_task.h"
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Task_Runtime_t task_runtime;
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/* 各个任务的参数属性 */
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const osThreadAttr_t attr_init = {
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.name = "init",
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.priority = osPriorityRealtime,
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.stack_size = 256 * 4,
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};
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const osThreadAttr_t attr_atti_esti = {
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.name = "atti_esti",
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.priority = osPriorityRealtime,
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.stack_size = 256 * 4,
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};
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//const osThreadAttr_t attr_ops_9pos = {
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// .name = "action",
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// .priority = osPriorityRealtime,
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// .stack_size = 256 *4,
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//};
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//const osThreadAttr_t attr_chassis = {
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// .name = "chassis",
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// .priority = osPriorityAboveNormal,
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// .stack_size = 512 * 4,
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//};
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const osThreadAttr_t attr_r12ds = {
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.name = "r12ds",
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.priority = osPriorityRealtime,
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.stack_size = 128 * 4,
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};
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const osThreadAttr_t attr_can = {
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.name = "can",
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.priority = osPriorityRealtime,
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.stack_size = 256 * 4,
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};
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const osThreadAttr_t attr_cmd = {
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.name = "cmd",
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.priority = osPriorityHigh,
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.stack_size = 256 *4,
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};
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const osThreadAttr_t attr_nuc = {
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.name = "nuc",
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.priority = osPriorityRealtime,
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.stack_size = 128 *4,
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};
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const osThreadAttr_t attr_error_detect = {
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.name = "error_detect",
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.priority = osPriorityLow,
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.stack_size = 128 *4,
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};
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const osThreadAttr_t attr_dr16 = {
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.name = "dr16",
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.priority = osPriorityRealtime,
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.stack_size = 128 *4,
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};
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//const osThreadAttr_t attr_navi = {
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// .name = "navi",
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// .priority = osPriorityRealtime,
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// .stack_size = 128 *4,
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//};
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const osThreadAttr_t attr_up = {
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.name = "up",
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.priority = osPriorityRealtime,
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.stack_size = 512 * 4,
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};
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