42 lines
1.1 KiB
C
42 lines
1.1 KiB
C
/**
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* 初始化任务
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*/
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#include "TopDefine.h"
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#include "userTask.h"
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#include "nuc.h"
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/*********************/
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/**
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* \brief 初始化
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*
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* \param argument 未使用
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*/
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void initFunction(void *argument)
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{
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(void)argument; /* 未使用argument，消除警告 */
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osKernelLock();
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/* 创建任务 */
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task_struct.thread.gimbal =
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osThreadNew(FunctionGimbal, NULL, &attr_gimbal);
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task_struct.thread.shoot =
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osThreadNew(FunctionShoot, NULL, &attr_shoot);
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task_struct.thread.can =
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osThreadNew(FunctionCan, NULL, &attr_can);
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task_struct.thread.ball =
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osThreadNew(FunctionBall, NULL, &attr_ball);
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task_struct.thread.nuc =
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osThreadNew(Function_nuc, NULL, &attr_nuc);
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/* 创建消息队列 */
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// task_struct.msgq.msg =
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// osMessageQueueNew(2u, sizeof(CAN_CapOutput_t), NULL);
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task_struct.msgq.nuc =
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osMessageQueueNew(2u, sizeof(NUC_t), NULL);
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/*创建事件组*/
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task_struct.events.eventReceive = osEventFlagsNew(&attr_event);
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osKernelUnlock();
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osThreadTerminate(osThreadGetId()); /* 结束自身 */
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}
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