88 lines
2.7 KiB
C
88 lines
2.7 KiB
C
/*
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初始化任务
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根据机器人的FLASH配置，决定生成哪些任务。
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "attrTask.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 初始化
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*
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* \param argument 未使用
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*/
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void Task_Init(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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// Config_Get(&task_runtime.cfg); /* 获取机器人配置 */
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osKernelLock();
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/* 任务 */
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// led
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task_runtime.thread.led =
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osThreadNew(Task_Led, NULL, &attr_led);
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//can
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task_runtime.thread.can =
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osThreadNew(Task_Can, NULL, &attr_can);
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// dji_motor
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task_runtime.thread.dji_motor =
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osThreadNew(Task_Motor, NULL, &attr_motor);
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// odrive_shoot
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task_runtime.thread.shoot =
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osThreadNew(Task_Shoot, NULL, &attr_shoot);
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// go
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task_runtime.thread.go =
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osThreadNew(Task_Go, NULL, &attr_go);
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// nuc
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task_runtime.thread.nuc =
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osThreadNew(Task_nuc, NULL, &attr_nuc);
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// rc
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task_runtime.thread.rc =
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osThreadNew(Task_Rc, NULL, &attr_rc);
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// ball
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task_runtime.thread.ball =
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osThreadNew(Task_Ball, NULL, &attr_ball);
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/* 消息队列 */
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//can
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// task_runtime.queue.can.feedback.chassis =
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// osMessageQueueNew(1u, sizeof(CAN_ChassisMotor_t), NULL);
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// task_runtime.queue.can.feedback.gimbal =
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// osMessageQueueNew(1u, sizeof(CAN_GimbalMotor_t), NULL);
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// task_runtime.queue.feedback_left=
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// osMessageQueueNew(1u, sizeof(Parsing_Data_t), NULL);
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// task_runtime.queue.feedback_right =
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// osMessageQueueNew(1u, sizeof(Parsing_Data_t), NULL);
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// task_runtime.queue.cmd_left=
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// osMessageQueueNew(1u, sizeof(CMD_gimbal_t), NULL);
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// task_runtime.queue.cmd_right =
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// osMessageQueueNew(1u, sizeof(CMD_gimbal_t), NULL);
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/* 互斥量 */
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// task_runtime.mutex.can.er_2 =
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// xSemaphoreCreateMutex();
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//
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// task_runtime.mutex.cmd_left =
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// xSemaphoreCreateMutex();
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// task_runtime.mutex.cmd_right =
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// xSemaphoreCreateMutex();
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// task_runtime.mutex.feedback_left =
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// xSemaphoreCreateMutex();
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// task_runtime.mutex.feedback_right =
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// xSemaphoreCreateMutex();
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osKernelUnlock();
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osThreadTerminate(osThreadGetId()); /* 结束自身 */
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}
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