87 lines
2.2 KiB
C
87 lines
2.2 KiB
C
/*
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保存任务属<E58AA1><E5B19E>，生成任务时使甄1<E79484>7
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堆栈大小取决与自己设定，堆栈溢出(分配的内存过小）导致过陀螺仪解算的欧拉角出问预1<E9A284>7
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堆栈分配过大导致过各个线程跑飞（怢<EFBC88>疑是内存不够导致的）
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！！！出现各种跑飞和奇<E5928C><E5A587>的问题 可以合理怢<E79086>疄1<E79684>7 是否是堆栈内存给的有问题
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对于内存分配的一些理规1<E8A784>7
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此处堆栈存放的都是一亄1<E4BA84>7 屢<>部变釄1<E98784>7 全局变量 霢<>要根据线程自身的大小设定
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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，根据实际情况分配栈空间*/
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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_chassis = {
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.name = "chassis",
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.priority = osPriorityAboveNormal,
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.stack_size = 256 * 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 = 128 * 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 = 128 *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_ops_9pos = {
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.name = "action",
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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_calc = {
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.name = "calc",
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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 = 256 *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_remote = {
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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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