53 lines
2.3 KiB
C
53 lines
2.3 KiB
C
/*
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Init Task
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任务初始化，创建各个线程任务和消息队列
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE BEGIN */
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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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/* USER CODE INIT BEGIN */
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Config_Get(&task_runtime.config); /* 获取机器人配置 */
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/* USER CODE INIT END */
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osKernelLock(); /* 锁定内核，防止任务切换 */
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/* 创建任务线程 */
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task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
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task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
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task_runtime.thread.test = osThreadNew(Task_test, NULL, &attr_test);
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task_runtime.thread.cli = osThreadNew(Task_cli, NULL, &attr_cli);
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task_runtime.thread.monitor = osThreadNew(Task_monitor, NULL, &attr_monitor);
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task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
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task_runtime.thread.ctrl_leg = osThreadNew(Task_ctrl_leg, NULL, &attr_ctrl_leg);
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task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
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// 创建消息队列
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/* USER MESSAGE BEGIN */
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task_runtime.msgq.cmd.raw.rc = osMessageQueueNew(2u, sizeof(CMD_RC_t), NULL);
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task_runtime.msgq.cmd.chassis = osMessageQueueNew(2u, sizeof(CMD_ChassisCmd_t), NULL);
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task_runtime.msgq.chassis.feefback = osMessageQueueNew(2u, sizeof(GO_ChassisFeedback_t), NULL);
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task_runtime.msgq.chassis.output = osMessageQueueNew(2u, sizeof(GO_ChassisCMD_t), NULL);
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task_runtime.msgq.body.eulr_imu = osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
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/* USER MESSAGE END */
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osKernelUnlock(); // 解锁内核
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osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
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} |