robofish/MRobot
1
0
Fork 0
mirror of https://github.com/goldenfishs/MRobot.git synced 2025-10-31 23:25:42 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

添加init

Browse Source
This commit is contained in:
RB 2025-04-27 12:27:52 +08:00
parent 06a7f65a15
commit f2734a466f
2 changed files with 20 additions and 54 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
User/task/init.c
View File

@ -4,12 +4,10 @@
/* Includes ----------------------------------------------------------------- */
#include "task\user_task.h"
#include "device\can.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
@ -23,16 +21,11 @@ void Task_Init(void *argument) {
osKernelLock(); // 锁定内核，防止任务切换
// 创建任务，确保任务创建成功
task_runtime.thread.disp = osThreadNew(Task_Disp, NULL, &attr_disp);
task_runtime.thread.can = osThreadNew(Task_Can, NULL, &attr_can);
task_runtime.thread.monitor = osThreadNew(Task_Monitor, NULL, &attr_monitor);
task_runtime.thread.pc = osThreadNew(Task_PC, NULL, &attr_pc);
task_runtime.thread.user_task = osThreadNew(Task_UserTask, NULL, &attr_user_task);
//创建消息队列
task_runtime.msgq.can.feedback.sick = osMessageQueueNew(2u, sizeof(CAN_t), NULL);
task_runtime.msgq.pc = osMessageQueueNew(2u, sizeof(CAN_t), NULL);
task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
osKernelUnlock(); // 解锁内核
osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
}

61
User/task/user_task.h
View File

@ -12,82 +12,55 @@ extern "C" {
typedef struct {
/* 各任务，也可以叫做线程 */
struct {
osThreadId_t can; /* CAN任务 */
osThreadId_t disp; /* ADC任务 */
osThreadId_t pc; /* PC任务 */
osThreadId_t monitor; /* 监控任务 */
osThreadId_t user_task;
} thread;
struct {
struct {
struct {
osMessageQueueId_t sick;
} output;
struct {
osMessageQueueId_t sick;
} feedback;
} can;
osMessageQueueId_t pc; /* PC消息队列 */
osMessageQueueId_t pc;
} msgq;
struct {
uint32_t can; /* CAN使用 */
uint32_t disp; /* ADC使用 */
uint32_t pc; /* PC使用 */
uint32_t monitor; /* 监控使用 */
uint32_t user_task;
} heap_water_mark; /* heap使用 */
struct {
float can; /* CAN任务运行频率 */
float disp; /* ADC任务运行频率 */
float pc; /* PC任务运行频率 */
float monitor; /* 监控任务运行频率 */
float user_task; /* 用户自定义任务运行频率 */
} freq; /* 任务运行频率 */
struct {
uint32_t can; /* CAN任务运行时间 */
uint32_t disp; /* ADC任务运行时间 */
uint32_t pc; /* PC任务运行时间 */
uint32_t monitor; /* 监控任务运行时间 */
uint32_t user_task;
} last_up_time; /* 任务最近运行时间 */
} Task_Runtime_t;
// 任务频率和初始化延时
#define TASK_FREQ_CAN (100u)
#define TASK_FREQ_DISP (1u)
#define TASK_FREQ_MONITOR (1u)
#define TASK_FREQ_PC (100u)
#define TASK_FREQ_USER_TASK (100u) // 用户自定义任务频率
#define TASK_INIT_DELAY_INFO (500u)
#define TASK_INIT_DELAY_INFO (100u)
// 任务句柄
typedef struct {
osThreadId_t can;
osThreadId_t disp;
osThreadId_t monitor;
osThreadId_t pc;
osThreadId_t user_task; /* 用户自定义任务 */
} Task_Handles_t;
// 任务运行时结构体
extern Task_Runtime_t task_runtime;
// 初始化任务句柄
extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_can;
extern const osThreadAttr_t attr_disp;
extern const osThreadAttr_t attr_monitor;
extern const osThreadAttr_t attr_pc;
// 用户自定义任务句柄
extern const osThreadAttr_t attr_user_task
// 任务函数声明
//初始化任务
void Task_Init(void *argument);
void Task_Can(void *argument);
void Task_Disp(void *argument);
void Task_Monitor(void *argument);
void Task_PC(void *argument);
//用户自定义任务
void Task_UserTask(void *argument);
#ifdef __cplusplus
}