95 lines
2.2 KiB
C
95 lines
2.2 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <cmsis_os2.h>
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#include "FreeRTOS.h"
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#include "task.h"
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// 定义任务运行时结构体
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typedef struct {
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/* 各任务，也可以叫做线程 */
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struct {
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osThreadId_t can; /* CAN任务 */
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osThreadId_t disp; /* ADC任务 */
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osThreadId_t pc; /* PC任务 */
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osThreadId_t monitor; /* 监控任务 */
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} thread;
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struct {
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struct {
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struct {
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osMessageQueueId_t sick;
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} output;
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struct {
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osMessageQueueId_t sick;
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} feedback;
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} can;
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osMessageQueueId_t pc; /* PC消息队列 */
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} msgq;
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struct {
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uint32_t can; /* CAN使用 */
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uint32_t disp; /* ADC使用 */
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uint32_t pc; /* PC使用 */
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uint32_t monitor; /* 监控使用 */
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} heap_water_mark; /* heap使用 */
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struct {
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float can; /* CAN任务运行频率 */
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float disp; /* ADC任务运行频率 */
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float pc; /* PC任务运行频率 */
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float monitor; /* 监控任务运行频率 */
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} freq; /* 任务运行频率 */
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struct {
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uint32_t can; /* CAN任务运行时间 */
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uint32_t disp; /* ADC任务运行时间 */
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uint32_t pc; /* PC任务运行时间 */
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uint32_t monitor; /* 监控任务运行时间 */
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} last_up_time; /* 任务最近运行时间 */
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} Task_Runtime_t;
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// 任务频率和初始化延时
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#define TASK_FREQ_CAN (100u)
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#define TASK_FREQ_DISP (200u)
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#define TASK_FREQ_MONITOR (1u)
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#define TASK_FREQ_PC (100u)
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#define TASK_INIT_DELAY_INFO (500u)
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// 任务句柄
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typedef struct {
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osThreadId_t can;
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osThreadId_t disp;
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osThreadId_t monitor;
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osThreadId_t pc;
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} Task_Handles_t;
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extern Task_Runtime_t task_runtime;
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extern const osThreadAttr_t attr_init;
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extern const osThreadAttr_t attr_can;
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extern const osThreadAttr_t attr_disp;
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extern const osThreadAttr_t attr_monitor;
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extern const osThreadAttr_t attr_pc;
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void Task_Init(void *argument);
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void Task_Can(void *argument);
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void Task_Disp(void *argument);
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void Task_Monitor(void *argument);
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void Task_PC(void *argument);
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#ifdef __cplusplus
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}
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#endif
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