/* 保存任务属性,生成任务时使用。 */ /* Includes ----------------------------------------------------------------- */ #include "task\user_task.h" /* 机器人运行时的数据 */ Task_Runtime_t task_runtime; /* 各个任务的参数 */ const osThreadAttr_t attr_init = { .name = "init", .priority = osPriorityRealtime, .stack_size = 256 * 4, }; const osThreadAttr_t attr_ai = { .name = "ai", .priority = osPriorityRealtime, .stack_size = 128 * 4, }; const osThreadAttr_t attr_atti_esti = { .name = "atti_esti", .priority = osPriorityRealtime, .stack_size = 256 * 4, }; const osThreadAttr_t attr_can = { .name = "can", .priority = osPriorityRealtime, .stack_size = 128 * 4, }; const osThreadAttr_t attr_cap = { .name = "cap", .priority = osPriorityHigh, .stack_size = 128 * 4, }; const osThreadAttr_t attr_cli = { .name = "cli", .priority = osPriorityNormal, .stack_size = 256 * 4, }; const osThreadAttr_t attr_command = { .name = "command", .priority = osPriorityHigh, .stack_size = 128 * 4, }; const osThreadAttr_t attr_ctrl_chassis = { .name = "ctrl_chassis", .priority = osPriorityAboveNormal, .stack_size = 256 * 4, }; const osThreadAttr_t attr_ctrl_gimbal = { .name = "ctrl_gimbal", .priority = osPriorityAboveNormal, .stack_size = 256 * 4, }; const osThreadAttr_t attr_ctrl_shoot = { .name = "ctrl_shoot", .priority = osPriorityAboveNormal, .stack_size = 256 * 4, }; const osThreadAttr_t attr_info = { .name = "info", .priority = osPriorityLow, .stack_size = 128 * 4, }; const osThreadAttr_t attr_monitor = { .name = "monitor", .priority = osPriorityBelowNormal, .stack_size = 128 * 4, }; const osThreadAttr_t attr_rc = { .name = "rc", .priority = osPriorityRealtime, .stack_size = 128 * 4, }; const osThreadAttr_t attr_referee = { .name = "referee", .priority = osPriorityRealtime, .stack_size = 512 * 4, };