131 lines
5.0 KiB
C
131 lines
5.0 KiB
C
/*
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初始化任务
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根据机器人的FLASH配置，决定生成哪些任务。
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "bsp\flash.h"
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#include "bsp\usb.h"
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#include "component\cmd.h"
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#include "device\bmi088.h"
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#include "device\can.h"
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#include "device\ist8310.h"
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#include "device\referee.h"
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#include "module\cap.h"
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#include "module\chassis.h"
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#include "module\gimbal.h"
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#include "module\shoot.h"
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#include "task\user_task.h"
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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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Config_Get(&task_runtime.cfg); /* 获取机器人配置 */
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osKernelLock();
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/* 创建任务 */
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task_runtime.thread.atti_esti =
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osThreadNew(Task_AttiEsti, NULL, &attr_atti_esti);
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task_runtime.thread.cli = osThreadNew(Task_CLI, NULL, &attr_cli);
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task_runtime.thread.command = osThreadNew(Task_Command, NULL, &attr_command);
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task_runtime.thread.ctrl_chassis =
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osThreadNew(Task_CtrlChassis, NULL, &attr_ctrl_chassis);
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task_runtime.thread.ctrl_gimbal =
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osThreadNew(Task_CtrlGimbal, NULL, &attr_ctrl_gimbal);
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task_runtime.thread.ctrl_shoot =
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osThreadNew(Task_CtrlShoot, NULL, &attr_ctrl_shoot);
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task_runtime.thread.info = osThreadNew(Task_Info, NULL, &attr_info);
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task_runtime.thread.monitor = osThreadNew(Task_Monitor, NULL, &attr_monitor);
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task_runtime.thread.can = osThreadNew(Task_Can, NULL, &attr_can);
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task_runtime.thread.referee = osThreadNew(Task_Referee, NULL, &attr_referee);
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task_runtime.thread.ai = osThreadNew(Task_Ai, NULL, &attr_ai);
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task_runtime.thread.rc = osThreadNew(Task_RC, NULL, &attr_rc);
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task_runtime.thread.cap = osThreadNew(Task_Cap, NULL, &attr_cap);
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/* 创建消息队列 */
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/* motor */
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task_runtime.msgq.can.feedback.chassis =
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osMessageQueueNew(2u, sizeof(CAN_t), NULL);
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task_runtime.msgq.can.feedback.gimbal =
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osMessageQueueNew(2u, sizeof(CAN_t), NULL);
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task_runtime.msgq.can.feedback.shoot =
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osMessageQueueNew(2u, sizeof(CAN_t), NULL);
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task_runtime.msgq.can.feedback.cap =
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osMessageQueueNew(2u, sizeof(CAN_t), NULL);
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task_runtime.msgq.can.output.chassis =
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osMessageQueueNew(2u, sizeof(CAN_ChassisOutput_t), NULL);
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task_runtime.msgq.can.output.gimbal =
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osMessageQueueNew(2u, sizeof(CAN_GimbalOutput_t), NULL);
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task_runtime.msgq.can.output.shoot =
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osMessageQueueNew(2u, sizeof(CAN_ShootOutput_t), NULL);
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task_runtime.msgq.can.output.cap =
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osMessageQueueNew(2u, sizeof(CAN_CapOutput_t), NULL);
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/* command */
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task_runtime.msgq.cmd.chassis =
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osMessageQueueNew(3u, sizeof(CMD_ChassisCmd_t), NULL);
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task_runtime.msgq.cmd.gimbal =
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osMessageQueueNew(3u, sizeof(CMD_GimbalCmd_t), NULL);
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task_runtime.msgq.cmd.shoot =
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osMessageQueueNew(3u, sizeof(CMD_ShootCmd_t), NULL);
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task_runtime.msgq.cmd.ai =
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osMessageQueueNew(3u, sizeof(CMD_AI_Status_t), NULL);
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task_runtime.msgq.cmd.referee = osMessageQueueNew(6u, sizeof(CMD_UI_t), NULL);
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/* atti_esti */
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task_runtime.msgq.cmd.raw.rc = osMessageQueueNew(3u, sizeof(CMD_RC_t), NULL);
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task_runtime.msgq.cmd.raw.host =
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osMessageQueueNew(3u, sizeof(CMD_Host_t), NULL);
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task_runtime.msgq.gimbal.accl =
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osMessageQueueNew(2u, sizeof(AHRS_Accl_t), NULL);
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task_runtime.msgq.gimbal.eulr_imu =
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osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
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task_runtime.msgq.gimbal.gyro =
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osMessageQueueNew(2u, sizeof(AHRS_Gyro_t), NULL);
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task_runtime.msgq.cap_info =
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osMessageQueueNew(2u, sizeof(CAN_Capacitor_t), NULL);
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/* AI */
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task_runtime.msgq.ai.quat =
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osMessageQueueNew(2u, sizeof(AHRS_Quaternion_t), NULL);
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/* 裁判系统 */
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task_runtime.msgq.referee.ai =
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osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL);
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task_runtime.msgq.referee.chassis =
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osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL);
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task_runtime.msgq.referee.cap =
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osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL);
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task_runtime.msgq.referee.shoot =
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osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL);
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/* UI */
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task_runtime.msgq.ui.chassis =
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osMessageQueueNew(2u, sizeof(Referee_ChassisUI_t), NULL);
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task_runtime.msgq.ui.cap =
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osMessageQueueNew(2u, sizeof(Referee_CapUI_t), NULL);
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task_runtime.msgq.ui.gimbal =
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osMessageQueueNew(2u, sizeof(Referee_GimbalUI_t), NULL);
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task_runtime.msgq.ui.shoot =
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osMessageQueueNew(2u, sizeof(Referee_ShootUI_t), NULL);
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task_runtime.msgq.ui.cmd = osMessageQueueNew(2u, sizeof(bool), NULL);
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osKernelUnlock();
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osThreadTerminate(osThreadGetId()); /* 结束自身 */
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}
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