89 lines
4.6 KiB
C
89 lines
4.6 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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#include "module/gimbal.h"
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#include "module/chassis.h"
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#include "module/shoot.h"
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#include "device/dr16.h"
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#include "device/et16s.h"
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#include "device/referee.h"
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#include "device/ai.h"
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#include "device/supercap.h"
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/* USER INCLUDE END */
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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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/* 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.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
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task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
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task_runtime.thread.chassis = osThreadNew(Task_chassis, NULL, &attr_chassis);
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task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
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task_runtime.thread.gimbal = osThreadNew(Task_gimbal, NULL, &attr_gimbal);
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task_runtime.thread.shoot = osThreadNew(Task_shoot, NULL, &attr_shoot);
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task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
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task_runtime.thread.referee = osThreadNew(Task_referee, NULL, &attr_referee);
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task_runtime.thread.Task9 = osThreadNew(Task_Task9, NULL, &attr_Task9);
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task_runtime.thread.super_cap = osThreadNew(Task_super_cap, NULL, &attr_super_cap);
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// 创建消息队列
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/* USER MESSAGE BEGIN */
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task_runtime.msgq.user_msg= osMessageQueueNew(2u, 15, NULL);
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/* 接受ET16S数据消息队列*/
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task_runtime.msgq.rc.et16s = osMessageQueueNew(2u, sizeof(ET16s_t), NULL);
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task_runtime.msgq.chassis.cmd = osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
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task_runtime.msgq.imu.eulr = osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
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task_runtime.msgq.imu.gyro = osMessageQueueNew(2u, sizeof(AHRS_Gyro_t), NULL);
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task_runtime.msgq.imu.quat = osMessageQueueNew(2u, sizeof(AHRS_Quaternion_t), NULL);
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task_runtime.msgq.gimbal.imu = osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
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task_runtime.msgq.gimbal.cmd = osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
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task_runtime.msgq.gimbal.yaw6020 = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
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task_runtime.msgq.gimbal.yaw4310 = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
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task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t),NULL);
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task_runtime.msgq.gimbal.ai.feedback = osMessageQueueNew(2u, sizeof(Gimbal_feedback_t),NULL);
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task_runtime.msgq.gimbal.ai.g_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL);
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task_runtime.msgq.shoot.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL);
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task_runtime.msgq.shoot.ai.s_cmd_ai_bool_count = osMessageQueueNew(2u, sizeof(PackageMCU_t),NULL);
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task_runtime.msgq.navi.c_cmd = osMessageQueueNew(2u, sizeof(AI_result_t),NULL); /* 新增的 ai 消息队列 主要是给底盘发送导航相关的命令*/
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/* 裁判系统 */
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task_runtime.msgq.referee.ai= osMessageQueueNew(2u, sizeof(Referee_ForAI_t), NULL);
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task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForCap_t), NULL);
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task_runtime.msgq.referee.cap= osMessageQueueNew(2u, sizeof(Referee_ForChassis_t), NULL);
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task_runtime.msgq.referee.shoot= osMessageQueueNew(2u, sizeof(Referee_ForShoot_t), NULL);
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task_runtime.msgq.referee.ui= osMessageQueueNew(2u, sizeof(CMD_UI_t), NULL);
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/* UI */
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task_runtime.msgq.ui.chassis =osMessageQueueNew(2u, sizeof(Referee_ChassisUI_t), NULL);
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task_runtime.msgq.ui.cap =osMessageQueueNew(2u, sizeof(Referee_CapUI_t), NULL);
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task_runtime.msgq.ui.gimbal =osMessageQueueNew(2u, sizeof(Referee_GimbalUI_t), NULL);
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task_runtime.msgq.ui.shoot =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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/*超电*/
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task_runtime.msgq.cap.for_chassis = osMessageQueueNew(2u, sizeof(CAN_SuperCapRXDataTypeDef), NULL);
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task_runtime.msgq.cap.power_limit = osMessageQueueNew(2u, sizeof(float), 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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} |