43 lines
1.5 KiB
C
43 lines
1.5 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 "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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osMessageQueueId_t adcQueueHandle;
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osMessageQueueId_t pcQueueHandle;
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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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osKernelLock(); // 锁定内核，防止任务切换
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// 创建任务，确保任务创建成功
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osThreadId_t monitorTaskHandle = osThreadNew(Task_Monitor, NULL, &attr_monitor);
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osThreadId_t adcReadTaskHandle = osThreadNew(Task_Adc, NULL, &attr_adc);
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osThreadId_t canTaskHandle = osThreadNew(Task_Can, NULL, &attr_can);
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osThreadId_t pcTaskHandle = osThreadNew(Task_PC, NULL, &attr_pc);
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//创建消息队列
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adcQueueHandle = osMessageQueueNew(2u, sizeof(uint16_t), NULL);
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pcQueueHandle = osMessageQueueNew(2u, sizeof(uint16_t), NULL);
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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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}
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