sick_dt35/User/task/user_task.h
2025-04-02 16:20:48 +08:00

51 lines
1015 B
C

#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include <cmsis_os2.h>
#include "FreeRTOS.h"
#include "task.h"
// 定义任务运行时结构体
typedef struct {
uint32_t runtime;
} Task_Runtime_t;
// 任务频率和初始化延时
#define TASK_FREQ_CAN (1000u)
#define TASK_FREQ_ADC (500u)
#define TASK_INIT_DELAY_INFO (500u)
// 任务句柄
typedef struct {
osThreadId_t can;
osThreadId_t adc;
osThreadId_t monitor;
// osThreadId_t init;
osThreadId_t pc;
} Task_Handles_t;
extern Task_Runtime_t task_runtime;
extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_can;
extern const osThreadAttr_t attr_adc;
extern const osThreadAttr_t attr_monitor;
extern const osThreadAttr_t attr_pc;
extern osMessageQueueId_t adcQueueHandle;
extern osMessageQueueId_t pcQueueHandle;
void Task_Init(void *argument);
void Task_Can(void *argument);
void Task_Adc(void *argument);
void Task_Monitor(void *argument);
void Task_PC(void *argument);
#ifdef __cplusplus
}
#endif