52 lines
2.0 KiB
C
52 lines
2.0 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 "device/dr16.h"
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#include "device/ledi.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.Task1 = osThreadNew(Task_Task1, NULL, &attr_Task1);
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task_runtime.thread.Task2 = osThreadNew(Task_Task2, NULL, &attr_Task2);
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task_runtime.thread.Task3 = osThreadNew(Task_Task3, NULL, &attr_Task3);
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task_runtime.thread.Task4 = osThreadNew(Task_Task4, NULL, &attr_Task4);
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task_runtime.thread.Task5 = osThreadNew(Task_Task5, NULL, &attr_Task5);
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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, 10, NULL);
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task_runtime.msgq.dr16_data = osMessageQueueNew(2u, sizeof(LD_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.cmd_chassis= osMessageQueueNew(2u,sizeof(Chassis_CMD_t),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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} |