145 lines
3.9 KiB
C
145 lines
3.9 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C"
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{
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include <cmsis_os2.h>
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#include "FreeRTOS.h"
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#include "task.h"
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/* USER INCLUDE BEGIN */
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#include "module/config.h"
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#define DEBUG
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/* USER INCLUDE END */
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/* Exported constants ------------------------------------------------------- */
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/* 任务运行频率 */
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#define TASK1_FREQ (500.0)
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#define TASK2_FREQ (500.0)
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#define TASK3_FREQ (500.0)
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#define TASK4_FREQ (500.0)
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#define TASK5_FREQ (500.0)
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/* 任务初始化延时ms */
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#define TASK_INIT_DELAY (100u)
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#define TASK1_INIT_DELAY (0)
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#define TASK2_INIT_DELAY (0)
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#define TASK3_INIT_DELAY (0)
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#define TASK4_INIT_DELAY (0)
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#define TASK5_INIT_DELAY (0)
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/* Exported defines --------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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/* 任务运行时结构体 */
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typedef struct
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{
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/* 各任务，也可以叫做线程 */
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struct
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{
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osThreadId_t Task1;
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osThreadId_t Task2;
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osThreadId_t Task3;
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osThreadId_t Task4;
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osThreadId_t Task5;
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} thread;
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/* USER MESSAGE BEGIN */
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struct
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{
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osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
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osMessageQueueId_t dr16_data; /* dr16遥控器数据 */
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osMessageQueueId_t cmd_chassis; /*发送给底盘遥控器数据*/
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struct
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{
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osMessageQueueId_t accl; /* IMU读取 */
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osMessageQueueId_t gyro; /* IMU读取 */
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osMessageQueueId_t eulr; /* 姿态解算得到的欧拉规1<E8A784>7 */
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} imu;
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struct
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{
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osMessageQueueId_t chassis6020;
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osMessageQueueId_t chassis5065;
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osMessageQueueId_t chassis3508;
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osMessageQueueId_t pitch6020;
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} output;
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struct
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{
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osMessageQueueId_t chassisfed6020;
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osMessageQueueId_t chassisfed3508;
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osMessageQueueId_t pitchfed6020;
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} feedback;
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} msgq;
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/* USER MESSAGE END */
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/* 机器人状态 */
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struct
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{
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float battery; /* 电池电量百分比 */
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float vbat; /* 电池电压 */
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float cpu_temp; /* CPU温度 */
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} status;
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/* USER CONFIG BEGIN */
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Config_t config;
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/* USER CONFIG END */
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/* 各任务的stack使用 */
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struct
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{
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UBaseType_t Task1;
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UBaseType_t Task2;
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UBaseType_t Task3;
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UBaseType_t Task4;
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UBaseType_t Task5;
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} stack_water_mark;
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/* 各任务运行频率 */
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struct
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{
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float Task1;
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float Task2;
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float Task3;
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float Task4;
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float Task5;
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} freq;
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/* 任务最近运行时间 */
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struct
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{
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float Task1;
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float Task2;
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float Task3;
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float Task4;
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float Task5;
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} last_up_time;
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} Task_Runtime_t;
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/* 任务运行时结构体 */
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extern Task_Runtime_t task_runtime;
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/* 初始化任务句柄 */
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extern const osThreadAttr_t attr_init;
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extern const osThreadAttr_t attr_Task1;
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extern const osThreadAttr_t attr_Task2;
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extern const osThreadAttr_t attr_Task3;
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extern const osThreadAttr_t attr_Task4;
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extern const osThreadAttr_t attr_Task5;
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/* 任务函数声明 */
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void Task_Init(void *argument);
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void Task_Task1(void *argument);
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void Task_Task2(void *argument);
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void Task_Task3(void *argument);
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void Task_Task4(void *argument);
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void Task_Task5(void *argument);
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#ifdef __cplusplus
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}
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#endif |