/*
  初始化任务
*/

/* Includes ----------------------------------------------------------------- */
#include "task\user_task.h"

/* USER INCLUDE BEGIN */
#include "bsp/dwt.h"
#include "device/bmi088.h"
#include "component/ahrs.h"
#include "device/ps2.h"
/* USER INCLUDE BEGIN */

/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

/**
 * \brief 初始化
 *
 * \param argument 未使用
 */
void Task_Init(void *argument) {
  (void)argument; /* 未使用argument，消除警告 */

  osKernelLock(); // 锁定内核，防止任务切换
	
  // 创建线程
  task_runtime.thread.ps2 = osThreadNew(Task_ps2, NULL, &attr_ps2);
  task_runtime.thread.test1 = osThreadNew(Task_test1, NULL, &attr_test1);
  task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
  task_runtime.thread.height_cal = osThreadNew(Task_height_cal, NULL, &attr_height_cal);
  task_runtime.thread.main_control = osThreadNew(Task_main_control, NULL, &attr_main_control);
	// 创建消息队列
  /* USER MESSAGE BEGIN */
	task_runtime.msgq.accl= osMessageQueueNew(5, sizeof(AHRS_Accl_t), NULL);
	task_runtime.msgq.gyro= osMessageQueueNew(5, sizeof(AHRS_Gyro_t), NULL);
	task_runtime.msgq.eulr_imu= osMessageQueueNew(5, sizeof(AHRS_Eulr_t), NULL);
	task_runtime.msgq.baro_height= osMessageQueueNew(3, 4, NULL);
    task_runtime.msgq.fixed_height= osMessageQueueNew(3, 4, NULL);
	task_runtime.msgq.speed_z= osMessageQueueNew(3, 4, NULL);
	task_runtime.msgq.rc= osMessageQueueNew(3, sizeof(PS2_TypeDef), NULL);
  /* USER MESSAGE END */

  DWT_Init(168);
  osKernelUnlock(); // 解锁内核
  osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
}