54 lines
2.3 KiB
C
54 lines
2.3 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 "component/ahrs.h"
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#include "module/xm_quadctrl.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 -------------------------------------------------k------ */
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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.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
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task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
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task_runtime.thread.height_cal = osThreadNew(Task_height_cal, NULL, &attr_height_cal);
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task_runtime.thread.quad_ctrl = osThreadNew(Task_quad_ctrl, NULL, &attr_quad_ctrl);
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task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
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// 创建消息队列
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/* USER MESSAGE BEGIN */
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task_runtime.msgq.heightestimation.accl= osMessageQueueNew(5, sizeof(AHRS_Accl_t), NULL);
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task_runtime.msgq.heightestimation.quaternion= osMessageQueueNew(5, sizeof(AHRS_Quaternion_t), NULL);
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task_runtime.msgq.quad.eulr= osMessageQueueNew(3, sizeof(AHRS_Eulr_t), NULL);
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task_runtime.msgq.quad.accl= osMessageQueueNew(3, sizeof(AHRS_Accl_t), NULL);
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task_runtime.msgq.quad.gyro= osMessageQueueNew(3, sizeof(AHRS_Gyro_t), NULL);
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task_runtime.msgq.quad.alt= osMessageQueueNew(3, sizeof(float), NULL);
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task_runtime.msgq.quad.vel= osMessageQueueNew(3, sizeof(float), NULL);
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task_runtime.msgq.quad.cmd= osMessageQueueNew(3, sizeof(Quad_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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} |