54 lines
2.0 KiB
C
54 lines
2.0 KiB
C
/*
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初始化任务
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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 "bsp/dwt.h"
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#include "device/bmi088.h"
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#include "component/ahrs.h"
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#include "device/ps2.h"
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/* USER INCLUDE BEGIN */
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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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osKernelLock(); // 锁定内核，防止任务切换
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// 创建线程
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task_runtime.thread.ps2 = osThreadNew(Task_ps2, NULL, &attr_ps2);
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task_runtime.thread.test1 = osThreadNew(Task_test1, NULL, &attr_test1);
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task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
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task_runtime.thread.height_cal = osThreadNew(Task_height_cal, NULL, &attr_height_cal);
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task_runtime.thread.main_control = osThreadNew(Task_main_control, NULL, &attr_main_control);
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// 创建消息队列
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/* USER MESSAGE BEGIN */
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task_runtime.msgq.accl= osMessageQueueNew(5, sizeof(AHRS_Accl_t), NULL);
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task_runtime.msgq.gyro= osMessageQueueNew(5, sizeof(AHRS_Gyro_t), NULL);
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task_runtime.msgq.eulr_imu= osMessageQueueNew(5, sizeof(AHRS_Eulr_t), NULL);
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task_runtime.msgq.baro_height= osMessageQueueNew(3, 4, NULL);
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task_runtime.msgq.fixed_height= osMessageQueueNew(3, 4, NULL);
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task_runtime.msgq.speed_z= osMessageQueueNew(3, 4, NULL);
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task_runtime.msgq.rc= osMessageQueueNew(3, sizeof(PS2_TypeDef), NULL);
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/* USER MESSAGE END */
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DWT_Init(168);
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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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}
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