114 lines
2.6 KiB
C
114 lines
2.6 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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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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// 定义任务运行时结构体
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typedef struct {
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/* 各任务，也可以叫做线程 */
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struct {
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osThreadId_t ps2;
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osThreadId_t test1;
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osThreadId_t atti_esti;
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osThreadId_t height_cal;
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osThreadId_t main_control;
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} thread;
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/* USER MESSAGE BEGIN */
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struct {
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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 accl; /* IMU读取 */
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osMessageQueueId_t gyro; /* IMU读取 */
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osMessageQueueId_t eulr_imu; /* 姿态解算得到 */
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osMessageQueueId_t baro_height;/*气压计海拔高度*/
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osMessageQueueId_t fixed_height;/*融合高度*/
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osMessageQueueId_t speed_z;/*融合高度*/
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osMessageQueueId_t rc;/*遥控器数据*/
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} msgq;
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/* USER MESSAGE END */
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struct {
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UBaseType_t ps2;
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UBaseType_t test1;
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UBaseType_t atti_esti;
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UBaseType_t height_cal;
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UBaseType_t main_control;
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} stack_water_mark; /* stack使用 */
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struct {
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float ps2;
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float test1;
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float atti_esti;
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float height_cal;
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float main_control;
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} freq; /* 任务运行频率 */
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struct {
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float ps2;
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float test1;
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float atti_esti;
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float height_cal;
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float main_control;
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} last_up_time; /* 任务最近运行时间 */
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} Task_Runtime_t;
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// 任务频率
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#define TASK_FREQ_PS2 (20u)
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#define TASK_FREQ_TEST1 (40u)
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#define TASK_FREQ_ATTI_ESTI (400u)
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#define TASK_FREQ_HEIGHT_CAL (200u)
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#define TASK_FREQ_MAIN_CONTROL (500u)
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// 任务初始化延时
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#define TASK_INIT_DELAY (100u)
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#define TASK_INIT_DELAY_PS2 (0u)
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#define TASK_INIT_DELAY_TEST1 (0u)
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#define TASK_INIT_DELAY_ATTI_ESTI (0u)
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#define TASK_INIT_DELAY_HEIGHT_CAL (500u)
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#define TASK_INIT_DELAY_MAIN_CONTROL (500u)
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// 任务句柄
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typedef struct {
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osThreadId_t ps2;
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osThreadId_t test1;
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osThreadId_t atti_esti;
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osThreadId_t height_cal;
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osThreadId_t main_control;
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} Task_Handles_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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extern Task_Handles_t task_handle;
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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_ps2;
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extern const osThreadAttr_t attr_test1;
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extern const osThreadAttr_t attr_atti_esti;
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extern const osThreadAttr_t attr_height_cal;
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extern const osThreadAttr_t attr_main_control;
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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_ps2(void *argument);
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void Task_test1(void *argument);
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void Task_atti_esti(void *argument);
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void Task_height_cal(void *argument);
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void Task_main_control(void *argument);
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#ifdef __cplusplus
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}
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#endif
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