60 lines
2.6 KiB
C
60 lines
2.6 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 "module/gimbal.h"
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#include "module/chassic.h"
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#include "remote_control.h"
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#include "telescoping_gimal.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 ------------------------------------------------------- */
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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.ai = osThreadNew(Task_ai, NULL, &attr_ai);
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task_runtime.thread.gimbal_ctrl = osThreadNew(Task_gimbal_ctrl, NULL, &attr_gimbal_ctrl);
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task_runtime.thread.chassis_ctrl = osThreadNew(Task_chassis_ctrl, NULL, &attr_chassis_ctrl);
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task_runtime.thread.shoot_ctrl = osThreadNew(Task_shoot_ctrl, NULL, &attr_shoot_ctrl);
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task_runtime.thread.telecoping = osThreadNew(Task_telecoping, NULL, &attr_telecoping);
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task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
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task_runtime.thread.remote_ctrl = osThreadNew(Task_remote_ctrl, NULL, &attr_remote_ctrl);
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// 创建消息队列
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/* USER MESSAGE BEGIN */
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task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
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task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
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task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
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task_runtime.msgq.gimbal.remote= osMessageQueueNew(2u, sizeof(RC_ctrl_t), NULL);
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task_runtime.msgq.shoot.shoot_cmd= osMessageQueueNew(2u, sizeof(COMP_AT9S_CMD_t), NULL);
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task_runtime.msgq.chassic.cmd= osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
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// task_runtime.msgq.chassic.remote=osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
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task_runtime.msgq.chassic.state= osMessageQueueNew(2u, sizeof(Chassis_t), NULL);
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task_runtime.msgq.telescoping.cmd= osMessageQueueNew(2u, sizeof(Telescoping_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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} |