62 lines
2.7 KiB
C
62 lines
2.7 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/chassis.h"
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#include "module/shoot.h"
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#include "device/dr16.h"
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#include "device/et16s.h"
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#include "device/motor_step.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.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
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task_runtime.thread.dr16 = osThreadNew(Task_dr16, NULL, &attr_dr16);
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task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
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task_runtime.thread.step_motor = osThreadNew(Task_step_motor, NULL, &attr_step_motor);
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task_runtime.thread.ET16s = osThreadNew(Task_ET16s, NULL, &attr_ET16s);
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task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
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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.chassis.cmd= osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
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task_runtime.msgq.shoot.cmd= osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
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task_runtime.msgq.rc.dr16= osMessageQueueNew(2u, sizeof(DR16_t), NULL);
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task_runtime.msgq.rc.et16s= osMessageQueueNew(2u, sizeof(ET16s_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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} |