将os任务的创建统一转移到app层方便修改,使得架构更加清晰.修复了INS未初始化导致的读取错误

Src/freertos.c

@@ -25,14 +25,7 @@
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-#include "ins_task.h"
-#include "motor_task.h"
-#include "led_task.h"
-#include "referee_task.h"
-#include "master_process.h"
-#include "daemon.h"
-#include "robot.h"
-#include "HT04.h"
+
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -52,26 +45,13 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN Variables */
-osThreadId insTaskHandle;
-osThreadId ledTaskHandle;
-osThreadId robotTaskHandle;
-osThreadId motorTaskHandle;
-osThreadId daemonTaskHandle;
-osThreadId uiTaskHandle;
+
 /* USER CODE END Variables */
 osThreadId defaultTaskHandle;
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
-void StartINSTASK(void const *argument);
 
-void StartMOTORTASK(void const *argument);
-
-void StartDAEMONTASK(void const *argument);
-
-void StartROBOTTASK(void const *argument);
-
-void StartUITASK(void const *argument);
 /* USER CODE END FunctionPrototypes */
 
 void StartDefaultTask(void const *argument);
@@ -129,21 +109,6 @@ void MX_FREERTOS_Init(void)
 
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
-  osThreadDef(instask, StartINSTASK, osPriorityAboveNormal, 0, 1024);
-  insTaskHandle = osThreadCreate(osThread(instask), NULL); // 由于是阻塞读取传感器,为姿态解算设置较高优先级,确保以1khz的频率执行
-  // 后续修改为读取传感器数据准备好的中断处理,
-
-  osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
-  motorTaskHandle = osThreadCreate(osThread(motortask), NULL);
-
-  osThreadDef(daemontask, StartDAEMONTASK, osPriorityNormal, 0, 128);
-  daemonTaskHandle = osThreadCreate(osThread(daemontask), NULL);
-
-  osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
-  defaultTaskHandle = osThreadCreate(osThread(robottask), NULL);
-
-  osThreadDef(uitask, StartUITASK, osPriorityNormal, 0, 512);
-  defaultTaskHandle = osThreadCreate(osThread(uitask), NULL);
 
   /* USER CODE END RTOS_THREADS */
 }
@@ -158,7 +123,7 @@ void MX_FREERTOS_Init(void)
 void StartDefaultTask(void const *argument)
 {
   /* init code for USB_DEVICE */
-  MX_USB_DEVICE_Init();
+  MX_USB_DEVICE_Init(); // USB初始化
   /* USER CODE BEGIN StartDefaultTask */
   vTaskDelete(NULL); // 删除默认任务,防止占用CPU
   /* USER CODE END StartDefaultTask */
@@ -166,56 +131,9 @@ void StartDefaultTask(void const *argument)
 
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */
-void StartINSTASK(void const *argument)
-{
-  while (1)
-  {
-    // 1kHz
-    INS_Task();
-    VisionSend(); // 解算完成后发送视觉数据,但是当前的实现不太优雅,后续若添加硬件触发需要重新考虑结构的组织
-    osDelay(1);
-  }
-}
-
-void StartMOTORTASK(void const *argument)
-{
-  // 若使用HT电机则取消本行注释,该接口会为注册了的电机设备创建线程
-  // HTMotorControlInit();
-  while (1)
-  {
-    // 500Hz
-    MotorControlTask();
-    osDelay(2);
-  }
-}
-
-void StartDAEMONTASK(void const *argument)
-{
-  while (1)
-  {
-    // 100Hz
-    DaemonTask();
-    osDelay(10);
-  }
-}
-
-void StartROBOTTASK(void const *argument)
-{
-  while (1)
-  {
-    // 200Hz-500Hz,若有额外的控制任务如平衡步兵可能需要提升至1kHz
-    RobotTask();
-    osDelay(5);
-  }
-}
-
-void StartUITASK(void const *argument)
-{
-  My_UI_init();
-  while (1)
-  {
-    Referee_Interactive_task(); // 每次给裁判系统发送完一包数据后,挂起一次,防止卡在裁判系统发送中,详见Referee_Interactive_task函数的refereeSend();
-    osDelay(1); // 即使没有任何UI需要刷新,也挂起一次,防止卡在UITask中无法切换
-  }
-}
+/**
+ * @brief 注意,为方便统一管理,
+ *        所有的机器人任务都在applicatoin/robot_task.h中进行
+ * 
+ */
 /* USER CODE END Application */

Src/main.c

@@ -119,7 +119,7 @@ int main(void)
   MX_CRC_Init();
   MX_DAC_Init();
   /* USER CODE BEGIN 2 */
-	RobotInit();
+	RobotInit(); // 唯一的初始化函数
   /* USER CODE END 2 */
 
   /* Call init function for freertos objects (in freertos.c) */