TuxMonkey/bf_original_balance_chassis
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增加了daemon模块

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This commit is contained in:
NeoZng
2022-12-08 17:36:12 +08:00
parent f043d5e265
commit c1a22e6f68
12 changed files with 157 additions and 106 deletions
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18
HAL_N_Middlewares/Src/freertos.c
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@@ -28,7 +28,7 @@
#include "ins_task.h"
#include "motor_task.h"
#include "led_task.h"
#include "monitor.h"
#include "daemon.h"
#include "robot.h"
/* USER CODE END Includes */
@@ -60,8 +60,11 @@ void StartINSTASK(void const * argument);
void StartMOTORTASK(void const * argument);
void StartDAEMONTASK(void const* argument);
void StartROBOTTASK(void const* argument);
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void const * argument);
@@ -122,6 +125,9 @@ void MX_FREERTOS_Init(void) {
osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
defaultTaskHandle = osThreadCreate(osThread(motortask), NULL);
osThreadDef(daemontask, StartDAEMONTASK, osPriorityNormal, 0, 512);
defaultTaskHandle = osThreadCreate(osThread(daemontask), NULL);
osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 2048);
defaultTaskHandle = osThreadCreate(osThread(robottask), NULL);
@@ -176,6 +182,16 @@ void StartMOTORTASK(void const * argument)
}
}
void StartDAEMONTASK(void const * argument)
{
while (1)
{
//500Hz
DaemonTask();
osDelay(10);
}
}
void StartROBOTTASK(void const * argument)
{
while (1)