/**
* @brief The startup task. The uC/OS-II ticker should only be initialize
* once multitasking starts.
* @param p_arg Argument passed to 'App_TaskStart()' by 'OSTaskCreate()'.
* @retval None
*/
static void App_TaskStart (void *p_arg)
{
(void)p_arg;
/* Initialize BSP functions. */
BSP_Init();
/* Initialize the SysTick. */
OS_CPU_SysTickInit();
#if (OS_TASK_STAT_EN > 0)
/* Determine CPU capacity. */
OSStatInit();
#endif
/* Create application events. */
App_EventCreate();
/* Create application tasks. */
App_TaskCreate();
while (DEF_TRUE)
{
STM_EVAL_LEDToggle(LED4);
OSTimeDlyHMSM(0, 0, 0, led_dly_cout);
STM_EVAL_LEDToggle(LED6);
OSTimeDlyHMSM(0, 0, 0, led_dly_cout);
STM_EVAL_LEDToggle(LED5);
OSTimeDlyHMSM(0, 0, 0, led_dly_cout);
STM_EVAL_LEDToggle(LED3);
OSTimeDlyHMSM(0, 0, 0, led_dly_cout);
}
}
/*
*********************************************************************************************************
* App_StartTask()
*
* Description : 系统任务初始化
*
* Argument(s) : pdata.
*
* Return(s) : none.
*********************************************************************************************************
*/
static void App_StartTask(void *pdata)
{
(void)pdata;
//创建事件
App_EventCreate();
//系统滴答设置
SysTick_Configure();
//机器人系统初始化
RobotSystemInit();
//创建任务
App_TaskCreate();
//挂起任务
OSTaskSuspend(4); //超声波避障任务
OSTaskSuspend(5); //机器人防跌落(PD: Prevent Drop)
OSTaskSuspend(6); //机器人动作任务挂起和恢复
// OSTaskSuspend(7); //GLWP: Get the Legs and Waist Position//储存膝关节位置信息，用于指导机器人摆臂
// OSTaskSuspend(8); //串口接收任务
// OSTaskSuspend(9); //动作执行任务(RW: Robot Walk)
// OSTaskSuspend(10); //动作步骤任务(RFS: Robot Forward Step)
// OSTaskSuspend(11); //动作步骤任务(RBS: Robot Backward Step)
// OSTaskSuspend(12); //右臂复位任务(RRA: Reset Right Arm)
// OSTaskSuspend(13); //左臂复位任务(RLA: Reset Left Arm)
// OSTaskSuspend(14); //右摆臂任务(SRA: Swing Right Arm)
// OSTaskSuspend(15); //左摆臂任务(SLA: Swing Left Arm)
// OSTaskSuspend(16); //摆腰任务(SW: Swing Waist)
OSTaskSuspend(17); //左右手腕和头部转动任务（SteerWork：Steer control）
// OSTaskSuspend(18); //眼睛任务(EE: Eye Expression)
// OSTaskSuspend(19); //LED任务(LED:decorative lighting)
// OSTaskSuspend(20); //LED任务(LED:decorative lighting)
//挂起自己
OSTaskDel(OS_PRIO_SELF);
}
/*
*********************************************************************************************************
* App_TaskStart()
*
* Description : This is an example of a startup task. As mentioned in the book's text, you MUST
* initialize the ticker only once multitasking has started.
*
* Argument(s) : p_arg is the argument passed to 'App_TaskStart()' by 'OSTaskCreateExt()'.
*
* Return(s) : none.
*
* Caller(s) : This is a task.
*
* Notes : (1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
* used. The compiler should not generate any code for this statement.
*********************************************************************************************************
*/
static void App_TaskStart (void *p_arg)
{
(void)p_arg; /* See Note #1 */
BSP_Init(); /* Initialize BSP functions */
OS_CPU_SysTickInit(); /* Initialize the SysTick */
#if (OS_TASK_STAT_EN > 0)
OSStatInit(); /* Determine CPU capacity */
#endif
MEM_Init();
End_Init();
GUI_Init();
TIME_Init();
MENU_Init();
App_EventCreate(); /* Create application events */
App_TaskCreate(); /* Create application tasks */
while (DEF_TRUE) { /* Task body, always written as an infinite loop */
beep();
OSTimeDlyHMSM(0, 0, 0, 50);
}
}
/* ------------------------------------------------------------------------------------------------------
* App_TaskStart()
*
* Description : Task start function.
*
* Argument(s) : none.
*
*/
static void App_TaskStart (void *p_arg)
{
(void)p_arg;
OS_CPU_SysTickInit(SysCtlClockGet() / OS_TICKS_PER_SEC); /* Initialize the SysTick.*/
lwIP_init(); /* Initialise lwIP stack. */
App_EventCreate();
App_TaskCreate();
while(1)
{
OSTaskSuspend(OS_PRIO_SELF); /* Suspend Start Task.*/
// OSTimeDlyHMSM(0, 0, 0, 2); /* Task delay 2ms.*/
}
}
