33 lines
1.1 KiB
C
33 lines
1.1 KiB
C
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#ifndef APP_TASKS_H
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#define APP_TASKS_H
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#include "cmsis_os2.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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/* =========================================================
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* 启动接力标志位定义 (按 Bit 划分)
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* ========================================================= */
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#define INIT_FLAG_CAN_READY (1UL << 0) // Bit 0: CAN 握手完成
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#define INIT_FLAG_IMU_READY (1UL << 1) // Bit 1: IMU 初始化完成
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#define INIT_FLAG_VL53_READY (1UL << 2) // Bit 2: 侧向雷达初始化完成
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#define INIT_FLAG_LASER_READY (1UL << 3) // Bit 3: 防撞雷达初始化完成
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/* 全局事件组句柄声明 */
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extern osEventFlagsId_t g_init_events;
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void AppTasks_RunCanTxTask(void *argument);
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void AppTasks_RunMonitorTask(void *argument);
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/* 三个核心传感器采集与黑板更新任务 */
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void AppTasks_RunImuTask_Impl(void *argument);
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void AppTasks_RunLaserTestTask_Impl(void *argument);
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void AppTasks_RunVl53Task_Impl(void *argument);
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void AppTasks_RunNavTask_Impl(void *argument);
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void AppTasks_Init(void);
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#ifdef __cplusplus
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}
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#endif
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#endif /* APP_TASKS_H */
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