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Init

This commit is contained in:
cfif 2026-04-08 14:14:06 +03:00
parent 0d27e5f04e
commit a7aa5c8b55
2 changed files with 22 additions and 0 deletions
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5
MainModesArbiter.h
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@ -41,6 +41,10 @@ typedef struct {
tTaskSerial TaskSerialUSB; tTaskSerial TaskSerialUSB;
tTaskSerial TaskSerialUART; tTaskSerial TaskSerialUART;
tTaskReceivedSerial TaskReceivedSerialUSB;
tTaskReceivedSerial TaskReceivedSerialUART;
tTaskSerialToCanCyclic TaskSerialToCanCyclic0; tTaskSerialToCanCyclic TaskSerialToCanCyclic0;
tTaskSerialToCanCyclic TaskSerialToCanCyclic1; tTaskSerialToCanCyclic TaskSerialToCanCyclic1;
tTaskSerialToCanSpontany TaskSerialToCanSpontany; tTaskSerialToCanSpontany TaskSerialToCanSpontany;
@ -49,6 +53,7 @@ typedef struct {
osMessageQueueId_t txDataQueue_Cyclic0; osMessageQueueId_t txDataQueue_Cyclic0;
osMessageQueueId_t txDataQueue_Cyclic1; osMessageQueueId_t txDataQueue_Cyclic1;
tSensorSPI sensorSPI; tSensorSPI sensorSPI;
struct { struct {
osThreadId_t id; osThreadId_t id;

17
MainModesArbiter_InitStage.c
View File

@ -80,6 +80,23 @@ static void Mma_InitSubSystems(tMma *env) {
TaskSerialUART_StartThread(&env->TaskSerialUART); TaskSerialUART_StartThread(&env->TaskSerialUART);
Task_RECEIVED_SerialUART_Init(&env->TaskReceivedSerialUART,
&env->canPorts->Can1_IO,
FROM_UART,
&env->serialPorts->DEBUG_USART3_IO);
Task_RECEIVED_SerialUART_StartThread(&env->TaskReceivedSerialUART);
Task_RECEIVED_SerialUSB_Init(&env->TaskReceivedSerialUSB,
&env->canPorts->Can1_IO,
FROM_UART_USB,
&env->serialPorts->SerialPortUsbIO);
Task_RECEIVED_SerialUSB_StartThread(&env->TaskReceivedSerialUSB);
SensorSpi_Init(&env->sensorSPI, env->spiPorts, &env->gpios->conns); SensorSpi_Init(&env->sensorSPI, env->spiPorts, &env->gpios->conns);
LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "End of subsystem initialization") LoggerInfoStatic(&env->slog.logger, LOG_TASK_MAIN, "End of subsystem initialization")