/////////////////////////////////////// #ifndef APP_CFG_MODULE_PRESENT #define APP_CFG_MODULE_PRESENT #define ENABLE_MODULE 1 #define DISABLE_MODULE 0 /// 配置模块 #define CFG_MODULE_AGENT_HY DISABLE_MODULE /// 定义任务优先级 /// 0-12预留给网络用 //#define TASK_RECV_ENET_ISR_PRIO 0u //#define TASK_TCPIP_THREAD_PRIO 1u //#define TASK_SLIPIF_THREAD_PRIO 2u //#define TASK_PING_THREAD_PRIO 3u /// 终端交互任务 #define TASK_TERM_PRIO (OS_LOWEST_PRIO - 4u) #define TASK_FEEDDOG_PRIO (OS_LOWEST_PRIO - 3u) #define OS_TASK_TMR_PRIO (OS_LOWEST_PRIO - 2u) /// 定义任务堆栈大小 #define TASK_RECV_ENET_ISR_STK_SIZE 400u #define TASK_TCPIP_THREAD_STK_SIZE 1500u #define TASK_PING_THREAD_STK_SIZE 150u /// 堆栈定义为0，具体参见"opt.h" #define TASK_SLIPIF_THREAD_STK_SIZE 0u #define TASK_START_STK_SIZE 900u #define TASK_FEEDDOG_STK_SIZE 60u #define TASK_TERM_STK_SIZE 200u #define TASK_SYSTIME_STK_SIZE 100u #define TASK_LISTEN_QUEUE_UP_STK_SIZE 200u #define TASK_LISTEN_QUEUE_DOWN_STK_SIZE 200u #define TASK_TASK_TEST_STK_SIZE 200u /*******************************************************************************/ #define TASK_RECV_ENET_ISR_PRIO 8u #define TASK_TCPIP_THREAD_PRIO 9u #define TASK_SLIPIF_THREAD_PRIO 10u #define TASK_PING_THREAD_PRIO 11u /// 起始任务 #define TASK_START_PRIO 13u /// 系统维护时钟 #define TASK_SYSTIME_PRIO 14u #define TASK_LISTEN_QUEUE_UP_PRIO 15u #define TASK_LISTEN_QUEUE_DOWN_PRIO 19u /// CE #define TASK_TESTQUEUE_PRIO 55u ///*****************************************************************/ // //#define TASK_GET_ANGLE_PRIO 21u //#define TASK_GET_ANGLE_STK_SIZE 120u // //#define POWER_OFF_PRIO 17u//原来为7，后导致ping包有延时，造成网络阻塞，UCOSII系统卡死，故优先级低于TCPIP //#define POWER_OFF_STK_SIZE 200u // //#define TASK_PS_PRIO 22u //#define TASK_PS_STK_SIZE 80u // //#define TASK_HORI_ROATE_MONITOR_PRIO 23u //#define TASK_HORI_ROATE_MONITOR_STK_SIZE 120u // //#define TASK_VERT_ROATE_MONITOR_PRIO 24u //#define TASK_VERT_ROATE_MONITOR_STK_SIZE 120u // //#define TASK_ELECTRIC_STABLE_PRIO 25u //#define TASK_ELECTRIC_STABLE_STK_SIZE 150u // //#define TASK_VERT_ELECTRIC_STABLE_PWM_PRIO 26u //#define TASK_VERT_ELECTRIC_STABLE_PWM_SIZE 150u // //#define TASK_PTZ_UPDATE_RECE_DATA_PRIO 27u//接收升级数据 //#define TASK_PTZ_UPDATE_RECE_DATA_STK_SIZE 170u // //#define TASK_VERT_SELF_CHECK_PRIO 28u //#define TASK_VERT_SELF_CHECK_STK_SIZE 180u // //#define TASK_HORI_SELF_CHECK_PRIO 29u //#define TASK_HORI_SELF_CHECK_STK_SIZE 180u // //#define TASK_HORI_PID_PRIO 30u //#define TASK_HORI_PID_STK_SIZE 150u // //#define TASK_VERT_DIRECTOR_SPEED_PWM_PRIO 31u //#define TASK_VERT_DIRECTOR_SPEED_PWM_STK_SIZE 150u // //#define TASK_VERT_PID_PRIO 32u //#define TASK_VERT_PID_STK_SIZE 150u // //#define TASK_FAULT_DETECT_PRIO 34u //#define TASK_FAULT_DETECT_STK_SIZE 180u ///**/ //#define TASK_AREA_SCAN_PRIO 35u //#define TASK_AREA_SCAN_STK_SIZE 120u // //#define TASK_PRESET_BIT_SCAN_PRIO 36u //#define TASK_PRESET_BIT_SCAN_STK_SIZE 100u // //#define TASK_LISTEN_PTZ_SERVER_PRIO 37u//云台接收指令分析 //#define TASK_LISTEN_PTZ_SERVER_STK_SIZE 600 // //#define TASK_PTZ_UPDATE_DATA_PROCESS_PRIO 39u//处理升级数据 //#define TASK_PTZ_UPDATE_DATA_PROCESS_STK_SIZE 200u // //#define TASK_PTZ_UART_485_LASER_PROCESS_PRIO 40u//处理串口数据 //#define TASK_PTZ_UART_485_LASER_PROCESS_STK_SIZE 150u // //#define TASK_PTZ_UART_485_DATA_PROCESS_PRIO 41u//处理串口数据 //#define TASK_PTZ_UART_485_DATA_PROCESS_STK_SIZE 300u // //#define TASK_PTZ_UART_422_DATA_PROCESS_PRIO 42u//处理串口数据 //#define TASK_PTZ_UART_422_DATA_PROCESS_STK_SIZE 300u // //#define TASK_PTZ_AUTO_RETURN_PRIO 43u//角度回传任务 //#define TASK_PTZ_AUTO_RETURN_STK_SIZE 180u // //#define TASK_PTZ_SPEED_RETURN_PRIO 44u//角度回传任务 //#define TASK_PTZ_SPEED_RETURN_STK_SIZE 180u // //#define TASK_PTZ_DATA_COLLECT_PRIO 45u //#define TASK_PTZ_DATA_COLLECT_STK_SIZE 200u // //#define TASK_PTZ_HEAT_RESISTOR_PRIO 46u //#define TASK_PTZ_HEAT_RESISTOR_STK_SIZE 60u // //#define TASK_PTZ_RESTORE_PRIO 47u //#define TASK_PTZ_RESTORE_STK_SIZE 60u // // //#define TASK_PTZ_ERROR_COUNT_PRIO 48u //#define TASK_PTZ_ERROR_COUNT_STK_SIZE 200u // // ////打印任务堆栈等信息 //#define TASK_PTZ_TASK_PRINTF_PRIO 55u //#define TASK_PTZ_TASK_PRINTF_STK_SIZE 200u // // ////解析水平电机返回的数据 //#define TASK_RECV_HORI_SERVO_PRIO 56u //#define TASK_RECV_HORI_SERVO_STK_SIZE 200u // ////解析俯仰电机返回的数据 //#define TASK_RECV_VERT_SERVO_PRIO 57u //#define TASK_RECV_VERT_SERVO_STK_SIZE 200u // // // ////#define ????????????????????_PRIO 55u ////#define ????????????????????_STK_SIZE 150u ///*******************************************************************************/ /*****************************************************************/ #define TASK_GET_ANGLE_PRIO 22u #define TASK_GET_ANGLE_STK_SIZE 120u #define POWER_OFF_PRIO 17u//原来为7，后导致ping包有延时，造成网络阻塞，UCOSII系统卡死，故优先级低于TCPIP #define POWER_OFF_STK_SIZE 200u /*********电机通讯协议任务优先级在此**********/ //解析水平电机返回的数据 #define TASK_RECV_HORI_SERVO_PRIO 18u #define TASK_RECV_HORI_SERVO_STK_SIZE 200u //解析俯仰电机返回的数据 #define TASK_RECV_VERT_SERVO_PRIO 19u #define TASK_RECV_VERT_SERVO_STK_SIZE 200u #define TASK_HORI_PID_PRIO 20u #define TASK_HORI_PID_STK_SIZE 150u #define TASK_VERT_DIRECTOR_SPEED_PWM_PRIO 21u #define TASK_VERT_DIRECTOR_SPEED_PWM_STK_SIZE 150u /***************/ #define TASK_PS_PRIO 23u #define TASK_PS_STK_SIZE 80u #define TASK_HORI_ROATE_MONITOR_PRIO 24u #define TASK_HORI_ROATE_MONITOR_STK_SIZE 120u #define TASK_VERT_ROATE_MONITOR_PRIO 25u #define TASK_VERT_ROATE_MONITOR_STK_SIZE 120u #define TASK_ELECTRIC_STABLE_PRIO 26u #define TASK_ELECTRIC_STABLE_STK_SIZE 150u #define TASK_VERT_ELECTRIC_STABLE_PWM_PRIO 27u #define TASK_VERT_ELECTRIC_STABLE_PWM_SIZE 150u #define TASK_PTZ_UPDATE_RECE_DATA_PRIO 28u//接收升级数据 #define TASK_PTZ_UPDATE_RECE_DATA_STK_SIZE 170u #define TASK_VERT_SELF_CHECK_PRIO 29u #define TASK_VERT_SELF_CHECK_STK_SIZE 180u #define TASK_HORI_SELF_CHECK_PRIO 32u #define TASK_HORI_SELF_CHECK_STK_SIZE 180u #define TASK_VERT_PID_PRIO 34u #define TASK_VERT_PID_STK_SIZE 150u #define TASK_FAULT_DETECT_PRIO 35u #define TASK_FAULT_DETECT_STK_SIZE 180u /**/ #define TASK_AREA_SCAN_PRIO 36u #define TASK_AREA_SCAN_STK_SIZE 120u #define TASK_PRESET_BIT_SCAN_PRIO 37u #define TASK_PRESET_BIT_SCAN_STK_SIZE 100u #define TASK_LISTEN_PTZ_SERVER_PRIO 39u//云台接收指令分析 #define TASK_LISTEN_PTZ_SERVER_STK_SIZE 600 #define TASK_PTZ_UPDATE_DATA_PROCESS_PRIO 40u//处理升级数据 #define TASK_PTZ_UPDATE_DATA_PROCESS_STK_SIZE 200u #define TASK_PTZ_UART_485_LASER_PROCESS_PRIO 41u//处理串口数据 #define TASK_PTZ_UART_485_LASER_PROCESS_STK_SIZE 150u #define TASK_PTZ_UART_485_DATA_PROCESS_PRIO 42u//处理串口数据 #define TASK_PTZ_UART_485_DATA_PROCESS_STK_SIZE 300u #define TASK_PTZ_UART_422_DATA_PROCESS_PRIO 43u//处理串口数据 #define TASK_PTZ_UART_422_DATA_PROCESS_STK_SIZE 300u #define TASK_PTZ_AUTO_RETURN_PRIO 44u//角度回传任务 #define TASK_PTZ_AUTO_RETURN_STK_SIZE 180u #define TASK_PTZ_SPEED_RETURN_PRIO 45u//角度回传任务 #define TASK_PTZ_SPEED_RETURN_STK_SIZE 180u #define TASK_PTZ_DATA_COLLECT_PRIO 46u #define TASK_PTZ_DATA_COLLECT_STK_SIZE 200u #define TASK_PTZ_HEAT_RESISTOR_PRIO 47u #define TASK_PTZ_HEAT_RESISTOR_STK_SIZE 60u #define TASK_PTZ_RESTORE_PRIO 48u #define TASK_PTZ_RESTORE_STK_SIZE 60u #define TASK_PTZ_ERROR_COUNT_PRIO 49u #define TASK_PTZ_ERROR_COUNT_STK_SIZE 200u //打印任务堆栈等信息 #define TASK_PTZ_TASK_PRINTF_PRIO 55u #define TASK_PTZ_TASK_PRINTF_STK_SIZE 200u //#define ????????????????????_PRIO 55u //#define ????????????????????_STK_SIZE 150u /*******************************************************************************/ #endif