ROTS的事件组

事件组事件组事件组可以简单地认为就是一个整数其中的每一位表示一个事件每个事件的含义可以自己决定。当对应位为1时表示该事件发生为0则表示未发生可以等待某一位或某些位中的任意一个。事件组用一个整数来表示其中的高8位留给内核使用只能用其他的位来表示事件。比如如果configUSE_16_BIT_TICKS是1那么这个整数就是16位的低8位用来表示事件。相关操作创建使用事件组之前要先创建得到一个句柄使用事件组时要使用句柄来表明使用哪个事件组。有两种创建方法动态分配内存、静态分配内存。函数原型如下/* 创建一个事件组返回它的句柄。 * 此函数内部会分配事件组结构体 * 返回值: 返回句柄非NULL表示成功 */ EventGroupHandle_t xEventGroupCreate( void ); /* 创建一个事件组返回它的句柄。 * 此函数无需动态分配内存所以需要先有一个StaticEventGroup_t结构体并传入它的指针 * 返回值: 返回句柄非NULL表示成功 */ EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t * pxEventGroupBuffer );删除对于动态创建的事件组不再需要它们时可以删除它们以回收内存。vEventGroupDelete可以用来删除事件组函数原型如下/* * xEventGroup: 事件组句柄你要删除哪个事件组 */ void vEventGroupDelete( EventGroupHandle_t xEventGroup )设置事件可以设置事件组的某个位、某些位使用的函数有2个在任务中使用xEventGroupSetBits()在ISR中使用xEventGroupSetBitsFromISR()/* 设置事件组中的位 * xEventGroup: 哪个事件组 * uxBitsToSet: 设置哪些位? * 如果uxBitsToSet的bitX, bitY为1, 那么事件组中的bitX, bitY被设置为1 * 可以用来设置多个位比如 0x15 就表示设置bit4, bit2, bit0 * 返回值: 返回原来的事件值(没什么意义, 因为很可能已经被其他任务修改了) */ EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ); /* 设置事件组中的位 * xEventGroup: 哪个事件组 * uxBitsToSet: 设置哪些位? * 如果uxBitsToSet的bitX, bitY为1, 那么事件组中的bitX, bitY被设置为1 * 可以用来设置多个位比如 0x15 就表示设置bit4, bit2, bit0 * pxHigherPriorityTaskWoken: 有没有导致更高优先级的任务进入就绪态? pdTRUE-有, pdFALSE-没有 * 返回值: pdPASS-成功, pdFALSE-失败 */ BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t * pxHigherPriorityTaskWoken );等待事件使用xEventGroupWaitBits来等待事件可以等待某一位、某些位中的任意一个也可以等待多位等到期望的事件后还可以清除某些位。EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait );同步使用xEventGroupSync()函数可以同步多个任务可以设置某位、某些位表示自己做了什么事可以等待某位、某些位表示要等等其他任务期望的时间发生后xEventGroupSync()才会成功返回。xEventGroupSync成功返回后会清除事件EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait );简单的程序使用广播等待小车1开到终点另外两个才出发/* * Project: N|Watch * Author: Zak Kemble, contactzakkemble.co.uk * Copyright: (C) 2013 by Zak Kemble * License: GNU GPL v3 (see License.txt) * Web: http://blog.zakkemble.co.uk/diy-digital-wristwatch/ */ #include stdlib.h #include stdio.h #include string.h #include cmsis_os.h #include FreeRTOS.h // ARM.FreeRTOS::RTOS:Core #include task.h // ARM.FreeRTOS::RTOS:Core #include event_groups.h // ARM.FreeRTOS::RTOS:Event Groups #include semphr.h // ARM.FreeRTOS::RTOS:Core #include draw.h #include resources.h #include driver_lcd.h #include driver_ir_receiver.h #include driver_rotary_encoder.h #include driver_mpu6050.h #define CAR_COUNT 3 #define CAR_WIDTH 12 #define CAR_LENGTH 15 #define ROAD_SPEED 6 #define NOINVERT false #define INVERT true #define key1 0 #define key2 1 #define key3 2 static uint32_t g_xres, g_yres, g_bpp; static uint8_t *g_framebuffer; static SemaphoreHandle_t g_xSemTicks; static EventGroupHandle_t g_xEventCar; struct car{ int x; int y; int control_key; }; struct car cars[3] { {0, 0, key1}, {0, 17, key2}, {0, 34, key3} }; static const byte carImg[] PROGMEM { 0x40,0xF8,0xEC,0x2C,0x2C,0x38,0xF0,0x10,0xD0,0x30,0xE8,0x4C,0x4C,0x9C,0xF0, 0x02,0x1F,0x37,0x34,0x34,0x1C,0x0F,0x08,0x0B,0x0C,0x17,0x32,0x32,0x39,0x0F, }; static const byte roadMarking[] PROGMEM { 0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01, }; static const byte clearImg[30] {0}; static void showCar(struct car *car) { draw_bitmap(car-x, car-y, carImg, 15, 16, NOINVERT, 0); draw_flushArea(car-x, car-y, 15, 16); } static void hideCar(struct car *car) { draw_bitmap(car-x, car-y, clearImg, 15, 16, NOINVERT, 0); draw_flushArea(car-x, car-y, 15, 16); } # if 0 static void CarTask(void *params) { struct car *car (struct car *)params; //获得信号量 xSemaphoreTake(g_xSemTicks, portMAX_DELAY); while(1) { if(car-x g_xres - CAR_LENGTH) { hideCar(car); car-x 1; if (car-x g_xres - CAR_LENGTH) { car-x g_xres - CAR_LENGTH; } showCar(car); } vTaskDelay(50); if(car-x g_xres - CAR_LENGTH) { /* 释放信号量 */ xSemaphoreGive(g_xSemTicks); vTaskDelete(NULL); } } } #endif static void Car1Task (void *params) { struct car *car (struct car *) params; //直接右移小汽车 while(1) { if(car - x g_xres - CAR_LENGTH) { hideCar(car); car-x 1; if (car-x g_xres - CAR_LENGTH) { car-x g_xres - CAR_LENGTH; } showCar(car); } vTaskDelay(50); if(car -x g_xres - CAR_LENGTH) { /* 发送事件 */ xEventGroupSetBits(g_xEventCar, 10); vTaskDelete(NULL); } } } static void Car2Task (void *params) { struct car *car (struct car *) params; //等待事件信号 xEventGroupWaitBits(g_xEventCar, 1 0, pdTRUE, pdFALSE, portMAX_DELAY); //直接右移小汽车 while(1) { if(car - x g_xres - CAR_LENGTH) { hideCar(car); car-x 1; if (car-x g_xres - CAR_LENGTH) { car-x g_xres - CAR_LENGTH; } showCar(car); } vTaskDelay(50); if(car -x g_xres - CAR_LENGTH) { /* 释放信号量 */ xSemaphoreGive(g_xSemTicks); vTaskDelete(NULL); } } } static void Car3Task (void *params) { struct car *car (struct car *) params; //等待事件信号 xEventGroupWaitBits(g_xEventCar, 1 0, pdTRUE, pdFALSE, portMAX_DELAY); //直接右移小汽车 while(1) { if(car - x g_xres - CAR_LENGTH) { hideCar(car); car-x 1; if (car-x g_xres - CAR_LENGTH) { car-x g_xres - CAR_LENGTH; } showCar(car); } vTaskDelay(50); if(car -x g_xres - CAR_LENGTH) { /* 释放信号量 */ xSemaphoreGive(g_xSemTicks); vTaskDelete(NULL); } } } void car_test(void) { g_framebuffer LCD_GetFrameBuffer(g_xres, g_yres, g_bpp); draw_init(); draw_end(); //绘制路标 for(int i 0; i 3; i) { for(int j 0; j 8; j) { draw_bitmap(16 * j, 16 i * 17, roadMarking, 8, 1, NOINVERT, 0); draw_flushArea(16 * j, 16 i * 17, 8, 1); } } //测试显示三辆汽车 for(int i 0; i 3; i) { showCar(cars[i]); } /* g_xSemTicks xSemaphoreCreateCounting(3, 2); xTaskCreate(CarTask, Car1, 128, cars[0], osPriorityNormal, NULL); xTaskCreate(CarTask, Car2, 128, cars[1], osPriorityNormal, NULL); xTaskCreate(CarTask, Car3, 128, cars[2], osPriorityNormal, NULL); */ //创建事件组 g_xEventCar xEventGroupCreate(); xTaskCreate(Car1Task, car1, 128, cars[0], osPriorityNormal, NULL); xTaskCreate(Car2Task, car2, 128, cars[1], osPriorityNormal2, NULL); xTaskCreate(Car3Task, car3, 128, cars[2], osPriorityNormal2, NULL); }等待任意一个事件发生小车1或者小车2到达终点小车3就出发/* * Project: N|Watch * Author: Zak Kemble, contactzakkemble.co.uk * Copyright: (C) 2013 by Zak Kemble * License: GNU GPL v3 (see License.txt) * Web: http://blog.zakkemble.co.uk/diy-digital-wristwatch/ */ #include stdlib.h #include stdio.h #include string.h #include cmsis_os.h #include FreeRTOS.h // ARM.FreeRTOS::RTOS:Core #include task.h // ARM.FreeRTOS::RTOS:Core #include event_groups.h // ARM.FreeRTOS::RTOS:Event Groups #include semphr.h // ARM.FreeRTOS::RTOS:Core #include draw.h #include resources.h #include driver_lcd.h #include driver_ir_receiver.h #include driver_rotary_encoder.h #include driver_mpu6050.h #define NOINVERT false #define INVERT true #define CAR_COUNT 3 #define CAR_WIDTH 12 #define CAR_LENGTH 15 #define ROAD_SPEED 6 static SemaphoreHandle_t g_xSemTicks; static uint32_t g_xres, g_yres, g_bpp; static uint8_t *g_framebuffer; static EventGroupHandle_t g_xEventCar; struct car { int x; int y; int control_key; }; struct car g_cars[3] { {0, 0, IR_KEY_1}, {0, 17, IR_KEY_2}, {0, 34, IR_KEY_3}, }; static const byte carImg[] { 0x40,0xF8,0xEC,0x2C,0x2C,0x38,0xF0,0x10,0xD0,0x30,0xE8,0x4C,0x4C,0x9C,0xF0, 0x02,0x1F,0x37,0x34,0x34,0x1C,0x0F,0x08,0x0B,0x0C,0x17,0x32,0x32,0x39,0x0F, }; static const byte clearImg[30] {0}; static const byte roadMarking[] { 0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01, }; #if 0 void car_test(void) { g_framebuffer LCD_GetFrameBuffer(g_xres, g_yres, g_bpp); draw_init(); draw_end(); draw_bitmap(0, 0, carImg, 15, 16, NOINVERT, 0); draw_flushArea(0, 0, 15, 16); draw_bitmap(0, 16, roadMarking, 8, 1, NOINVERT, 0); draw_flushArea(0, 16, 8, 1); while (1); } #endif static void ShowCar(struct car *pcar) { draw_bitmap(pcar-x, pcar-y, carImg, 15, 16, NOINVERT, 0); draw_flushArea(pcar-x, pcar-y, 15, 16); } static void HideCar(struct car *pcar) { draw_bitmap(pcar-x, pcar-y, clearImg, 15, 16, NOINVERT, 0); draw_flushArea(pcar-x, pcar-y, 15, 16); } static void Car1Task(void *params) { struct car *pcar params; struct ir_data idata; /* 创建自己的队列 */ QueueHandle_t xQueueIR xQueueCreate(10, sizeof(struct ir_data)); /* 注册队列 */ RegisterQueueHandle(xQueueIR); /* 显示汽车 */ ShowCar(pcar); /* 获得信号量 */ //xSemaphoreTake(g_xSemTicks, portMAX_DELAY); while (1) { /* 读取按键值:读队列 */ //xQueueReceive(xQueueIR, idata, portMAX_DELAY); /* 控制汽车往右移动 */ //if (idata.val pcar-control_key) { if (pcar-x g_xres - CAR_LENGTH) { /* 隐藏汽车 */ HideCar(pcar); /* 调整位置 */ pcar-x 1; if (pcar-x g_xres - CAR_LENGTH) { pcar-x g_xres - CAR_LENGTH; } /* 重新显示汽车 */ ShowCar(pcar); vTaskDelay(50); if (pcar-x g_xres - CAR_LENGTH) { /* 释放信号量 */ //xSemaphoreGive(g_xSemTicks); /* 设置事件组: bit0 */ xEventGroupSetBits(g_xEventCar, (10)); vTaskDelete(NULL); } } } } } static void Car2Task(void *params) { struct car *pcar params; struct ir_data idata; /* 创建自己的队列 */ QueueHandle_t xQueueIR xQueueCreate(10, sizeof(struct ir_data)); /* 注册队列 */ RegisterQueueHandle(xQueueIR); /* 显示汽车 */ ShowCar(pcar); /* 获得信号量 */ //xSemaphoreTake(g_xSemTicks, portMAX_DELAY); /* 等待事件:bit0 */ //xEventGroupWaitBits(g_xEventCar, (10), pdTRUE, pdFALSE, portMAX_DELAY); while (1) { /* 读取按键值:读队列 */ //xQueueReceive(xQueueIR, idata, portMAX_DELAY); /* 控制汽车往右移动 */ //if (idata.val pcar-control_key) { if (pcar-x g_xres - CAR_LENGTH) { /* 隐藏汽车 */ HideCar(pcar); /* 调整位置 */ pcar-x 1; if (pcar-x g_xres - CAR_LENGTH) { pcar-x g_xres - CAR_LENGTH; } /* 重新显示汽车 */ ShowCar(pcar); vTaskDelay(100); //mdelay(50); if (pcar-x g_xres - CAR_LENGTH) { /* 释放信号量 */ //xSemaphoreGive(g_xSemTicks); /* 设置事件组: bit1 */ xEventGroupSetBits(g_xEventCar, (11)); vTaskDelete(NULL); } } } } } static void Car3Task(void *params) { struct car *pcar params; struct ir_data idata; /* 创建自己的队列 */ QueueHandle_t xQueueIR xQueueCreate(10, sizeof(struct ir_data)); /* 注册队列 */ RegisterQueueHandle(xQueueIR); /* 显示汽车 */ ShowCar(pcar); /* 获得信号量 */ //xSemaphoreTake(g_xSemTicks, portMAX_DELAY); /* 等待事件:bit0 or bit1 */ xEventGroupWaitBits(g_xEventCar, (10)|(11), pdTRUE, pdFALSE, portMAX_DELAY); while (1) { /* 读取按键值:读队列 */ //xQueueReceive(xQueueIR, idata, portMAX_DELAY); /* 控制汽车往右移动 */ //if (idata.val pcar-control_key) { if (pcar-x g_xres - CAR_LENGTH) { /* 隐藏汽车 */ HideCar(pcar); /* 调整位置 */ pcar-x 1; if (pcar-x g_xres - CAR_LENGTH) { pcar-x g_xres - CAR_LENGTH; } /* 重新显示汽车 */ ShowCar(pcar); //vTaskDelay(50); mdelay(50); if (pcar-x g_xres - CAR_LENGTH) { /* 释放信号量 */ //xSemaphoreGive(g_xSemTicks); vTaskDelete(NULL); } } } } } void car_game(void) { int x; int i, j; g_framebuffer LCD_GetFrameBuffer(g_xres, g_yres, g_bpp); draw_init(); draw_end(); //g_xSemTicks xSemaphoreCreateCounting(1, 1); //g_xSemTicks xSemaphoreCreateMutex(); g_xEventCar xEventGroupCreate(); /* 画出路标 */ for (i 0; i 3; i) { for (j 0; j 8; j) { draw_bitmap(16*j, 1617*i, roadMarking, 8, 1, NOINVERT, 0); draw_flushArea(16*j, 1617*i, 8, 1); } } /* 创建3个汽车任务 */ #if 0 for (i 0; i 3; i) { draw_bitmap(g_cars[i].x, g_cars[i].y, carImg, 15, 16, NOINVERT, 0); draw_flushArea(g_cars[i].x, g_cars[i].y, 15, 16); } #endif xTaskCreate(Car1Task, car1, 128, g_cars[0], osPriorityNormal, NULL); xTaskCreate(Car2Task, car2, 128, g_cars[1], osPriorityNormal2, NULL); xTaskCreate(Car3Task, car3, 128, g_cars[2], osPriorityNormal3, NULL); }等待多个时间都发生等小车1和2都到达终点小车3才出发/* * Project: N|Watch * Author: Zak Kemble, contactzakkemble.co.uk * Copyright: (C) 2013 by Zak Kemble * License: GNU GPL v3 (see License.txt) * Web: http://blog.zakkemble.co.uk/diy-digital-wristwatch/ */ #include stdlib.h #include stdio.h #include string.h #include cmsis_os.h #include FreeRTOS.h // ARM.FreeRTOS::RTOS:Core #include task.h // ARM.FreeRTOS::RTOS:Core #include event_groups.h // ARM.FreeRTOS::RTOS:Event Groups #include semphr.h // ARM.FreeRTOS::RTOS:Core #include draw.h #include resources.h #include driver_lcd.h #include driver_ir_receiver.h #include driver_rotary_encoder.h #include driver_mpu6050.h #define NOINVERT false #define INVERT true #define CAR_COUNT 3 #define CAR_WIDTH 12 #define CAR_LENGTH 15 #define ROAD_SPEED 6 static SemaphoreHandle_t g_xSemTicks; static uint32_t g_xres, g_yres, g_bpp; static uint8_t *g_framebuffer; static EventGroupHandle_t g_xEventCar; struct car { int x; int y; int control_key; }; struct car g_cars[3] { {0, 0, IR_KEY_1}, {0, 17, IR_KEY_2}, {0, 34, IR_KEY_3}, }; static const byte carImg[] { 0x40,0xF8,0xEC,0x2C,0x2C,0x38,0xF0,0x10,0xD0,0x30,0xE8,0x4C,0x4C,0x9C,0xF0, 0x02,0x1F,0x37,0x34,0x34,0x1C,0x0F,0x08,0x0B,0x0C,0x17,0x32,0x32,0x39,0x0F, }; static const byte clearImg[30] {0}; static const byte roadMarking[] { 0x01,0x01,0x01,0x01,0x01,0x01,0x01,0x01, }; #if 0 void car_test(void) { g_framebuffer LCD_GetFrameBuffer(g_xres, g_yres, g_bpp); draw_init(); draw_end(); draw_bitmap(0, 0, carImg, 15, 16, NOINVERT, 0); draw_flushArea(0, 0, 15, 16); draw_bitmap(0, 16, roadMarking, 8, 1, NOINVERT, 0); draw_flushArea(0, 16, 8, 1); while (1); } #endif static void ShowCar(struct car *pcar) { draw_bitmap(pcar-x, pcar-y, carImg, 15, 16, NOINVERT, 0); draw_flushArea(pcar-x, pcar-y, 15, 16); } static void HideCar(struct car *pcar) { draw_bitmap(pcar-x, pcar-y, clearImg, 15, 16, NOINVERT, 0); draw_flushArea(pcar-x, pcar-y, 15, 16); } static void Car1Task(void *params) { struct car *pcar params; struct ir_data idata; /* 创建自己的队列 */ QueueHandle_t xQueueIR xQueueCreate(10, sizeof(struct ir_data)); /* 注册队列 */ RegisterQueueHandle(xQueueIR); /* 显示汽车 */ ShowCar(pcar); /* 获得信号量 */ //xSemaphoreTake(g_xSemTicks, portMAX_DELAY); while (1) { /* 读取按键值:读队列 */ //xQueueReceive(xQueueIR, idata, portMAX_DELAY); /* 控制汽车往右移动 */ //if (idata.val pcar-control_key) { if (pcar-x g_xres - CAR_LENGTH) { /* 隐藏汽车 */ HideCar(pcar); /* 调整位置 */ pcar-x 1; if (pcar-x g_xres - CAR_LENGTH) { pcar-x g_xres - CAR_LENGTH; } /* 重新显示汽车 */ ShowCar(pcar); vTaskDelay(50); if (pcar-x g_xres - CAR_LENGTH) { /* 释放信号量 */ //xSemaphoreGive(g_xSemTicks); /* 设置事件组: bit0 */ xEventGroupSetBits(g_xEventCar, (10)); vTaskDelete(NULL); } } } } } static void Car2Task(void *params) { struct car *pcar params; struct ir_data idata; /* 创建自己的队列 */ QueueHandle_t xQueueIR xQueueCreate(10, sizeof(struct ir_data)); /* 注册队列 */ RegisterQueueHandle(xQueueIR); /* 显示汽车 */ ShowCar(pcar); /* 获得信号量 */ //xSemaphoreTake(g_xSemTicks, portMAX_DELAY); /* 等待事件:bit0 */ //xEventGroupWaitBits(g_xEventCar, (10), pdTRUE, pdFALSE, portMAX_DELAY); while (1) { /* 读取按键值:读队列 */ //xQueueReceive(xQueueIR, idata, portMAX_DELAY); /* 控制汽车往右移动 */ //if (idata.val pcar-control_key) { if (pcar-x g_xres - CAR_LENGTH) { /* 隐藏汽车 */ HideCar(pcar); /* 调整位置 */ pcar-x 1; if (pcar-x g_xres - CAR_LENGTH) { pcar-x g_xres - CAR_LENGTH; } /* 重新显示汽车 */ ShowCar(pcar); vTaskDelay(100); //mdelay(50); if (pcar-x g_xres - CAR_LENGTH) { /* 释放信号量 */ //xSemaphoreGive(g_xSemTicks); /* 设置事件组: bit1 */ xEventGroupSetBits(g_xEventCar, (11)); vTaskDelete(NULL); } } } } } static void Car3Task(void *params) { struct car *pcar params; struct ir_data idata; /* 创建自己的队列 */ QueueHandle_t xQueueIR xQueueCreate(10, sizeof(struct ir_data)); /* 注册队列 */ RegisterQueueHandle(xQueueIR); /* 显示汽车 */ ShowCar(pcar); /* 获得信号量 */ //xSemaphoreTake(g_xSemTicks, portMAX_DELAY); /* 等待事件:bit0 and bit1 */ xEventGroupWaitBits(g_xEventCar, (10)|(11), pdTRUE, pdTRUE, portMAX_DELAY); while (1) { /* 读取按键值:读队列 */ //xQueueReceive(xQueueIR, idata, portMAX_DELAY); /* 控制汽车往右移动 */ //if (idata.val pcar-control_key) { if (pcar-x g_xres - CAR_LENGTH) { /* 隐藏汽车 */ HideCar(pcar); /* 调整位置 */ pcar-x 1; if (pcar-x g_xres - CAR_LENGTH) { pcar-x g_xres - CAR_LENGTH; } /* 重新显示汽车 */ ShowCar(pcar); //vTaskDelay(50); mdelay(50); if (pcar-x g_xres - CAR_LENGTH) { /* 释放信号量 */ //xSemaphoreGive(g_xSemTicks); vTaskDelete(NULL); } } } } } void car_game(void) { int x; int i, j; g_framebuffer LCD_GetFrameBuffer(g_xres, g_yres, g_bpp); draw_init(); draw_end(); //g_xSemTicks xSemaphoreCreateCounting(1, 1); //g_xSemTicks xSemaphoreCreateMutex(); g_xEventCar xEventGroupCreate(); /* 画出路标 */ for (i 0; i 3; i) { for (j 0; j 8; j) { draw_bitmap(16*j, 1617*i, roadMarking, 8, 1, NOINVERT, 0); draw_flushArea(16*j, 1617*i, 8, 1); } } /* 创建3个汽车任务 */ #if 0 for (i 0; i 3; i) { draw_bitmap(g_cars[i].x, g_cars[i].y, carImg, 15, 16, NOINVERT, 0); draw_flushArea(g_cars[i].x, g_cars[i].y, 15, 16); } #endif xTaskCreate(Car1Task, car1, 128, g_cars[0], osPriorityNormal, NULL); xTaskCreate(Car2Task, car2, 128, g_cars[1], osPriorityNormal2, NULL); xTaskCreate(Car3Task, car3, 128, g_cars[2], osPriorityNormal3, NULL); }