#include "FreeRTOS.h" #include "task.h" #include "queue.h" #define MS(ms) portTICK_RATE_MS * (ms) typedef enum { STATUS_OK = 0x0U, STATUS_ERROR_INIT, STATUS_ERROR_SND, STATUS_ERROR_RCV, STATUS_ERROR_TIMEOUT }Status_t; typedef enum { Sender_Kernel = 0x0, Sender_Camera, Sender_Spi, Sender_LightSens }Sender_t; typedef struct { void *pData; Sender_t Sender; }Message_t; typedef struct { xQueueHandle hxq_Kernel; xQueueHandle hxq_Camera; xQueueHandle hxq_LightSens; }QH_t; typedef struct { xTaskHandle hxTask_Self; QH_t QueueHandles; }Task_Param_t;