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up_utils

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This commit is contained in:
ZHAISHUI04 2025-06-26 00:48:19 +08:00
parent 4859c69fad
commit d0efaf8dab
10 changed files with 305 additions and 169 deletions
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121
MDK-ARM/R2.uvoptx
View File

@ -103,7 +103,7 @@
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@ -114,13 +114,13 @@
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@ -140,7 +140,7 @@
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@ -168,27 +168,32 @@
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5
MDK-ARM/R2.uvprojx
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BIN
MDK-ARM/R2/R2.axf
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Binary file not shown.

14
User/Module/Chassis.c
View File

@ -28,11 +28,13 @@ int8_t Chassis_UpdateFeedback(Chassis_t *c, const CAN_t *can) {
c->motorfeedback.rotor_rpm3508[i] = can->motor.chassis_motor3508.as_array[i].rotor_speed; c->motorfeedback.rotor_rpm3508[i] = can->motor.chassis_motor3508.as_array[i].rotor_speed;
c->motorfeedback.rotor_current3508[i] = can->motor.chassis_motor3508.as_array[i].torque_current; c->motorfeedback.rotor_current3508[i] = can->motor.chassis_motor3508.as_array[i].torque_current;
} }
for (uint8_t i = 0; i < 4; i++) { // for (uint8_t i = 0; i < 4; i++) {
//
c->sick_cali.sick_dis[i]=can->sickfed.raw_dis[i] / 10; //没使用原值 // c->sick_cali.sick_dis[i]=can->sickfed.raw_dis[i] / 10; //没使用原值
} // }
c->sick_cali.sick_dis[0]=can->sickfed.raw_dis[0] ;
c->sick_cali.sick_dis[1]=can->sickfed.raw_dis[1]+50 ; //有点误差，手动补偿
c->sick_cali.sick_dis[2]=can->sickfed.raw_dis[2] ;
return CHASSIS_OK; return CHASSIS_OK;
} }
@ -119,7 +121,7 @@ int8_t Chassis_Control(Chassis_t *c, CMD_t *ctrl, CAN_Output_t *out) {
case AUTO: case AUTO:
switch (c->chassis_ctrl.mode) { switch (c->chassis_ctrl.mode) {
case AUTO_MID360: case AUTO_MID360:
c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000; c->move_vec.Vw = ctrl->cmd_MID360.posw * 1000;
c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000; c->move_vec.Vy = -ctrl->cmd_MID360.posy * 1000;
c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000; c->move_vec.Vx = -ctrl->cmd_MID360.posx * 1000;
abs_limit_fp(&c->move_vec.Vx, 5000.0f); abs_limit_fp(&c->move_vec.Vx, 5000.0f);

147
User/Module/up.c
View File

@ -3,6 +3,8 @@
#include "user_math.h" #include "user_math.h"
#include "bsp_buzzer.h" #include "bsp_buzzer.h"
#include "bsp_delay.h" #include "bsp_delay.h"
/*接线 /*接线
@ -80,30 +82,7 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
return 0; return 0;
} }
int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle)
{
int8_t cnt=0;
fp32 angle ,delta;
angle = f->ecd;
if (f->init_cnt < 50) {
f->orig_angle= angle;
f->last_angle = angle;
f->init_cnt++;
return 0;
}
delta = angle - f->last_angle;
if (delta > 4096) {
f->round_cnt--;
} else if (delta < -4096) {
f->round_cnt++;
}
f->last_angle = angle;
f->total_angle=(f->round_cnt*8191+(angle -f->orig_angle ))*ecd_to_angle;
}
/* /*
这里id范围为1-4， 这里id范围为1-4，
*/ */
@ -128,7 +107,8 @@ int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
{ {
u->motor_target .VESC_5065_M1_rpm =speed; u->motor_target .VESC_5065_M1_rpm =speed;
u->motor_target .VESC_5065_M2_rpm =speed; u->motor_target .VESC_5065_M2_rpm =speed;
//根据正反加负号
u->final_out .final_VESC_5065_M1out =-u->motor_target .VESC_5065_M1_rpm; u->final_out .final_VESC_5065_M1out =-u->motor_target .VESC_5065_M1_rpm;
u->final_out .final_VESC_5065_M2out =u->motor_target .VESC_5065_M2_rpm; u->final_out .final_VESC_5065_M2out =u->motor_target .VESC_5065_M2_rpm;
@ -138,43 +118,7 @@ int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
/*go电机控制*/
int8_t GO_SendData(UP_t *u, float pos, float limit)
{
static int is_calibration=0;
static fp32 error=0; //误差量
u->motorfeedback .go_data = get_GO_measure_point() ;
// 读取参数
float tff = u->go_cmd.T; // 前馈力矩
float kp = u->go_cmd.K_P; // 位置刚度
float kd = u->go_cmd.K_W; // 速度阻尼
float q_desired = u->go_cmd.Pos; // 期望位置（rad）
float q_current = u->motorfeedback.go_data->Pos; // 当前角度位置（rad）
float dq_desired = u->go_cmd.W; // 期望角速度（rad/s）
float dq_current = u->motorfeedback.go_data->W; // 当前角速度（rad/s）
// 计算输出力矩 tau
float tau = tff + kp * (q_desired - q_current) + kd * (dq_desired - dq_current);
/*限制最大输入来限制最大输出*/
if (pos - q_current > limit) {
u->go_cmd.Pos = q_current + limit; // 限制位置
}else if (pos - q_current < -limit) {
u->go_cmd.Pos = q_current - limit; // 限制位置
}else {
u->go_cmd.Pos = pos; // 允许位置
}
// 发送数据
GO_M8010_send_data(&u->go_cmd);
return 0;
}
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out) int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
{ {
@ -183,16 +127,21 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
&u->pid .Shoot_M2006angle , &u->pid .Shoot_M2006angle ,
&u->pid .Shoot_M2006speed , &u->pid .Shoot_M2006speed ,
u->motor_target .Shoot_M2006_angle ); u->motor_target .Shoot_M2006_angle );
/*俯仰2006，双环，内使用oid角度环，外电机速度环
*/
DJ_Speed_Control(u,0x206,&u->motorfeedback .DJmotor_feedback[5],&u->pid .Pitch_M2006_speed, DJ_Speed_Control(u,0x206,&u->motorfeedback .DJmotor_feedback[5],&u->pid .Pitch_M2006_speed,
(PID_calc (&(u->pid .Pitch_M2006_angle ), (PID_calc (&(u->pid .Pitch_M2006_angle ),
u->motorfeedback .Encoder.angle,u->motor_target .Shoot_Pitch_angle)) u->motorfeedback .Encoder.angle,u->motor_target .Pitch_angle))
); );
GO_SendData(u, GO_SendData(
u->motor_target .go_shoot, &u->motorfeedback.go_data,
u->Pitch_Cfg .PitchConfig .pull_speed );//对应的拉动速度 &u->go_cmd,u->motor_target .go_shoot,
u->Pitch_Cfg .PitchConfig .pull_speed
);//对应的拉动速度
for(int i=0;i<4;i++){ for(int i=0;i<4;i++){
out ->motor_UP3508_Dribble.as_array[i]=u->final_out.DJfinal_out [i] ; out ->motor_UP3508_Dribble.as_array[i]=u->final_out.DJfinal_out [i] ;
} }
@ -208,24 +157,31 @@ int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
} }
fp32 posss=0;
int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c) int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
{ {
if(u ==NULL) return 0; if(u ==NULL) return 0;
if(out ==NULL) return 0; if(out ==NULL) return 0;
if(c ==NULL) return 0; if(c ==NULL) return 0;
/*指针简化*/ /*指针简化*/
PitchCfg_t *pitch_cfg = &u->Pitch_Cfg.PitchConfig; PitchCfg_t *pitch_cfg = &u->Pitch_Cfg.PitchConfig;
up_motor_target_t *target=&u->motor_target ; up_motor_target_t *target=&u->motor_target ;
static int is_pitch=1;
/*config值限位*/ /*config值限位*/
abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-215.0f,0.0f); abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.go_release_pos ,-215.0f,0.0f);
abs_limit_min_max_fp(&u->Pitch_Cfg.PitchConfig.Pitch_angle ,48.0f,67.0f);
/*部分数据更新*/
static int is_pitch=1;
posss=CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->Pitch_Cfg.Curve);
// if (u->Pitch_Cfg.Curve == CURVE_58) {
// target->Pitch_angle = 58;
// } else {
// target->Pitch_angle = 66;
// }
switch (c->CMD_CtrlType ) switch (c->CMD_CtrlType )
{ {
case RCcontrol: //在手动模式下 case RCcontrol: //在手动模式下
@ -236,10 +192,11 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
case Normal : case Normal :
/*投篮*/ /*投篮*/
if(is_pitch){ if(is_pitch){
target->go_shoot =pitch_cfg->go_init ; target->Shoot_M2006_angle = pitch_cfg->go_init ;
target->Shoot_Pitch_angle=pitch_cfg->Pitch_angle; target->Pitch_angle = pitch_cfg->Pitch_angle;
is_pitch=0; is_pitch=0;
} //让初始go位置只读一次，后面按调整模式更改的来,后面稳定了之后，可以跟随调整模式下一块删 } //让初始go位置只读一次，后面按调整模式更改的来,后面稳定了之后，可以跟随调整模式下一块删
target->Shoot_M2006_angle =u->Pitch_Cfg .PitchConfig .m2006_init ; target->Shoot_M2006_angle =u->Pitch_Cfg .PitchConfig .m2006_init ;
u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球 u->Pitch_Cfg .PitchState = PITCH_PREPARE; //状态更新,开始夹球
@ -261,26 +218,31 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
pitch_cfg->Pitch_angle += c->Vy/100; pitch_cfg->Pitch_angle += c->Vy/100;
target->go_shoot=u->Pitch_Cfg.PitchConfig.go_release_pos; target->go_shoot=u->Pitch_Cfg.PitchConfig.go_release_pos;
target->Shoot_Pitch_angle=u->Pitch_Cfg.PitchConfig.Pitch_angle; target->Pitch_angle=u->Pitch_Cfg.PitchConfig.Pitch_angle;
break ; break ;
default:
break;
} }
break;
case AUTO: case AUTO:
/*自动下数据更新，根据距离切换俯仰角,如需自动调整，放在*/
if (u->Pitch_Cfg.Curve == CURVE_58) {
target->Pitch_angle = 58;
} else {
target->Pitch_angle = 66;
}
switch(c-> CMD_mode) switch(c-> CMD_mode)
{ {
case AUTO_MID360_Pitch: case AUTO_MID360_Pitch:
pitch_cfg ->go_init=LowPassFilter2p_Apply(&u->filled[0],c->pos);
if (u->Pitch_Cfg .PitchState ==PITCH_PREPARE) if (u->Pitch_Cfg .PitchState ==PITCH_PREPARE)
{ {
u->Pitch_Cfg .PitchState=PITCH_START;//置标志位用于启动投篮 u->Pitch_Cfg .PitchState=PITCH_START;//置标志位用于启动投篮
} }
/*根据距离实时计算所需pos*/ /*根据距离实时计算所需pos*/
pitch_cfg ->go_release_pos=c->pos;
pitch_cfg ->go_release_pos=
CurveChange(LowPassFilter2p_Apply(&u->filled[0],c->pos),3,4,&u->Pitch_Cfg.Curve);
Pitch_Process(u,out); Pitch_Process(u,out);
break ; break ;
@ -294,13 +256,20 @@ int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
} }
break ;
return 0;
case RELAXED:
// target->go_shoot= pitch_cfg .
target->go_shoot = pitch_cfg->go_init;
target->Pitch_angle = 58;
target->Shoot_M2006_angle =pitch_cfg->m2006_init;
break ;
} }
return 0;
} }
@ -320,10 +289,10 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
case PITCH_START: case PITCH_START:
// u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动 // u->motor_target .Dribble_translate_M3508_angle =u->DribbleCont .DribbleConfig.m3508_translate_angle;//平行移动
cfg->pull_speed=10; cfg->pull_speed=12;
target->go_shoot = cfg->go_pull_pos; target->go_shoot = cfg->go_pull_pos;
if(u->motorfeedback .go_data ->Pos < -209){ //检测go位置到达最上面，这里的检测条件可以更改 if(u->motorfeedback .go_data .Pos < -209){ //检测go位置到达最上面，这里的检测条件可以更改
target->Shoot_M2006_angle = cfg->m2006_trig ;//设置2006角度，0 target->Shoot_M2006_angle = cfg->m2006_trig ;//设置2006角度，0
u->Pitch_Cfg .PitchConfig .pull_speed=6; u->Pitch_Cfg .PitchConfig .pull_speed=6;
*state=PITCH_PULL_TRIGGER; *state=PITCH_PULL_TRIGGER;
@ -336,7 +305,7 @@ int8_t Pitch_Process(UP_t *u, CAN_Output_t *out)
if( u->motorfeedback .DJmotor_feedback [4].total_angle>-1) //当2006的总角度小于1，可以认为已经勾上,误差为1 if( u->motorfeedback .DJmotor_feedback [4].total_angle>-1) //当2006的总角度小于1，可以认为已经勾上,误差为1
{ {
target->go_shoot=cfg->go_release_pos; target->go_shoot=cfg->go_release_pos;
if(is_reached (u->motorfeedback .go_data ->Pos ,target->go_shoot ,1.0f)) if(is_reached (u->motorfeedback .go_data .Pos ,target->go_shoot ,1.0f))
{ {
*state=PITCH_LAUNCHING; *state=PITCH_LAUNCHING;
} }

26
User/Module/up.h
View File

@ -13,6 +13,7 @@
#include "vofa.h" #include "vofa.h"
#include "GO_M8010_6_Driver.h" #include "GO_M8010_6_Driver.h"
#include "bsp_usart.h" #include "bsp_usart.h"
#include "up_utils.h"
/* /*
状态机 状态机
@ -34,18 +35,17 @@ typedef enum {
PITCH_START, //启动，拉扳机 PITCH_START, //启动，拉扳机
PITCH_PULL_TRIGGER, PITCH_PULL_TRIGGER,
PITCH_LAUNCHING, // 发射中 PITCH_LAUNCHING, // 发射中
PITCH_COMPLETE // 完成 PITCH_COMPLETE // 完成
} PitchState_t; } PitchState_t;
/* 投球参数配置 */ /* 投球参数配置 */
typedef struct { typedef struct {
fp32 m2006_init; // M2006初始角度 fp32 m2006_init; // M2006初始角度
fp32 m2006_trig; // M2006触发角度0,用来合并扳机 fp32 m2006_trig; // M2006触发角度0,用来合并扳机
fp32 go_init; // GO电机触发位置,初始位置，后续更改用于发射的位置 fp32 go_init; // GO电机触发位置,初始位置，后续更改用于发射的位置
fp32 go_pull_pos; // go上升去合并扳机，扳机位置 fp32 go_pull_pos; // go上升去合并扳机，扳机位置
fp32 Pitch_angle; fp32 Pitch_angle; //俯仰角度，以oid为准
fp32 pull_speed;//go速度 fp32 pull_speed;//go速度
fp32 go_release_pos;//go松开，发射位置 fp32 go_release_pos;//go松开，发射位置
@ -55,7 +55,7 @@ typedef struct {
typedef struct { typedef struct {
PitchState_t PitchState; PitchState_t PitchState;
PitchCfg_t PitchConfig; PitchCfg_t PitchConfig;
CurveType Curve; //当前函数，雷达距离->pos
uint8_t is_init ; uint8_t is_init ;
} Pitch_Cfg_t; } Pitch_Cfg_t;
@ -101,11 +101,10 @@ typedef struct{
fp32 VESC_5065_M2_rpm; fp32 VESC_5065_M2_rpm;
fp32 Shoot_M2006_angle; fp32 Shoot_M2006_angle;
fp32 Pitch_M2006_angle;
fp32 go_shoot; fp32 go_shoot;
fp32 Shoot_Pitch_angle; fp32 Pitch_angle; //以oid的角度为准,目标俯仰角
}up_motor_target_t; }up_motor_target_t;
@ -125,18 +124,6 @@ typedef struct{
}up_pid_t; }up_pid_t;
typedef struct
{
fp32 ecd;
fp32 rpm;
uint8_t id;
fp32 orig_angle;
fp32 last_angle;
int32_t round_cnt;
int init_cnt;
fp32 total_angle;
}DJmotor_feedback_t;
typedef struct{ typedef struct{
@ -153,7 +140,7 @@ typedef struct{
fp32 VESC_5065_M1_rpm; fp32 VESC_5065_M1_rpm;
fp32 VESC_5065_M2_rpm; fp32 VESC_5065_M2_rpm;
}VESC; }VESC;
GO_MotorData_t *go_data;//存放go电机数据 GO_MotorData_t go_data;//存放go电机数据
DJmotor_feedback_t DJmotor_feedback[6]; DJmotor_feedback_t DJmotor_feedback[6];
@ -191,7 +178,6 @@ typedef struct{
int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq); int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq);
int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) ; int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) ;
int8_t VESC_M5065_Control(UP_t *u,fp32 speed); int8_t VESC_M5065_Control(UP_t *u,fp32 speed);
int8_t GO_SendData(UP_t *u,float pos,float limit);
int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c); int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c);
int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out); int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle); int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle);

101
User/Module/up_utils.c Normal file
View File

@ -0,0 +1,101 @@
#include "up_utils.h"
int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle)
{
int8_t cnt=0;
fp32 angle ,delta;
angle = f->ecd;
if (f->init_cnt < 50) {
f->orig_angle= angle;
f->last_angle = angle;
f->init_cnt++;
return 0;
}
delta = angle - f->last_angle;
if (delta > 4096) {
f->round_cnt--;
} else if (delta < -4096) {
f->round_cnt++;
}
f->last_angle = angle;
f->total_angle=(f->round_cnt*8191+(angle -f->orig_angle ))*ecd_to_angle;
}
/*go电机控制*/
int8_t GO_SendData( GO_MotorData_t *go_data,GO_MotorCmd_t *go_cmd,float pos, float limit)
{
*go_data = *get_GO_measure_point() ;
// 读取参数
float tff = go_cmd->T; // 前馈力矩
float kp = go_cmd->K_P; // 位置刚度
float kd = go_cmd->K_W; // 速度阻尼
float q_desired = go_cmd->Pos; // 期望位置（rad）
float q_current = go_data->Pos; // 当前角度位置（rad）
float dq_desired = go_cmd->W; // 期望角速度（rad/s）
float dq_current = go_data->W; // 当前角速度（rad/s）
// 计算输出力矩 tau
float tau = tff + kp * (q_desired - q_current) + kd * (dq_desired - dq_current);
/*限制最大输入来限制最大输出*/
if (pos - q_current > limit) {
go_cmd->Pos = q_current + limit; // 限制位置
}else if (pos - q_current < -limit) {
go_cmd->Pos = q_current - limit; // 限制位置
}else {
go_cmd->Pos = pos; // 允许位置
}
// 发送数据
GO_M8010_send_data(go_cmd);
return 0;
}
// 计算58度曲线
static float curve_58(float d) {
return 0.448f * d * d + 24.8604f * d - 177.99552f;
}
// 计算66度曲线
static float curve_66(float d) {
return 8.84935f * d * d - 10.5424f * d - 126.791f;
}
/*
曲线切换,用于距离和pos拟合
迟滞区x-y
曲线x重合区，根据当前函数和变化方向切换
*/
float CurveChange(float d, float x, float y, CurveType *cs)
{
if (*cs == CURVE_66) {
if (d > y) {
*cs = CURVE_58;
}
} else { // CURVE_58
if (d < x) {
*cs = CURVE_66;
}
}
// 根据当前曲线返回结果
if (*cs == CURVE_58) {
return curve_58(d);
} else {
return curve_66(d);
}
}

56
User/Module/up_utils.h Normal file
View File

@ -0,0 +1,56 @@
#ifndef UP_UTILS_H
#define UP_UTILS_H
#include "gpio.h"
#include "user_math.h"
#include "bsp_buzzer.h"
#include "bsp_delay.h"
#include "struct_typedef.h"
#include "pid.h"
#include "user_math.h"
#include "ahrs.h"
#include "filter.h"
#include "bsp_usart.h"
#include "GO_M8010_6_Driver.h"
#define CAN2_G3508_ID (0x200)
#define GEAR_RATIO_2006 (36) // 2006减速比
#define GEAR_RATIO_3508 (19)
#define CAN_MOTOR_ENC_RES 8191 // 编码器分辨率
#define MOTOR2006_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_2006)) //2006编码值转轴角度
#define MOTOR3508_ECD_TO_ANGLE (360.0 / 8191.0 / (GEAR_RATIO_3508)) //3508编码值转轴角度
typedef struct
{
fp32 ecd;
fp32 rpm;
uint8_t id;
fp32 orig_angle;
fp32 last_angle;
int32_t round_cnt;
int init_cnt;
fp32 total_angle;
}DJmotor_feedback_t;
typedef enum {
CURVE_58,
CURVE_66
} CurveType;
static float curve_58(float d) ;
static float curve_66(float d) ;
float CurveChange(float d, float x, float y, CurveType *cs);
int8_t GO_SendData( GO_MotorData_t *go_data,GO_MotorCmd_t *go_cmd,float pos, float limit);
int8_t DJ_processdata(DJmotor_feedback_t *f,fp32 ecd_to_angle);
#endif

2
User/device/nuc.c
View File

@ -62,7 +62,7 @@ int8_t NUC_Restart(void) {
return DEVICE_OK; return DEVICE_OK;
} }
bool_t NUC_WaitDmaCplt(void) { bool_t NUC_WaitDmaCplt(void) {
return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,100) == return (osThreadFlagsWait(SIGNAL_NUC_RAW_REDY, osFlagsWaitAll,20) ==
SIGNAL_NUC_RAW_REDY); SIGNAL_NUC_RAW_REDY);
} }

2
User/task/user_task.h
View File

@ -18,7 +18,7 @@
#define TASK_FREQ_UP (900u) #define TASK_FREQ_UP (900u)
#define TASK_FREQ_CTRL_CMD (500u) #define TASK_FREQ_CTRL_CMD (500u)
#define TASK_FREQ_NUC (500u) #define TASK_FREQ_NUC (50u)
#define TASK_FREQ_CAN (1000u) #define TASK_FREQ_CAN (1000u)
#define TASK_FREQ_RC (1000u) #define TASK_FREQ_RC (1000u)