78 lines
2.2 KiB
C
78 lines
2.2 KiB
C
/*
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CAN总线数据处理
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处理CAN总线收到的电机数据
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*/
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#include "can_task.h"
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#include "can_use.h"
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#include "user_task.h"
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#ifdef DEBUG
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CAN_t can;
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CAN_Output_t can_out;
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CAN_RawRx_t can_rx;
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#else
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static CAN_t can;
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static CAN_Output_t can_out;
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static CAN_RawRx_t can_rx;
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#endif
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void Task_can(void *argument)
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{
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(void)argument;
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
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/* Device Setup */
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CAN_Init(&can, &(task_runtime.config.config->can));
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
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/* Task Setup */
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while (1) {
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#ifdef DEBUG
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task_runtime.stack_water_mark.can = osThreadGetStackSpace(osThreadGetId());//osThreadGetStackSpace 是一个函数，用于获取指定线程的剩余堆栈空间
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#endif
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while (osMessageQueueGet(can.msgq_raw, &can_rx, 0, 0)==osOK)
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{
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CAN_StoreMsg(&can, &can_rx);
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}
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//一问一答sick数据指令
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// CAN_Sick_Control(&can);
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CAN_Encoder_Control(&can);
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/*can设备数据存入队列*/
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osMessageQueueReset(task_runtime.msgq.can.feedback.CHASSIS_CAN_feedback );
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osMessageQueuePut(task_runtime.msgq.can.feedback.CHASSIS_CAN_feedback , &can, 0, 0);
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osMessageQueueReset(task_runtime.msgq.can.feedback.UP_CAN_feedback );
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osMessageQueuePut(task_runtime.msgq.can.feedback.UP_CAN_feedback , &can, 0, 0);
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/*电机控制*/
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//底盘4个
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if (osMessageQueueGet(task_runtime.msgq.can.output.chassis3508,
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&(can_out.motor_CHASSIS3508), 0, 0) == osOK) {
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CAN_DJIMotor_Control(CAN_MOTOR_CHASSIS3508,&can_out,&can);
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}
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//上层运球4个，发射2个
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if (osMessageQueueGet(task_runtime.msgq.can.output.up_dribble_3508,
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&(can_out.motor_UP3508_Dribble), 0, 0) == osOK) {
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CAN_DJIMotor_Control(CAN_MOTOR_UP3508_Dribble,&can_out,&can);
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}
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if (osMessageQueueGet(task_runtime.msgq.can.output.up_shoot_3508,
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&(can_out.motor_UP3508_shoot), 0, 0) == osOK) {
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CAN_DJIMotor_Control(CAN_MOTOR_UP3508_SHOOT,&can_out,&can);
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}
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */
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}
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}
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