112 lines
2.7 KiB
C
112 lines
2.7 KiB
C
/*
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底盘控制任务
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "Chassis.h"
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#include "user_task.h"
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#include "can_use.h"
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#include <cmsis_os2.h>
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#include "vofa.h"
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static CAN_t can;
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#ifdef DEBUG
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CAN_Output_t out;
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Chassis_t chassis ;
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CMD_t ctrl;
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#else
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static CAN_Output_t out;
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static Chassis_t chassis;
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static Chassis_Ctrl_t ctrl;
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#endif
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/**
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* \brief 底盘任务
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*
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* \param argument
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*/
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void Task_Chassis(void *argument)
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{
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(void)argument; /* 未使用argument，消除警告*/
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CHASSIS;
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Chassis_init(&chassis,&(task_runtime.config.config->chassis),TASK_FREQ_CHASSIS);
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uint32_t tick = osKernelGetTickCount();
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HAL_GPIO_WritePin(FlagForUpper_GPIO_Port,FlagForUpper_Pin,GPIO_PIN_RESET); //拉低电平 避免未清除
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while(1)
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{
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#ifdef DEBUG
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task_runtime.stack_water_mark.chassis = osThreadGetStackSpace(osThreadGetId());
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#endif
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/*imu数据获取*/
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osMessageQueueGet(task_runtime.msgq.imu.eulr, &chassis.pos088.imu_eulr, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.imu.gyro, &chassis.pos088.bmi088.gyro,NULL, 0);
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osMessageQueueGet(task_runtime.msgq.imu.accl, &chassis.pos088.bmi088.accl,NULL, 0);
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/*can上设备数据获取*/
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osMessageQueueGet(task_runtime.msgq.can.feedback.CAN_feedback, &can, NULL, 0);
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/*底盘控制信息获取,目前dji遥控器*/
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osMessageQueueGet(task_runtime.msgq.cmd.cmd_ctrl_t,&ctrl, NULL, 0);
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/*锁定RTOS（实时操作系统）内核，防止任务切换，直到 osKernelUnlock() 被调用*/
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osKernelLock();
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/*更新电机反馈 */
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Chassis_UpdateFeedback(&chassis, &can);
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/*底盘控制*/
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Chassis_Control(&chassis,&ctrl,&out);
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/*解锁*/
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osKernelUnlock();
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osMessageQueueReset(task_runtime.msgq.can.output.chassis3508);//清空队列
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osMessageQueuePut(task_runtime.msgq.can.output.chassis3508, &out.motor_CHASSIS3508, 0, 0); //发送数据
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osMessageQueueReset(task_runtime.msgq.can.output.pitch6020);
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osMessageQueuePut(task_runtime.msgq.can.output.pitch6020, &out.pitch6020, 0, 0);
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osMessageQueueReset(task_runtime.msgq.can.output.pitch6020 );
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osMessageQueuePut(task_runtime.msgq.can.output.pitch6020 , &out.pitch6020, 0, 0);
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vofa_send[0] = chassis.vofa_send[0];
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vofa_send[1] = chassis.vofa_send[1];
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vofa_send[2] = chassis.vofa_send[2];
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vofa_send[3] = chassis.vofa_send[3];
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vofa_send[4] = chassis.vofa_send[4];
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vofa_send[5] = chassis.vofa_send[5];
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vofa_send[6] = chassis.vofa_send[6];
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vofa_send[7] = chassis.vofa_send[7];
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vofa_tx_main(vofa_send);
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tick += delay_tick;
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osDelayUntil(tick);
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}
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}
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