199 lines
4.2 KiB
C
199 lines
4.2 KiB
C
#ifndef USER_TASK_H
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#define USER_TASK_H
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/* Includes ----------------------------------------------------------------- */
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#include <cmsis_os2.h>
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#include "freertos_mpool.h"
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#include "FreeRTOS.h"
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#include "task.h"
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#include "config.h"
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/* Exported constants ------------------------------------------------------- */
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/* 所有任务都要定义自己的任务运行频率 */
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// 分配的频率该如何给定?
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#define TASK_FREQ_CHASSIS (900u)
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#define TASK_FREQ_CTRL_CMD (500u)
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#define TASK_FREQ_NUC (500u)
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#define TASK_FREQ_CAN (1000u)
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#define TASK_FREQ_NAVI (500u)
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#define TASK_FREQ_R12DS (1000u)
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#define TASK_FREQ_ACTION (500u)
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#define TASK_FREQ_UP (500u) //新加的上层
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#define TASK_FREQ_ERROR_DTC (3u)
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#define DEBUG
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#define TASK_INIT_DELAY_ACTION (400u)
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#define TASK_INIT_DELAY_NUC (500u)
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/* Exported defines --------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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typedef struct {
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/* 任务 */
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struct {
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osThreadId_t atti_esti;
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// osThreadId_t chassis;
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osThreadId_t dr16;
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// osThreadId_t action_ops;
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osThreadId_t up;
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// osThreadId_t ai;
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osThreadId_t can;
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osThreadId_t cmd;
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osThreadId_t nuc;
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// osThreadId_t navi;
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osThreadId_t error_detect;
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} thread;
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/* 队列 */
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struct {
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struct {
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osMessageQueueId_t accl; /* IMU读取 */
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osMessageQueueId_t gyro; /* IMU读取 */
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osMessageQueueId_t eulr; /* 姿态结算得到欧拉角 */
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} imu;
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/* 控制指令 */
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struct {
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struct {
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osMessageQueueId_t rc;
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osMessageQueueId_t nuc;
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osMessageQueueId_t eulr;/*姿态结算得到的欧拉角*/
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osMessageQueueId_t Action;
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osMessageQueueId_t ops_9_out;
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}raw;
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osMessageQueueId_t chassis;
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osMessageQueueId_t status;
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} cmd;
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/* can任务放入、读取，电机或电容的输入输出 */
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struct {
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struct {
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osMessageQueueId_t chassis6020;
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osMessageQueueId_t shoot5065;
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osMessageQueueId_t chassis3508;
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osMessageQueueId_t pitch6020;
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} output;
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struct {
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osMessageQueueId_t CAN_feedback;//云台6020,3508,5065,sick,can上设备数据
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osMessageQueueId_t shoot5065_feedback;
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} feedback;
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} can;
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} msgq;
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/*互斥量*/
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struct {
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SemaphoreHandle_t imu_eulr;
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} mutex;
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Config_t config; /* 机器人参数 */
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#ifdef DEBUG
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struct {
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UBaseType_t chassis;
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UBaseType_t can;
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UBaseType_t atti_esti;
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UBaseType_t dr16;
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UBaseType_t action;
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UBaseType_t cmd;
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UBaseType_t nuc;
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UBaseType_t navi;
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UBaseType_t error_detect;
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UBaseType_t up;
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} stack_water_mark; /* stack使用 */
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struct {
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// float chassis;
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float can;
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float atti_esti;
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float r12ds;
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float cmd;
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float nuc;
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// float action;
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// float navi;
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float error_detect;
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float up;
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} freq; /* 任务运行频率 */
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struct {
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// float chassis;
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float can;
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float atti_esti;
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// float ai;
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float r12ds;
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float cmd;
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float nuc;
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// float navi;
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// float action;
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float error_detect;
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float up;
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} last_up_time; /* 任务上一次运行的时间 */
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#endif
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} Task_Runtime_t;
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extern Task_Runtime_t task_runtime;
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extern const osThreadAttr_t attr_init;
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extern const osThreadAttr_t attr_atti_esti;
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//extern const osThreadAttr_t attr_chassis;
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extern const osThreadAttr_t attr_can;
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extern const osThreadAttr_t attr_cmd;
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//extern const osThreadAttr_t attr_ops_9pos;
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extern const osThreadAttr_t attr_nuc;
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extern const osThreadAttr_t attr_error_detect;
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extern const osThreadAttr_t attr_dr16;
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//extern const osThreadAttr_t attr_navi;
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extern const osThreadAttr_t attr_up;
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/* Exported functions prototypes -------------------------------------------- */
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void Task_Init(void *argument);
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void Task_AttiEsti(void *argument);
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//void Task_Chassis(void *argument);
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void Task_can(void *argument);
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void Task_cmd(void *argument);
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void Task_nuc(void *argument);
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//void Task_action(void *argument);
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//void Task_Navi(void *argument);
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void Task_up(void *argument);
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void Task_error_detect(void *argument);
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void Task_dr16(void *argument);
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#endif
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