95 lines
2.0 KiB
C
95 lines
2.0 KiB
C
/*
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上层控制任务
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "up.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 UP_CAN_out;
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UP_t UP ;
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#else
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static CAN_Output_t up_can_out;
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static UP_t UP;
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#endif
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/**
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* \brief
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*
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* \param argument
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*/
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void Task_up(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_UP;
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uint32_t tick = osKernelGetTickCount();
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up_init(&UP,&(task_runtime.config.chassis_config->up ),TASK_FREQ_UP);
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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.up = osThreadGetStackSpace(osThreadGetId());
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#endif
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UP_UpdateFeedback(&UP, &can) ;
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// GM6020_control(&UP, 100) ;
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// UP_M2006_angle(&UP, 180);
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// UP_M3508_speed(&UP, 500);
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// VESC_M5065_Control(&UP, 1000);
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ALL_Motor_Control(&UP,&UP_CAN_out);
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/*imu数据获取*/
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osMessageQueueGet(task_runtime.msgq.imu.eulr, &UP.pos088.imu_eulr, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.imu.gyro, &UP.pos088.bmi088.gyro,NULL, 0);
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osMessageQueueGet(task_runtime.msgq.imu.accl, &UP.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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/*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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/*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, &UP_CAN_out.motor3508, 0, 0); //发送数据
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osMessageQueuePut(task_runtime.msgq.can.output.chassis6020 ,&UP_CAN_out.chassis6020 , 0, 0);
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osMessageQueuePut(task_runtime.msgq.can.output.shoot5065 ,&UP_CAN_out.chassis5065, 0, 0);
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vofa_send [0]=UP.vofa_send [0];
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vofa_send [1]=UP.vofa_send [1];
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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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