58 lines
1.9 KiB
C
58 lines
1.9 KiB
C
/*
|
||
chassis Task
|
||
底盘
|
||
*/
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include "task/user_task.h"
|
||
/* USER INCLUDE BEGIN */
|
||
#include "module/chassis.h"
|
||
#include "module/config.h"
|
||
//#include "module/config.h"
|
||
/* USER INCLUDE END */
|
||
|
||
/* Private typedef ---------------------------------------------------------- */
|
||
/* Private define ----------------------------------------------------------- */
|
||
/* Private macro ------------------------------------------------------------ */
|
||
/* Private variables -------------------------------------------------------- */
|
||
/* USER STRUCT BEGIN */
|
||
Chassis_t chassis;
|
||
Chassis_CMD_t chassis_cmd;
|
||
/* USER STRUCT END */
|
||
|
||
/* Private function --------------------------------------------------------- */
|
||
/* USER PRIVATE CODE BEGIN */
|
||
|
||
/* USER PRIVATE CODE END */
|
||
/* Exported functions ------------------------------------------------------- */
|
||
void Task_chassis(void *argument) {
|
||
(void)argument; /* 未使用argument，消除警告 */
|
||
|
||
|
||
/* 计算任务运行到指定频率需要等待的tick数 */
|
||
const uint32_t delay_tick = osKernelGetTickFreq() / CHASSIS_FREQ;
|
||
|
||
osDelay(CHASSIS_INIT_DELAY); /* 延时一段时间再开启任务 */
|
||
|
||
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
||
/* USER CODE INIT BEGIN */
|
||
Config_Param_t *cfg = Config_GetRobotParam();
|
||
Chassis_Init(&chassis, &cfg->chassis, (float)CHASSIS_FREQ);
|
||
/* USER CODE INIT END */
|
||
|
||
while (1) {
|
||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||
/* USER CODE BEGIN */
|
||
osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0);
|
||
|
||
Chassis_UpdateFeedback(&chassis);
|
||
|
||
Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
|
||
|
||
//Chassis_Output(&chassis);
|
||
Chassis_Output(&chassis);
|
||
/* USER CODE END */
|
||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||
}
|
||
|
||
} |