182 lines
4.1 KiB
C
182 lines
4.1 KiB
C
#ifndef _ATTRTASK_H_
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#define _ATTRTASK_H_
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/* Includes ----------------------------------------------------------------- */
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#include <cmsis_os2.h>
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#include "FreeRTOS.h"
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//#include "device\config.h"
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#include "task.h"
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/* Exported constants ------------------------------------------------------- */
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/* 所有任务都要define一个“任务运行频率”和“初始化延时” */
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#define TASK_FREQ_CTRL_CHASSIS (500u)
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#define TASK_FREQ_CTRL_GIMBAL (500u)
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#define TASK_FREQ_CTRL_SHOOT (500u)
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#define TASK_FREQ_CTRL_CAP (100u)
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#define TASK_FREQ_CTRL_COMMAND (500u)
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#define TASK_FREQ_INFO (4u)
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#define TASK_FREQ_MONITOR (2u)
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#define TASK_FREQ_CAN (500u)
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#define TASK_FREQ_AI (250u)
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#define TASK_FREQ_REFEREE (1000u)
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#define TASK_INIT_DELAY_INFO (500u)
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#define TASK_INIT_DELAY_MONITOR (10)
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#define TASK_INIT_DELAY_REFEREE (400u)
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#define TASK_INIT_DELAY_AI (400u)
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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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/* 各任务，也可以叫做线程 */
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struct {
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osThreadId_t oled;
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osThreadId_t can;
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osThreadId_t rc;
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osThreadId_t led;
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osThreadId_t dji_motor;
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osThreadId_t shoot;
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osThreadId_t go;
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osThreadId_t nuc;
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} thread;
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/* 电机的反馈和输出 */
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struct {
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osMessageQueueId_t feedback_left;
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osMessageQueueId_t feedback_right;
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osMessageQueueId_t cmd_left;
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osMessageQueueId_t cmd_right;
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osMessageQueueId_t feedback_chassis;
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struct
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{
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osMessageQueueId_t feedback_gimble;
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osMessageQueueId_t feedback_chassis;
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} can;
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} queue;
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/*互斥量*/
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// struct {
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// SemaphoreHandle_t remote_control;
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// SemaphoreHandle_t imu_eulr;
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// SemaphoreHandle_t imu_gyro;
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// struct {
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// SemaphoreHandle_t feedback_gimble;
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// SemaphoreHandle_t feedback_chassis;
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// SemaphoreHandle_t feedback_shoot;
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// SemaphoreHandle_t gimbal_output;
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// SemaphoreHandle_t chassis_output;
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// SemaphoreHandle_t shoot_output;
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// SemaphoreHandle_t er_2;
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// }can;
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// SemaphoreHandle_t feedback_left;
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// SemaphoreHandle_t feedback_right;
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// SemaphoreHandle_t cmd_left;
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// SemaphoreHandle_t cmd_right;
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// } mutex;
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/* 机器人状态 */
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struct {
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float battery;
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float vbat;
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float cpu_temp;
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} status;
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// Config_t cfg; /* 机器人配置 */
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#ifdef DEBUG
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struct {
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UBaseType_t cli;
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UBaseType_t command;
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UBaseType_t ctrl_chassis;
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UBaseType_t ctrl_gimbal;
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UBaseType_t ctrl_shoot;
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UBaseType_t info;
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UBaseType_t monitor;
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UBaseType_t can;
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UBaseType_t atti_esti;
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UBaseType_t referee;
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UBaseType_t ai;
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UBaseType_t rc;
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UBaseType_t cap;
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} stack_water_mark; /* stack使用 */
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struct {
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float cli;
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float command;
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float ctrl_chassis;
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float ctrl_gimbal;
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float ctrl_shoot;
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float info;
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float monitor;
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float can;
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float atti_esti;
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float referee;
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float ai;
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float rc;
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float cap;
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} freq; /* 任务运行频率 */
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struct {
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float cli;
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float command;
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float ctrl_chassis;
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float ctrl_gimbal;
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float ctrl_shoot;
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float info;
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float monitor;
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float can;
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float atti_esti;
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float referee;
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float ai;
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float rc;
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float cap;
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} last_up_time; /* 任务最近运行时间 */
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#endif
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} Task_Runtime_t;
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/* 此处必须要声明extern一下 */
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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_led;
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extern const osThreadAttr_t attr_can;
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extern const osThreadAttr_t attr_motor;
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extern const osThreadAttr_t attr_shoot;
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extern const osThreadAttr_t attr_go;
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extern const osThreadAttr_t attr_nuc;
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extern const osThreadAttr_t attr_rc;
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/* Exported functions prototypes -------------------------------------------- */
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//声明一下任务
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void Task_Init(void *argument);
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void Task_Can(void *argument);
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void Task_Led(void *argument);
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void Task_Motor(void *argument);
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void Task_Shoot(void *argument);
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void Task_Go(void *argument);
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void Task_nuc(void *argument);
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void Task_Rc(void *argument);
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#endif
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