190 lines
4.3 KiB
C
190 lines
4.3 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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/* 扢<>有任务都要define丢<65>个<EFBFBD><E4B8AA>任务运行频率<E9A291><E78E87>和“初始化延时 1<E28084>7 */
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//分配的频率该如何给定＄1<EFBC84>7
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#define TASK_FREQ_CHASSIS (500u)
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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_ACTION (500u)
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#define TASK_FREQ_NAVI (500u)
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#define TASK_FREQ_CALCULATE (500u)
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#define TASK_FREQ_REMOTE (1000u)
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#define TASK_FREQ_PRINT (500u)
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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 remote;
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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 action_ops;
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osThreadId_t calc;
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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<><E5A7BF>解算得到的欧拉规1<E8A784>7 */
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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;//dr16->cmd
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osMessageQueueId_t nuc;//nuc->cmd
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osMessageQueueId_t ops_9;//navi->cmd
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}raw;
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osMessageQueueId_t chassis;//cmd->chassis
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osMessageQueueId_t calc;//cmd->calc
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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 chassis5065;
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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 chassisfed6020;
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osMessageQueueId_t chassisfed5065;
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osMessageQueueId_t chassisfed3508;
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osMessageQueueId_t pitchfed6020;
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osMessageQueueId_t sickfed;
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} feedback;
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} can;
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struct {
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osMessageQueueId_t Chassis;
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osMessageQueueId_t Calc;
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osMessageQueueId_t Navi;
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} action;
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} msgq;
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/*互斥釄1<E98784>7*/
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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; /* 机器人参敄1<E69584>7 */
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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 calc;
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UBaseType_t navi;
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UBaseType_t cmd;
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UBaseType_t nuc;
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UBaseType_t error_detect;
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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 navi;
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float error_detect;
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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 error_detect;
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} last_up_time; /* 任务朢<E58AA1>近运行时闄1<E99784>7 */
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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_nuc;
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extern const osThreadAttr_t attr_ops_9pos;
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extern const osThreadAttr_t attr_calc;
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extern const osThreadAttr_t attr_navi;
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extern const osThreadAttr_t attr_error_detect;
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extern const osThreadAttr_t attr_remote;
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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_calc(void *argument);
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void Task_navi(void *argument);
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void Task_error_detect(void *argument);
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void Task_remote(void *argument);
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#endif
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