81 lines
2.6 KiB
C
81 lines
2.6 KiB
C
/*
|
||
CAN总线数据处理
|
||
|
||
处理CAN总线收到的电机数据
|
||
*/
|
||
|
||
#include "can_use.h"
|
||
#include "user_task.h"
|
||
extern CMD_t cmd;
|
||
|
||
#ifdef DEBUG
|
||
CAN_t can;
|
||
CAN_Output_t can_out;
|
||
CAN_RawRx_t can_rx;
|
||
|
||
#else
|
||
static CAN_t can;
|
||
static CAN_Output_t can_out;
|
||
static CAN_RawRx_t can_rx;
|
||
|
||
#endif
|
||
|
||
void Task_can(void *argument)
|
||
{
|
||
(void)argument;
|
||
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN;
|
||
|
||
/* Device Setup */
|
||
CAN_Init(&can, &(task_runtime.config.chassis_config->can));
|
||
|
||
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
|
||
|
||
/* Task Setup */
|
||
while (1) {
|
||
#ifdef DEBUG
|
||
task_runtime.stack_water_mark.can = osThreadGetStackSpace(osThreadGetId());
|
||
#endif
|
||
|
||
while (osMessageQueueGet(can.msgq_raw, &can_rx, 0, 0)==osOK)
|
||
{
|
||
CAN_StoreMsg(&can, &can_rx);
|
||
}
|
||
osMessageQueueReset(task_runtime.msgq.can.feedback.chassisfed6020);
|
||
osMessageQueuePut(task_runtime.msgq.can.feedback.chassisfed6020, &can, 0, 0);
|
||
|
||
osMessageQueueReset(task_runtime.msgq.can.feedback.chassisfed5065);
|
||
osMessageQueuePut(task_runtime.msgq.can.feedback.chassisfed5065, &can, 0, 0);
|
||
|
||
// osMessageQueueReset(task_runtime.msgq.can.feedback.pitchfed6020);
|
||
// osMessageQueuePut(task_runtime.msgq.can.feedback.pitchfed6020, &can, 0,0);
|
||
|
||
/*由于sick发送给不同任务的数据完全相同，所以二者只能选择一个发送，
|
||
同时发送两个会导致can总线数据错误，具体表现为6020小陀螺旋转*/
|
||
//sick数据发送给底盘
|
||
osMessageQueueReset(task_runtime.msgq.can.feedback.sickfed_chassis);
|
||
osMessageQueuePut(task_runtime.msgq.can.feedback.sickfed_chassis, &can, 0,0);
|
||
//sick数据发送给循迹 init中注释掉消息队列了
|
||
osMessageQueueReset(task_runtime.msgq.can.feedback.sickfed_navi);
|
||
osMessageQueuePut(task_runtime.msgq.can.feedback.sickfed_navi, &can, 0,0);
|
||
|
||
// if (osMessageQueueGet(task_runtime.msgq.can.output.pitch6020,
|
||
// &(can_out.pitch6020),0,0) == osOK) {
|
||
// CAN_DJIMotor_Control(CAN_MOTOR_PITCH6020,&can_out,&can);
|
||
// }
|
||
|
||
if (osMessageQueueGet(task_runtime.msgq.can.output.chassis5065,
|
||
&(can_out.chassis5065), 0, 0) == osOK) {
|
||
CAN_VESC_Control(11,CAN_MOTOR_CHASSIS5065, &can_out ,&can,&can_out);
|
||
}
|
||
|
||
if (osMessageQueueGet(task_runtime.msgq.can.output.chassis6020,
|
||
&(can_out.chassis6020), 0, 0)== osOK) {
|
||
CAN_DJIMotor_Control(CAN_MOTOR_CHASSIS6020,&can_out,&can);
|
||
}
|
||
|
||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||
osDelayUntil(tick); /* 运行结束，等待下一个周期唤醒 */
|
||
}
|
||
}
|
||
|