63 lines
2.8 KiB
C
63 lines
2.8 KiB
C
/*
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ctrl_chassis Task
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底盘控制，接受反馈和命令，计算输出给到两
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测腿控制
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN*/
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#include "module/chassis.h"
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/* USER INCLUDE END*/
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN*/
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Chassis_t chassis;
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AHRS_Eulr_t chassis_eulr; /* 底盘IMU欧拉角数据 */
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GO_ChassisFeedback_t chassis_feedback; /* 底盘反馈数据 */
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GO_ChassisCMD_t chassis_output; /* 底盘输出数据 */
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CMD_ChassisCmd_t chassis_cmd; /* 底盘控制命令 */
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/* USER STRUCT END*/
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_ctrl_chassis(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_CHASSIS_FREQ;
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osDelay(CTRL_CHASSIS_INIT_DELAY); /* 延时一段时间再开启任务 */
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/* USER CODE INIT BEGIN*/
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Chassis_Init(&chassis, &task_runtime.config.chassis, CTRL_CHASSIS_FREQ); /* 初始化底盘 */
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/* USER CODE INIT END*/
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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if(osMessageQueueGet(task_runtime.msgq.chassis.feefback, &chassis_feedback, NULL, 0) == osOK) { /* 从消息队列中获取底盘反馈数据 */
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Chassis_UpdateFeedback(&chassis, &chassis_feedback); /* 更新底盘反馈数据 */
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}
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if(osMessageQueueGet(task_runtime.msgq.chassis.eulr_imu, &chassis_eulr, NULL, 0) == osOK) { /* 从消息队列中获取IMU欧拉角数据 */
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Chassis_UpdateImu(&chassis, &chassis_eulr); /* 更新底盘IMU数据 */
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}
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osMessageQueueGet(task_runtime.msgq.cmd.chassis, &chassis_cmd, NULL, 0);
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osKernelLock();
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Chassis_Control(&chassis, &chassis_cmd, tick); /* 控制底盘 */
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Chassis_DumpOutput(&chassis, &chassis_output); /* 将底盘输出数据转化为GO_ChassisCMD_t格式 */
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osKernelUnlock();
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osMessageQueueReset(task_runtime.msgq.chassis.output); /* 重置输出消息队列 */
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osMessageQueuePut(task_runtime.msgq.chassis.output, &chassis_output, 0, 0); /* 将底盘输出数据放入消息队列 */
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |