60 lines
2.2 KiB
C
60 lines
2.2 KiB
C
/*
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ctrl_leg Task
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四足控制
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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 "device/go.h"
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#include <stdio.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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GO_t go __attribute__ ((section(".AXI_SRAM")));
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GO_ChassisFeedback_t go_feedback;
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GO_ChassisCMD_t go_cmd;
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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_leg(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_LEG_FREQ;
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osDelay(CTRL_LEG_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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GO_Init(&go, &task_runtime.config.uart); /* 初始化四足控制 */
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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.output, &go_cmd, NULL, 0) == osOK) { /* 从消息队列中获取底盘控制命令 */
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GO_ParseCmd(&go, &go_cmd); /* 解析底盘控制命令 */
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}
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osKernelLock();
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GO_Motor_Control(&go); /* 控制四足电机 */
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osKernelUnlock();
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GO_ParseFeedback(&go, &go_feedback); /* 解析四足电机反馈数据 */
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osMessageQueueReset(task_runtime.msgq.chassis.feefback); /* 重置反馈消息队列 */
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osMessageQueuePut(task_runtime.msgq.chassis.feefback, &go_feedback, 0, 0); /* 将反馈数据放入消息队列 */
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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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} |