145 lines
4.0 KiB
C
145 lines
4.0 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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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 "task.h"
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/* USER INCLUDE BEGIN */
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#include "module/config.h"
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/* USER INCLUDE END */
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/* Exported constants ------------------------------------------------------- */
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/* 任务运行频率 */
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#define TEST_FREQ (1000)
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#define MONITOR_FREQ (100)
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#define CMD_FREQ (500)
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#define CTRL_LEG_FREQ (800)
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#define CTRL_CHASSIS_FREQ (500)
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/* 任务初始化延时ms */
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#define TASK_INIT_DELAY (100u)
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#define RC_INIT_DELAY (0)
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#define ATTI_ESTI_INIT_DELAY (0)
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#define TEST_INIT_DELAY (0)
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#define CLI_INIT_DELAY (0)
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#define MONITOR_INIT_DELAY (0)
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#define CMD_INIT_DELAY (0)
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#define CTRL_LEG_INIT_DELAY (200)
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#define CTRL_CHASSIS_INIT_DELAY (200)
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/* Exported defines --------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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/* 任务运行时结构体 */
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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 rc;
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osThreadId_t atti_esti;
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osThreadId_t test;
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osThreadId_t cli;
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osThreadId_t monitor;
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osThreadId_t cmd;
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osThreadId_t ctrl_leg;
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osThreadId_t ctrl_chassis;
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} thread;
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/* USER MESSAGE BEGIN */
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struct {
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// osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
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struct {
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osMessageQueueId_t eulr_imu;
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} body;
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struct {
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struct {
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osMessageQueueId_t rc; /* 原始数据消息队列 */
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osMessageQueueId_t host; /* 上位机控制消息队列 */
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}raw; /* 原始数据消息队列 */
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osMessageQueueId_t chassis;
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}cmd; /* 控制命令消息队列 */
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struct {
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osMessageQueueId_t feefback;
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osMessageQueueId_t output;
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}chassis; /* 底盘控制消息队列 */
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} msgq;
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/* USER MESSAGE END */
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/* 机器人状态 */
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struct {
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float battery; /* 电池电量百分比 */
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float vbat; /* 电池电压 */
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float cpu_temp; /* CPU温度 */
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} status;
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/* USER CONFIG BEGIN */
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Config_t config; /* 用户配置结构体，包含所有用户配置的参数 */
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/* USER CONFIG END */
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/* 各任务的stack使用 */
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struct {
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UBaseType_t rc;
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UBaseType_t atti_esti;
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UBaseType_t test;
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UBaseType_t cli;
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UBaseType_t monitor;
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UBaseType_t cmd;
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UBaseType_t ctrl_leg;
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UBaseType_t ctrl_chassis;
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} stack_water_mark;
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/* 各任务运行频率 */
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struct {
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float test;
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float monitor;
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float cmd;
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float ctrl_leg;
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float ctrl_chassis;
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} freq;
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/* 任务最近运行时间 */
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struct {
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float test;
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float monitor;
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float cmd;
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float ctrl_leg;
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float ctrl_chassis;
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} last_up_time;
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} Task_Runtime_t;
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/* 任务运行时结构体 */
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extern Task_Runtime_t task_runtime;
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/* 初始化任务句柄 */
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extern const osThreadAttr_t attr_init;
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extern const osThreadAttr_t attr_rc;
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extern const osThreadAttr_t attr_atti_esti;
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extern const osThreadAttr_t attr_test;
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extern const osThreadAttr_t attr_cli;
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extern const osThreadAttr_t attr_monitor;
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extern const osThreadAttr_t attr_cmd;
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extern const osThreadAttr_t attr_ctrl_leg;
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extern const osThreadAttr_t attr_ctrl_chassis;
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/* 任务函数声明 */
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void Task_Init(void *argument);
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void Task_rc(void *argument);
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void Task_atti_esti(void *argument);
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void Task_test(void *argument);
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void Task_cli(void *argument);
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void Task_monitor(void *argument);
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void Task_cmd(void *argument);
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void Task_ctrl_leg(void *argument);
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void Task_ctrl_chassis(void *argument);
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#ifdef __cplusplus
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}
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#endif
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