RMUL2025/User/task/cap.c

94 lines
3.3 KiB
C
Raw Normal View History

2025-03-09 17:01:52 +08:00
/*
*/
/* Includes ----------------------------------------------------------------- */
#include "module\cap.h"
#include "device\referee.h"
#include "task\user_task.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
static CAN_t can;
#ifdef DEBUG
CAN_CapOutput_t cap_out;
Referee_ForCap_t referee_cap;
Referee_CapUI_t cap_ui;
#else
static CAN_CapOutput_t cap_out;
static Referee_ForCap_t referee_cap;
static Referee_CapUI_t cap_ui;
#endif
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
/**
* \brief
*
* \param argument 使
*/
void Task_Cap(void *argument) {
(void)argument; /* 未使用argument消除警告 */
uint32_t last_online_tick = osKernelGetTickCount();
/* 计算任务运行到指定频率需要等待的tick数 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CAP;
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
while (1) {
#ifdef DEBUG
/* 记录任务所使用的的栈空间 */
task_runtime.stack_water_mark.cap = osThreadGetStackSpace(osThreadGetId());
#endif
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* 读取裁判系统信息 */
osMessageQueueGet(task_runtime.msgq.referee.cap, &referee_cap, 0, 0);
/* 一定时间长度内接收不到电容反馈值,使电容离线 */
if (osMessageQueueGet(task_runtime.msgq.can.feedback.cap, &can, NULL,
delay_tick) != osOK) {
if (osKernelGetTickCount() - last_online_tick > 1000) {
CAN_CAP_HandleOffline(&(can.cap), &cap_out,
CHASSIS_POWER_MAX_WITHOUT_REF);
osMessageQueueReset(task_runtime.msgq.can.output.cap);
osMessageQueuePut(task_runtime.msgq.can.output.cap, &cap_out, 0, 0);
osMessageQueueReset(task_runtime.msgq.cap_info);
osMessageQueuePut(task_runtime.msgq.cap_info, &(can.cap), 0, 0);
Cap_DumpUI(&(can.cap), &cap_ui);
osMessageQueueReset(task_runtime.msgq.ui.cap);
osMessageQueuePut(task_runtime.msgq.ui.cap, &cap_ui, 0, 0);
}
} else {
last_online_tick = osKernelGetTickCount();
osKernelLock(); /* 锁住RTOS内核防止控制过程中断造成错误 */
/* 根据裁判系统数据计算输出功率 */
Cap_Control(&can.cap, &referee_cap, &cap_out);
osKernelUnlock();
/* 将电容输出值发送到CAN */
osMessageQueueReset(task_runtime.msgq.can.output.cap);
osMessageQueuePut(task_runtime.msgq.can.output.cap, &cap_out, 0, 0);
/* 将电容状态发送到Chassis */
osMessageQueueReset(task_runtime.msgq.cap_info);
osMessageQueuePut(task_runtime.msgq.cap_info, &(can.cap), 0, 0);
Cap_DumpUI(&(can.cap), &cap_ui);
osMessageQueueReset(task_runtime.msgq.ui.cap);
osMessageQueuePut(task_runtime.msgq.ui.cap, &cap_ui, 0, 0);
osDelayUntil(tick); /* 运行结束,等待下一次唤醒 */
}
}
}