RMUL2025/User/task/ctrl_gimbal.c

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2025-03-11 21:32:41 +08:00
/*
CAN总线接收底盘电机反馈IMU接收欧拉角和角速度
*/
/* Includes ----------------------------------------------------------------- */
#include "module\gimbal.h"
#include "task\user_task.h"
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
static CAN_t can;
#ifdef DEBUG
CMD_GimbalCmd_t gimbal_cmd;
Gimbal_t gimbal;
CAN_GimbalOutput_t gimbal_out;
Referee_GimbalUI_t gimbal_ui;
#else
static CMD_GimbalCmd_t gimbal_cmd;
static Gimbal_t gimbal;
static CAN_GimbalOutput_t gimbal_out;
static Referee_GimbalUI_t gimbal_ui;
#endif
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
/**
* \brief
*
* \param argument 使
*/
void Task_CtrlGimbal(void *argument) {
(void)argument; /* 未使用argument消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_GIMBAL;
/* 初始化云台 */
Gimbal_Init(&gimbal, &(task_runtime.cfg.robot_param->gimbal),
task_runtime.cfg.gimbal_limit, (float)TASK_FREQ_CTRL_GIMBAL);
/* 延时一段时间再开启任务 */
osMessageQueueGet(task_runtime.msgq.can.feedback.gimbal, &can, NULL,
osWaitForever);
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.ctrl_gimbal =
osThreadGetStackSpace(osThreadGetId());
#endif
osMessageQueueGet(task_runtime.msgq.can.feedback.gimbal, &can, NULL, 0);
/* 读取控制指令、姿态、IMU数据 */
osMessageQueueGet(task_runtime.msgq.gimbal.eulr_imu,
&(gimbal.feedback.eulr.imu), NULL, 0);
osMessageQueueGet(task_runtime.msgq.gimbal.gyro, &(gimbal.feedback.gyro),
NULL, 0);
osMessageQueueGet(task_runtime.msgq.cmd.gimbal, &gimbal_cmd, NULL, 0);
osKernelLock(); /* 锁住RTOS内核防止控制过程中断造成错误 */
Gimbal_UpdateFeedback(&gimbal, &can);
Gimbal_Control(&gimbal, &gimbal_cmd, tick);
Gimbal_DumpOutput(&gimbal, &gimbal_out);
osKernelUnlock();
osMessageQueueReset(task_runtime.msgq.can.output.gimbal);
osMessageQueuePut(task_runtime.msgq.can.output.gimbal, &gimbal_out, 0, 0);
Gimbal_DumpUI(&gimbal, &gimbal_ui);
osMessageQueueReset(task_runtime.msgq.ui.gimbal);
osMessageQueuePut(task_runtime.msgq.ui.gimbal, &gimbal_ui, 0, 0);
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick); /* 运行结束,等待下一次唤醒 */
}
}