97 lines
3.3 KiB
C
97 lines
3.3 KiB
C
/*
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "module\cap.h"
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#include "device\referee.h"
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#include "task\user_task.h"
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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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static CAN_t can;
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#ifdef DEBUG
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CAN_CapOutput_t cap_out;
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Referee_ForCap_t referee_cap;
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Referee_CapUI_t cap_ui;
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#else
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static CAN_CapOutput_t cap_out;
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static Referee_ForCap_t referee_cap;
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static Referee_CapUI_t cap_ui;
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#endif
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* \brief 控制电容
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*
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* \param argument 未使用
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*/
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void Task_Cap(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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uint32_t last_online_tick = osKernelGetTickCount();
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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() / TASK_FREQ_CTRL_CAP;
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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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#ifdef DEBUG
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/* 记录任务所使用的的栈空间 */
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task_runtime.stack_water_mark.cap = osThreadGetStackSpace(osThreadGetId());
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#endif
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* 读取裁判系统信息 */
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osMessageQueueGet(task_runtime.msgq.referee.cap, &referee_cap, 0, 0);
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/* 一定时间长度内接收不到电容反馈值，使电容离线 */
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if (osMessageQueueGet(task_runtime.msgq.can.feedback.cap, &can, NULL,
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delay_tick) != osOK) {
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if (osKernelGetTickCount() - last_online_tick > 1000) {
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CAN_CAP_HandleOffline(&(can.cap), &cap_out,
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CHASSIS_POWER_MAX_WITHOUT_REF);
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osMessageQueueReset(task_runtime.msgq.can.output.cap);
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osMessageQueuePut(task_runtime.msgq.can.output.cap, &cap_out, 0, 0);
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osMessageQueueReset(task_runtime.msgq.cap_info);
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osMessageQueuePut(task_runtime.msgq.cap_info, &(can.cap), 0, 0);
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Cap_DumpUI(&(can.cap), &cap_ui);
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osMessageQueueReset(task_runtime.msgq.ui.cap);
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osMessageQueuePut(task_runtime.msgq.ui.cap, &cap_ui, 0, 0);
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}
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} else {
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last_online_tick = osKernelGetTickCount();
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osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
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/* 根据裁判系统数据计算输出功率 */
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Cap_Control(&can.cap, &referee_cap, &cap_out);
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/* 超电参数设置 */
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Cap_Can_Send(&cap_out);
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osKernelUnlock();
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/* 将电容输出值发送到CAN */
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osMessageQueueReset(task_runtime.msgq.can.output.cap);
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osMessageQueuePut(task_runtime.msgq.can.output.cap, &cap_out, 0, 0);
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/* 将电容状态发送到Chassis */
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osMessageQueueReset(task_runtime.msgq.cap_info);
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osMessageQueuePut(task_runtime.msgq.cap_info, &(can.cap), 0, 0);
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Cap_DumpUI(&(can.cap), &cap_ui);
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osMessageQueueReset(task_runtime.msgq.ui.cap);
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osMessageQueuePut(task_runtime.msgq.ui.cap, &cap_ui, 0, 0);
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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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}
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}
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