2025-01-14 10:35:04 +08:00
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/*
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云台控制任务
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控制云台行为。
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从CAN总线接收底盘电机反馈，从IMU接收欧拉角和角速度，
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根据接收到的控制命令，控制电机输出。
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "module\gimbal.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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CMD_GimbalCmd_t gimbal_cmd;
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Gimbal_t gimbal;
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CAN_GimbalOutput_t gimbal_out;
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Referee_GimbalUI_t gimbal_ui;
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2025-02-11 19:46:41 +08:00
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AHRS_Eulr_t eulr_gimbal_for_ai;
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2025-01-14 10:35:04 +08:00
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#else
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static CMD_GimbalCmd_t gimbal_cmd;
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static Gimbal_t gimbal;
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static CAN_GimbalOutput_t gimbal_out;
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static Referee_GimbalUI_t gimbal_ui;
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2025-02-11 19:46:41 +08:00
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static AHRS_Eulr_t eulr_gimbal_for_ai;
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2025-01-14 10:35:04 +08:00
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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 控制云台
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*
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* \param argument 未使用
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*/
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void Task_CtrlGimbal(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_GIMBAL;
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/* 初始化云台 */
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Gimbal_Init(&gimbal, &(task_runtime.cfg.robot_param->gimbal),
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2025-01-22 17:34:09 +08:00
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task_runtime.cfg.gimbal_pitch_limit, (float)TASK_FREQ_CTRL_GIMBAL);
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2025-01-14 10:35:04 +08:00
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/* 延时一段时间再开启任务 */
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osMessageQueueGet(task_runtime.msgq.can.feedback.gimbal, &can, NULL,
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osWaitForever);
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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.ctrl_gimbal =
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osThreadGetStackSpace(osThreadGetId());
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#endif
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osMessageQueueGet(task_runtime.msgq.can.feedback.gimbal, &can, NULL, 0);
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/* 读取控制指令、姿态、IMU数据 */
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osMessageQueueGet(task_runtime.msgq.gimbal.eulr_imu,
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&(gimbal.feedback.eulr.imu), NULL, 0);
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osMessageQueueGet(task_runtime.msgq.gimbal.gyro, &(gimbal.feedback.gyro),
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NULL, 0);
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osMessageQueueGet(task_runtime.msgq.cmd.gimbal, &gimbal_cmd, NULL, 0);
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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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Gimbal_UpdateFeedback(&gimbal, &can);
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2025-02-11 19:46:41 +08:00
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Gimbal_PackAI(&gimbal, &eulr_gimbal_for_ai);
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2025-01-14 10:35:04 +08:00
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Gimbal_Control(&gimbal, &gimbal_cmd, tick);
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Gimbal_DumpOutput(&gimbal, &gimbal_out);
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osKernelUnlock();
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osMessageQueueReset(task_runtime.msgq.can.output.gimbal);
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osMessageQueuePut(task_runtime.msgq.can.output.gimbal, &gimbal_out, 0, 0);
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2025-02-11 19:46:41 +08:00
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osMessageQueueReset(task_runtime.msgq.gimbal.eulr_encoder);
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osMessageQueuePut(task_runtime.msgq.gimbal.eulr_encoder, &eulr_gimbal_for_ai, 0, 0);
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2025-01-14 10:35:04 +08:00
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Gimbal_DumpUI(&gimbal, &gimbal_ui);
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osMessageQueueReset(task_runtime.msgq.ui.gimbal);
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osMessageQueuePut(task_runtime.msgq.ui.gimbal, &gimbal_ui, 0, 0);
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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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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