94 lines
3.3 KiB
C
94 lines
3.3 KiB
C
|
/*
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
/* 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 控制电容
|
|||
|
|
*
|
|||
|
|
* \param argument 未使用
|
|||
|
|
*/
|
|||
|
|
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 */
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|