/* */ /* 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 */ } } }