move_xrobot/User/task/user_task.h

#pragma once

#ifdef __cplusplus
extern "C" {
#endif

/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>

#include "FreeRTOS.h"
#include "module\config.h"
#include "task.h"

/* Exported constants ------------------------------------------------------- */

/* 所有任务都要define一个“任务运行频率”和“初始化延时” */
#define TASK_FREQ_CTRL_CHASSIS (500u)
#define TASK_FREQ_CTRL_GIMBAL (500u)
#define TASK_FREQ_CTRL_SHOOT (500)
#define TASK_FREQ_CTRL_CAP (100u)
#define TASK_FREQ_CTRL_COMMAND (500u)
#define TASK_FREQ_INFO (4u)
#define TASK_FREQ_MONITOR (2u)
#define TASK_FREQ_CAN (1000u)
#define TASK_FREQ_AI (250u)
#define TASK_FREQ_REFEREE (1000u)

#define TASK_INIT_DELAY_INFO (500u)
#define TASK_INIT_DELAY_MONITOR (10)
#define TASK_INIT_DELAY_REFEREE (400u)
#define TASK_INIT_DELAY_AI (400u)

/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */

typedef struct {
  /* 各任务，也可以叫做线程 */
  struct {
    osThreadId_t cli;
    osThreadId_t command;
    osThreadId_t ctrl_chassis;
    osThreadId_t ctrl_gimbal;
    osThreadId_t ctrl_shoot;
    osThreadId_t info;
    osThreadId_t monitor;
    osThreadId_t can;
    osThreadId_t atti_esti;
    osThreadId_t referee;
    osThreadId_t ai;
    osThreadId_t rc;
    osThreadId_t cap;
  } thread;

  struct {
    /* 云台相关数据 */
    struct {
      osMessageQueueId_t accl;     /* IMU读取 */
      osMessageQueueId_t gyro;     /* IMU读取 */
      osMessageQueueId_t eulr_imu; /* 姿态解算得到 */
      osMessageQueueId_t eulr_encoder; /* 读编码器得到 */
      
    } gimbal;

    /* 控制指令 */
    struct {
      struct {
        osMessageQueueId_t host;
        osMessageQueueId_t rc;
      } raw;

      osMessageQueueId_t chassis;
      osMessageQueueId_t gimbal;
      osMessageQueueId_t shoot;
      osMessageQueueId_t ai;
      osMessageQueueId_t referee;
    } cmd;

    /* can任务放入、读取，电机或电容的输入输出 */
    struct {
      struct {
        osMessageQueueId_t chassis;
        osMessageQueueId_t gimbal;
        osMessageQueueId_t shoot;
        osMessageQueueId_t cap;
      } output;

      struct {
        osMessageQueueId_t chassis;
        osMessageQueueId_t gimbal;
        osMessageQueueId_t shoot;
        osMessageQueueId_t cap;
        osMessageQueueId_t tof;
      } feedback;
    } can;

    struct {
      osMessageQueueId_t quat; /* 姿态解算得到 */
    } ai;

    /* 裁判系统发送的 */
    struct {
      osMessageQueueId_t cap;
      osMessageQueueId_t chassis;
      osMessageQueueId_t ai;
      osMessageQueueId_t shoot;
    } referee;

    osMessageQueueId_t cap_info;

    struct {
      osMessageQueueId_t chassis;
      osMessageQueueId_t gimbal;
      osMessageQueueId_t shoot;
      osMessageQueueId_t cap;
      osMessageQueueId_t cmd;
    } ui;

  } msgq;

  /* 机器人状态 */
  struct {
    float battery;
    float vbat;
    float cpu_temp;
  } status;

  Config_t cfg; /* 机器人配置 */

#ifdef DEBUG
  struct {
    UBaseType_t cli;
    UBaseType_t command;
    UBaseType_t ctrl_chassis;
    UBaseType_t ctrl_gimbal;
    UBaseType_t ctrl_shoot;
    UBaseType_t info;
    UBaseType_t monitor;
    UBaseType_t can;
    UBaseType_t atti_esti;
    UBaseType_t referee;
    UBaseType_t ai;
    UBaseType_t rc;
    UBaseType_t cap;
  } stack_water_mark; /* stack使用 */

  struct {
    float cli;
    float command;
    float ctrl_chassis;
    float ctrl_gimbal;
    float ctrl_shoot;
    float info;
    float monitor;
    float can;
    float atti_esti;
    float referee;
    float ai;
    float rc;
    float cap;
  } freq; /* 任务运行频率 */

  struct {
    float cli;
    float command;
    float ctrl_chassis;
    float ctrl_gimbal;
    float ctrl_shoot;
    float info;
    float monitor;
    float can;
    float atti_esti;
    float referee;
    float ai;
    float rc;
    float cap;
  } last_up_time; /* 任务最近运行时间 */
#endif
} Task_Runtime_t;

extern Task_Runtime_t task_runtime;

extern const osThreadAttr_t attr_init;

extern const osThreadAttr_t attr_cli;
extern const osThreadAttr_t attr_command;
extern const osThreadAttr_t attr_ctrl_chassis;
extern const osThreadAttr_t attr_ctrl_gimbal;
extern const osThreadAttr_t attr_ctrl_shoot;
extern const osThreadAttr_t attr_info;
extern const osThreadAttr_t attr_monitor;
extern const osThreadAttr_t attr_can;
extern const osThreadAttr_t attr_atti_esti;
extern const osThreadAttr_t attr_referee;
extern const osThreadAttr_t attr_ai;
extern const osThreadAttr_t attr_rc;
extern const osThreadAttr_t attr_cap;

/* Exported functions prototypes -------------------------------------------- */
void Task_Init(void *argument);

void Task_CLI(void *argument);
void Task_Command(void *argument);
void Task_CtrlChassis(void *argument);
void Task_CtrlGimbal(void *argument);
void Task_CtrlShoot(void *argument);
void Task_Info(void *argument);
void Task_Monitor(void *argument);
void Task_Can(void *argument);
void Task_AttiEsti(void *argument);
void Task_Referee(void *argument);
void Task_Ai(void *argument);
void Task_RC(void *argument);
void Task_Cap(void *argument);

#ifdef __cplusplus
}
#endif