From 3149179e9c7f51197ca56819763bac2ca3ac3f9f Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Wed, 15 Oct 2025 03:02:08 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E7=BA=BF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- CMakeLists.txt | 1 + User/bsp/pwm.h | 4 +- User/component/user_math.c | 14 +- User/component/user_math.h | 22 ++- User/device/dm_imu.c | 271 +++++++++++++++++++++++++++++++++++++ User/device/dm_imu.h | 90 ++++++++++++ User/task/1.c | 95 ------------- User/task/atti_esti.c | 1 - User/task/config.yaml | 7 + User/task/init.c | 1 + User/task/monitor.c | 44 ++++++ User/task/user_task.c | 7 +- User/task/user_task.h | 8 ++ 13 files changed, 444 insertions(+), 121 deletions(-) create mode 100644 User/device/dm_imu.c create mode 100644 User/device/dm_imu.h delete mode 100644 User/task/1.c create mode 100644 User/task/monitor.c diff --git a/CMakeLists.txt b/CMakeLists.txt index 1002f02..7e000e9 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -73,6 +73,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE User/task/atti_esti.c User/task/blink.c User/task/ctrl_chassis.c + User/task/monitor.c User/task/imu.c User/task/init.c User/task/user_task.c diff --git a/User/bsp/pwm.h b/User/bsp/pwm.h index 94cb40c..99e6edc 100644 --- a/User/bsp/pwm.h +++ b/User/bsp/pwm.h @@ -41,8 +41,8 @@ typedef enum { /* Exported functions prototypes -------------------------------------------- */ int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch); -int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle); //设置占空比，范围0.0~1.0 -int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq); //设置频率，单位Hz +int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle); +int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq); int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch); uint32_t BSP_PWM_GetAutoReloadPreload(BSP_PWM_Channel_t ch); uint16_t BSP_PWM_GetChannel(BSP_PWM_Channel_t ch); diff --git a/User/component/user_math.c b/User/component/user_math.c index 49a4723..5e0b0c4 100644 --- a/User/component/user_math.c +++ b/User/component/user_math.c @@ -48,13 +48,11 @@ inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; } inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); } /** - * \brief 计算循环值的误差，用于没有负数值，并在一定范围内变化的值 - * 例如编码器：相差1.5PI其实等于相差-0.5PI - * - * \param sp 被操作的值 - * \param fb 变化量 + * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x + * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b; + * \param sp 设定值 + * \param fb 反馈值 * \param range 被操作的值变化范围，正数时起效 - * * \return 函数运行结果 */ inline float CircleError(float sp, float fb, float range) { @@ -71,9 +69,7 @@ inline float CircleError(float sp, float fb, float range) { } /** - * \brief 循环加法，用于没有负数值，并在一定范围内变化的值 - * 例如编码器，在0-2PI内变化，1.5PI + 1.5PI = 1PI - * + * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况 * \param origin 被操作的值 * \param delta 变化量 * \param range 被操作的值变化范围，正数时起效 diff --git a/User/component/user_math.h b/User/component/user_math.h index 1a7e73a..6e61ca2 100644 --- a/User/component/user_math.h +++ b/User/component/user_math.h @@ -21,12 +21,12 @@ extern "C" { #define M_DEG2RAD_MULT (0.01745329251f) #define M_RAD2DEG_MULT (57.2957795131f) -#ifndef M_PI -#define M_PI 3.14159265358979323846f +#ifndef M_PI_2 +#define M_PI_2 1.57079632679f #endif -#ifndef M_PI_2 -#define M_PI_2 1.57079632679489661923f +#ifndef M_PI +#define M_PI 3.14159265358979323846f #endif #ifndef M_2PI @@ -86,21 +86,17 @@ float Sign(float in); void ResetMoveVector(MoveVector_t *mv); /** - * \brief 计算循环值的误差，用于没有负数值，并在一定范围内变化的值 - * 例如编码器：相差1.5PI其实等于相差-0.5PI - * - * \param sp 被操作的值 - * \param fb 变化量 + * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x + * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b; + * \param sp 设定值 + * \param fb 反馈值 * \param range 被操作的值变化范围，正数时起效 - * * \return 函数运行结果 */ float CircleError(float sp, float fb, float range); /** - * \brief 循环加法，用于没有负数值，并在一定范围内变化的值 - * 例如编码器，在0-2PI内变化，1.5PI + 1.5PI = 1PI - * + * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况 * \param origin 被操作的值 * \param delta 变化量 * \param range 被操作的值变化范围，正数时起效 diff --git a/User/device/dm_imu.c b/User/device/dm_imu.c new file mode 100644 index 0000000..e5380d9 --- /dev/null +++ b/User/device/dm_imu.c @@ -0,0 +1,271 @@ +/* + DM_IMU数据获取（CAN） +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "dm_imu.h" + +#include "bsp/can.h" +#include "bsp/time.h" +#include "component/user_math.h" +#include + +/* Private define ----------------------------------------------------------- */ +#define DM_IMU_OFFLINE_TIMEOUT 1000 // 设备离线判定时间1000ms + +#define ACCEL_CAN_MAX (58.8f) +#define ACCEL_CAN_MIN (-58.8f) +#define GYRO_CAN_MAX (34.88f) +#define GYRO_CAN_MIN (-34.88f) +#define PITCH_CAN_MAX (90.0f) +#define PITCH_CAN_MIN (-90.0f) +#define ROLL_CAN_MAX (180.0f) +#define ROLL_CAN_MIN (-180.0f) +#define YAW_CAN_MAX (180.0f) +#define YAW_CAN_MIN (-180.0f) +#define TEMP_MIN (0.0f) +#define TEMP_MAX (60.0f) +#define Quaternion_MIN (-1.0f) +#define Quaternion_MAX (1.0f) + + +/* Private macro ------------------------------------------------------------ */ +/* Private typedef ---------------------------------------------------------- */ +/* Private variables -------------------------------------------------------- */ +/* Private function --------------------------------------------------------- */ + +static uint8_t count = 0; // 计数器，用于判断设备是否离线 +/** + * @brief: 无符号整数转换为浮点数函数 + */ +static float uint_to_float(int x_int, float x_min, float x_max, int bits) +{ + float span = x_max - x_min; + float offset = x_min; + return ((float)x_int)*span/((float)((1<data.temp = (float)temp; + imu->data.accl.x = uint_to_float(acc_x_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16); + imu->data.accl.y = uint_to_float(acc_y_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16); + imu->data.accl.z = uint_to_float(acc_z_raw, ACCEL_CAN_MIN, ACCEL_CAN_MAX, 16); + return DEVICE_OK; +} +/** + * @brief 解析陀螺仪数据 + */ +static int8_t DM_IMU_ParseGyroData(DM_IMU_t *imu, uint8_t *data, uint8_t len) { + if (imu == NULL || data == NULL || len < 8) { + return DEVICE_ERR; + } + uint16_t gyro_x_raw = (data[3] << 8) | data[2]; + uint16_t gyro_y_raw = (data[5] << 8) | data[4]; + uint16_t gyro_z_raw = (data[7] << 8) | data[6]; + imu->data.gyro.x = uint_to_float(gyro_x_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16); + imu->data.gyro.y = uint_to_float(gyro_y_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16); + imu->data.gyro.z = uint_to_float(gyro_z_raw, GYRO_CAN_MIN, GYRO_CAN_MAX, 16); + return DEVICE_OK; +} +/** + * @brief 解析欧拉角数据 + */ +static int8_t DM_IMU_ParseEulerData(DM_IMU_t *imu, uint8_t *data, uint8_t len) { + if (imu == NULL || data == NULL || len < 8) { + return DEVICE_ERR; + } + uint16_t pit_raw = (data[3] << 8) | data[2]; + uint16_t yaw_raw = (data[5] << 8) | data[4]; + uint16_t rol_raw = (data[7] << 8) | data[6]; + imu->data.euler.pit = uint_to_float(pit_raw, PITCH_CAN_MIN, PITCH_CAN_MAX, 16) * M_DEG2RAD_MULT; + imu->data.euler.yaw = uint_to_float(yaw_raw, YAW_CAN_MIN, YAW_CAN_MAX, 16) * M_DEG2RAD_MULT; + imu->data.euler.rol = uint_to_float(rol_raw, ROLL_CAN_MIN, ROLL_CAN_MAX, 16) * M_DEG2RAD_MULT; + return DEVICE_OK; +} + +/** + * @brief 解析四元数数据 + */ +static int8_t DM_IMU_ParseQuaternionData(DM_IMU_t *imu, uint8_t *data, uint8_t len) { + if (imu == NULL || data == NULL || len < 8) { + return DEVICE_ERR; + } + int w = (data[1] << 6) | ((data[2] & 0xF8) >> 2); + int x = ((data[2] & 0x03) << 12) | (data[3] << 4) | ((data[4] & 0xF0) >> 4); + int y = ((data[4] & 0x0F) << 10) | (data[5] << 2) | ((data[6] & 0xC0) >> 6); + int z = ((data[6] & 0x3F) << 8) | data[7]; + imu->data.quat.q0 = uint_to_float(w, Quaternion_MIN, Quaternion_MAX, 14); + imu->data.quat.q1 = uint_to_float(x, Quaternion_MIN, Quaternion_MAX, 14); + imu->data.quat.q2 = uint_to_float(y, Quaternion_MIN, Quaternion_MAX, 14); + imu->data.quat.q3 = uint_to_float(z, Quaternion_MIN, Quaternion_MAX, 14); + return DEVICE_OK; +} + + +/* Exported functions ------------------------------------------------------- */ + +/** + * @brief 初始化DM IMU设备 + */ +int8_t DM_IMU_Init(DM_IMU_t *imu, DM_IMU_Param_t *param) { + if (imu == NULL || param == NULL) { + return DEVICE_ERR_NULL; + } + + // 初始化设备头部 + imu->header.online = false; + imu->header.last_online_time = 0; + + // 配置参数 + imu->param.can = param->can; + imu->param.can_id = param->can_id; + imu->param.device_id = param->device_id; + imu->param.master_id = param->master_id; + + // 清零数据 + memset(&imu->data, 0, sizeof(DM_IMU_Data_t)); + + // 注册CAN接收队列，用于接收回复报文 + int8_t result = BSP_CAN_RegisterId(imu->param.can, imu->param.master_id, 10); + if (result != BSP_OK) { + return DEVICE_ERR; + } + + return DEVICE_OK; +} + +/** + * @brief 请求IMU数据 + */ +int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) { + if (imu == NULL) { + return DEVICE_ERR_NULL; + } + + // 构造发送数据：id_L, id_H(DM_IMU_ID), RID, 0xcc + uint8_t tx_data[4] = { + imu->param.device_id & 0xFF, // id_L + (imu->param.device_id >> 8) & 0xFF, // id_H + (uint8_t)rid, // RID + 0xCC // 固定值 + }; + + // 发送标准数据帧 + BSP_CAN_StdDataFrame_t frame = { + .id = imu->param.can_id, + .dlc = 4, + }; + memcpy(frame.data, tx_data, 4); + int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame); + return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR; +} + +/** + * @brief 更新IMU数据（从CAN中获取所有数据并解析） + */ +int8_t DM_IMU_Update(DM_IMU_t *imu) { + if (imu == NULL) { + return DEVICE_ERR_NULL; + } + + BSP_CAN_Message_t msg; + int8_t result; + bool data_received = false; + + // 持续接收所有可用消息 + while ((result = BSP_CAN_GetMessage(imu->param.can, imu->param.master_id, &msg, BSP_CAN_TIMEOUT_IMMEDIATE)) == BSP_OK) { + // 验证回复数据格式（至少检查数据长度） + if (msg.dlc < 3) { + continue; // 跳过无效消息 + } + + // 根据数据位的第0位确定反馈报文类型 + uint8_t rid = msg.data[0] & 0x0F; // 取第0位的低4位作为RID + + // 根据RID类型解析数据 + int8_t parse_result = DEVICE_ERR; + switch (rid) { + case 0x01: // RID_ACCL + parse_result = DM_IMU_ParseAccelData(imu, msg.data, msg.dlc); + break; + case 0x02: // RID_GYRO + parse_result = DM_IMU_ParseGyroData(imu, msg.data, msg.dlc); + break; + case 0x03: // RID_EULER + parse_result = DM_IMU_ParseEulerData(imu, msg.data, msg.dlc); + break; + case 0x04: // RID_QUATERNION + parse_result = DM_IMU_ParseQuaternionData(imu, msg.data, msg.dlc); + break; + default: + continue; // 跳过未知类型的消息 + } + + // 如果解析成功，标记为收到数据 + if (parse_result == DEVICE_OK) { + data_received = true; + } + } + + // 如果收到任何有效数据，更新设备状态 + if (data_received) { + imu->header.online = true; + imu->header.last_online_time = BSP_TIME_Get_ms(); + return DEVICE_OK; + } + + return DEVICE_ERR; +} + +/** + * @brief 自动更新IMU所有数据（包括加速度计、陀螺仪、欧拉角和四元数,最高1khz） + */ +int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu){ + if (imu == NULL) { + return DEVICE_ERR_NULL; + } + switch (count) { + case 0: + DM_IMU_Request(imu, RID_ACCL); + break; + case 1: + DM_IMU_Request(imu, RID_GYRO); + break; + case 2: + DM_IMU_Request(imu, RID_EULER); + break; + case 3: + DM_IMU_Request(imu, RID_QUATERNION); + DM_IMU_Update(imu); // 更新所有数据 + break; + } + count++; + if (count >= 4) { + count = 0; // 重置计数器 + return DEVICE_OK; + } + return DEVICE_ERR; +} + +/** + * @brief 检查设备是否在线 + */ +bool DM_IMU_IsOnline(DM_IMU_t *imu) { + if (imu == NULL) { + return false; + } + + uint32_t current_time = BSP_TIME_Get_ms(); + return imu->header.online && + (current_time - imu->header.last_online_time < DM_IMU_OFFLINE_TIMEOUT); +} diff --git a/User/device/dm_imu.h b/User/device/dm_imu.h new file mode 100644 index 0000000..3965980 --- /dev/null +++ b/User/device/dm_imu.h @@ -0,0 +1,90 @@ +#pragma once + +#ifdef __cplusplus +extern "C" { +#endif + +/* Includes ----------------------------------------------------------------- */ +#include "device/device.h" +#include "component/ahrs.h" +#include "bsp/can.h" +/* Exported constants ------------------------------------------------------- */ + +#define DM_IMU_CAN_ID_DEFAULT 0x6FF +#define DM_IMU_ID_DEFAULT 0x42 +#define DM_IMU_MST_ID_DEFAULT 0x43 + +/* Exported macro ----------------------------------------------------------- */ +/* Exported types ----------------------------------------------------------- */ + +typedef struct { + BSP_CAN_t can; // CAN总线句柄 + uint16_t can_id; // CAN通信ID + uint8_t device_id; // 设备ID + uint8_t master_id; // 主机ID +} DM_IMU_Param_t; +typedef enum { + RID_ACCL = 0x01, // 加速度计 + RID_GYRO = 0x02, // 陀螺仪 + RID_EULER = 0x03, // 欧拉角 + RID_QUATERNION = 0x04, // 四元数 +} DM_IMU_RID_t; + +typedef struct { + AHRS_Accl_t accl; // 加速度计 + AHRS_Gyro_t gyro; // 陀螺仪 + AHRS_Eulr_t euler; // 欧拉角 + AHRS_Quaternion_t quat; // 四元数 + float temp; // 温度 +} DM_IMU_Data_t; + +typedef struct { + DEVICE_Header_t header; + DM_IMU_Param_t param; // IMU参数配置 + DM_IMU_Data_t data; // IMU数据 +} DM_IMU_t; + +/* Exported functions prototypes -------------------------------------------- */ + +/** + * @brief 初始化DM IMU设备 + * @param imu DM IMU设备结构体指针 + * @param param IMU参数配置指针 + * @return DEVICE_OK 成功，其他值失败 + */ +int8_t DM_IMU_Init(DM_IMU_t *imu, DM_IMU_Param_t *param); + +/** + * @brief 请求IMU数据 + * @param imu DM IMU设备结构体指针 + * @param rid 请求的数据类型 + * @return DEVICE_OK 成功，其他值失败 + */ +int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid); + + +/** + * @brief 更新IMU数据（从CAN中获取所有数据并解析） + * @param imu DM IMU设备结构体指针 + * @return DEVICE_OK 成功，其他值失败 + */ +int8_t DM_IMU_Update(DM_IMU_t *imu); + +/** + * @brief 自动更新IMU所有数据（包括加速度计、陀螺仪、欧拉角和四元数,最高1khz，运行4次才有完整数据） + * @param imu DM IMU设备结构体指针 + * @return DEVICE_OK 成功，其他值失败 + */ +int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu); + +/** + * @brief 检查设备是否在线 + * @param imu DM IMU设备结构体指针 + * @return true 在线，false 离线 + */ +bool DM_IMU_IsOnline(DM_IMU_t *imu); + + +#ifdef __cplusplus +} +#endif diff --git a/User/task/1.c b/User/task/1.c deleted file mode 100644 index 73d130b..0000000 --- a/User/task/1.c +++ /dev/null @@ -1,95 +0,0 @@ -/* - imu Task - -*/ - -/* Includes ----------------------------------------------------------------- */ -#include "task/user_task.h" -/* USER INCLUDE BEGIN */ -#include "bsp/pwm.h" -#include "component/ahrs.h" -#include "component/pid.h" -#include "device/bmi088.h" -/* USER INCLUDE END */ - -/* Private typedef ---------------------------------------------------------- */ -/* Private define ----------------------------------------------------------- */ -/* Private macro ------------------------------------------------------------ */ -/* Private variables -------------------------------------------------------- */ -/* USER STRUCT BEGIN */ - -BMI088_t bmi088; - -AHRS_t gimbal_ahrs; -AHRS_Magn_t magn; -AHRS_Eulr_t eulr_to_send; - -KPID_t imu_temp_ctrl_pid; - -BMI088_Cali_t cali_bmi088= { - .gyro_offset = {0.0f,0.0f,0.0f}, -}; - -/* USER STRUCT END */ - -/* Private function --------------------------------------------------------- */ -/* Exported functions ------------------------------------------------------- */ -void Task_imu(void *argument) { - (void)argument; /* 未使用argument，消除警告 */ - - - /* 计算任务运行到指定频率需要等待的tick数 */ - const uint32_t delay_tick = osKernelGetTickFreq() / IMU_FREQ; - - osDelay(IMU_INIT_DELAY); /* 延时一段时间再开启任务 */ - - uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ - /* USER CODE INIT BEGIN */ - BMI088_Init(&bmi088,&cali_bmi088); - AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088)); - - /* USER CODE INIT END */ - - while (1) { - tick += delay_tick; /* 计算下一个唤醒时刻 */ - /* USER CODE BEGIN */ - BMI088_WaitNew(); - BMI088_AcclStartDmaRecv(); - BMI088_AcclWaitDmaCplt(); - - BMI088_GyroStartDmaRecv(); - BMI088_GyroWaitDmaCplt(); - - /* 锁住RTOS内核防止数据解析过程中断，造成错误 */ - osKernelLock(); - /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */ - BMI088_ParseAccl(&bmi088); - /* 扩大加速度数据10倍，并交换x和y */ - float temp_x = bmi088.accl.x * 10.0f; - float temp_y = bmi088.accl.y * 10.0f; - bmi088.accl.x = temp_y; - bmi088.accl.y = -temp_x; - bmi088.accl.z *= 10.0f; - - BMI088_ParseGyro(&bmi088); - /* 交换陀螺仪x和y */ - float temp_gyro_x = bmi088.gyro.x; - bmi088.gyro.x = bmi088.gyro.y; - bmi088.gyro.y = -temp_gyro_x; - // IST8310_Parse(&ist8310); - - /* 根据设备接收到的数据进行姿态解析 */ - AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn); - - /* 根据解析出来的四元数计算欧拉角 */ - AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs); - /* 交换pit和rol */ - float temp_rol = eulr_to_send.rol; - eulr_to_send.rol = eulr_to_send.pit; - eulr_to_send.pit = temp_rol; - osKernelUnlock(); - /* USER CODE END */ - osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ - } - -} \ No newline at end of file diff --git a/User/task/atti_esti.c b/User/task/atti_esti.c index 71edf46..b0de236 100644 --- a/User/task/atti_esti.c +++ b/User/task/atti_esti.c @@ -4,7 +4,6 @@ */ /* Includes ----------------------------------------------------------------- */ -#include "cmsis_os2.h" #include "task/user_task.h" /* USER INCLUDE BEGIN */ #include "bsp/mm.h" diff --git a/User/task/config.yaml b/User/task/config.yaml index e093a96..f5c3e9a 100644 --- a/User/task/config.yaml +++ b/User/task/config.yaml @@ -26,3 +26,10 @@ function: Task_atti_esti name: atti_esti stack: 256 +- delay: 0 + description: '' + freq_control: true + frequency: 500.0 + function: Task_monitor + name: monitor + stack: 256 diff --git a/User/task/init.c b/User/task/init.c index 7e2eb5e..afc843c 100644 --- a/User/task/init.c +++ b/User/task/init.c @@ -34,6 +34,7 @@ void Task_Init(void *argument) { task_runtime.thread.imu = osThreadNew(Task_imu, NULL, &attr_imu); task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis); task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti); + task_runtime.thread.monitor = osThreadNew(Task_monitor, NULL, &attr_monitor); // 创建消息队列 /* USER MESSAGE BEGIN */ diff --git a/User/task/monitor.c b/User/task/monitor.c new file mode 100644 index 0000000..55d5bd3 --- /dev/null +++ b/User/task/monitor.c @@ -0,0 +1,44 @@ +/* + monitor Task + +*/ + +/* Includes ----------------------------------------------------------------- */ +#include "task/user_task.h" +/* USER INCLUDE BEGIN */ + +/* USER INCLUDE END */ + +/* Private typedef ---------------------------------------------------------- */ +/* Private define ----------------------------------------------------------- */ +/* Private macro ------------------------------------------------------------ */ +/* Private variables -------------------------------------------------------- */ +/* USER STRUCT BEGIN */ + +/* USER STRUCT END */ + +/* Private function --------------------------------------------------------- */ +/* Exported functions ------------------------------------------------------- */ +void Task_monitor(void *argument) { + (void)argument; /* 未使用argument，消除警告 */ + + + /* 计算任务运行到指定频率需要等待的tick数 */ + const uint32_t delay_tick = osKernelGetTickFreq() / MONITOR_FREQ; + + osDelay(MONITOR_INIT_DELAY); /* 延时一段时间再开启任务 */ + + uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */ + /* USER CODE INIT BEGIN */ + + /* USER CODE INIT END */ + + while (1) { + tick += delay_tick; /* 计算下一个唤醒时刻 */ + /* USER CODE BEGIN */ + + /* USER CODE END */ + osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ + } + +} \ No newline at end of file diff --git a/User/task/user_task.c b/User/task/user_task.c index f6364f8..d619a64 100644 --- a/User/task/user_task.c +++ b/User/task/user_task.c @@ -22,10 +22,15 @@ const osThreadAttr_t attr_imu = { const osThreadAttr_t attr_ctrl_chassis = { .name = "ctrl_chassis", .priority = osPriorityNormal, - .stack_size = 512 * 4, + .stack_size = 256 * 4, }; const osThreadAttr_t attr_atti_esti = { .name = "atti_esti", .priority = osPriorityNormal, .stack_size = 256 * 4, +}; +const osThreadAttr_t attr_monitor = { + .name = "monitor", + .priority = osPriorityNormal, + .stack_size = 256 * 4, }; \ No newline at end of file diff --git a/User/task/user_task.h b/User/task/user_task.h index 4ad3a9c..d035c66 100644 --- a/User/task/user_task.h +++ b/User/task/user_task.h @@ -17,6 +17,7 @@ extern "C" { #define IMU_FREQ (500.0) #define CTRL_CHASSIS_FREQ (500.0) #define ATTI_ESTI_FREQ (500.0) +#define MONITOR_FREQ (500.0) /* 任务初始化延时ms */ #define TASK_INIT_DELAY (100u) @@ -24,6 +25,7 @@ extern "C" { #define IMU_INIT_DELAY (0) #define CTRL_CHASSIS_INIT_DELAY (0) #define ATTI_ESTI_INIT_DELAY (0) +#define MONITOR_INIT_DELAY (0) /* Exported defines --------------------------------------------------------- */ /* Exported macro ----------------------------------------------------------- */ @@ -37,6 +39,7 @@ typedef struct { osThreadId_t imu; osThreadId_t ctrl_chassis; osThreadId_t atti_esti; + osThreadId_t monitor; } thread; /* USER MESSAGE BEGIN */ @@ -68,6 +71,7 @@ typedef struct { UBaseType_t imu; UBaseType_t ctrl_chassis; UBaseType_t atti_esti; + UBaseType_t monitor; } stack_water_mark; /* 各任务运行频率 */ @@ -76,6 +80,7 @@ typedef struct { float imu; float ctrl_chassis; float atti_esti; + float monitor; } freq; /* 任务最近运行时间 */ @@ -84,6 +89,7 @@ typedef struct { float imu; float ctrl_chassis; float atti_esti; + float monitor; } last_up_time; } Task_Runtime_t; @@ -97,6 +103,7 @@ extern const osThreadAttr_t attr_blink; extern const osThreadAttr_t attr_imu; extern const osThreadAttr_t attr_ctrl_chassis; extern const osThreadAttr_t attr_atti_esti; +extern const osThreadAttr_t attr_monitor; /* 任务函数声明 */ void Task_Init(void *argument); @@ -104,6 +111,7 @@ void Task_blink(void *argument); void Task_imu(void *argument); void Task_ctrl_chassis(void *argument); void Task_atti_esti(void *argument); +void Task_monitor(void *argument); #ifdef __cplusplus }