fix cap

CMakeLists.txt

@@ -89,6 +89,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/module/config.c
     User/module/gimbal.c
     User/module/shoot.c
+    User/module/cap.c
     User/module/cmd/cmd.c
     User/module/cmd/cmd_adapter.c
     User/module/cmd/cmd_behavior.c
@@ -107,6 +108,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/monitor.c
     User/task/rc.c
     User/task/cli.c
+    User/task/cap.c
     User/task/user_task.c
     User/task/vofa.c
     User/task/cmd.c

User/device/supercap.h

@@ -8,8 +8,8 @@ extern "C" {
 #include "device/device.h"
 //#include "referee.h"
 
-#define SUPERCAP_CAN  BSP_FDCAN_1
-//#define SUPERCAP_CAN  BSP_FDCAN_2
+#define SUPERCAP_CAN  BSP_FDCAN_2
+// #define SUPERCAP_CAN  BSP_FDCAN_3
 
 //#define SUPERCAP_TX_ID 0x301  //C板发给超级电容的ID
 //#define SUPERCAP_RX_ID 0x100  //超级电容发给C板的ID

User/task/cap.c

@@ -28,14 +28,14 @@ Cap_RefereeUI_t cap_ui;
 
 /* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
-void Task_super_cap(void *argument) {
+void Task_cap(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() / SUPER_CAP_FREQ;
+  const uint32_t delay_tick = osKernelGetTickFreq() / CAP_FREQ;
 
-  osDelay(SUPER_CAP_INIT_DELAY); /* 延时一段时间再开启任务 */
+  osDelay(CAP_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/task/init.c

@@ -43,6 +43,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
   task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
   task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
+  task_runtime.thread.cap = osThreadNew(Task_cap, NULL, &attr_cap);
   // task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
   task_runtime.thread.cli = osThreadNew(Task_cli, NULL, &attr_cli);
   // task_runtime.thread.debug = osThreadNew(Task_debug, NULL, &attr_debug);

User/task/user_task.c

@@ -74,3 +74,8 @@ const osThreadAttr_t attr_referee = {
     .priority = osPriorityNormal,
     .stack_size = 512 * 4, 
 };
+const osThreadAttr_t attr_cap = {
+    .name = "cap",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};

User/task/user_task.h

@@ -24,7 +24,7 @@ extern "C" {
 #define DEBUG_FREQ (10.0)
 #define CMD_FREQ (500.0)
 #define REFEREE_FREQ (500.0)
-#define SUPER_CAP_FREQ (500.0)
+#define CAP_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
@@ -41,7 +41,7 @@ extern "C" {
 #define DEBUG_INIT_DELAY (0)
 #define CMD_INIT_DELAY (0)
 #define REFEREE_INIT_DELAY (0)
-#define SUPER_CAP_INIT_DELAY (0)
+#define CAP_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -64,7 +64,7 @@ typedef struct {
         osThreadId_t debug;
         osThreadId_t cmd;
         osThreadId_t referee; 
-
+        osThreadId_t cap;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -144,6 +144,7 @@ typedef struct {
         UBaseType_t ai;
         UBaseType_t vofa;
         UBaseType_t cli;
+        UBaseType_t cap;
         UBaseType_t debug;
         UBaseType_t cmd;
         UBaseType_t referee;
@@ -163,6 +164,7 @@ typedef struct {
         float debug;
         float cmd;
         float referee;
+            float cap;
     } freq;
 
     /* 任务最近运行时间 */
@@ -178,6 +180,7 @@ typedef struct {
         float debug;
         float cmd;  
         float referee;
+        float cap;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -199,6 +202,7 @@ extern const osThreadAttr_t attr_vofa;
 extern const osThreadAttr_t attr_cli;
 extern const osThreadAttr_t attr_debug;
 extern const osThreadAttr_t attr_cmd;
+extern const osThreadAttr_t attr_cap;
 extern const osThreadAttr_t attr_referee;
 
 /* 任务函数声明 */
@@ -216,7 +220,7 @@ void Task_cli(void *argument);
 void Task_debug(void *argument);
 void Task_cmd(void *argument);
 void Task_referee(void *argument);
-
+void Task_cap(void *argument);
 #ifdef __cplusplus
 }
 #endif