robofish/rm_balance
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

关imu

Browse Source
This commit is contained in:
Robofish 2025-10-05 00:26:46 +08:00
parent acedef346b
commit 722ea07411
2 changed files with 9 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
User/task/atti_esti.c
View File

@ -43,13 +43,13 @@ void Task_atti_esti(void *argument) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
// if (DM_IMU_AutoUpdateAll(&dm_imu) == DEVICE_OK) {
// osMessageQueueReset(task_runtime.msgq.chassis_imu); // 重置消息队列，防止阻塞
// chassis_imu_send.accl = dm_imu.data.accl;
// chassis_imu_send.gyro = dm_imu.data.gyro;
// chassis_imu_send.euler = dm_imu.data.euler;
// osMessageQueuePut(task_runtime.msgq.chassis_imu, &chassis_imu_send, 0, 0); // 非阻塞发送IMU数据
// }
if (DM_IMU_AutoUpdateAll(&dm_imu) == DEVICE_OK) {
osMessageQueueReset(task_runtime.msgq.chassis_imu); // 重置消息队列，防止阻塞
chassis_imu_send.accl = dm_imu.data.accl;
chassis_imu_send.gyro = dm_imu.data.gyro;
chassis_imu_send.euler = dm_imu.data.euler;
osMessageQueuePut(task_runtime.msgq.chassis_imu, &chassis_imu_send, 0, 0); // 非阻塞发送IMU数据
}
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}

4
User/task/init.c
View File

@ -35,8 +35,8 @@ void Task_Init(void *argument) {
task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
// task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
// task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
// 创建消息队列
/* USER MESSAGE BEGIN */