添加cmd

CMakeLists.txt

@@ -83,6 +83,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
 
     # User/module sources
     User/module/balance_chassis.c
+    User/module/cmd.c
     User/module/config.c
     User/module/gimbal.c
     User/module/shoot.c
@@ -91,7 +92,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/ai.c
     User/task/atti_esti.c
     User/task/blink.c
-    User/task/command.c
+    User/task/cmd.c
     User/task/ctrl_chassis.c
     User/task/ctrl_gimbal.c
     User/task/ctrl_shoot.c

User/module/cmd.h

@@ -0,0 +1,19 @@
+/*
+  控制命令
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+
+
+
+
+#ifdef __cplusplus
+}
+#endif

User/task/atti_esti.c

@@ -160,6 +160,4 @@ void Task_atti_esti(void *argument) {
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
   
-}
-
-
+}

User/task/cmd.c

@@ -1,5 +1,5 @@
 /*
-    command Task
+    cmd Task
     
 */
 
@@ -19,14 +19,14 @@
 
 /* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
-void Task_command(void *argument) {
+void Task_cmd(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() / COMMAND_FREQ;
+  const uint32_t delay_tick = osKernelGetTickFreq() / CMD_FREQ;
 
-  osDelay(COMMAND_INIT_DELAY); /* 延时一段时间再开启任务 */
+  osDelay(CMD_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 */
@@ -36,7 +36,7 @@ void Task_command(void *argument) {
   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 */
   }

User/task/config.yaml

@@ -58,6 +58,6 @@
   description: ''
   freq_control: true
   frequency: 500.0
-  function: Task_command
-  name: command
+  function: Task_cmd
+  name: cmd
   stack: 256

User/task/init.c

@@ -41,7 +41,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
   task_runtime.thread.monitor = osThreadNew(Task_monitor, NULL, &attr_monitor);
   task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
-  task_runtime.thread.command = osThreadNew(Task_command, NULL, &attr_command);
+  task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */

User/task/user_task.c

@@ -49,8 +49,8 @@ const osThreadAttr_t attr_ai = {
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };
-const osThreadAttr_t attr_command = {
-    .name = "command",
+const osThreadAttr_t attr_cmd = {
+    .name = "cmd",
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };

User/task/user_task.h

@@ -21,7 +21,7 @@ extern "C" {
 #define CTRL_SHOOT_FREQ (500.0)
 #define MONITOR_FREQ (500.0)
 #define AI_FREQ (500.0)
-#define COMMAND_FREQ (500.0)
+#define CMD_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
@@ -33,7 +33,7 @@ extern "C" {
 #define CTRL_SHOOT_INIT_DELAY (0)
 #define MONITOR_INIT_DELAY (0)
 #define AI_INIT_DELAY (0)
-#define COMMAND_INIT_DELAY (0)
+#define CMD_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -51,7 +51,7 @@ typedef struct {
         osThreadId_t ctrl_shoot;
         osThreadId_t monitor;
         osThreadId_t ai;
-        osThreadId_t command;
+        osThreadId_t cmd;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -70,6 +70,11 @@ typedef struct {
         struct {
             osMessageQueueId_t shoot_cmd; /* 发射命令队列 */
         }shoot;
+        struct {
+            osMessageQueueId_t rc;
+            osMessageQueueId_t ref;
+            osMessageQueueId_t ai;
+        }cmd;   
     } msgq;
     /* USER MESSAGE END */
 
@@ -94,7 +99,7 @@ typedef struct {
         UBaseType_t ctrl_shoot;
         UBaseType_t monitor;
         UBaseType_t ai;
-        UBaseType_t command;
+        UBaseType_t cmd;
     } stack_water_mark;
 
     /* 各任务运行频率 */
@@ -107,7 +112,7 @@ typedef struct {
         float ctrl_shoot;
         float monitor;
         float ai;
-        float command;
+        float cmd;
     } freq;
 
     /* 任务最近运行时间 */
@@ -120,7 +125,7 @@ typedef struct {
         float ctrl_shoot;
         float monitor;
         float ai;
-        float command;
+        float cmd;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -138,7 +143,7 @@ extern const osThreadAttr_t attr_ctrl_gimbal;
 extern const osThreadAttr_t attr_ctrl_shoot;
 extern const osThreadAttr_t attr_monitor;
 extern const osThreadAttr_t attr_ai;
-extern const osThreadAttr_t attr_command;
+extern const osThreadAttr_t attr_cmd;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
@@ -150,7 +155,7 @@ void Task_ctrl_gimbal(void *argument);
 void Task_ctrl_shoot(void *argument);
 void Task_monitor(void *argument);
 void Task_ai(void *argument);
-void Task_command(void *argument);
+void Task_cmd(void *argument);
 
 #ifdef __cplusplus
 }