57 lines
2.0 KiB
C
57 lines
2.0 KiB
C
/*
|
||
atti_esti Task
|
||
|
||
*/
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include "task/user_task.h"
|
||
/* USER INCLUDE BEGIN */
|
||
#include "bsp/can.h"
|
||
#include "device/dm_imu.h"
|
||
#include "module/config.h"
|
||
#include "module/balance_chassis.h"
|
||
/* USER INCLUDE END */
|
||
|
||
/* Private typedef ---------------------------------------------------------- */
|
||
/* Private define ----------------------------------------------------------- */
|
||
/* Private macro ------------------------------------------------------------ */
|
||
/* Private variables -------------------------------------------------------- */
|
||
/* USER STRUCT BEGIN */
|
||
DM_IMU_t dm_imu;
|
||
Chassis_IMU_t chassis_imu_send;
|
||
/* USER STRUCT END */
|
||
|
||
/* Private function --------------------------------------------------------- */
|
||
/* Exported functions ------------------------------------------------------- */
|
||
void Task_atti_esti(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() / ATTI_ESTI_FREQ;
|
||
|
||
osDelay(ATTI_ESTI_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 */
|
||
BSP_CAN_Init();
|
||
// 初始化DM IMU设备
|
||
DM_IMU_Init(&dm_imu, &Config_GetRobotParam()->imu_param);
|
||
/* USER CODE INIT END */
|
||
|
||
while (1) {
|
||
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
|
||
}
|
||
/* USER CODE END */
|
||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||
}
|
||
|
||
} |