107 lines
3.6 KiB
C
107 lines
3.6 KiB
C
/*
|
||
rc Task
|
||
|
||
*/
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include "task/user_task.h"
|
||
/* USER INCLUDE BEGIN */
|
||
#include "bsp/can.h"
|
||
#include "device/dr16.h"
|
||
#include "device/rc_can.h"
|
||
#include "module/balance_chassis.h"
|
||
#include "module/config.h"
|
||
/* USER INCLUDE END */
|
||
|
||
/* Private typedef ---------------------------------------------------------- */
|
||
/* Private define ----------------------------------------------------------- */
|
||
/* Private macro ------------------------------------------------------------ */
|
||
/* Private variables -------------------------------------------------------- */
|
||
/* USER STRUCT BEGIN */
|
||
DR16_t dr16;
|
||
RC_CAN_t rc_can;
|
||
Chassis_CMD_t cmd_to_chassis;
|
||
#define USE_RC_CAN
|
||
/* USER STRUCT END */
|
||
|
||
/* Private function --------------------------------------------------------- */
|
||
/* Exported functions ------------------------------------------------------- */
|
||
void Task_rc(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() / RC_FREQ;
|
||
|
||
osDelay(RC_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();
|
||
DR16_Init(&dr16);
|
||
RC_CAN_Init(&rc_can, &Config_GetRobotParam()->rc_can_param);
|
||
/* USER CODE INIT END */
|
||
|
||
while (1) {
|
||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||
/* USER CODE BEGIN */
|
||
#ifdef USE_DR16
|
||
DR16_StartDmaRecv(&dr16);
|
||
if (DR16_WaitDmaCplt(20)) {
|
||
DR16_ParseData(&dr16);
|
||
switch (dr16.data.sw_l) {
|
||
case CMD_SW_UP: // 上位
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
|
||
break;
|
||
case CMD_SW_MID: // 中位
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
|
||
break;
|
||
case CMD_SW_DOWN: // 下位
|
||
cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
|
||
break;
|
||
default:
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
|
||
break;
|
||
}
|
||
cmd_to_chassis.move_vec.vx = dr16.data.ch_l_y;
|
||
cmd_to_chassis.move_vec.vy = dr16.data.ch_l_x;
|
||
cmd_to_chassis.move_vec.wz = dr16.data.ch_r_x;
|
||
cmd_to_chassis.height = dr16.data.ch_res;
|
||
} else {
|
||
DR16_Offline(&dr16);
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
|
||
}
|
||
#elif defined USE_RC_CAN
|
||
RC_CAN_Update(&rc_can, RC_CAN_DATA_JOYSTICK);
|
||
RC_CAN_Update(&rc_can, RC_CAN_DATA_SWITCH);
|
||
if (rc_can.header.online) {
|
||
switch (rc_can.data.sw.sw_l) {
|
||
case RC_CAN_SW_UP: // 上位
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
|
||
break;
|
||
case RC_CAN_SW_MID: // 中位
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
|
||
break;
|
||
case RC_CAN_SW_DOWN: // 下位
|
||
cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
|
||
break;
|
||
default:
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
|
||
break;
|
||
}
|
||
cmd_to_chassis.move_vec.vx = rc_can.data.joy.ch_l_y;
|
||
cmd_to_chassis.move_vec.vy = rc_can.data.joy.ch_l_x;
|
||
cmd_to_chassis.move_vec.wz = rc_can.data.joy.ch_r_x;
|
||
cmd_to_chassis.height = rc_can.data.sw.ch_res;
|
||
} else {
|
||
RC_CAN_OFFLINE(&rc_can);
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
|
||
}
|
||
#endif
|
||
osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
|
||
|
||
/* USER CODE END */
|
||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||
}
|
||
|
||
} |