92 lines
3.1 KiB
C
92 lines
3.1 KiB
C
/*
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ctrl_gimbal Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "component/ahrs.h"
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#include "device/mrobot.h"
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#include "module/gimbal.h"
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#include "module/config.h"
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#include "bsp/can.h"
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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Gimbal_t gimbal;
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Gimbal_CMD_t gimbal_cmd;
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Gimbal_AI_t gimbal_ai;
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// BSP_FDCAN_StdDataFrame_t can_frame;
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* USER PRIVATE CODE BEGIN */
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/**
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* @brief 云台数据打印回调
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*/
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static int print_gimbal(const void *data, char *buf, size_t size) {
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const Gimbal_t *gimbal = (const Gimbal_t *)data;
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return MRobot_Snprintf(buf, size,
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" Mode : %d\r\n"
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" IMU : Roll=%.2f Pitch=%.2f Yaw=%.2f (deg)\r\n"
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" GyroX : %.3f GyroY : %.3f GyroZ : %.3f (rad/s)\r\n"
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" Motor : Yaw=%.1f(rpm) Pit=%.1f(rpm)\r\n"
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" Output : Yaw=%.1f Pit=%.1f\r\n",
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gimbal->mode,
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gimbal->imu.data.eulr.rol, gimbal->imu.data.eulr.pit, gimbal->imu.data.eulr.yaw,
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gimbal->imu.data.gyro.x, gimbal->imu.data.gyro.y, gimbal->imu.data.gyro.z,
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gimbal->feedback.motor.yaw.rotor_speed, gimbal->feedback.motor.pit.rotor_speed,
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gimbal->out.yaw, gimbal->out.pit);
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return 0;
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}
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/* USER PRIVATE CODE END */
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/* Exported functions ------------------------------------------------------- */
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void Task_ctrl_gimbal(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_GIMBAL_FREQ;
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osDelay(CTRL_GIMBAL_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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Gimbal_Init(&gimbal, &Config_GetRobotParam()->gimbal_param, CTRL_GIMBAL_FREQ);
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MRobot_RegisterDevice("gimbal", &gimbal, print_gimbal);
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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// can_frame.id = 0x200;
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// can_frame.dlc = 8;
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// BSP_CAN_TransmitStdDataFrame(BSP_CAN_2, &can_frame);
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Gimbal_UpdateIMU(&gimbal);
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osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.gimbal.ai_cmd, &gimbal_ai, NULL, 0);
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Gimbal_UpdateFeedback(&gimbal);
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osMessageQueueReset(task_runtime.msgq.chassis.yaw); // 重置消息队列，防止阻塞
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osMessageQueuePut(task_runtime.msgq.chassis.yaw, &gimbal.feedback.motor.yaw, 0, 0);
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Gimbal_Control(&gimbal, &gimbal_cmd, &gimbal_ai);
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Gimbal_Output(&gimbal);
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |