108 lines
4.1 KiB
C
108 lines
4.1 KiB
C
/*
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ctrl_chassis 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 "bsp/can.h"
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#include "device/motor_lk.h"
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#include "device/motor_lz.h"
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#include "device/mrobot.h"
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#include "module/config.h"
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#include "module/balance_chassis.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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Chassis_t chassis;
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Chassis_CMD_t chassis_cmd = {
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.mode = CHASSIS_MODE_RELAX, // 改为RECOVER模式，让电机先启动
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.move_vec = {
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.vx = 0.0f,
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.vy = 0.0f,
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.wz = 0.0f,
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},
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.height = 0.0f,
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};
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Chassis_IMU_t chassis_imu;
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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 底盘数据打印回调
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*/
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static int print_chassis(const void *data, char *buf, size_t size) {
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const Chassis_t *chassis = (const Chassis_t *)data;
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return MRobot_Snprintf(buf, size,
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" Mode : %d Recover: L=%d R=%d\r\n"
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" Jump : state=%d trigger=%d\r\n"
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" LegLen : L=%.3f R=%.3f (m)\r\n"
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" Theta : L=%.3f R=%.3f (rad)\r\n"
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" Phi0 : L=%.3f R=%.3f (rad)\r\n"
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" IMU : Roll=%.2f Pitch=%.2f Yaw=%.2f (deg)\r\n"
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" Motors : J0=%.1f J1=%.1f J2=%.1f J3=%.1f (rpm)\r\n"
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" Wheels : W0=%.1f W1=%.1f (rpm)\r\n"
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" Output : J0=%.1f J1=%.1f J2=%.1f J3=%.1f\r\n"
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" VelX : %.3f m/s\r\n",
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chassis->mode, chassis->recover.state[0], chassis->recover.state[1],
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chassis->jump.state, chassis->jump.trigger,
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chassis->vmc_[0].leg.L0, chassis->vmc_[1].leg.L0,
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chassis->vmc_[0].leg.theta, chassis->vmc_[1].leg.theta,
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chassis->vmc_[0].leg.phi0, chassis->vmc_[1].leg.phi0,
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chassis->feedback.imu.euler.rol, chassis->feedback.imu.euler.pit, chassis->feedback.imu.euler.yaw,
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chassis->feedback.joint[0].rotor_speed, chassis->feedback.joint[1].rotor_speed,
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chassis->feedback.joint[2].rotor_speed, chassis->feedback.joint[3].rotor_speed,
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chassis->feedback.wheel[0].rotor_speed, chassis->feedback.wheel[1].rotor_speed,
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chassis->output.joint[0], chassis->output.joint[1],
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chassis->output.joint[2], chassis->output.joint[3],
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chassis->chassis_state.velocity_x);
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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_chassis(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_CHASSIS_FREQ;
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osDelay(CTRL_CHASSIS_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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Chassis_Init(&chassis, &Config_GetRobotParam()->chassis_param, CTRL_CHASSIS_FREQ);
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MRobot_RegisterDevice("chassis", &chassis, print_chassis);
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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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if (osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0) != osOK) {
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// 没有新命令，保持上次命令
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}
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if (osMessageQueueGet(task_runtime.msgq.chassis.imu, &chassis_imu, NULL, 0) == osOK) {
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chassis.feedback.imu = chassis_imu;
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}
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osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.yaw, NULL, 0);
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Chassis_UpdateFeedback(&chassis);
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Chassis_Control(&chassis, &chassis_cmd);
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osMessageQueueReset(task_runtime.msgq.chassis.vofa); // 重置消息队列，防止阻塞
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osMessageQueuePut(task_runtime.msgq.chassis.vofa, &chassis, 0, 0);
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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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} |