77 lines
2.9 KiB
C
77 lines
2.9 KiB
C
/*
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super_cap 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 "device/supercap.h"
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#include "device/referee.h"
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#include "module/cap.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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float power_limit = 120;
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bool cap_online;
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CAN_SuperCapTXDataTypeDef SuperCap_CanTX;
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Referee_ForCap_t referee_cap;
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Cap_RefereeUI_t cap_ui;
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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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/* USER PRIVATE CODE END */
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/* Exported functions ------------------------------------------------------- */
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void Task_cap(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() / CAP_FREQ;
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osDelay(CAP_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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SuperCap_Init();
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SuperCap_CanTX.Enable = 1 ; //超级电容使能。1使能，0失能
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SuperCap_CanTX.Charge = 0 ; //此标志位无效，超电的充放电是自动的
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SuperCap_CanTX.Powerlimit = 120 ; //裁判系统功率限制
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SuperCap_CanTX.ChargePower = 1 ; //此参数无效，超电的充电功率随着底盘功率变化
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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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//osMessageQueueGet(task_runtime.msgq.referee.ui.tocap, , NULL, 0);
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cap_online = get_supercap_online_state();
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// osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
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/* 根据裁判系统数据计算输出功率 */
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SuperCap_CanTX.Powerlimit = power_limit;
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Cap_Control(&CAN_SuperCapRXData, &referee_cap);
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SuperCap_Update();
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CAN_TX_SuperCapData(&SuperCap_CanTX);
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// osKernelUnlock();
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/* 将电容状态发送到Chassis */
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// osMessageQueueReset(task_runtime.msgq.cap.for_chassis);
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// osMessageQueuePut(task_runtime.msgq.cap.for_chassis, &CAN_SuperCapRXData, 0, 0);
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osMessageQueueReset(task_runtime.msgq.cap.power_limit);
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osMessageQueuePut(task_runtime.msgq.cap.power_limit, &power_limit, 0, 0);
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/* 超电UI */
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Cap_DumpUI(&CAN_SuperCapRXData,&cap_ui);
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osMessageQueueReset(task_runtime.msgq.referee.ui.tocap);
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osMessageQueuePut(task_runtime.msgq.referee.ui.tocap, &cap_ui, 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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} |