185 lines
6.5 KiB
C
185 lines
6.5 KiB
C
/*
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rc 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/dr16.h"
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#include "module/shoot.h"
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#include "module/balance_chassis.h"
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#include "module/gimbal.h"
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#include "component/user_math.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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DR16_t dr16;
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Shoot_CMD_t for_shoot;
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Chassis_CMD_t cmd_for_chassis;
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Gimbal_CMD_t cmd_for_gimbal;
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_rc(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() / RC_FREQ;
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osDelay(RC_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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DR16_Init(&dr16);
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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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DR16_StartDmaRecv(&dr16);
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if (DR16_WaitDmaCplt(20)) {
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DR16_ParseData(&dr16);
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} else {
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DR16_Offline(&dr16);
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}
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// switch (dr16.data.sw_l) {
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// case DR16_SW_UP:
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// cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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// break;
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// case DR16_SW_MID:
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// // cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
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// cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
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// break;
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// case DR16_SW_DOWN:
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// // cmd_for_chassis.mode = CHASSIS_MODE_ROTOR;
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// // cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
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// cmd_for_chassis.mode = CHASSIS_MODE_JUMP;
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// break;
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// default:
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// cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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// break;
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// }
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// cmd_for_chassis.move_vec.vx = dr16.data.ch_l_y;
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// cmd_for_chassis.move_vec.vy = dr16.data.ch_l_x;
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// cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x;
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// cmd_for_chassis.height = dr16.data.ch_res;
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// osMessageQueueReset(
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// task_runtime.msgq.chassis.cmd); // 重置消息队列，防止阻塞
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// osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0,
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// 0); // 非阻塞发送底盘控制命令
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/************************* 云台命令 **************************************/
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switch (dr16.data.sw_l) {
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case DR16_SW_UP:
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cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
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cmd_for_gimbal.delta_yaw = 0.0f;
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cmd_for_gimbal.delta_pit = 0.0f;
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break;
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case DR16_SW_MID:
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if (dr16.data.sw_r == DR16_SW_UP || dr16.data.sw_r == DR16_SW_ERR) {
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cmd_for_gimbal.mode = GIMBAL_MODE_RELATIVE;
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} else {
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cmd_for_gimbal.mode = GIMBAL_MODE_AI_CONTROL;
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}
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cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
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cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
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break;
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case DR16_SW_DOWN:
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if (dr16.data.sw_r == DR16_SW_UP || dr16.data.sw_r == DR16_SW_ERR) {
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cmd_for_gimbal.mode = GIMBAL_MODE_RELATIVE;
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} else {
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cmd_for_gimbal.mode = GIMBAL_MODE_AI_CONTROL;
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}
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cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
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cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
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break;
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default:
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cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
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cmd_for_gimbal.delta_yaw = 0.0f;
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cmd_for_gimbal.delta_pit = 0.0f;
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break;
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}
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osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
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osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0);
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/************************* 底盘命令 **************************************/
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/* 跳跃触发检测：ch_res 从 -1.0f 松开回 0 时触发 */
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static bool ch_res_was_min = false; /* 记录上次是否在最低位置 */
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const float CH_RES_MIN_THRESHOLD = -0.9f; /* 判定为最低位置的阈值 */
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const float CH_RES_RELEASE_THRESHOLD = -0.3f; /* 判定为松开的阈值 */
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cmd_for_chassis.jump_trigger = false; /* 默认不触发 */
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if (dr16.data.ch_res < CH_RES_MIN_THRESHOLD) {
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ch_res_was_min = true; /* 记录已到达最低位置 */
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} else if (ch_res_was_min && dr16.data.ch_res > CH_RES_RELEASE_THRESHOLD) {
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/* 从最低位置松开，触发跳跃 */
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cmd_for_chassis.jump_trigger = true;
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ch_res_was_min = false; /* 重置状态 */
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}
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switch (dr16.data.sw_l) {
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case DR16_SW_UP:
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cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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break;
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case DR16_SW_MID:
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cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
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// cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
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break;
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case DR16_SW_DOWN:
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// cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
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// cmd_for_chassis.mode = CHASSIS_MODE_ROTOR;
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cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
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// cmd_for_chassis.mode = CHASSIS_MODE_CALIBRATE;
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break;
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default:
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cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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break;
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}
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cmd_for_chassis.move_vec.vx = dr16.data.ch_l_y;
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cmd_for_chassis.move_vec.vy = dr16.data.ch_l_x;
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cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x;
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cmd_for_chassis.height = max(dr16.data.ch_res, 0.0f);
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osMessageQueueReset(
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task_runtime.msgq.chassis.cmd); // 重置消息队列，防止阻塞
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osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 0,
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0); // 非阻塞发送底盘控制命令
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/************************* 发射命令 **************************************/
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for_shoot.online = dr16.header.online;
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switch (dr16.data.sw_r) {
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case DR16_SW_UP:
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for_shoot.ready = false;
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for_shoot.firecmd = false;
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break;
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case DR16_SW_MID:
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for_shoot.ready = true;
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for_shoot.firecmd = false;
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break;
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case DR16_SW_DOWN:
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for_shoot.ready = true;
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for_shoot.firecmd = true;
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break;
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default:
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for_shoot.ready = false;
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for_shoot.firecmd = false;
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break;
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}
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osMessageQueueReset(task_runtime.msgq.shoot.shoot_cmd);
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osMessageQueuePut(task_runtime.msgq.shoot.shoot_cmd, &for_shoot, 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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} |