59 lines
1.9 KiB
C
59 lines
1.9 KiB
C
/*
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ai 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/fdcan.h"
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#include "module/config.h"
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#include "module/gimbal.h"
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#include "device/vision_bridge.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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AI_cmd_t cmd_ai;
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AI_t ai;
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Gimbal_AI_t ai_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_ai(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() / AI_FREQ;
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osDelay(AI_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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AI_Init(&ai, &Config_GetRobotParam()->ai_param);
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/* 注册CAN接收ID */
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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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AI_ParseCmdFromCan( &ai,&cmd_ai);
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if (cmd_ai.mode != 0){
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ai_for_gimbal.ctrl = true;
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} else {
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ai_for_gimbal.ctrl = false;
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}
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ai_for_gimbal.yaw = cmd_ai.gimbal.setpoint.yaw;
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ai_for_gimbal.pit = cmd_ai.gimbal.setpoint.pit;
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osMessageQueueReset(task_runtime.msgq.gimbal.ai_cmd);
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osMessageQueuePut(task_runtime.msgq.gimbal.ai_cmd, &ai_for_gimbal, 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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} |