88 lines
3.2 KiB
C
88 lines
3.2 KiB
C
/*
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ctrl_shoot 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/mrobot.h"
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#include "module/shoot.h"
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#include "module/config.h"
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#include "device/referee_proto_types.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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Shoot_t shoot;
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Shoot_CMD_t shoot_cmd;
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Referee_ForShoot_t shoot_ref;
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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 发射模块数据打印回调
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*/
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static int print_shoot(const void *data, char *buf, size_t size) {
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const Shoot_t *shoot = (const Shoot_t *)data;
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return MRobot_Snprintf(buf, size,
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" State : %d\r\n"
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" Fric0 : %.1f rpm (target: %.1f)\r\n"
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" Fric1 : %.1f rpm (target: %.1f)\r\n"
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" Fric_Avg : %.1f rpm\r\n"
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" Trig : %.1f rpm (angle: %.2f deg)\r\n"
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" Output : Fric0=%.1f Fric1=%.1f Trig=%.1f\r\n",
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shoot->running_state,
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shoot->feedback.fric[0].rotor_speed, shoot->target_variable.fric_rpm,
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shoot->feedback.fric[1].rotor_speed, shoot->target_variable.fric_rpm,
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shoot->var_fric.normalized_fil_avgrpm,
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shoot->feedback.trig.feedback.rotor_speed, shoot->feedback.trig.feedback.rotor_abs_angle,
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shoot->output.out_fric[0], shoot->output.out_fric[1], shoot->output.outagl_trig);
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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_shoot(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_SHOOT_FREQ;
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osDelay(CTRL_SHOOT_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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Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,CTRL_SHOOT_FREQ);
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MRobot_RegisterDevice("shoot", &shoot, print_shoot);
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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.shoot.cmd, &shoot_cmd, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.shoot.ref, &shoot_ref, NULL, 0);
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if (shoot_ref.ref_status == REF_STATUS_RUNNING) {
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shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit;
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shoot.heatcontrol.Hcd = (float)shoot_ref.robot_status.shooter_barrel_cooling_value;
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shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat;
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shoot.heatcontrol.Hgen = 100.0f; /* 42mm弹丸每发产生热量 */
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}
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Shoot_UpdateFeedback(&shoot);
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Shoot_SetMode(&shoot,shoot_cmd.mode);
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Shoot_Control(&shoot,&shoot_cmd);
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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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} |