107 lines
4.0 KiB
C
107 lines
4.0 KiB
C
/*
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gimbal 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 "module/gimbal.h"
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#include "module/config.h"
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#include "device/ai.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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Gimbal_CMD_t cmd_gimbal; //cmd命令关于云台
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Gimbal_IMU_t gimbal_imu;
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Gimbal_t gimbal;
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AI_result_t ai_gimbal_result_cmd; /*ai发送自瞄数据和 导航数据*/
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Gimbal_CMD_t final_gimbal_cmd; //最终命令
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Gimbal_RefereeUI_t gimbal_ui;
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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_gimbal(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() / GIMBAL_FREQ;
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osDelay(GIMBAL_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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Gimbal_Init(&gimbal, &Config_GetRobotParam()->gimbal, GIMBAL_FREQ);
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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.gimbal.imu, &gimbal_imu,NULL, 0);
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Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
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osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd,&ai_gimbal_result_cmd,NULL, 0);
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/* ai指令 */
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// if(osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd, &ai_gimbal_result_cmd, NULL, 0)==osOK){
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// if(ai_gimbal_result_cmd.mode==0){
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// final_gimbal_cmd.set_pitch =gimbal_imu.eulr.rol;
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// final_gimbal_cmd.set_yaw=gimbal_imu.eulr.yaw;
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// }
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// if(ai_gimbal_cmd.mode==2){
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// final_gimbal_cmd.set_pitch=ai_gimbal_cmd.gimbal_t.setpoint.pit;
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// final_gimbal_cmd.set_yaw=ai_gimbal_cmd.gimbal_t.setpoint.yaw;
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// }
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// }
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osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &cmd_gimbal, NULL, 0);
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if (cmd_gimbal.ctrl_mode == GIMBAL_MODE_AI) {
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if (ai_gimbal_result_cmd.mode == 0) {
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/* AI无目标 */
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cmd_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
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if (ai_gimbal_result_cmd.reserved ) {
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cmd_gimbal.ctrl_mode = GIMBAL_MODE_SCAN; /* 有扫描：回退到扫描模式 */
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} else {
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cmd_gimbal.ctrl_mode = GIMBAL_MODE_REMOTE; /* 无扫描：保持当前姿态不动 */
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}
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} else {
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/* AI有目标，填充自瞄数据 */
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cmd_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
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cmd_gimbal.ctrl_mode = GIMBAL_MODE_AI;
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cmd_gimbal.set_pitch = ai_gimbal_result_cmd.gimbal_t.setpoint.pit;
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cmd_gimbal.set_yaw = ai_gimbal_result_cmd.gimbal_t.setpoint.yaw;
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cmd_gimbal.yaw_vel = ai_gimbal_result_cmd.gimbal_t.vel.yaw;
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cmd_gimbal.yaw_accl = ai_gimbal_result_cmd.gimbal_t.accl.yaw;
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cmd_gimbal.pit_vel = ai_gimbal_result_cmd.gimbal_t.vel.pit;
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cmd_gimbal.pit_accl = ai_gimbal_result_cmd.gimbal_t.accl.pit;
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}
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}
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Gimbal_UpdateFeedback(&gimbal);
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Gimbal_DumpUI(&gimbal,&gimbal_ui);
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osMessageQueueReset(task_runtime.msgq.gimbal.yaw4310);
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/* 底盘跟随统一使用大YAW反馈，避免跟随锁到小YAW */
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osMessageQueuePut(task_runtime.msgq.gimbal.yaw4310, &gimbal.feedback.motor.yaw_4310_motor_feedback, 0, 0);
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osMessageQueueReset(task_runtime.msgq.gimbal.ai.feedback);
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osMessageQueuePut(task_runtime.msgq.gimbal.ai.feedback, &gimbal.feedback, 0, 0);
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Gimbal_Control(&gimbal, &cmd_gimbal);
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Gimbal_Output(&gimbal);
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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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}
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