108 lines
4.0 KiB
C
108 lines
4.0 KiB
C
/*
|
||
gimbal Task
|
||
|
||
*/
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include "task/user_task.h"
|
||
/* USER INCLUDE BEGIN */
|
||
#include "module/gimbal.h"
|
||
#include "module/config.h"
|
||
#include "device/ai.h"
|
||
/* USER INCLUDE END */
|
||
|
||
/* Private typedef ---------------------------------------------------------- */
|
||
/* Private define ----------------------------------------------------------- */
|
||
/* Private macro ------------------------------------------------------------ */
|
||
/* Private variables -------------------------------------------------------- */
|
||
/* USER STRUCT BEGIN */
|
||
Gimbal_CMD_t cmd_gimbal; //cmd命令关于云台
|
||
Gimbal_IMU_t gimbal_imu;
|
||
Gimbal_t gimbal;
|
||
AI_result_t ai_gimbal_result_cmd; /*ai发送自瞄数据和 导航数据*/
|
||
|
||
Gimbal_CMD_t final_gimbal_cmd; //最终命令
|
||
Gimbal_RefereeUI_t gimbal_ui;
|
||
/* USER STRUCT END */
|
||
|
||
/* Private function --------------------------------------------------------- */
|
||
/* Exported functions ------------------------------------------------------- */
|
||
void Task_gimbal(void *argument) {
|
||
(void)argument; /* 未使用argument，消除警告 */
|
||
|
||
|
||
/* 计算任务运行到指定频率需要等待的tick数 */
|
||
const uint32_t delay_tick = osKernelGetTickFreq() / GIMBAL_FREQ;
|
||
|
||
osDelay(GIMBAL_INIT_DELAY); /* 延时一段时间再开启任务 */
|
||
|
||
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
||
/* USER CODE INIT BEGIN */
|
||
Gimbal_Init(&gimbal, &Config_GetRobotParam()->gimbal, GIMBAL_FREQ);
|
||
/* USER CODE INIT END */
|
||
|
||
while (1) {
|
||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||
/* USER CODE BEGIN */
|
||
osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu,NULL, 0);
|
||
Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
|
||
osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd,&ai_gimbal_result_cmd,NULL, 0);
|
||
/* ai指令 */
|
||
// if(osMessageQueueGet(task_runtime.msgq.gimbal.ai.g_cmd, &ai_gimbal_result_cmd, NULL, 0)==osOK){
|
||
// if(ai_gimbal_result_cmd.mode==0){
|
||
// final_gimbal_cmd.set_pitch =gimbal_imu.eulr.rol;
|
||
// final_gimbal_cmd.set_yaw=gimbal_imu.eulr.yaw;
|
||
// }
|
||
// if(ai_gimbal_cmd.mode==2){
|
||
// final_gimbal_cmd.set_pitch=ai_gimbal_cmd.gimbal_t.setpoint.pit;
|
||
// final_gimbal_cmd.set_yaw=ai_gimbal_cmd.gimbal_t.setpoint.yaw;
|
||
// }
|
||
// }
|
||
osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &cmd_gimbal, NULL, 0);
|
||
|
||
if (cmd_gimbal.ctrl_mode == GIMBAL_MODE_AI) {
|
||
if (ai_gimbal_result_cmd.mode == 0) {
|
||
/* AI无目标 */
|
||
cmd_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
|
||
/* 烧苗模式标志位判断 */
|
||
if (ai_gimbal_result_cmd.reserved & AI_GIMBAL_SEARCH ) {
|
||
cmd_gimbal.ctrl_mode = GIMBAL_MODE_SCAN; /* 有扫描：回退到扫描模式 */
|
||
} else {
|
||
cmd_gimbal.ctrl_mode = GIMBAL_MODE_REMOTE; /* 无扫描：保持当前姿态不动 */
|
||
}
|
||
} else {
|
||
/* AI有目标，填充自瞄数据 */
|
||
cmd_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
|
||
cmd_gimbal.ctrl_mode = GIMBAL_MODE_AI;
|
||
cmd_gimbal.set_pitch = ai_gimbal_result_cmd.gimbal_t.setpoint.pit;
|
||
cmd_gimbal.set_yaw = ai_gimbal_result_cmd.gimbal_t.setpoint.yaw;
|
||
cmd_gimbal.yaw_vel = ai_gimbal_result_cmd.gimbal_t.vel.yaw;
|
||
cmd_gimbal.yaw_accl = ai_gimbal_result_cmd.gimbal_t.accl.yaw;
|
||
cmd_gimbal.pit_vel = ai_gimbal_result_cmd.gimbal_t.vel.pit;
|
||
cmd_gimbal.pit_accl = ai_gimbal_result_cmd.gimbal_t.accl.pit;
|
||
}
|
||
}
|
||
|
||
Gimbal_UpdateFeedback(&gimbal);
|
||
|
||
|
||
|
||
osMessageQueueReset(task_runtime.msgq.gimbal.yaw4310);
|
||
/* 底盘跟随统一使用大YAW反馈，避免跟随锁到小YAW */
|
||
osMessageQueuePut(task_runtime.msgq.gimbal.yaw4310, &gimbal.feedback.motor.yaw_4310_motor_feedback, 0, 0);
|
||
|
||
osMessageQueueReset(task_runtime.msgq.gimbal.ai.feedback);
|
||
osMessageQueuePut(task_runtime.msgq.gimbal.ai.feedback, &gimbal.feedback, 0, 0);
|
||
|
||
|
||
Gimbal_Control(&gimbal, &cmd_gimbal);
|
||
Gimbal_Output(&gimbal);
|
||
|
||
Gimbal_DumpUI(&gimbal,&gimbal_ui);
|
||
|
||
/* USER CODE END */
|
||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||
}
|
||
|
||
}
|