84 lines
2.9 KiB
C
84 lines
2.9 KiB
C
/*
|
||
chassis_control Task
|
||
一个底盘测试任务
|
||
*/
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include "task/user_task.h"
|
||
/* USER INCLUDE BEGIN */
|
||
#include "cmsis_os2.h"
|
||
#include "module/chassis.h"
|
||
#include "bsp/time.h"
|
||
//#include "component\cmd.h"
|
||
#include "device/dr16.h"
|
||
#include "component\ahrs.h"
|
||
/* USER INCLUDE END */
|
||
|
||
/* Private typedef ---------------------------------------------------------- */
|
||
/* Private define ----------------------------------------------------------- */
|
||
/* Private macro ------------------------------------------------------------ */
|
||
/* Private variables -------------------------------------------------------- */
|
||
/* USER STRUCT BEGIN */
|
||
static Chassis_t chassis; // 底盘控制对象
|
||
static ChassisCmd_t chassis_cmd; // 底盘控制指令
|
||
static Chassis_CAN_t chassis_can; // 底盘 CAN 通信对象
|
||
static AHRS_Eulr_t mech_zero; // 底盘初始机械零点
|
||
|
||
DR16_t dr16;
|
||
#define DR16_CH_VALUE_MID (1024u)
|
||
/* USER STRUCT END */
|
||
|
||
/* Private function --------------------------------------------------------- */
|
||
/* Exported functions ------------------------------------------------------- */
|
||
void Task_chassis_control(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() / CHASSIS_CONTROL_FREQ;
|
||
|
||
osDelay(CHASSIS_CONTROL_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 */
|
||
DR16_Init(&dr16);
|
||
//DR16_StartDmaRecv(&dr16);
|
||
// const Chassis_Params_t chassis_param;
|
||
// Chassis_Init(&chassis, &chassis_param, &mech_zero, (float)CHASSIS_CONTROL_FREQ);
|
||
/* USER CODE INIT END */
|
||
|
||
while (1) {
|
||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||
/* USER CODE BEGIN */
|
||
DR16_StartDmaRecv(&dr16);
|
||
if (DR16_WaitDmaCplt(20)) // timeout = 20ms
|
||
{
|
||
Chassis_UpdateFeedback(&chassis, &chassis_can);
|
||
// 构造底盘指令
|
||
chassis_cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
|
||
// 左摇杆控制前后、左右
|
||
chassis_cmd.ctrl_vec.vx = (dr16.data.ch_l_y - DR16_CH_VALUE_MID) * 0.002f; // 前后
|
||
chassis_cmd.ctrl_vec.vy = (dr16.data.ch_l_x - DR16_CH_VALUE_MID) * 0.002f; // 左右
|
||
// 右摇杆控制旋转
|
||
chassis_cmd.ctrl_vec.wz = (dr16.data.ch_r_x - DR16_CH_VALUE_MID) * 0.001f; // 旋转
|
||
// 控制计算
|
||
Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
|
||
// 输出电流到电机
|
||
Chassis_DumpOutput(&chassis, &chassis_can);
|
||
}
|
||
else {
|
||
DR16_Offline(&dr16);
|
||
}
|
||
// DR16_StartDmaRecv(&dr16);
|
||
// if (DR16_WaitDmaCplt(20)) {
|
||
// DR16_ParseData(&dr16);
|
||
// } else {
|
||
// DR16_Offline(&dr16);
|
||
// }
|
||
/* USER CODE END */
|
||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||
}
|
||
|
||
}
|
||
|