80 lines
2.8 KiB
C
80 lines
2.8 KiB
C
/*
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test 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/dr16.h"
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#include "cmsis_os2.h"
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#include "module/chassis.h"
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#include "module/config.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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Chassis_t chassis;
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ChassisCmd_t chassis_cmd; // 控制命令
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Chassis_IMU_t chassis_imu;
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Chassis_Feedback_t chassis_fb; // 反馈的底盘状态
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static AHRS_Eulr_t mech_zero = {0}; // 机械零位（初始 yaw）
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#define DR16_CH_VALUE_MID (1024u)
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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_test(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() / TEST_FREQ;
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osDelay(TEST_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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Config_RobotParam_t *cfg = Config_GetRobotParam();
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Chassis_Init(&chassis, &Config_GetRobotParam()->chassis_param, &mech_zero, TEST_FREQ);
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bool mech_zero_locked = false; // 首次 IMU 到来后只锁一次
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// 默认命令：安全状态
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chassis_cmd.mode = CHASSIS_MODE_RELAX;
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chassis_cmd.ctrl_vec.vx = 0.0f;
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chassis_cmd.ctrl_vec.vy = 0.0f;
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chassis_cmd.ctrl_vec.wz = 0.0f;
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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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if (osMessageQueueGet(task_runtime.msgq.Chassis_imu, &chassis_imu, NULL, 0) == osOK) {
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chassis_fb.imu = chassis_imu;
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chassis.feedback.imu = chassis_imu;
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if (!mech_zero_locked) {
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mech_zero.yaw = chassis_imu.eulr.yaw; // 只在需要“上电即定零”时保留
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mech_zero_locked = true;
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}
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}
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if(osMessageQueueGet(task_runtime.msgq.Chassis_cmd, &chassis_cmd, NULL, 0) == osOK) {
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}
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Chassis_UpdateFeedback(&chassis, &chassis_fb);
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// 构造底盘指令
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// chassis_cmd.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
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// 控制计算
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Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
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// 输出电流到电机
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Chassis_Output(&chassis);
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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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} |