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Xiaocheng 2025-12-27 20:49:31 +08:00
parent 3e82cee3e3
commit 7003dbed15
22 changed files with 295 additions and 132 deletions
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2
CMakeLists.txt
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@ -95,6 +95,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/task/rc.c
User/task/shoot.c
User/task/user_task.c
User/task/ai.c
User/task/Task8.c
)
# Add include paths

22
User/device/ai.c
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@ -1,15 +1,15 @@
#include "ai.h"
#include "bsp/uart.h"
#include "component/crc16.h"
#include "module/gimbal.h"
void ai_init(AI_t* ai){
ai->RX.head[0]="M";
ai->RX.head[0]="R";
ai->TX.head[0]="M";
ai->TX.head[0]="R";
}
// void ai_init(AI_t* ai){
// ai->RX.head[0]="M";
// ai->RX.head[0]="R";
// ai->TX.head[0]="M";
// ai->TX.head[0]="R";
// }
@ -49,10 +49,10 @@ int8_t AI_ParseHost(AI_t *ai,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat) {
ai->TX.yaw=motor->motor.yaw_4310_motor_feedback.rotor_abs_angle;
ai->TX.pitch_vel=motor->motor.pitch_4310_motor_feedback.rotor_speed;
ai->TX.yaw_vel=motor->motor.yaw_4310_motor_feedback.rotor_speed;
ai->TX.q[0]=quat->q1;
ai->TX.q[1]=quat->q2;
ai->TX.q[2]=quat->q3;
ai->TX.q[3]=quat->q0;
ai->TX.q[0]=motor->imu.quat.q1;
ai->TX.q[1]=motor->imu.quat.q2;
ai->TX.q[2]=motor->imu.quat.q3;
ai->TX.q[3]=motor->imu.quat.q0;
ai->TX.bullet_count=10;
ai->TX.bullet_speed=10;

13
User/device/ai.h
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@ -8,6 +8,7 @@ extern "C" {
/* Includes ----------------------------------------------------------------- */
#include "component\user_math.h"
#include "remote_control.h"
#include "module/gimbal.h"
struct __attribute__((packed)) GimbalToVision
{
@ -63,6 +64,18 @@ typedef struct __attribute__((packed)) {
struct GimbalToVision TX;
struct VisionToGimbal RX;
}AI_t;
int8_t AI_StartReceiving(AI_t *ai) ;
int8_t AI_Get_NUC(AI_t * ai,AI_cmd_t* ai_cmd) ;
int8_t AI_ParseHost(AI_t * ai,Gimbal_feedback_t* motor,AHRS_Quaternion_t* quat) ;
int8_t AI_StartSend(AI_t *ai) ;
#ifdef __cplusplus
}
#endif

2
User/device/remote_control.c
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@ -212,7 +212,7 @@ int8_t REMOTE_ParseRC(DR16_t *dr16, CMD_RC_t *rc,ET16s_raw_t *et16s) {
// rc->ET16s.knob_left = ET16s->sw[7]; //200 330 479 629 778 928 1075 1224 1373 1522 1670 1800
// /*离线处理，和dr16位置不同*/
if(et16s->sw[3]==1695)
if(et16s->sw[6]==1695)
{
ET16s_HandleOffline(et16s,rc);
// memset(cbuf, 0, sizeof(cbuf)); //有时候会出现消息数组错位，所以直接清空，在离线和指定按键不对的情况下，原数据不可信

4
User/module/chassis.c
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@ -129,7 +129,7 @@ int8_t chassis_init(Chassis_t *c, Chassis_Param_t *param, float target_freq)
// 舵轮安装时的6020机械误差，机械校准时1号轮在左前方，所有轮的编码器朝向右面
MotorOffset_t motor_offset = {{3.67848611 / M_PI * 180.0f, 2.61390328 / M_PI * 180.0f,
4.71852493 / M_PI * 180.0f, 2.62694216 / M_PI * 180.0f}}; // 右右右右
2.11075759 / M_PI * 180.0f, 2.62694216 / M_PI * 180.0f}}; // 右右右右
c->motoroffset = motor_offset;
/*对3508的速度环和6020的角速度以及位置环pid进行初始化*/
@ -416,7 +416,7 @@ int8_t Chassis_Control(Chassis_t *c, Chassis_CMD_t *c_cmd,uint32_t now)
for (int i = 0; i < 4; i++)
{
float chassis6020_detangle[4]; // 6020解算出的角度
float chassis6020_detangle[4]; // 6020解算出的角度
c->hopemotorout.motor6020_target[i] = c->hopemotorout.rotor6020_jiesuan_2[i];
chassis6020_detangle[i] = PID_Calc(&(c->pid.chassis_6020anglePid[i]), c->hopemotorout.motor6020_target[i],
c->motorfeedback.rotor_angle6020[i], 0.0f, c->dt);

6
User/module/cmd.c
View File

@ -177,15 +177,21 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
{
case CMD_SW_UP:
s_cmd->firecmd = false;
s_cmd->ready = false;
break;
case CMD_SW_MID:
s_cmd->firecmd = false;
s_cmd->ready = true;
break;
case CMD_SW_DOWN:
s_cmd->firecmd = true;
s_cmd->ready = true;
break;
case CMD_SW_ERR:
s_cmd->firecmd = false;
s_cmd->ready = false;
break;
}
}

26
User/module/config.c
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@ -213,16 +213,16 @@ static const Config_Param_t config = {
},
.shoot = {
.motor.fric[0] = {BSP_CAN_2, 0x205, MOTOR_M3508, false, false},
.motor.fric[1] = {BSP_CAN_2, 0x206, MOTOR_M3508, false, false},
.motor.trig = {BSP_CAN_2, 0x207, MOTOR_M2006, false, true},
.motor.fric[0] = {{BSP_CAN_2, 0x201, MOTOR_M3508, false, false},.level=1},
.motor.fric[1] = {{BSP_CAN_2, 0x202, MOTOR_M3508, true, false},.level=1},
.motor.trig = {BSP_CAN_2, 0x203, MOTOR_M2006, false, true},
.basic.projectileType = SHOOT_PROJECTILE_17MM,
.basic.fric_num = 2,
.basic.ratio_multilevel = {1.0f, 1.0f},
.basic.extra_deceleration_ratio = 1,
.basic.ratio_multilevel[0] = 1.0f,
.basic.num_trig_tooth = 8,
.basic.shot_freq = 1.0f,
.basic.shot_freq = 20.0f,
.basic.shot_burst_num = 5,
.jamDetection.enable = true,
@ -253,20 +253,20 @@ static const Config_Param_t config = {
},
.trig_2006={
.k=2.5f,
.p=1.0f,
.i=0.1f,
.d=0.04f,
.i_limit=0.4f,
.k=0.5f,
.p=0.5f,
.i=0.5f,
.d=0.05f,
.i_limit=0.2f,
.out_limit=1.0f,
.d_cutoff_freq=-1.0f,
.range=M_2PI,
},
.trig_omg_2006={
.k=1.0f,
.p=1.5f,
.i=0.3f,
.k=3.0f,
.p=2.0f,
.i=0.2f,
.d=0.5f,
.i_limit=0.2f,
.out_limit=1.0f,

8
User/module/gimbal.c
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@ -245,8 +245,8 @@ const float delta_min_6020 = CircleError(g->limit.yaw_6020.min,
if(delta_yaw_6020 > delta_max_6020) delta_yaw_6020 = delta_max_6020;
if(delta_yaw_6020 < delta_min_6020) delta_yaw_6020 = delta_min_6020;
}
// CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw_6020, M_2PI);
g->setpoint.eulr.yaw = g->setpoint.NUC_Yaw;
CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw_6020, M_2PI);
// g->setpoint.eulr.yaw = g->setpoint.NUC_Yaw;
/*处理大yaw控制命令，软件限位 - 使用电机绝对角度*/
/*获得小YAW的中点位置，如果小YAW大于中点的一定范围，大YAW开始运动，
@ -280,8 +280,8 @@ if(g->param->travel.pitch_4310 > 0) // 有限位才处理
if (delta_pitch_4310 > delta_max_pitch) delta_pitch_4310 = delta_max_pitch;
if (delta_pitch_4310 < delta_min_pitch) delta_pitch_4310 = delta_min_pitch;
}
// CircleAdd(&(g->setpoint.eulr.pit), delta_pitch_4310, M_2PI);
g->setpoint.eulr.pit = g->setpoint.NUC_Pitch;
CircleAdd(&(g->setpoint.eulr.pit), delta_pitch_4310, M_2PI);
// g->setpoint.eulr.pit = g->setpoint.NUC_Pitch;
/* 控制相关逻辑 */
float yaw_omega_set_point, pitch_omega_set_point,yaw_6020_omega_set_point;

6
User/module/shoot.c
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@ -42,12 +42,10 @@ void Task(void *argument) {
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
#define MAX_FRIC_RPM 7000.0f
#define MAX_TRIG_RPM 1500.0f//这里可能也会影响最高发射频率，待测试
#define MAX_TRIG_RPM 6000.0f//这里可能也会影响最高发射频率，待测试
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
static bool last_firecmd;
float maxTrigrpm=4000.0f;
/* Private function -------------------------------------------------------- */
/**
@ -286,7 +284,7 @@ int8_t Shoot_UpdateFeedback(Shoot_t *s)
s->var_trig.trig_agl = M_2PI - s->var_trig.trig_agl;
}
s->var_trig.fil_trig_rpm = LowPassFilter2p_Apply(&s->filter.trig.in, s->feedback.trig.feedback.rotor_speed);
s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / maxTrigrpm;
s->var_trig.trig_rpm = s->feedback.trig.feedback.rotor_speed / MAX_TRIG_RPM;
if(s->var_trig.trig_rpm>1.0f)s->var_trig.trig_rpm=1.0f;
if(s->var_trig.trig_rpm<-1.0f)s->var_trig.trig_rpm=-1.0f;

4
User/module/shoot.h
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@ -14,8 +14,8 @@ extern "C" {
#include "device/motor_rm.h"
#include "module/cmd.h"
/* Exported constants ------------------------------------------------------- */
#define MAX_FRIC_NUM 6
#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */
#define MAX_FRIC_NUM 2
#define MAX_NUM_MULTILEVEL 1 /* 多级发射级数 */
#define SHOOT_OK (0) /* 运行正常 */
#define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */

44
User/task/Task8.c Normal file
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@ -0,0 +1,44 @@
/*
Task8 Task
*/
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_Task8(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() / TASK8_FREQ;
osDelay(TASK8_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 */
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}

56
User/task/ai.c Normal file
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@ -0,0 +1,56 @@
/*
ai Task
*/
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/ai.h"
#include "module/gimbal.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
AI_t ai;
AI_cmd_t ai_cmd;
AHRS_Quaternion_t quat;
Gimbal_feedback_t gimbal_motor;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_ai(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() / AI_FREQ;
osDelay(AI_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 */
/* 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.ai.quat, &quat, NULL, 0);
osMessageQueueGet(task_runtime.msgq.gimbal.ai.feedback, &gimbal_motor, NULL, 0);
AI_ParseHost(&ai,&gimbal_motor,&quat);
AI_StartSend(&ai);
AI_StartReceiving(&ai);
AI_Get_NUC(&ai,&ai_cmd);
osMessageQueueReset(task_runtime.msgq.gimbal.ai.g_cmd);
osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_cmd, 0, 0);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}

5
User/task/atti_esti.c
View File

@ -1,9 +1,6 @@
/*
atti_esti Task
任务一用来进行c板自带的陀螺仪bmi088的数据采集和姿态解算，同时对陀螺仪进行温控
控制IMU加热到指定温度防止温漂，收集IMU数据给AHRS算法。
收集BMI088的数据，解算后得到四元数，转换为欧拉角之后放到消息队列中，
等待其他任务取用。
*/
/* Includes ----------------------------------------------------------------- */

2
User/task/chassis.c
View File

@ -53,7 +53,7 @@ chassis_init(&chassis,&Config_GetRobotParam()->chassis,CHASSIS_FREQ);
Chassis_CMD_t safe_cmd = {.mode = STOP, .Vx = 0, .Vy = 0, .Vw = 0};
Chassis_Control(&chassis, &safe_cmd,tick);
}
// Chassis_Setoutput(&chassis);
Chassis_Setoutput(&chassis);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}

1
User/task/cmd.c
View File

@ -4,7 +4,6 @@
*/
/* Includes ----------------------------------------------------------------- */
#include "cmsis_os2.h"
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "module/cmd.h"

14
User/task/config.yaml
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@ -40,3 +40,17 @@
function: Task_shoot
name: shoot
stack: 256
- delay: 0
description: ''
freq_control: true
frequency: 250.0
function: Task_ai
name: ai
stack: 256
- delay: 0
description: ''
freq_control: true
frequency: 500.0
function: Task_Task8
name: Task8
stack: 256

2
User/task/gimbal.c
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@ -48,6 +48,8 @@ Gimbal_UpdateFeedback(&gimbal);
osMessageQueueReset(task_runtime.msgq.gimbal.yaw6020);
osMessageQueuePut(task_runtime.msgq.gimbal.yaw6020, &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);

10
User/task/init.c
View File

@ -36,11 +36,13 @@ void Task_Init(void *argument) {
task_runtime.thread.chassis = osThreadNew(Task_chassis, NULL, &attr_chassis);
task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
task_runtime.thread.gimbal = osThreadNew(Task_gimbal, NULL, &attr_gimbal);
// task_runtime.thread.shoot = osThreadNew(Task_shoot, NULL, &attr_shoot);
task_runtime.thread.shoot = osThreadNew(Task_shoot, NULL, &attr_shoot);
task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
task_runtime.thread.Task8 = osThreadNew(Task_Task8, NULL, &attr_Task8);
// 创建消息队列
/* USER MESSAGE BEGIN */
task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
task_runtime.msgq.user_msg= osMessageQueueNew(2u, 15, NULL);
task_runtime.msgq.cmd.raw.rc = osMessageQueueNew(2u, sizeof(CMD_RC_t), NULL);
task_runtime.msgq.chassis.cmd = osMessageQueueNew(2u, sizeof(Chassis_CMD_t), NULL);
task_runtime.msgq.imu.eulr = osMessageQueueNew(2u, sizeof(AHRS_Eulr_t), NULL);
@ -50,7 +52,9 @@ void Task_Init(void *argument) {
task_runtime.msgq.gimbal.cmd = osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
task_runtime.msgq.gimbal.yaw6020 = osMessageQueueNew(2u, sizeof(MOTOR_Feedback_t), NULL);
task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t),NULL);
task_runtime.msgq.gimbal.ai = osMessageQueueNew(2u, sizeof(AI_t),NULL);
task_runtime.msgq.gimbal.ai.feedback = osMessageQueueNew(2u, sizeof(Gimbal_feedback_t),NULL);
task_runtime.msgq.gimbal.ai.g_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
/* USER MESSAGE END */
osKernelUnlock(); // 解锁内核

14
User/task/shoot.c
View File

@ -1,4 +1,3 @@
/*
shoot Task
@ -26,7 +25,7 @@ Shoot_CMD_t shoot_cmd;
void Task_shoot(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() / SHOOT_FREQ;
@ -35,7 +34,7 @@ void Task_shoot(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ);
Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
/* USER CODE INIT END */
@ -43,9 +42,12 @@ Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ);
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
// Shoot_UpdateFeedback(&shoot);
// Shoot_SetMode(&shoot,shoot_cmd.mode);
// Shoot_Control(&shoot,&shoot_cmd);
Shoot_UpdateFeedback(&shoot);
Shoot_SetMode(&shoot,shoot_cmd.mode);
Shoot_Control(&shoot,&shoot_cmd);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

1
User/task/tempCodeRunnerFile.c Normal file
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@ -0,0 +1 @@
feedback

16
User/task/user_task.c
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@ -17,17 +17,17 @@ const osThreadAttr_t attr_atti_esti = {
const osThreadAttr_t attr_rc = {
.name = "rc",
.priority = osPriorityNormal,
.stack_size = 512 * 4,
.stack_size = 256 * 4,
};
const osThreadAttr_t attr_chassis = {
.name = "chassis",
.priority = osPriorityNormal,
.stack_size = 512 * 4,
.stack_size = 256 * 4,
};
const osThreadAttr_t attr_cmd = {
.name = "cmd",
.priority = osPriorityNormal,
.stack_size = 512 * 4,
.stack_size = 256 * 4,
};
const osThreadAttr_t attr_gimbal = {
.name = "gimbal",
@ -38,4 +38,14 @@ const osThreadAttr_t attr_shoot = {
.name = "shoot",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
};
const osThreadAttr_t attr_ai = {
.name = "ai",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
};
const osThreadAttr_t attr_Task8 = {
.name = "Task8",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
};

169
User/task/user_task.h
View File

@ -1,8 +1,7 @@
#pragma once
#ifdef __cplusplus
extern "C"
{
extern "C" {
#endif
/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
@ -20,6 +19,8 @@ extern "C"
#define CMD_FREQ (500.0)
#define GIMBAL_FREQ (500.0)
#define SHOOT_FREQ (500.0)
#define AI_FREQ (250.0)
#define TASK8_FREQ (500.0)
/* 任务初始化延时ms */
#define TASK_INIT_DELAY (100u)
@ -29,26 +30,28 @@ extern "C"
#define CMD_INIT_DELAY (0)
#define GIMBAL_INIT_DELAY (0)
#define SHOOT_INIT_DELAY (0)
#define AI_INIT_DELAY (0)
#define TASK8_INIT_DELAY (0)
/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
/* Exported types ----------------------------------------------------------- */
/* 任务运行时结构体 */
typedef struct
{
/* 各任务，也可以叫做线程 */
struct
{
osThreadId_t atti_esti;
osThreadId_t rc;
osThreadId_t chassis;
osThreadId_t cmd;
osThreadId_t gimbal;
osThreadId_t shoot;
} thread;
/* 任务运行时结构体 */
typedef struct {
/* 各任务，也可以叫做线程 */
struct {
osThreadId_t atti_esti;
osThreadId_t rc;
osThreadId_t chassis;
osThreadId_t cmd;
osThreadId_t gimbal;
osThreadId_t shoot;
osThreadId_t ai;
osThreadId_t Task8;
} thread;
/* USER MESSAGE BEGIN */
/* USER MESSAGE BEGIN */
struct
{
osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
@ -84,7 +87,12 @@ extern "C"
osMessageQueueId_t imu;
osMessageQueueId_t cmd;
osMessageQueueId_t yaw6020; /* 新增的 yaw_6020 消息队列 主要是给底盘传6020位置的反馈*/
osMessageQueueId_t ai; /* 新增的 ai 消息队列 主要是给自瞄*/
struct{
osMessageQueueId_t quat;
osMessageQueueId_t feedback;
osMessageQueueId_t g_cmd;
}ai;
/* 新增的 ai 消息队列 主要是给自瞄*/
} gimbal;
struct
@ -95,72 +103,79 @@ extern "C"
} msgq;
/* USER MESSAGE END */
/* 机器人状态 */
struct
{
float battery; /* 电池电量百分比 */
float vbat; /* 电池电压 */
float cpu_temp; /* CPU温度 */
} status;
/* 机器人状态 */
struct {
float battery; /* 电池电量百分比 */
float vbat; /* 电池电压 */
float cpu_temp; /* CPU温度 */
} status;
/* USER CONFIG BEGIN */
/* USER CONFIG BEGIN */
Config_t config;
/* USER CONFIG END */
/* 各任务的stack使用 */
struct
{
UBaseType_t atti_esti;
UBaseType_t rc;
UBaseType_t chassis;
UBaseType_t cmd;
UBaseType_t gimbal;
UBaseType_t shoot;
} stack_water_mark;
/* 各任务的stack使用 */
struct {
UBaseType_t atti_esti;
UBaseType_t rc;
UBaseType_t chassis;
UBaseType_t cmd;
UBaseType_t gimbal;
UBaseType_t shoot;
UBaseType_t ai;
UBaseType_t Task8;
} stack_water_mark;
/* 各任务运行频率 */
struct
{
float atti_esti;
float rc;
float chassis;
float cmd;
float gimbal;
float shoot;
} freq;
/* 各任务运行频率 */
struct {
float atti_esti;
float rc;
float chassis;
float cmd;
float gimbal;
float shoot;
float ai;
float Task8;
} freq;
/* 任务最近运行时间 */
struct
{
float atti_esti;
float rc;
float chassis;
float cmd;
float gimbal;
float shoot;
} last_up_time;
} Task_Runtime_t;
/* 任务最近运行时间 */
struct {
float atti_esti;
float rc;
float chassis;
float cmd;
float gimbal;
float shoot;
float ai;
float Task8;
} last_up_time;
/* 任务运行时结构体 */
extern Task_Runtime_t task_runtime;
} Task_Runtime_t;
/* 初始化任务句柄 */
extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_atti_esti;
extern const osThreadAttr_t attr_rc;
extern const osThreadAttr_t attr_chassis;
extern const osThreadAttr_t attr_cmd;
extern const osThreadAttr_t attr_gimbal;
extern const osThreadAttr_t attr_shoot;
/* 任务运行时结构体 */
extern Task_Runtime_t task_runtime;
/* 任务函数声明 */
void Task_Init(void *argument);
void Task_atti_esti(void *argument);
void Task_rc(void *argument);
void Task_chassis(void *argument);
void Task_cmd(void *argument);
void Task_gimbal(void *argument);
void Task_shoot(void *argument);
/* 初始化任务句柄 */
extern const osThreadAttr_t attr_init;
extern const osThreadAttr_t attr_atti_esti;
extern const osThreadAttr_t attr_rc;
extern const osThreadAttr_t attr_chassis;
extern const osThreadAttr_t attr_cmd;
extern const osThreadAttr_t attr_gimbal;
extern const osThreadAttr_t attr_shoot;
extern const osThreadAttr_t attr_ai;
extern const osThreadAttr_t attr_Task8;
/* 任务函数声明 */
void Task_Init(void *argument);
void Task_atti_esti(void *argument);
void Task_rc(void *argument);
void Task_chassis(void *argument);
void Task_cmd(void *argument);
void Task_gimbal(void *argument);
void Task_shoot(void *argument);
void Task_ai(void *argument);
void Task_Task8(void *argument);
#ifdef __cplusplus
}