65 lines
2.3 KiB
C
65 lines
2.3 KiB
C
/*
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chassis 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/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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Chassis_CMD_t cmd_chassis;
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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_chassis(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() / CHASSIS_FREQ;
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osDelay(CHASSIS_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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/*底盘初始化*/
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chassis_init(&chassis,&Config_GetRobotParam()->chassis,CHASSIS_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.imu.eulr, &chassis.pos088.imu_eulr, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.imu.gyro, &chassis.pos088.bmi088.gyro, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.gimbal.yaw6020,&chassis.motorfeedback.gimbal_yaw_encoder,NULL,0);
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/*接受cmd任务数据*/
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if(osMessageQueueGet(task_runtime.msgq.cmd.chassis, &cmd_chassis, NULL, 0)==osOK)
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{
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Chassis_update(&chassis);
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Chassis_Control(&chassis, &cmd_chassis);
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}else
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{
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// 如果没有收到命令，可以执行一个安全停止的逻辑
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// 或者什么都不做，让底盘保持上一帧的状态（取决于你的设计）
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// 一个安全的选择是让底盘停止
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Chassis_CMD_t safe_cmd = {.mode = STOP, .Vx = 0, .Vy = 0, .Vw = 0};
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Chassis_Control(&chassis, &safe_cmd);
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}
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Chassis_Setoutput(&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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} |