155 lines
4.3 KiB
C
155 lines
4.3 KiB
C
#pragma once
|
|
|
|
#ifdef __cplusplus
|
|
extern "C"
|
|
{
|
|
#endif
|
|
/* Includes ----------------------------------------------------------------- */
|
|
#include <cmsis_os2.h>
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
|
|
/* USER INCLUDE BEGIN */
|
|
#include "module/config.h"
|
|
/* USER INCLUDE END */
|
|
/* Exported constants ------------------------------------------------------- */
|
|
/* 任务运行频率 */
|
|
#define ATTI_ESTI_FREQ (500.0)
|
|
#define RC_FREQ (500.0)
|
|
#define CHASSIS_FREQ (500.0)
|
|
#define CMD_FREQ (500.0)
|
|
#define GIMBAL_FREQ (500.0)
|
|
#define SHOOT_FREQ (500.0)
|
|
|
|
/* 任务初始化延时ms */
|
|
#define TASK_INIT_DELAY (100u)
|
|
#define ATTI_ESTI_INIT_DELAY (0)
|
|
#define RC_INIT_DELAY (0)
|
|
#define CHASSIS_INIT_DELAY (0)
|
|
#define CMD_INIT_DELAY (0)
|
|
#define GIMBAL_INIT_DELAY (0)
|
|
#define SHOOT_INIT_DELAY (0)
|
|
|
|
/* 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;
|
|
|
|
/* USER MESSAGE BEGIN */
|
|
struct
|
|
{
|
|
osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
|
|
|
|
struct
|
|
{
|
|
struct
|
|
{
|
|
osMessageQueueId_t rc; // dr16->cmd
|
|
// osMessageQueueId_t nuc; // nuc->cmd
|
|
// osMessageQueueId_t ops_9; // navi->cmd
|
|
} raw;
|
|
osMessageQueueId_t chassis; // cmd->chassis
|
|
// osMessageQueueId_t calc; // cmd->calc
|
|
// osMessageQueueId_t nuc; // cmd->nuc
|
|
} cmd;
|
|
|
|
struct
|
|
{
|
|
osMessageQueueId_t accl; /* IMU读取 */
|
|
osMessageQueueId_t gyro; /* IMU读取 */
|
|
osMessageQueueId_t eulr; /* 姿态解算得到的欧拉角 */
|
|
} imu;
|
|
|
|
struct
|
|
{
|
|
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*/
|
|
} gimbal;
|
|
|
|
} 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;
|
|
|
|
/* 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;
|
|
|
|
/* 各任务运行频率 */
|
|
struct
|
|
{
|
|
float atti_esti;
|
|
float rc;
|
|
float chassis;
|
|
float cmd;
|
|
float gimbal;
|
|
float shoot;
|
|
} 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;
|
|
|
|
/* 任务运行时结构体 */
|
|
extern Task_Runtime_t task_runtime;
|
|
|
|
/* 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);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif |