128 lines
3.1 KiB
C
128 lines
3.1 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include <cmsis_os2.h>
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#include "FreeRTOS.h"
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#include "task.h"
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* Exported constants ------------------------------------------------------- */
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/* 任务运行频率 */
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#define ATTI_ESTI_FREQ (1000.0)
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#define BLINK_FREQ (100.0)
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#define HEIGHT_CAL_FREQ (500.0)
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#define QUAD_CTRL_FREQ (1000.0)
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#define CMD_FREQ (500.0)
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/* 任务初始化延时ms */
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#define TASK_INIT_DELAY (100u)
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#define ATTI_ESTI_INIT_DELAY (0)
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#define BLINK_INIT_DELAY (0)
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#define HEIGHT_CAL_INIT_DELAY (500)
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#define QUAD_CTRL_INIT_DELAY (3000)
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#define CMD_INIT_DELAY (0)
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/* Exported defines --------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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/* 任务运行时结构体 */
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typedef struct {
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/* 各任务，也可以叫做线程 */
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struct {
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osThreadId_t atti_esti;
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osThreadId_t blink;
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osThreadId_t height_cal;
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osThreadId_t quad_ctrl;
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osThreadId_t cmd;
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} thread;
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/* USER MESSAGE BEGIN */
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struct {
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osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
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struct
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{
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osMessageQueueId_t accl;
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osMessageQueueId_t quaternion;
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}heightestimation;
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struct{
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osMessageQueueId_t eulr;
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osMessageQueueId_t accl;
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osMessageQueueId_t gyro;
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osMessageQueueId_t alt;
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osMessageQueueId_t vel;
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osMessageQueueId_t cmd;
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}quad;
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} msgq;
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/* USER MESSAGE END */
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/* 机器人状态 */
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struct {
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float battery; /* 电池电量百分比 */
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float vbat; /* 电池电压 */
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float cpu_temp; /* CPU温度 */
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} status;
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/* USER CONFIG BEGIN */
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/* USER CONFIG END */
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/* 各任务的stack使用 */
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struct {
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UBaseType_t atti_esti;
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UBaseType_t blink;
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UBaseType_t height_cal;
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UBaseType_t quad_ctrl;
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UBaseType_t cmd;
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} stack_water_mark;
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/* 各任务运行频率 */
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struct {
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float atti_esti;
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float blink;
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float height_cal;
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float quad_ctrl;
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float cmd;
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} freq;
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/* 任务最近运行时间 */
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struct {
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float atti_esti;
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float blink;
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float height_cal;
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float quad_ctrl;
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float cmd;
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} last_up_time;
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} Task_Runtime_t;
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/* 任务运行时结构体 */
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extern Task_Runtime_t task_runtime;
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/* 初始化任务句柄 */
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extern const osThreadAttr_t attr_init;
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extern const osThreadAttr_t attr_atti_esti;
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extern const osThreadAttr_t attr_blink;
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extern const osThreadAttr_t attr_height_cal;
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extern const osThreadAttr_t attr_quad_ctrl;
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extern const osThreadAttr_t attr_cmd;
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/* 任务函数声明 */
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void Task_Init(void *argument);
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void Task_atti_esti(void *argument);
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void Task_blink(void *argument);
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void Task_height_cal(void *argument);
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void Task_quad_ctrl(void *argument);
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void Task_cmd(void *argument);
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#ifdef __cplusplus
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}
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#endif |