55 lines
1.9 KiB
C
55 lines
1.9 KiB
C
/*
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height_cal 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 "task\user_task.h"
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#include "timers.h"
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#include "device/bmi088.h"
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#include "BarometerDriver/spl06.h"
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#include "component/ahrs.h"
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#include "module/HeightEstimation.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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float accl_z_buffer;
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float estimated_velocity;
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float estimated_height;
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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_height_cal(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() / HEIGHT_CAL_FREQ;
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osDelay(HEIGHT_CAL_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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HeightEstimation_Init(HEIGHT_CAL_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.heightestimation.accl_z, &accl_z_buffer, NULL, 0);
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HeightEstimation_GetHeight(&estimated_height, &estimated_velocity, accl_z_buffer);
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osMessageQueuePut(task_runtime.msgq.quad.alt, &estimated_height, 0, 0);
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osMessageQueuePut(task_runtime.msgq.quad.vel, &estimated_velocity, 0, 0);
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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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} |