55 lines
2.0 KiB
C
55 lines
2.0 KiB
C
/*
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quad_ctrl 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 "component/ahrs.h"
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#include "module/xm_quadctrl.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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Quad_t q;
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Quad_CMD_t quad_cmd;
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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_quad_ctrl(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() / QUAD_CTRL_FREQ;
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osDelay(QUAD_CTRL_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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Quad_Init(&q,&Config_GetRobotParam()->quad_params,&quad_cmd,QUAD_CTRL_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.quad.eulr, &q.current_status.eulr, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.quad.accl, &q.current_status.accl, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.quad.gyro, &q.current_status.gyro, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.quad.alt, &q.current_status.alt, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.quad.vel, &q.current_status.vel_z, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.quad.cmd, &quad_cmd, NULL, 0);
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Quad_Ctrl(&q,&quad_cmd);
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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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} |