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初步功率控制

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shentou 2025-12-07 14:35:28 +08:00
parent c0d4ae6c90
commit 4443235b6a
24 changed files with 555 additions and 52 deletions
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2
.clangd
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@ -2,6 +2,7 @@ CompileFlags:
Add:
- '-ferror-limit=0'
- '-Wno-implicit-int'
- "-I/usr/lib/arm-none-eabi/include"
CompilationDatabase: build/Debug
Diagnostics:
Suppress:
@ -9,3 +10,4 @@ Diagnostics:
- unknown_typename
- unknown_typename_suggest
- typename_requires_specqual

1
.gitattributes vendored Normal file
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@ -0,0 +1 @@
* text=auto

4
.gitignore vendored
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@ -1,3 +1,5 @@
build
mx.scratch
!.settings
!.settings
.cache
compile_commands.json

54
.mxproject
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File diff suppressed because one or more lines are too long

7
CMakeLists.txt
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@ -15,7 +15,7 @@ set(CMAKE_C_EXTENSIONS ON)
# Define the build type
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE "Debug")
set(CMAKE_BUILD_TYPE "Debug")
endif()
# Set the project name
@ -63,15 +63,17 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/component/user_math.c
User/component/crc16.c
/home/shentou/workspace/SuperCap/god-yuan-hero/User/component/PowerControl.c
# User/device sources
User/device/dr16.c
User/device/at9s_pro.c
User/device/AT9S_Pro.c
User/device/bmi088.c
User/device/motor.c
User/device/motor_dm.c
User/device/motor_rm.c
User/device/vofa.c
/home/shentou/workspace/SuperCap/god-yuan-hero/User/device/supercap.c
# User/module sources
User/module/chassis.c
User/module/config.c
@ -88,6 +90,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
User/task/init.c
User/task/rc.c
User/task/user_task.c
/home/shentou/workspace/SuperCap/god-yuan-hero/User/task/supercap.c
)
# Add include paths

2
Core/Inc/FreeRTOSConfig.h
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@ -69,7 +69,7 @@
#define configTICK_RATE_HZ ((TickType_t)1000)
#define configMAX_PRIORITIES ( 56 )
#define configMINIMAL_STACK_SIZE ((uint16_t)128)
#define configTOTAL_HEAP_SIZE ((size_t)0x6000)
#define configTOTAL_HEAP_SIZE ((size_t)0x10000)
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 1
#define configUSE_16_BIT_TICKS 0

88
User/component/PowerControl.c Normal file
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@ -0,0 +1,88 @@
#include "PowerControl.h"
#include "stdint.h"
#include "math.h"
void power_calu(power_model_t* param,float* in_array,float* rpm_array)
{
float InitialGivePower[param->motor_num];
float totalpower=0;
float in[4];
float ve[4];
for (uint8_t i = 0; i < param->motor_num; i++) // first get all the initial motor power and total motor power
{
in[i] = in_array[i];
ve[i] = rpm_array[i];
InitialGivePower[i] = in[i] * param->toque_coefficient * ve[i] +
param->k2 * ve[i] * ve[i]+ param->k1 * in[i]*in[i] + param->constant;
param->power[i] = InitialGivePower[i];
if (InitialGivePower[i] < 0) // negative power not included (transitory)
continue;
totalpower += InitialGivePower[i];
}
param->total_power = totalpower;
}
float power_scale_calu(power_model_t** param_array,uint8_t num,float max_power)
{
float total_power=0;
for(uint8_t i=0;i<num;i++)
{
total_power+=param_array[i]->total_power;
}
if(total_power>max_power)
{return max_power/total_power;}
else
{return 2;}
}
void power_out_calu(power_model_t* param,float scale,float* in_array,float* rpm_array,float* out_array)
{
float in[4];
float ve[4];
if(scale<1)
{
float ScaledGivePower[4];
for (uint8_t i = 0; i < param->motor_num; i++)
{
in[i] = in_array[i];
ve[i] = rpm_array[i];
ScaledGivePower[i] = param->power[i] * scale; // get scaled power
if (ScaledGivePower[i] < 0)
{
continue;
}
float b = param->toque_coefficient * ve[i];
float c = param->k2 * ve[i]*ve[i] - ScaledGivePower[i] + param->constant;
float inside = b * b - 4 * param->k1 * c;
if (inside < 0)
{
continue;
}
else if (in[i] > 0) // Selection of the calculation formula according to the direction of the original moment
{
float temp = (-b + sqrt(inside)) / (2 * param->k1);
if (temp > 16000)
{
out_array[i] = 16000;
}
else
out_array[i] = temp;
}
else
{
float temp = (-b - sqrt(inside)) / (2 * param->k1);
if (temp < -16000)
{
out_array[i] = -16000;
}
else
out_array[i] = temp;
}
}
}
}

30
User/component/PowerControl.h Normal file
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@ -0,0 +1,30 @@
#ifndef CHASSIS_POWER_CONTROL_WITH_SUPERCAP_H
#define CHASSIS_POWER_CONTROL_WITH_SUPERCAP_H
#ifdef __cplusplus
extern "C" {
#endif
#include "main.h"
typedef struct power_model_t
{
uint8_t motor_num;
float total_power;
float* power;
float toque_coefficient;
float k1;
float k2 ;
float constant;
}power_model_t;
void power_calu(power_model_t* param,float* in_array,float* rpm_array);
float power_scale_calu(power_model_t** param_array,uint8_t num,float max_power);
void power_out_calu(power_model_t* param,float scale,float* in_array,float* rpm_array,float* out_array);
#ifdef __cplusplus
}
#endif
#endif

158
User/device/supercap.c Normal file
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@ -0,0 +1,158 @@
#include "device/supercap.h"
/* 全局变量 */
CAN_SuperCapRXDataTypeDef CAN_SuperCapRXData = {0};
uint8_t PowerOffset =0;
uint32_t LastCapTick = 0; //上一次收到超电信号的时间戳
uint32_t NowCapTick = 0; //现在收到超电信号的时间戳
uint32_t chassis_energy_in_gamming =0;
/* 静态变量 - 用于CAN接收管理 */
static bool supercap_inited = false;
static osMessageQueueId_t supercap_rx_queue = NULL;
/**
* @brief 获取超级电容在线状态，1在线，0离线
*/
uint8_t get_supercap_online_state(void){
NowCapTick = HAL_GetTick(); //更新时间戳
uint32_t DeltaCapTick = 0;
DeltaCapTick = NowCapTick - LastCapTick; //计算时间差
// if(get_game_progress() == 4){
// //比赛开始的时候，开始统计消耗的能量
chassis_energy_in_gamming += CAN_SuperCapRXData.BatPower * DeltaCapTick *0.001f;
// 因为STM32的系统定时器是1ms的周期，所以*0.001，单位化为秒（S），能量单位才是焦耳（J）
// }
if(DeltaCapTick > 1000){
//如果时间差大于1s，说明超电信号丢失，返回超电离线的标志
return 0;
}else {
//如果时间差小于1s，说明超电信号正常，返回超电在线的标志
return 1;
}
}
/**
* @brief 获取根据超级电容功率统计的底盘消耗能量，单位：焦耳（J）
*/
uint32_t get_chassis_energy_from_supercap(void){
return chassis_energy_in_gamming;
}
/******************超级电容数据从CAN传到结构体******************/
int8_t SuperCap_Init(void)
{
if (supercap_inited) {
return DEVICE_OK; // 已经初始化过
}
if (BSP_CAN_RegisterId( SUPERCAP_CAN , SUPERCAP_RX_ID, 3) != BSP_OK) {
return DEVICE_ERR;
}
supercap_inited = true;
return DEVICE_OK;
}
int8_t SuperCap_Update(void)
{
if (!supercap_inited) {
return DEVICE_ERR;
}
BSP_CAN_Message_t rx_msg;
// 从CAN队列获取数据
if (BSP_CAN_GetMessage( SUPERCAP_CAN , SUPERCAP_RX_ID, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
// 处理接收到的数据
transfer_SuperCap_measure(rx_msg.data);
return DEVICE_OK;
}
return DEVICE_ERR; // 没有新数据
}
void transfer_SuperCap_measure(uint8_t *data)
{
LastCapTick = HAL_GetTick();
CAN_SuperCapRXData.SuperCapReady = (SuperCap_Status_t)data[0];
CAN_SuperCapRXData.SuperCapState = (SuperCap_Status_t)data[1];
CAN_SuperCapRXData.SuperCapEnergy = data[2];
CAN_SuperCapRXData.ChassisPower = data[3] << 1; //左移一位是为了扩大范围，超电发出来的的时候右移了一位
CAN_SuperCapRXData.BatVoltage = data[4];
CAN_SuperCapRXData.BatPower = data[5];
}
/**
* @brief 获取超级电容的运行状态，具体查看枚举SuperCapStateEnum
* @retval none
*/
SuperCapStateEnum get_supercap_state(void){
return (SuperCapStateEnum)CAN_SuperCapRXData.SuperCapState;
}
/**
* @brief 获取超级电容读到的电池电压，单位伏（V）
* @retval none
*/
float get_battery_voltage_from_supercap(void){
return (float)CAN_SuperCapRXData.BatVoltage * 0.1f;
}
/**
* @brief 获取超级电容可用能量，范围：0-100%
* @retval none
*/
uint8_t get_supercap_energy(void){
return CAN_SuperCapRXData.SuperCapEnergy;
}
/**
* @brief 设置超级电容功率补偿
* @retval none
*/
void set_supercap_power_offset(uint8_t offset){
PowerOffset = offset;
}
/**
* @brief 发送超级电容数据
* @param[in] Enable: 超级电容使能
* @param[in] Charge: 超级电容充电，在PLUS版本中无效
* @param[in] PowerLimit: 裁判系统功率限制
* @param[in] Chargepower: 超级电容充电功率，在PLUS版本中无效
* @retval none
*/
int8_t CAN_TX_SuperCapData(CAN_SuperCapTXDataTypeDef * TX_Temp)
{
if (TX_Temp == NULL) return DEVICE_ERR_NULL;
BSP_CAN_StdDataFrame_t tx_frame;
tx_frame.id = SUPERCAP_TX_ID;
tx_frame.dlc = 0x08;
tx_frame.data[0] = TX_Temp-> Enable;
tx_frame.data[1] = TX_Temp-> Charge;//PLUS disabled
tx_frame.data[2] = TX_Temp-> Powerlimit - PowerOffset;
tx_frame.data[3] = TX_Temp-> ChargePower;//PLUS disabled
tx_frame.data[4] = 0;
tx_frame.data[5] = 0;
tx_frame.data[6] = 0;
tx_frame.data[7] = 0;
return BSP_CAN_TransmitStdDataFrame( SUPERCAP_CAN , &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
}

102
User/device/supercap.h Normal file
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@ -0,0 +1,102 @@
#pragma once
#ifdef __cplusplus
extern "C" {
#endif
#include "bsp/can.h"
#include "device/device.h"
//#include "referee.h"
#define SUPERCAP_CAN BSP_CAN_1
//#define SUPERCAP_CAN BSP_CAN_2
#define SUPERCAP_TX_ID 0x001 //C板发给超级电容的ID
#define SUPERCAP_RX_ID 0x100 //超级电容发给C板的ID
//超级电容的状态标志位，超级电容运行或者保护的具体状态反馈
typedef enum
{
DISCHARGE =0 , //放电状态
CHARGE =1, //充电状态
WAIT =2, //待机状态
SOFTSTART_PROTECTION =3,//处于软起动状态
OVER_LOAD_PROTECTION = 4, //超电过载保护状态
BAT_OVER_VOLTAGE_PROTECTION =5, //过压保护状态
BAT_UNDER_VOLTAGE_PROTECTION =6, //电池欠压保护，电池要没电了，换电池
CAP_UNDER_VOLTAGE_PROTECTION =7, //超级电容欠压保护，超级电容用完电了，要充一会才能用
OVER_TEMPERATURE_PROTECTION =8, //过温保护，太热了
BOOM = 9, //超电爆炸了
}SuperCapStateEnum;
//超级电容准备状态，用于判断超级电容是否可以使用
typedef enum
{
SUPERCAP_STATUS_OFFLINE =0 ,
SUPERCAP_STATUS_RUNNING =1,
}SuperCap_Status_t;
// 发送给超级电容的数据
typedef struct {
FunctionalState Enable ; //超级电容使能。1使能，0失能
SuperCapStateEnum Charge ; //V1.1超级电容充电。1充电，0放电，在PLUS版本中，此标志位无效，超电的充放电是自动的
uint8_t Powerlimit; //裁判系统功率限制
uint8_t ChargePower; //V1.1超级电容充电功率，在PLUS版本中，此参数，超电的充电功率随着底盘功率变化
}CAN_SuperCapTXDataTypeDef;
// 从超级电容接收到的数据
typedef struct {
uint8_t SuperCapEnergy;//超级电容可用能量：0-100%
uint16_t ChassisPower; //底盘功率，0-512，由于传输的时候为了扩大量程右移了一位，所以接收的时候需要左移还原（丢精度）。
SuperCap_Status_t SuperCapReady;//超级电容【可用标志】：1为可用，0为不可用
SuperCapStateEnum SuperCapState;//超级电容【状态标志】：各个状态对应的状态码查看E_SuperCapState枚举。
uint8_t BatVoltage; //通过超级电容监控电池电压*10，
uint8_t BatPower;
}CAN_SuperCapRXDataTypeDef;
extern CAN_SuperCapRXDataTypeDef CAN_SuperCapRXData;
void set_supercap_power_offset(uint8_t offset);
// 以下函数是超电控制所需要调用的函数
void transfer_SuperCap_measure( uint8_t *data);
int8_t CAN_TX_SuperCapData(CAN_SuperCapTXDataTypeDef * TX_Temp);
/**
* @brief 获取超级电容在线状态，1在线，0离线
*/
uint8_t get_supercap_online_state(void);
/**
* @brief 获取超级电容的运行状态，具体查看枚举SuperCapStateEnum
*/
SuperCapStateEnum get_supercap_state(void);
/**
* @brief 获取超级电容读到的电池电压，单位伏（V）
*/
float get_battery_voltage_from_supercap(void);
/**
* @brief 获取超级电容可用能量，范围：0-100%
*/
uint8_t get_supercap_energy(void);
/**
* @brief 获取根据超级电容功率统计的底盘消耗能量，单位：焦耳（J）
*/
uint32_t get_chassis_energy_from_supercap(void);
int8_t SuperCap_Init(void);
int8_t SuperCap_Update(void);
#ifdef __cplusplus
}
#endif /*SUPERCAP_H*/

21
User/module/chassis.c
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@ -10,7 +10,9 @@
#include "device/motor_rm.h"
#include "device/motor.h"
#include "module/chassis.h"
#include "component/PowerControl.h"
#include "config.h"
#include "math.h"
/**
* @brief µ×ÅÌСÍÓÂÝģʽÏà¹Ø²ÎÊý
*/
@ -251,10 +253,22 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd, uint32_t now) {
Clip(&c->out.motor[i], -c->param->limit.max_current, c->param->limit.max_current);
}
return CHASSIS_OK;
}
void Chassis_Power_Control(Chassis_t *c,float max_power)
{
float* rpm=(float[4]){c->motors[0]->feedback.rotor_speed,c->motors[1]->feedback.rotor_speed,c->motors[2]->feedback.rotor_speed,c->motors[3]->feedback.rotor_speed};
power_model_t* param = (c->mode == CHASSIS_MODE_ROTOR) ? &cha2 : &cha;
power_calu(param,(float[4]){c->out.motor[0],c->out.motor[1],c->out.motor[2],c->out.motor[3]},rpm);
float scale = power_scale_calu(&param,1,max_power);
power_out_calu(param,scale,(float[4]){c->out.motor[0],c->out.motor[1],c->out.motor[2],c->out.motor[3]},rpm,c->out.motor);
}
/**
* @brief µç»úÊä³ö
* @param c µ×Å̽ṹÌåÖ¸Õë
@ -263,13 +277,14 @@ void Chassis_Output(Chassis_t *c) {
if (!c)
return;
//ÿ¸öµç»úÄ¿±êÊä³ö
for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_t *rm = c->motors[i];
if (!rm) continue;
MOTOR_RM_SetOutput(&rm->param, c->out.motor[i]);
}
//µ÷ÓÃctrl
for (uint8_t i = 0; i < c->num_wheel; i++) {
MOTOR_RM_t *rm = c->motors[i];

9
User/module/chassis.h
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@ -11,10 +11,10 @@ extern "C" {
/* Includes ----------------------------------------------------------------- */
#include <cmsis_os2.h>
#include "bsp/can.h"
#include "component\filter.h"
#include "component\mixer.h"
#include "component\pid.h"
#include "component\ahrs.h"
#include "component/filter.h"
#include "component/mixer.h"
#include "component/pid.h"
#include "component/ahrs.h"
#include "device/motor_rm.h"
/* Exported constants ------------------------------------------------------- */
#define CHASSIS_OK (0) /* ÔËÐÐÕý³£ */
@ -208,6 +208,7 @@ void Chassis_Output(Chassis_t *c);
void Chassis_ResetOutput(Chassis_t *c);
void Chassis_Power_Control(Chassis_t *c,float max_power);
/**
* @brief µ×Å̹¦ÂÊÏÞÖÆ
*

22
User/module/config.c
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@ -360,6 +360,26 @@ Config_RobotParam_t robot_config = {
};
power_model_t cha=
{
.motor_num =4,
.constant= 0.7910660075305308,
.k1 = 98.97509148647588,
.k2= 0.00018014375383727376,
.toque_coefficient =0.4568913750568248,
.power = (float[4]){}
};
power_model_t cha2=
{
.motor_num =4,
.constant= 2.354223704504904,
.k1 = 94.85324024176896,
.k2= 0.00012622263917529537,
.toque_coefficient =0.3680225540649464,
.power = (float[4]){}
};
/* Private function prototypes ---------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
@ -369,4 +389,4 @@ Config_RobotParam_t robot_config = {
*/
Config_RobotParam_t* Config_GetRobotParam(void) {
return &robot_config;
}
}

3
User/module/config.h
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@ -16,6 +16,7 @@ extern "C" {
#include "module/gimbal.h"
#include "module/chassis.h"
#include "module/cmd.h"
#include "component/PowerControl.h"
typedef struct {
Shoot_Params_t shoot_param;
Gimbal_Params_t gimbal_param;
@ -23,6 +24,8 @@ typedef struct {
CMD_Params_t cmd_param;
} Config_RobotParam_t;
extern power_model_t cha;
extern power_model_t cha2;
/* Exported functions prototypes -------------------------------------------- */
/**

2
User/task/blink.c
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@ -16,7 +16,7 @@
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
/* USER STRUCT END */
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */

2
User/task/cmd.c
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@ -7,7 +7,7 @@
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/dr16.h"
#include "device/at9s_pro.h"
#include "device/AT9S_Pro.h"
#include "module/config.h"
#include "module/chassis.h"
#include "module/gimbal.h"

7
User/task/config.yaml
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@ -47,3 +47,10 @@
function: Task_cmd
name: cmd
stack: 256
- delay: 0
description: ''
freq_control: true
frequency: 500.0
function: Task_supercap
name: supercap
stack: 512

11
User/task/ctrl_chassis.c
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@ -4,10 +4,11 @@
*/
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "module/chassis.h"
#include "module/config.h"
#include "device/supercap.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
@ -18,6 +19,7 @@
Chassis_t chassis;
Chassis_CMD_t chassis_cmd;
Chassis_IMU_t chassis_imu;
float max =50;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
@ -33,6 +35,7 @@ void Task_ctrl_chassis(void *argument) {
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
Config_RobotParam_t *cfg = Config_GetRobotParam();
Chassis_Init(&chassis, &cfg->chassis_param, (float)CTRL_CHASSIS_FREQ);
chassis.mech_zero=0.57f;
@ -41,14 +44,18 @@ void Task_ctrl_chassis(void *argument) {
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis.feedback.encoder_gimbalYawMotor, NULL, 0);
osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0);//遥控器
Chassis_UpdateFeedback(&chassis);
Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
Chassis_Power_Control(&chassis,max);
Chassis_Output(&chassis);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}
}

3
User/task/init.c
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@ -8,7 +8,7 @@
/* USER INCLUDE BEGIN */
#include "device/dr16.h"
#include "device/at9s_pro.h"
#include "device/AT9S_Pro.h"
#include "module/gimbal.h"
#include "module/shoot.h"
#include "module/chassis.h"
@ -42,6 +42,7 @@ void Task_Init(void *argument) {
task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
task_runtime.thread.ctrl_shoot = osThreadNew(Task_ctrl_shoot, NULL, &attr_ctrl_shoot);
task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
task_runtime.thread.supercap = osThreadNew(Task_supercap, NULL, &attr_supercap);
// 创建消息队列
/* USER MESSAGE BEGIN */

4
User/task/rc.c
View File

@ -3,11 +3,11 @@
*/
// #define AT9S
#define DR16
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#define DR16
#ifdef AT9S
#include "device/at9s_pro.h"
#endif

50
User/task/supercap.c Normal file
View File

@ -0,0 +1,50 @@
/*
supercap Task
*/
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "device/supercap.h"
/* USER INCLUDE END */
/* Private typedef ---------------------------------------------------------- */
/* Private define ----------------------------------------------------------- */
/* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */
/* USER STRUCT BEGIN */
CAN_SuperCapTXDataTypeDef SuperCap_CanTX;
/* USER STRUCT END */
/* Private function --------------------------------------------------------- */
/* Exported functions ------------------------------------------------------- */
void Task_supercap(void *argument) {
(void)argument; /* 未使用argument，消除警告 */
/* 计算任务运行到指定频率需要等待的tick数 */
const uint32_t delay_tick = osKernelGetTickFreq() / SUPERCAP_FREQ;
osDelay(SUPERCAP_INIT_DELAY); /* 延时一段时间再开启任务 */
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
/* USER CODE INIT BEGIN */
SuperCap_Init();
SuperCap_CanTX.Enable = 1 ; //超级电容使能。1使能，0失能
SuperCap_CanTX.Charge = 1 ; //V1.1超级电容充电。1充电，0放电，在PLUS版本中，此标志位无效，超电的充放电是自动的
SuperCap_CanTX.Powerlimit = 120 ; //裁判系统功率限制
SuperCap_CanTX.ChargePower = 1 ; //V1.1超级电容充电功率，在PLUS版本中，此参数，超电的充电功率随着底盘功率变化
/* USER CODE INIT END */
while (1) {
tick += delay_tick; /* 计算下一个唤醒时刻 */
/* USER CODE BEGIN */
SuperCap_Update();
CAN_TX_SuperCapData(&SuperCap_CanTX);
/* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
}
}

11
User/task/user_task.c
View File

@ -27,7 +27,7 @@ const osThreadAttr_t attr_blink = {
const osThreadAttr_t attr_ctrl_chassis = {
.name = "ctrl_chassis",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
.stack_size = 512 * 16,
};
const osThreadAttr_t attr_ctrl_gimbal = {
.name = "ctrl_gimbal",
@ -37,10 +37,15 @@ const osThreadAttr_t attr_ctrl_gimbal = {
const osThreadAttr_t attr_ctrl_shoot = {
.name = "ctrl_shoot",
.priority = osPriorityNormal,
.stack_size = 512 * 4,
.stack_size = 256 * 4,
};
const osThreadAttr_t attr_cmd = {
.name = "cmd",
.priority = osPriorityNormal,
.stack_size = 256 * 4,
};
};
const osThreadAttr_t attr_supercap = {
.name = "supercap",
.priority = osPriorityNormal,
.stack_size = 512 * 4,
};

12
User/task/user_task.h
View File

@ -14,12 +14,13 @@ extern "C" {
/* Exported constants ------------------------------------------------------- */
/* 任务运行频率 */
#define RC_FREQ (500.0)
#define ATTI_ESTI_FREQ (500.0)
#define ATTI_ESTI_FREQ (1000.0)
#define BLINK_FREQ (100.0)
#define CTRL_CHASSIS_FREQ (500.0)
#define CTRL_GIMBAL_FREQ (500.0)
#define CTRL_SHOOT_FREQ (1000.0)
#define CTRL_SHOOT_FREQ (500.0)
#define CMD_FREQ (500.0)
#define SUPERCAP_FREQ (500.0)
/* 任务初始化延时ms */
#define TASK_INIT_DELAY (100u)
@ -30,6 +31,7 @@ extern "C" {
#define CTRL_GIMBAL_INIT_DELAY (0)
#define CTRL_SHOOT_INIT_DELAY (0)
#define CMD_INIT_DELAY (0)
#define SUPERCAP_INIT_DELAY (0)
/* Exported defines --------------------------------------------------------- */
/* Exported macro ----------------------------------------------------------- */
@ -46,6 +48,7 @@ typedef struct {
osThreadId_t ctrl_gimbal;
osThreadId_t ctrl_shoot;
osThreadId_t cmd;
osThreadId_t supercap;
} thread;
/* USER MESSAGE BEGIN */
@ -95,6 +98,7 @@ typedef struct {
UBaseType_t ctrl_gimbal;
UBaseType_t ctrl_shoot;
UBaseType_t cmd;
UBaseType_t supercap;
} stack_water_mark;
/* 各任务运行频率 */
@ -106,6 +110,7 @@ typedef struct {
float ctrl_gimbal;
float ctrl_shoot;
float cmd;
float supercap;
} freq;
/* 任务最近运行时间 */
@ -117,6 +122,7 @@ typedef struct {
float ctrl_gimbal;
float ctrl_shoot;
float cmd;
float supercap;
} last_up_time;
} Task_Runtime_t;
@ -133,6 +139,7 @@ extern const osThreadAttr_t attr_ctrl_chassis;
extern const osThreadAttr_t attr_ctrl_gimbal;
extern const osThreadAttr_t attr_ctrl_shoot;
extern const osThreadAttr_t attr_cmd;
extern const osThreadAttr_t attr_supercap;
/* 任务函数声明 */
void Task_Init(void *argument);
@ -143,6 +150,7 @@ void Task_ctrl_chassis(void *argument);
void Task_ctrl_gimbal(void *argument);
void Task_ctrl_shoot(void *argument);
void Task_cmd(void *argument);
void Task_supercap(void *argument);
#ifdef __cplusplus
}

2
hero.ioc
View File

@ -87,7 +87,7 @@ Dma.USART6_TX.5.Priority=DMA_PRIORITY_LOW
Dma.USART6_TX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE
FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
FREERTOS.configTOTAL_HEAP_SIZE=0x6000
FREERTOS.configTOTAL_HEAP_SIZE=0x10000
File.Version=6
GPIO.groupedBy=Group By Peripherals
I2C3.I2C_Mode=I2C_Fast