62 lines
2.1 KiB
C
62 lines
2.1 KiB
C
/*
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ctrl_gimbal 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/gimbal.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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Gimbal_t gimbal;
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Gimbal_IMU_t gimbal_imu;
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Gimbal_CMD_t gimbal_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_ctrl_gimbal(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() / CTRL_GIMBAL_FREQ;
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osDelay(CTRL_GIMBAL_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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Gimbal_Init(&gimbal, &Config_GetRobotParam()->gimbal_param, CTRL_GIMBAL_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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if (osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0) == osOK) {
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Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
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}
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osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0);
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Gimbal_UpdateFeedback(&gimbal);
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// osMessageQueueReset(task_runtime.msgq.chassis_yaw);
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osMessageQueuePut(task_runtime.msgq.chassis.yaw, &gimbal.feedback.motor.yaw.rotor_abs_angle, 0, 0);
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Gimbal_Control(&gimbal, &gimbal_cmd);
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Gimbal_Output(&gimbal);
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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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} |