85 lines
3.2 KiB
C
85 lines
3.2 KiB
C
/*
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ctrl_shoot Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "cmsis_os2.h"
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "module/shoot.h"
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#include "module/config.h"
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#include "device/referee_proto_types.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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Shoot_t shoot;
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Shoot_CMD_t shoot_cmd;
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Referee_ForShoot_t shoot_ref; /* 裁判系统发射数据 */
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Shoot_AI_t shoot_forai;
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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_shoot(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_SHOOT_FREQ;
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osDelay(CTRL_SHOOT_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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Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,CTRL_SHOOT_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.shoot.cmd, &shoot_cmd, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.shoot.ref, &shoot_ref, NULL, 0);
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Shoot_DumpAI(&shoot, &shoot_forai);
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osMessageQueuePut(task_runtime.msgq.ai.rawdata_FromShoot, &shoot_forai, 0, 0);
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/* 消费裁判系统发射数据：在线时更新热量控制参数 */
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if (shoot_ref.ref_status == REF_STATUS_RUNNING) {
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shoot.heatcontrol.ref_online = true;
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shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit;
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shoot.heatcontrol.Hcd = (float)shoot_ref.robot_status.shooter_barrel_cooling_value;
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switch (shoot.param->basic.projectileType) {
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case SHOOT_PROJECTILE_17MM:
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shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_17mm_barrel_heat;
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shoot.heatcontrol.Hgen = 10.0f;
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break;
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case SHOOT_PROJECTILE_42MM:
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shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat;
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shoot.heatcontrol.Hgen = 100.0f;
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break;
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default:
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shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_17mm_barrel_heat;
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shoot.heatcontrol.Hgen = 10.0f;
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break;
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} } else {
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shoot.heatcontrol.ref_online = false;
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shoot.heatcontrol.Hmax = 0.0f;
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shoot.heatcontrol.Hcd = 0.0f;
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shoot.heatcontrol.Hnow = 0.0f;
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}
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Shoot_UpdateFeedback(&shoot);
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Shoot_SetMode(&shoot,shoot_cmd.mode);
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Shoot_Control(&shoot,&shoot_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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} |