65 lines
2.4 KiB
C
65 lines
2.4 KiB
C
/*
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supercap 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 "device/supercap.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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CAN_SuperCapTXDataTypeDef SuperCap_CanTX;
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Referee_ForCap_t cap_ref; /* 裁判系统功率数据 */
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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_supercap(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() / SUPERCAP_FREQ;
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osDelay(SUPERCAP_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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// SuperCap_Init();
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// SuperCap_CanTX.Enable = 1 ; //超级电容使能。1使能，0失能
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// 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
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// SuperCap_CanTX.Powerlimit = 120 ; //裁判系统功率限制
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// 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
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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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/* 动态更新功率上限：裁判系统在线时使用下发值，否则回退到初始化值120W */
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// osMessageQueueGet(task_runtime.msgq.cap.ref, &cap_ref, NULL, 0);
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// if (cap_ref.ref_status == REF_STATUS_RUNNING && cap_ref.chassis_power_limit > 0.0f) {
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// SuperCap_CanTX.Powerlimit = (uint8_t)cap_ref.chassis_power_limit;
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// }
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// SuperCap_Update();
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// CAN_TX_SuperCapData(&SuperCap_CanTX);
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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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}
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