52 lines
1.9 KiB
C
52 lines
1.9 KiB
C
/*
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ctrl_chassis 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 <can.h>
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#include "module/chassis.h"
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#include "component/at9s_pro_cmd.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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chassis_ctrl_eulr_t chassis_ctrl_eulr;
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COMP_AT9S_CMD_t chassis_ctrl_cmd_rc;
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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_chassis(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_CHASSIS_FREQ;
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osDelay(CTRL_CHASSIS_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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Motor_Init(CTRL_CHASSIS_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.chassis.cmd, &chassis_ctrl_cmd_rc, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.chassis.yaw, &chassis_ctrl_eulr.chassis_encoder_yaw, NULL, 0);
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chassis_ctrl_eulr.chassis_mech_zero_yaw=4.13f;
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//// chassis_ctrl_eulr.chassis_encoder_yaw=motor_gimbal_yaw.total_angle;
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chassis_control (chassis_ctrl_eulr,chassis_ctrl_cmd_rc);
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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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} |