121 lines
4.2 KiB
C
121 lines
4.2 KiB
C
/*
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cmd 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/dr16.h"
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#include "device/AT9S_Pro.h"
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#include "module/config.h"
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#include "module/chassis.h"
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#include "module/gimbal.h"
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#include "module/shoot.h"
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#include "module/track.h"
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#include "module/cmd/cmd.h"
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#include "bsp/fdcan.h"
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//#define DEAD_AREA 0.05f
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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#define AI_CMD_CAN_ID (0x101u)
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#define AI_CMD_CAN_DLC (5u) /* 1字节mode + 2字节yaw + 2字节pit */
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#define AI_CMD_ANGLE_SCALE (10000.0f) /* 0.0001 rad per LSB */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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#if CMD_RCTypeTable_Index == 0
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DR16_t cmd_dr16;
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#elif CMD_RCTypeTable_Index == 1
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AT9S_t cmd_at9s;
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#endif
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AI_cmd_t cmd_ai;
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Shoot_CMD_t *cmd_for_shoot;
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Chassis_CMD_t *cmd_for_chassis;
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Gimbal_CMD_t *cmd_for_gimbal;
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Track_CMD_t *cmd_for_track;
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static CMD_t cmd;
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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static void AI_ParseCmdFromCan(const BSP_FDCAN_Message_t *msg, AI_cmd_t *cmd);
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/* Exported functions ------------------------------------------------------- */
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void Task_cmd(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() / CMD_FREQ;
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osDelay(CMD_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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CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param);
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/* 注册CAN接收ID */
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BSP_FDCAN_RegisterId(BSP_FDCAN_2, AI_CMD_CAN_ID, BSP_FDCAN_DEFAULT_QUEUE_SIZE);
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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 CMD_RCTypeTable_Index == 0
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osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0);
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#elif CMD_RCTypeTable_Index == 1
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osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
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#endif
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/* 从CAN2接收AI命令 */
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BSP_FDCAN_Message_t can_msg;
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_2, AI_CMD_CAN_ID, &can_msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == 0) {
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AI_ParseCmdFromCan(&can_msg, &cmd_ai);
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}
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CMD_Update(&cmd);
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/* 获取命令发送到各模块 */
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cmd_for_chassis = CMD_GetChassisCmd(&cmd);
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cmd_for_gimbal = CMD_GetGimbalCmd(&cmd);
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cmd_for_shoot = CMD_GetShootCmd(&cmd);
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cmd_for_track = CMD_GetTrackCmd(&cmd);
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osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
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osMessageQueuePut(task_runtime.msgq.gimbal.cmd, cmd_for_gimbal, 0, 0);
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osMessageQueueReset(task_runtime.msgq.shoot.cmd);
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osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0);
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osMessageQueueReset(task_runtime.msgq.chassis.cmd);
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osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0);
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osMessageQueueReset(task_runtime.msgq.track.cmd);
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osMessageQueuePut(task_runtime.msgq.track.cmd, cmd_for_track, 0, 0);
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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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/* 从CAN消息解析AI命令 (mode + yaw + pit) */
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static void AI_ParseCmdFromCan(const BSP_FDCAN_Message_t *msg, AI_cmd_t *cmd) {
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if (msg == NULL || cmd == NULL || msg->dlc < AI_CMD_CAN_DLC) {
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return;
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}
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/* 解析mode (1字节) */
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cmd->mode = msg->data[0];
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/* 解析yaw (2字节，高字节在前) */
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int16_t yaw_raw = (int16_t)((msg->data[1] << 8) | msg->data[2]);
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cmd->gimbal.setpoint.yaw = (float)yaw_raw / AI_CMD_ANGLE_SCALE;
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/* 解析pit (2字节，高字节在前) */
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int16_t pit_raw = (int16_t)((msg->data[3] << 8) | msg->data[4]);
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cmd->gimbal.setpoint.pit = (float)pit_raw / AI_CMD_ANGLE_SCALE;
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/* 其他字段根据需要可以初始化为0 */
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cmd->gimbal.vel.yaw = 0.0f;
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cmd->gimbal.vel.pit = 0.0f;
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cmd->gimbal.accl.yaw = 0.0f;
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cmd->gimbal.accl.pit = 0.0f;
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} |