82 lines
2.7 KiB
C
82 lines
2.7 KiB
C
/*
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ai 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 "module/vision_bridge.h"
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#include "component/ahrs/ahrs.h"
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#include "module/gimbal.h"
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#include "module/shoot.h"
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#include "bsp/can.h"
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#include <string.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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AI_t ai;
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AI_cmd_t aiToCmd;
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AI_RawData_t rawdata;
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AHRS_Quaternion_t quat_from_imu;
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Gimbal_Feedback_t rawdata_from_gimbal;
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Shoot_Feedback_t rawdata_from_shoot;
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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_ai(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() / AI_FREQ;
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osDelay(AI_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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AI_Init(&ai, &Config_GetRobotParam()->ai_param);
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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.ai.rawdata_FromGimbal, &rawdata_from_gimbal, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromIMU, &quat_from_imu, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.ai.rawdata_FromShoot, &rawdata_from_shoot, NULL, 0);
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rawdata.mode=1;
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rawdata.pitch=rawdata_from_gimbal.motor.pit.rotor_abs_angle;
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rawdata.yaw=rawdata_from_gimbal.motor.yaw.rotor_abs_angle;
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rawdata.pitch_vel=rawdata_from_gimbal.motor.pit.rotor_speed;
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rawdata.yaw_vel=rawdata_from_gimbal.motor.yaw.rotor_speed;
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rawdata.q[0]=quat_from_imu.q0;
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rawdata.q[1]=quat_from_imu.q1;
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rawdata.q[2]=quat_from_imu.q2;
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rawdata.q[3]=quat_from_imu.q3;
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rawdata.bullet_speed = 0.0f; /* TODO: 从shoot反馈中获取 */
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rawdata.bullet_count = 0; /* TODO: 从shoot反馈中获取 */
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AI_ParseForHost(&ai,&rawdata);
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AI_StartSend(&ai);
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AI_StartReceiving(&ai);
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AI_Get(&ai,&aiToCmd);
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/* 通过can2把解包后的AI_cmd_t发给下层板 */
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AI_SendCmdOnCan(&ai, &aiToCmd);
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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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