80 lines
2.9 KiB
C
80 lines
2.9 KiB
C
/*
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gimbal_ctrl 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 "ai.h"
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#include "gimbal.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_cmd_t ai_g_cmd;
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Gimbal_t gimbal;
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Gimbal_IMU_t gimbal_imu;
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Gimbal_CMD_t gimbal_cmd;
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Gimbal_CMD_t gimbal_cmd_ai;
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Gimbal_CMD_t gimbal_cmd_remote;
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Gimbal_Direction_t send_nuc;
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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_gimbal_ctrl(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() / GIMBAL_CTRL_FREQ;
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osDelay(GIMBAL_CTRL_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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Gimbal_Init(&gimbal,&Config_GetRobotParam()->gimbal_param,GIMBAL_CTRL_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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/* 陀螺仪数据更新 */
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if(osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0)==osOK){
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Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
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}
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/* ai指令 */
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if(osMessageQueueGet(task_runtime.msgq.ai.g_cmd, &ai_g_cmd, NULL, 0)==osOK);
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if(ai_g_cmd.mode==0){
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gimbal_cmd.set_pit=gimbal_imu.eulr.rol;
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gimbal_cmd.set_yaw=gimbal_imu.eulr.yaw;
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}
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if(ai_g_cmd.mode==2){
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gimbal_cmd.set_pit=ai_g_cmd.gimbal_t.setpoint.pit;
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gimbal_cmd.set_yaw=ai_g_cmd.gimbal_t.setpoint.yaw;
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}
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if(osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd_remote, NULL, 0)==osOK)
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gimbal_cmd.mode=gimbal_cmd_remote.mode;
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gimbal_cmd.ctrl_mode=gimbal_cmd_remote.ctrl_mode;
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gimbal_cmd.delta_pit=gimbal_cmd_remote.delta_pit;
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gimbal_cmd.delta_yaw=gimbal_cmd_remote.delta_yaw;
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Gimbal_UpdateFeedback(&gimbal);
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Gimbal_Control(&gimbal,&gimbal_cmd);
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Gimbal_Output(&gimbal);
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osMessageQueueReset(task_runtime.msgq.ai.imu);
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osMessageQueuePut(task_runtime.msgq.ai.imu,&gimbal.direction, 0, 0);
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osMessageQueueReset(task_runtime.msgq.ai.motor);
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osMessageQueuePut(task_runtime.msgq.ai.motor,&gimbal.feedback, 0, 0);
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osMessageQueueReset(task_runtime.msgq.chassis.yaw);
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osMessageQueuePut(task_runtime.msgq.chassis.yaw,&gimbal.feedback.motor.yaw, 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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} |