174 lines
4.5 KiB
C
174 lines
4.5 KiB
C
#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ----------------------------------------------------------------- */
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#include <cmsis_os2.h>
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#include "FreeRTOS.h"
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#include "task.h"
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* Exported constants ------------------------------------------------------- */
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/* 任务运行频率 */
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#define AI_FREQ (500.0)
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#define GIMBAL_CTRL_FREQ (500.0)
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#define CHASSIS_CTRL_FREQ (500.0)
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#define SHOOT_CTRL_FREQ (500.0)
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#define ATTI_ESTI_FREQ (500.0)
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#define DR16_FREQ (500.0)
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#define CMD_FREQ (500.0)
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#define STEP_MOTOR_FREQ (500.0)
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#define ET16S_FREQ (500.0)
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#define VOFA_FREQ (500.0)
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/* 任务初始化延时ms */
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#define TASK_INIT_DELAY (100u)
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#define AI_INIT_DELAY (0)
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#define GIMBAL_CTRL_INIT_DELAY (0)
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#define CHASSIS_CTRL_INIT_DELAY (0)
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#define SHOOT_CTRL_INIT_DELAY (0)
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#define ATTI_ESTI_INIT_DELAY (0)
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#define DR16_INIT_DELAY (0)
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#define CMD_INIT_DELAY (0)
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#define STEP_MOTOR_INIT_DELAY (0)
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#define ET16S_INIT_DELAY (0)
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#define VOFA_INIT_DELAY (0)
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/* Exported defines --------------------------------------------------------- */
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/* Exported macro ----------------------------------------------------------- */
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/* Exported types ----------------------------------------------------------- */
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/* 任务运行时结构体 */
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typedef struct {
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/* 各任务，也可以叫做线程 */
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struct {
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osThreadId_t ai;
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osThreadId_t gimbal_ctrl;
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osThreadId_t chassis_ctrl;
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osThreadId_t shoot_ctrl;
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osThreadId_t atti_esti;
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osThreadId_t dr16;
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osThreadId_t cmd;
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osThreadId_t step_motor;
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osThreadId_t ET16s;
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osThreadId_t vofa;
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} thread;
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/* USER MESSAGE BEGIN */
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struct {
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osMessageQueueId_t user_msg; /* 用户自定义任务消息队列 */
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struct {
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osMessageQueueId_t cmd; /* 发射命令队列 */
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osMessageQueueId_t remote;
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}shoot;
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struct {
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osMessageQueueId_t imu;
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osMessageQueueId_t cmd;
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osMessageQueueId_t remote;
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}gimbal;
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struct {
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osMessageQueueId_t SetpMotor;
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osMessageQueueId_t state;
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osMessageQueueId_t cmd;
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osMessageQueueId_t remote;
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}chassis;
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struct {
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osMessageQueueId_t state;
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osMessageQueueId_t dr16;
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osMessageQueueId_t et16s;
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}rc;
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} msgq;
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/* USER MESSAGE END */
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/* 机器人状态 */
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struct {
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float battery; /* 电池电量百分比 */
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float vbat; /* 电池电压 */
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float cpu_temp; /* CPU温度 */
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} status;
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/* USER CONFIG BEGIN */
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/* USER CONFIG END */
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/* 各任务的stack使用 */
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struct {
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UBaseType_t ai;
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UBaseType_t gimbal_ctrl;
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UBaseType_t chassis_ctrl;
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UBaseType_t shoot_ctrl;
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UBaseType_t atti_esti;
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UBaseType_t dr16;
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UBaseType_t cmd;
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UBaseType_t step_motor;
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UBaseType_t ET16s;
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UBaseType_t vofa;
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} stack_water_mark;
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/* 各任务运行频率 */
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struct {
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float ai;
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float gimbal_ctrl;
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float chassis_ctrl;
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float shoot_ctrl;
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float atti_esti;
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float dr16;
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float cmd;
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float step_motor;
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float ET16s;
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float vofa;
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} freq;
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/* 任务最近运行时间 */
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struct {
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float ai;
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float gimbal_ctrl;
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float chassis_ctrl;
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float shoot_ctrl;
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float atti_esti;
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float dr16;
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float cmd;
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float step_motor;
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float ET16s;
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float vofa;
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} last_up_time;
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} Task_Runtime_t;
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/* 任务运行时结构体 */
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extern Task_Runtime_t task_runtime;
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/* 初始化任务句柄 */
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extern const osThreadAttr_t attr_init;
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extern const osThreadAttr_t attr_ai;
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extern const osThreadAttr_t attr_gimbal_ctrl;
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extern const osThreadAttr_t attr_chassis_ctrl;
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extern const osThreadAttr_t attr_shoot_ctrl;
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extern const osThreadAttr_t attr_atti_esti;
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extern const osThreadAttr_t attr_dr16;
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extern const osThreadAttr_t attr_cmd;
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extern const osThreadAttr_t attr_step_motor;
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extern const osThreadAttr_t attr_ET16s;
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extern const osThreadAttr_t attr_vofa;
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/* 任务函数声明 */
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void Task_Init(void *argument);
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void Task_ai(void *argument);
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void Task_gimbal_ctrl(void *argument);
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void Task_chassis_ctrl(void *argument);
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void Task_shoot_ctrl(void *argument);
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void Task_atti_esti(void *argument);
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void Task_dr16(void *argument);
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void Task_cmd(void *argument);
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void Task_step_motor(void *argument);
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void Task_ET16s(void *argument);
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void Task_vofa(void *argument);
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#ifdef __cplusplus
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}
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#endif |