57 lines
2.2 KiB
C
57 lines
2.2 KiB
C
/*
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chassis_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 "cmsis_os2.h"
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#include "module/chassis.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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Chassis_t chassis;
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Chassis_CMD_t chassis_cmd; // 控制命令
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Chassis_IMU_t chassis_imu;
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static AHRS_Eulr_t mech_zero = {0}; // 机械零位（初始 yaw）
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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_chassis_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() / CHASSIS_CTRL_FREQ;
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osDelay(CHASSIS_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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/* === 初始化底盘 === */
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Config_RobotParam_t *cfg = Config_GetRobotParam();
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Chassis_Init(&chassis, &cfg->chassis_param, (float)CHASSIS_CTRL_FREQ);
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chassis.mech_zero=4.13f;
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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.yaw, &chassis.feedback.encoder_gimbalYawMotor, NULL, 0);//从yaw电机反馈得到值
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osMessageQueueGet(task_runtime.msgq.chassis.cmd, &chassis_cmd, NULL, 0);//遥控器
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/* 3) 更新反馈 → 控制 → 输出 */
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Chassis_UpdateFeedback(&chassis);
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Chassis_Control(&chassis, &chassis_cmd, osKernelGetTickCount());
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Chassis_Output(&chassis);
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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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} |