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加入大疆C板例程bsp

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2026-04-12 20:34:47 +08:00
parent 7475077b9e
commit b68ac54a34
51 changed files with 5950 additions and 1290 deletions
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84
Application/Task/Src/Control_Task.c Normal file
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/**
******************************************************************************
* @file : Control_Task.c
* @brief : Control task
* @author : GrassFan Wang
* @date : 2025/01/22
* @version : v1.1
******************************************************************************
* @attention : None
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "Control_Task.h"
#include "cmsis_os.h"
#include "Control_Task.h"
#include "bsp_uart.h"
#include "Remote_Control.h"
#include "PID.h"
#include "Motor.h"
static void Control_Init(Control_Info_Typedef *Control_Info);
static void Control_Measure_Update(Control_Info_Typedef *Control_Info);
static void Control_Target_Update(Control_Info_Typedef *Control_Info);
static void Control_Info_Update(Control_Info_Typedef *Control_Info);
Control_Info_Typedef Control_Info;
// KP KI KD Alpha Deadband I_MAX Output_MAX
static float Chassis_PID_Param[7] = {13.f,0.1f,0.f,0.f, 0.f, 5000.f, 12000.f};
PID_Info_TypeDef Chassis_PID;
void Control_Task(void const * argument)
{
/* USER CODE BEGIN Control_Task */
TickType_t Control_Task_SysTick = 0;
Control_Init(&Control_Info);
/* Infinite loop */
for(;;)
{
Control_Task_SysTick = osKernelSysTick();
Control_Measure_Update(&Control_Info);
Control_Target_Update(&Control_Info);
Control_Info_Update(&Control_Info);
USART_Vofa_Justfloat_Transmit(Control_Info.Measure.Chassis_Velocity,0.f,0.f);
osDelay(1);
}
}
/* USER CODE END Control_Task */
static void Control_Init(Control_Info_Typedef *Control_Info){
PID_Init(&Chassis_PID,PID_POSITION,Chassis_PID_Param);
}
static void Control_Measure_Update(Control_Info_Typedef *Control_Info){
Control_Info->Measure.Chassis_Velocity = Chassis_Motor[0].Data.Velocity;
}
static void Control_Target_Update(Control_Info_Typedef *Control_Info){
Control_Info->Target.Chassis_Velocity = remote_ctrl.rc.ch[3] * 5.f;
}
static void Control_Info_Update(Control_Info_Typedef *Control_Info){
PID_Calculate(&Chassis_PID, Control_Info->Target.Chassis_Velocity, Control_Info->Measure.Chassis_Velocity);
Control_Info->SendValue[0] = (int16_t)(Chassis_PID.Output);
}