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遥控器控制电机转动，队列用法还没实现

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This commit is contained in:
Wei Zitong
2026-07-17 20:37:55 +08:00
parent 8b24a3da19
commit 15c5074a0a
23 changed files with 8065 additions and 36 deletions
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68
Core/Src/freertos.c
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@@ -28,9 +28,12 @@
#include "bsp_can.h"
#include "CAN_receive.h"
#include "chassis_control.h"
#include "bsp_rc.h"
#include "remote_control.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
typedef StaticQueue_t osStaticMessageQDef_t;
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
@@ -63,6 +66,24 @@ const osThreadAttr_t Chassis_Control_attributes = {
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for Command_Task */
osThreadId_t Command_TaskHandle;
const osThreadAttr_t Command_Task_attributes = {
.name = "Command_Task",
.stack_size = 128 * 4,
.priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for chassis_speed_queue */
osMessageQueueId_t chassis_speed_queueHandle;
uint8_t chassis_speed_queueBuffer[ 5 * sizeof( uint16_t ) ];
osStaticMessageQDef_t chassis_speed_queueControlBlock;
const osMessageQueueAttr_t chassis_speed_queue_attributes = {
.name = "chassis_speed_queue",
.cb_mem = &chassis_speed_queueControlBlock,
.cb_size = sizeof(chassis_speed_queueControlBlock),
.mq_mem = &chassis_speed_queueBuffer,
.mq_size = sizeof(chassis_speed_queueBuffer)
};
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
@@ -71,6 +92,7 @@ const osThreadAttr_t Chassis_Control_attributes = {
void StartCAN_Receive_Task(void *argument);
void StartChassis_Control_Task(void *argument);
void StartCommand_Task(void *argument);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
@@ -96,6 +118,10 @@ void MX_FREERTOS_Init(void) {
/* start timers, add new ones, ... */
/* USER CODE END RTOS_TIMERS */
/* Create the queue(s) */
/* creation of chassis_speed_queue */
chassis_speed_queueHandle = osMessageQueueNew (5, sizeof(uint16_t), &chassis_speed_queue_attributes);
/* USER CODE BEGIN RTOS_QUEUES */
/* add queues, ... */
/* USER CODE END RTOS_QUEUES */
@@ -107,6 +133,9 @@ void MX_FREERTOS_Init(void) {
/* creation of Chassis_Control */
Chassis_ControlHandle = osThreadNew(StartChassis_Control_Task, NULL, &Chassis_Control_attributes);
/* creation of Command_Task */
Command_TaskHandle = osThreadNew(StartCommand_Task, NULL, &Command_Task_attributes);
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
/* USER CODE END RTOS_THREADS */
@@ -147,18 +176,49 @@ void StartChassis_Control_Task(void *argument)
{
/* USER CODE BEGIN StartChassis_Control_Task */
chassis_control_init();
chassis_set_speed(100, 0, 0, 0);
int16_t speed = 0;
/* Infinite loop */
for(;;)
{
chassis_control_task();//电机控制
if (osMessageQueueGet(chassis_speed_queueHandle, &speed, NULL, 0) == osOK)
{
chassis_set_speed(speed, 0, 0, 0);
}
chassis_control_task();
osDelay(1);
}
/* USER CODE END StartChassis_Control_Task */
}
/* USER CODE BEGIN Header_StartCommand_Task */
/**
* @brief Function implementing the Command_Task thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartCommand_Task */
void StartCommand_Task(void *argument)
{
/* USER CODE BEGIN StartCommand_Task */
remote_control_init();
const RC_ctrl_t *rc;
int16_t speed;
/* Infinite loop */
for(;;)
{
rc = get_remote_control_point();//rc=获取遥控器数据
speed = (int16_t)((float)rc->rc.ch[3] * 5000.0f / 660.0f);//根据通道三的值，映射到-5000到5000之间
if (speed > 5000)
speed = 5000;
if (speed < -5000)
speed = -5000;
osMessageQueuePut(chassis_speed_queueHandle, &speed, 0, 0);
osDelay(10);
}
/* USER CODE END StartCommand_Task */
}
/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */
/* USER CODE END Application */
/* USER CODE END Application */