242 lines
7.4 KiB
C
242 lines
7.4 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* File Name : freertos.c
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* Description : Code for freertos applications
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2026 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "FreeRTOS.h"
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#include "task.h"
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#include "main.h"
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#include "cmsis_os.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "bsp_can.h"
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#include "CAN_receive.h"
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#include "chassis_control.h"
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#include "bsp_rc.h"
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#include "remote_control.h"
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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typedef StaticQueue_t osStaticMessageQDef_t;
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN Variables */
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/* USER CODE END Variables */
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/* Definitions for CAN_Receive_Tas */
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osThreadId_t CAN_Receive_TasHandle;
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const osThreadAttr_t CAN_Receive_Tas_attributes = {
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.name = "CAN_Receive_Tas",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityHigh,
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};
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/* Definitions for Chassis_Control */
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osThreadId_t Chassis_ControlHandle;
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const osThreadAttr_t Chassis_Control_attributes = {
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.name = "Chassis_Control",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for Command_Task */
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osThreadId_t Command_TaskHandle;
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const osThreadAttr_t Command_Task_attributes = {
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.name = "Command_Task",
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.stack_size = 128 * 4,
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.priority = (osPriority_t) osPriorityNormal,
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};
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/* Definitions for chassis_speed_queue */
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osMessageQueueId_t chassis_speed_queueHandle;
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uint8_t chassis_speed_queueBuffer[ 5 * sizeof( Chassis_Speed ) ]; // 队列缓冲区：5个Chassis_Speed(vx,vy,vw)
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osStaticMessageQDef_t chassis_speed_queueControlBlock;
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const osMessageQueueAttr_t chassis_speed_queue_attributes = {
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.name = "chassis_speed_queue",
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.cb_mem = &chassis_speed_queueControlBlock,
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.cb_size = sizeof(chassis_speed_queueControlBlock),
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.mq_mem = &chassis_speed_queueBuffer,
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.mq_size = sizeof(chassis_speed_queueBuffer)
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};
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN FunctionPrototypes */
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/* USER CODE END FunctionPrototypes */
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void StartCAN_Receive_Task(void *argument);
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void StartChassis_Control_Task(void *argument);
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void StartCommand_Task(void *argument);
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void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
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/**
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* @brief FreeRTOS initialization
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* @param None
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* @retval None
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*/
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void MX_FREERTOS_Init(void) {
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/* USER CODE BEGIN Init */
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/* USER CODE END Init */
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/* USER CODE BEGIN RTOS_MUTEX */
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/* add mutexes, ... */
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/* USER CODE END RTOS_MUTEX */
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/* USER CODE BEGIN RTOS_SEMAPHORES */
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/* add semaphores, ... */
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/* USER CODE END RTOS_SEMAPHORES */
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/* USER CODE BEGIN RTOS_TIMERS */
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/* start timers, add new ones, ... */
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/* USER CODE END RTOS_TIMERS */
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/* Create the queue(s) */
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/* creation of chassis_speed_queue */
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chassis_speed_queueHandle = osMessageQueueNew (5, sizeof(Chassis_Speed), &chassis_speed_queue_attributes);
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/* USER CODE BEGIN RTOS_QUEUES */
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/* add queues, ... */
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/* USER CODE END RTOS_QUEUES */
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/* Create the thread(s) */
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/* creation of CAN_Receive_Tas */
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CAN_Receive_TasHandle = osThreadNew(StartCAN_Receive_Task, NULL, &CAN_Receive_Tas_attributes);
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/* creation of Chassis_Control */
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Chassis_ControlHandle = osThreadNew(StartChassis_Control_Task, NULL, &Chassis_Control_attributes);
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/* creation of Command_Task */
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Command_TaskHandle = osThreadNew(StartCommand_Task, NULL, &Command_Task_attributes);
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/* USER CODE BEGIN RTOS_THREADS */
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/* add threads, ... */
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/* USER CODE END RTOS_THREADS */
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/* USER CODE BEGIN RTOS_EVENTS */
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/* add events, ... */
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/* USER CODE END RTOS_EVENTS */
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}
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/* USER CODE BEGIN Header_StartCAN_Receive_Task */
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/**
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* @brief Function implementing the CAN_Receive_Tas thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartCAN_Receive_Task */
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void StartCAN_Receive_Task(void *argument)
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{
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/* USER CODE BEGIN StartCAN_Receive_Task */
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/* Infinite loop */
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for(;;)
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{
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osDelay(1);
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}
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/* USER CODE END StartCAN_Receive_Task */
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}
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/* USER CODE BEGIN Header_StartChassis_Control_Task */
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/**
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* @brief Function implementing the Chassis_Control thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartChassis_Control_Task */
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void StartChassis_Control_Task(void *argument)
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{
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/* USER CODE BEGIN StartChassis_Control_Task */
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chassis_control_init(); // 初始化底盘电机PID
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Chassis_Speed speed; // 接收遥控器下发的目标速度
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/* Infinite loop */
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for(;;)
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{
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// 非阻塞接收遥控器速度指令，有新的就更新目标速度
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if (osMessageQueueGet(chassis_speed_queueHandle, &speed, NULL, 0) == osOK)
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{
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chassis_set_target_speed(&speed);
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}
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// 执行底盘控制：运动学解算 + PID计算 + CAN发送
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chassis_control_task();
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osDelay(1); // 1ms 控制周期
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}
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/* USER CODE END StartChassis_Control_Task */
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}
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/* USER CODE BEGIN Header_StartCommand_Task */
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/**
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* @brief Function implementing the Command_Task thread.
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* @param argument: Not used
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* @retval None
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*/
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/* USER CODE END Header_StartCommand_Task */
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void StartCommand_Task(void *argument)
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{
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/* USER CODE BEGIN StartCommand_Task */
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remote_control_init();
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const RC_ctrl_t *rc;
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Chassis_Speed speed;
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/* Infinite loop */
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for(;;)
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{
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rc = get_remote_control_point(); // 获取遥控器数据
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// 遥控器通道映射：ch[3]=左摇杆上下(前后), ch[2]=左摇杆左右(左右)
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// 范围 [-660, 660] 映射到 [-MAX_CHASSIS_SPEED, MAX_CHASSIS_SPEED] m/s
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// 摇杆死区：RC_DEADZONE 以内视为0，消除摇杆中位抖动
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speed.vx = (abs(rc->rc.ch[2]) > RC_DEADZONE) ? (float)rc->rc.ch[3] * MAX_CHASSIS_SPEED / 660.0f : 0.0f; // 前后速度
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speed.vy = (abs(rc->rc.ch[3]) > RC_DEADZONE) ? (float)rc->rc.ch[2] * MAX_CHASSIS_SPEED / 660.0f : 0.0f; // 左右速度
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speed.vw = 0; // 旋转速度默认为0
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// 右侧开关切换模式
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if (rc->rc.s[1] == RC_SW_UP)
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{
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speed.vw = -2.0f; // 上拨：小陀螺模式，原地旋转
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}
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else if (rc->rc.s[1] == RC_SW_DOWN)
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{
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speed.vx = 0; // 下拨：停止模式，所有速度置零
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speed.vy = 0;
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speed.vw = 0;
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}
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osMessageQueuePut(chassis_speed_queueHandle, &speed, 0, 0); // 发送速度到底盘控制任务
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osDelay(10);
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}
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/* USER CODE END StartCommand_Task */
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}
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/* Private application code --------------------------------------------------*/
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/* USER CODE BEGIN Application */
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/* USER CODE END Application */ |