TuxMonkey/bf_original_balance_chassis
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添加了大量调试log，新增了dwt计时宏，增加了USB软件复位防止主控复位后上位机无法连接usb

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This commit is contained in:
NeoZng
2023-06-22 21:52:46 +08:00
parent ea6163a48d
commit 4a45331d31
31 changed files with 247 additions and 275 deletions
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19
application/robot_task.h
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@@ -13,6 +13,8 @@
#include "daemon.h"
#include "HT04.h"
#include "bsp_log.h"
osThreadId insTaskHandle;
osThreadId robotTaskHandle;
osThreadId motorTaskHandle;
@@ -54,12 +56,15 @@ void StartINSTASK(void const *argument)
{
static float ins_start, ins_dt;
INS_Init(); // 确保BMI088被正确初始化.
LOGINFO("[freeRTOS] INS Task Start");
while (1)
{
// 1kHz
ins_start = DWT_GetTimeline_ms();
INS_Task();
ins_dt = DWT_GetTimeline_ms() - ins_start;
if (ins_dt > 1)
LOGERROR("[freeRTOS] INS Task is being DELAY! dt = [%f]", &ins_dt);
VisionSend(); // 解算完成后发送视觉数据,但是当前的实现不太优雅,后续若添加硬件触发需要重新考虑结构的组织
osDelay(1);
}
@@ -68,21 +73,30 @@ void StartINSTASK(void const *argument)
void StartMOTORTASK(void const *argument)
{
static float motor_dt, motor_start;
LOGINFO("[freeRTOS] MOTOR Task Start");
while (1)
{
motor_start = DWT_GetTimeline_ms();
MotorControlTask();
motor_dt = DWT_GetTimeline_ms() - motor_start;
if (motor_dt > 1)
LOGERROR("[freeRTOS] MOTOR Task is being DELAY! dt = [%f]", &motor_dt);
osDelay(1);
}
}
void StartDAEMONTASK(void const *argument)
{
static float daemon_dt, daemon_start;
LOGINFO("[freeRTOS] Daemon Task Start");
while (1)
{
// 100Hz
daemon_start = DWT_GetTimeline_ms();
DaemonTask();
daemon_dt = DWT_GetTimeline_ms() - daemon_start;
if (daemon_dt > 10)
LOGERROR("[freeRTOS] Daemon Task is being DELAY! dt = [%f]", &daemon_dt);
osDelay(10);
}
}
@@ -90,19 +104,24 @@ void StartDAEMONTASK(void const *argument)
void StartROBOTTASK(void const *argument)
{
static float robot_dt, robot_start;
LOGINFO("[freeRTOS] ROBOT core Task Start");
// 200Hz-500Hz,若有额外的控制任务如平衡步兵可能需要提升至1kHz
while (1)
{
robot_start = DWT_GetTimeline_ms();
RobotTask();
robot_dt = DWT_GetTimeline_ms() - robot_start;
if (robot_dt > 5)
LOGERROR("[freeRTOS] ROBOT core Task is being DELAY! dt = [%f]", &robot_dt);
osDelay(5);
}
}
void StartUITASK(void const *argument)
{
LOGINFO("[freeRTOS] UI Task Start");
MyUIInit();
LOGINFO("[freeRTOS] UI Init Done, communication with ref has established");
while (1)
{
// 每给裁判系统发送一包数据会挂起一次,详见UITask函数的refereeSend()