将os任务的创建统一转移到app层方便修改,使得架构更加清晰.修复了INS未初始化导致的读取错误

2026-07-24 03:27:45 +08:00 · 2023-06-05 22:43:25 +08:00
parent 253f391cd5
commit 72884ef96b
9 changed files with 136 additions and 100 deletions
--- a/application/robot_task.h
+++ b/application/robot_task.h
@@ -0,0 +1,111 @@
+#pragma once
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "main.h"
+#include "cmsis_os.h"
+
+#include "ins_task.h"
+#include "motor_task.h"
+#include "referee_task.h"
+#include "master_process.h"
+#include "daemon.h"
+#include "HT04.h"
+
+osThreadId insTaskHandle;
+osThreadId robotTaskHandle;
+osThreadId motorTaskHandle;
+osThreadId daemonTaskHandle;
+osThreadId uiTaskHandle;
+
+void StartINSTASK(void const *argument);
+void StartMOTORTASK(void const *argument);
+void StartDAEMONTASK(void const *argument);
+void StartROBOTTASK(void const *argument);
+void StartUITASK(void const *argument);
+
+/**
+ * @brief 初始化机器人任务,所有持续运行的任务都在这里初始化
+ *
+ */
+void OSTaskInit()
+{
+    osThreadDef(instask, StartINSTASK, osPriorityAboveNormal, 0, 1024);
+    insTaskHandle = osThreadCreate(osThread(instask), NULL); // 由于是阻塞读取传感器,为姿态解算设置较高优先级,确保以1khz的频率执行
+    // 后续修改为读取传感器数据准备好的中断处理,
+
+    osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
+    motorTaskHandle = osThreadCreate(osThread(motortask), NULL);
+
+    osThreadDef(daemontask, StartDAEMONTASK, osPriorityNormal, 0, 128);
+    daemonTaskHandle = osThreadCreate(osThread(daemontask), NULL);
+
+    osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
+    robotTaskHandle = osThreadCreate(osThread(robottask), NULL);
+
+    osThreadDef(uitask, StartUITASK, osPriorityNormal, 0, 512);
+    uiTaskHandle = osThreadCreate(osThread(uitask), NULL);
+
+    // 若使用HT电机则取消本行注释,该接口会为注册了的电机设备创建线程
+    // HTMotorControlInit();
+}
+
+void StartINSTASK(void const *argument)
+{
+    static float ins_start, ins_dt;
+    INS_Init(); // 确保BMI088被正确初始化.
+    while (1)
+    {
+        // 1kHz
+        ins_start = DWT_GetTimeline_ms();
+        INS_Task();
+        ins_dt = DWT_GetTimeline_ms() - ins_start;
+        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);
+    }
+}
+
+void StartMOTORTASK(void const *argument)
+{
+    static float motor_dt, motor_start;
+    while (1)
+    {
+        motor_start = DWT_GetTimeline_ms();
+        MotorControlTask();
+        motor_dt = DWT_GetTimeline_ms() - motor_start;
+        osDelay(1);
+    }
+}
+
+void StartDAEMONTASK(void const *argument)
+{
+    while (1)
+    {
+        // 100Hz
+        DaemonTask();
+        osDelay(10);
+    }
+}
+
+void StartROBOTTASK(void const *argument)
+{
+    static float robot_dt, robot_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;
+        osDelay(5);
+    }
+}
+
+void StartUITASK(void const *argument)
+{
+    My_UI_init();
+    while (1)
+    {
+        Referee_Interactive_task(); // 每次给裁判系统发送完一包数据后,挂起一次,防止卡在裁判系统发送中,详见Referee_Interactive_task函数的refereeSend();
+        osDelay(1);                 // 即使没有任何UI需要刷新,也挂起一次,防止卡在UITask中无法切换
+    }
+}