TuxMonkey/bf_original_balance_chassis
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Correct spi chip selection

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chenfu
2023-12-23 11:09:36 +08:00
parent b052126648
commit 9dd0057563
8 changed files with 125 additions and 110 deletions
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44
application/robot_task.h
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@@ -17,13 +17,13 @@
#include "bsp_log.h"
// osThreadId insTaskHandle;
osThreadId insTaskHandle;
osThreadId robotTaskHandle;
osThreadId motorTaskHandle;
osThreadId daemonTaskHandle;
osThreadId uiTaskHandle;
// void StartINSTASK(void const *argument);
void StartINSTASK(void const *argument);
void StartMOTORTASK(void const *argument);
void StartDAEMONTASK(void const *argument);
void StartROBOTTASK(void const *argument);
@@ -35,8 +35,8 @@ void StartUITASK(void const *argument);
*/
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
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);
@@ -54,24 +54,24 @@ void OSTaskInit()
HTMotorControlInit(); // 没有注册HT电机则不会执行
}
// __attribute__((noreturn)) void StartINSTASK(void const *argument)
// {
// static float ins_start;
// static float ins_dt;
// INS_Init(); // 确保BMI088被正确初始化.
// LOGINFO("[freeRTOS] INS Task Start");
// for (;;)
// {
// // 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);
// }
// }
__attribute__((noreturn)) void StartINSTASK(void const *argument)
{
static float ins_start;
static float ins_dt;
INS_Init(); // 确保BMI088被正确初始化.
LOGINFO("[freeRTOS] INS Task Start");
for (;;)
{
// 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);
}
}
__attribute__((noreturn)) void StartMOTORTASK(void const *argument)
{