TuxMonkey/bf_original_balance_chassis
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完成了队列版本的pubsub机制,但尚未测试

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This commit is contained in:
NeoZeng
2022-11-30 22:10:57 +08:00
parent 32ae8eaa7f
commit bcd7bf00e5
15 changed files with 369 additions and 193 deletions
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2
HAL_N_Middlewares/Src/freertos.c
View File

@@ -27,6 +27,7 @@
/* USER CODE BEGIN Includes */
#include "ins_task.h"
#include "motor_task.h"
#include "led_task.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -137,6 +138,7 @@ void StartDefaultTask(void const * argument)
/* Infinite loop */
for(;;)
{
led_RGB_flow_task();
osDelay(1);
}
/* USER CODE END StartDefaultTask */

72
HAL_N_Middlewares/Src/main.c
View File

@@ -32,19 +32,7 @@
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "remote_control.h"
#include "bsp_usart.h"
#include "bsp_can.h"
#include "can.h"
#include "dji_motor.h"
#include "motor_task.h"
#include "referee.h"
#include "ins_task.h"
#include "can_comm.h"
#include "master_process.h"
#include "led_task.h"
#include "bsp_led.h"
#include "message_center.h"
#include "robot.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -76,13 +64,7 @@ void MX_FREERTOS_Init(void);
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
typedef struct
{
float a;
float b;
float c;
}sdf;
volatile sdf* rx;
/* USER CODE END 0 */
/**
@@ -128,64 +110,24 @@ int main(void)
MX_USART1_UART_Init();
MX_USART6_UART_Init();
/* USER CODE BEGIN 2 */
RC_init(&huart3);
DWT_Init(168);
Motor_Init_Config_s config = {
.motor_type = GM6020,
.can_init_config = {
.can_handle = &hcan1,
.tx_id = 6},
.controller_setting_init_config = {.angle_feedback_source = MOTOR_FEED, .close_loop_type = SPEED_LOOP | ANGLE_LOOP, .speed_feedback_source = MOTOR_FEED, .reverse_flag = MOTOR_DIRECTION_NORMAL},
.controller_param_init_config = {.angle_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}, .speed_PID = {.Improve = 0, .Kp = 1, .Ki = 0, .Kd = 0, .DeadBand = 0, .MaxOut = 4000}}};
dji_motor_instance *djimotor = DJIMotorInit(&config);
CANComm_Init_Config_s cconfig = {
.can_config = {.can_handle=&hcan1,.tx_id=0x02,.rx_id=0x03},
.send_data_len = 4,
.recv_data_len = 12};
CANCommInstance* in = CANCommInit(&cconfig);
volatile float tx = 32;
RefereeInit(&huart6);
Vision_Recv_s* recv=VisionInit(&huart1);
Vision_Send_s send={.pitch=1,.roll=2,.yaw=3};
LED_init();
RobotInit();
float *subsub;
float* sub2;
float test=1;
PublisherRegister("test",&test);
SubscribeEvent("test",&subsub);
SubscribeEvent("test",&sub2);
PublisherRegister("test",sub2);
MessageInit();
/* USER CODE END 2 */
/* Call init function for freertos objects (in freertos.c) */
// MX_FREERTOS_Init();
MX_FREERTOS_Init();
// /* Start scheduler */
// osKernelStart();
/* Start scheduler */
osKernelStart();
/* We should never get here as control is now taken by the scheduler */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
// INS_Init();
while (1)
{
/* USER CODE END WHILE */
DJIMotorSetRef(djimotor, 10);
MotorControlTask();
HAL_Delay(1);
CANCommSend(in, (uint8_t*)&tx);
tx+=1;
rx=(sdf*)CANCommGet(in);
VisionSend(&send);
led_RGB_flow_task();
// INS_Task();
/* USER CODE BEGIN 3 */
}
/* USER CODE END 3 */