TuxMonkey/tronone-h7-scaffold
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add devcmdtask but couldnt recv data

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This commit is contained in:
TuxMonkey
2026-03-07 21:59:47 +08:00
parent 50edf7dedb
commit 2f0ca6d906
6 changed files with 67 additions and 44 deletions
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17
Core/Src/freertos.c
View File

@@ -33,7 +33,7 @@
// #include "bsp_dwt.h"
// // #include "ins_task.h"
// #include "bsp_log.h"
#include "dev_cmd.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@@ -136,20 +136,30 @@ void StartINSTASK(void const *argument);
/* USER CODE END FunctionPrototypes */
void StartDefaultTask(void *argument);
void ShootTask(void *argument);
void GimbalTask(void *argument);
void ChassisTask(void *argument);
void StartInitTask(void *argument);
void VisionTask(void *argument);
void CmdTask(void *argument);
void RefereeTask(void *argument);
extern void ws2812Task(void *argument);
extern void MX_USB_DEVICE_Init(void);
void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
/* Hook prototypes */
void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName);
void vApplicationMallocFailedHook(void);
/* USER CODE BEGIN 4 */
@@ -184,7 +194,8 @@ void vApplicationMallocFailedHook(void)
* @param None
* @retval None
*/
void MX_FREERTOS_Init(void) {
void MX_FREERTOS_Init(void)
{
/* USER CODE BEGIN Init */
/* USER CODE END Init */
@@ -243,7 +254,6 @@ void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN RTOS_EVENTS */
/* add events, ... */
/* USER CODE END RTOS_EVENTS */
}
/* USER CODE BEGIN Header_StartDefaultTask */
@@ -416,6 +426,5 @@ __attribute__((noreturn)) void StartINSTASK(void const *argument)
}
/* USER CODE END Application */

26
User_Code/user_task/dev_tasks/dev_cmd.c
View File

@@ -19,24 +19,28 @@ static float current_energy_j = 0.0f;
void RobotCMDInit()
{
chassis_power_meter = PowerMeterInit(&hfdcan1);
if(chassis_power_meter == NULL)
if (chassis_power_meter == NULL)
{
LOGERROR("[CMD] Power Meter Init Failed!");
}
}
// ==================== 4. 在控制任务中读取使用 ====================
void RobotCMDTask()
void CmdTask()
{
if(chassis_power_meter != NULL)
RobotCMDInit();
while (1)
{
current_power_w = PowerMeterGetPower(chassis_power_meter);
current_voltage_v = PowerMeterGetVoltage(chassis_power_meter);
current_energy_j = PowerMeterGetEnergy(chassis_power_meter);
if (chassis_power_meter != NULL)
{
current_power_w = PowerMeterGetPower(chassis_power_meter);
current_voltage_v = PowerMeterGetVoltage(chassis_power_meter);
current_energy_j = PowerMeterGetEnergy(chassis_power_meter);
// 你可以将获取到的功率写入要发送给底盘的 cmd 中，例如限制最大速度
// chassis_cmd_send.real_power = current_power_w;
// 你可以将获取到的功率写入要发送给底盘的 cmd 中，例如限制最大速度
// chassis_cmd_send.real_power = current_power_w;
}
osDelay(10); // 根据实际需要调整读取频率
}
osDelay(10); // 根据实际需要调整读取频率
}
}

2
User_Code/user_task/half_steering/halfsteering_cmd.c
View File

@@ -55,7 +55,7 @@ void RobotCMDInit(void)
/**
* @brief 任务核心循环 (放置于 RTOS Task 中)
*/
void RobotCMDTask(void)
void CmdTask(void)
{
if (!task_data.init_done) return;

2
User_Code/user_task/half_steering/halfsteering_cmd.h
View File

@@ -9,6 +9,6 @@ void RobotCMDInit(void);
/**
* @brief 机器人核心控制任务,200Hz频率运行(必须高于视觉发送频率)
*/
void RobotCMDTask(void);
void CmdTask(void);
#endif // HALFSTEERING_CMD_H

6
ozonedeb/windebnewestux.jdebug
View File

@@ -22,12 +22,12 @@ void OnProjectLoad (void) {
//
// Dialog-generated settings
//
Project.AddPathSubstitute ("D:/RM/Elec Control/TronOneH7_Scaffold/ozonedeb", "$(ProjectDir)");
Project.AddPathSubstitute ("d:/rm/elec control/trononeh7_scaffold/ozonedeb", "$(ProjectDir)");
Project.SetDevice ("STM32H723VG");
Project.SetHostIF ("USB", "602717886");
Project.SetHostIF ("USB", "602712948");
Project.SetTargetIF ("SWD");
Project.SetTIFSpeed ("4 MHz");
Project.AddPathSubstitute ("D:/RM/Elec Control/TronOneH7_Scaffold/ozonedeb", "$(ProjectDir)");
Project.AddPathSubstitute ("d:/rm/elec control/trononeh7_scaffold/ozonedeb", "$(ProjectDir)");
Project.AddSvdFile ("$(InstallDir)/Config/CPU/Cortex-M7F.svd");
Project.AddSvdFile ("D:/ST/STM32CubeCLT_1.19.0/STMicroelectronics_CMSIS_SVD/STM32H723.svd");
//

58
ozonedeb/windebnewestux.jdebug.user
View File

@@ -1,52 +1,62 @@
Breakpoint=D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/buzzer/buzzer.cpp:336:1, State=BP_STATE_DISABLED
Breakpoint=D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/user_task/dev_tasks/dev_cmd.c:30, State=BP_STATE_ON
GraphedExpression="(QEKF_INS).Roll", Color=#a00909
OpenDocument="ws2812.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/ws2812/ws2812.c", Line=0
OpenDocument="xidipwmeter.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/power_meters/xiditech/xidipwmeter.c", Line=114
OpenDocument="cmsis_os2.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=871
OpenDocument="freertos.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/freertos.c", Line=366
OpenDocument="stm32h7xx_hal.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c", Line=404
OpenDocument="stm32h7xx_it.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/stm32h7xx_it.c", Line=306
OpenDocument="stm32h7xx_hal_spi.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c", Line=1536
OpenDocument="buzzer.cpp", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/buzzer/buzzer.cpp", Line=319
OpenDocument="rc.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/remote_control/rc.c", Line=0
OpenDocument="delayticks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/delayticks/delayticks.c", Line=0
OpenDocument="bsp_dwt.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/dwt/bsp_dwt.c", Line=93
OpenDocument="main.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/main.c", Line=69
OpenDocument="delayticks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/delayticks/delayticks.c", Line=4
OpenDocument="port.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c", Line=217
OpenDocument="bsp_dwt.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/bsp/dwt/bsp_dwt.c", Line=15
OpenDocument="robot.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/application/robot.c", Line=33
OpenDocument="tasks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2304
OpenDocument="stm32h7xx_hal.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal.c", Line=404
OpenDocument="dev_cmd.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/user_task/dev_tasks/dev_cmd.c", Line=12
OpenDocument="tasks.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=2305
OpenDocument="list.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/list.c", Line=144
OpenDocument="cmsis_gcc.h", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/CMSIS/Include/cmsis_gcc.h", Line=264
OpenDocument="cmsis_os2.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2/cmsis_os2.c", Line=872
OpenDocument="stm32h7xx_it.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/stm32h7xx_it.c", Line=99
OpenDocument="stm32h7xx_hal_spi.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_spi.c", Line=3887
OpenDocument="main.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Core/Src/main.c", Line=71
OpenDocument="stm32h7xx_hal_fdcan.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_fdcan.c", Line=2945
OpenDocument="ws2812.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/ws2812/ws2812.c", Line=0
OpenDocument="ins_task.c", FilePath="D:/RM/Elec Control/TronOneH7_Scaffold/User_Code/module/periph/imu/ins_task.c", Line=0
OpenToolbar="Debug", Floating=0, x=0, y=0
OpenToolbar="Breakpoints", Floating=0, x=1, y=0
OpenWindow="Call Stack", DockArea=RIGHT, x=0, y=0, w=681, h=254, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Call Stack", DockArea=RIGHT, x=0, y=0, w=681, h=256, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Registers 1", DockArea=BOTTOM, x=1, y=0, w=361, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=551, h=273, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Disassembly", DockArea=BOTTOM, x=2, y=0, w=629, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Break & Tracepoints", DockArea=LEFT, x=0, y=1, w=551, h=282, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VectorCatchIndexMask=254
OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=465, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x20005E30
OpenWindow="Global Data", DockArea=RIGHT, x=0, y=3, w=681, h=310, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=551, h=282, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=551, h=235, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=551, h=235, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Memory 1", DockArea=BOTTOM, x=3, y=0, w=465, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0x2000B98C
OpenWindow="Global Data", DockArea=RIGHT, x=0, y=3, w=681, h=305, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Watched Data 1", DockArea=LEFT, x=0, y=2, w=551, h=280, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Functions", DockArea=LEFT, x=0, y=3, w=551, h=237, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Call Graph", DockArea=LEFT, x=0, y=3, w=551, h=237, TabPos=2, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="Data Sampling", DockArea=BOTTOM, x=0, y=0, w=1102, h=181, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=2, w=681, h=303, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="435;0", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;-65", CodeGraphLegendShown=0, CodeGraphLegendPosition="475;0"
OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=551, h=235, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="FreeRTOS", DockArea=RIGHT, x=0, y=1, w=681, h=225, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing="Task List"
OpenWindow="Timeline", DockArea=RIGHT, x=0, y=2, w=681, h=299, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="1 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="435;0", PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="459;-65", CodeGraphLegendShown=0, CodeGraphLegendPosition="475;0"
OpenWindow="Console", DockArea=LEFT, x=0, y=3, w=551, h=237, TabPos=0, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
OpenWindow="FreeRTOS", DockArea=RIGHT, x=0, y=1, w=681, h=232, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing="Task List"
TableHeader="Functions", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Address";"Size";"#Insts";"Source"], ColWidths=[1164;100;100;100;100]
TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[222;130;100;54;95;486]
TableHeader="Global Data", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Location";"Size";"Type";"Scope"], ColWidths=[222;130;100;54;95;100]
TableHeader="Vector Catches", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Vector Catch";"Description"], ColWidths=[50;300;500]
TableHeader="Break & Tracepoints", SortCol="None", SortOrder="ASCENDING", VisibleCols=["";"Type";"Location";"Extras"], ColWidths=[100;100;142;209]
TableHeader="Call Stack", SortCol="Function", SortOrder="ASCENDING", VisibleCols=["Function";"Stack Frame";"Source";"PC";"Return Address";"Stack Used"], ColWidths=[110;126;190;100;190;100]
TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[229;100;100;100;1046]
TableHeader="Data Sampling Table", SortCol="Index", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (QEKF_INS).Roll"], ColWidths=[100;100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[320;100;100;102;100;102;102;118;118]
TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" (QEKF_INS).Roll"], ColWidths=[100;100;100]
TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[320;100;110;102;100;110;102;118;118]
TableHeader="Power Sampling", SortCol="Index", SortOrder="ASCENDING", VisibleCols=["Index";"Time";"Ch 0"], ColWidths=[100;100;100]
TableHeader="Task List", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Run Count";"Priority";"Status";"Timeout";"Stack Info (Free / Size)";"ID";"Mutex Count";"Notified Value";"Notify State"], ColWidths=[110;110;110;110;110;110;110;110;110;110]
TableHeader="Registers 1", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Description"], ColWidths=[100;105;294]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location"], ColWidths=[171;101;279]
TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location"], ColWidths=[171;101;258]
TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
TableHeader="Call Graph", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Stack Total";"Stack Local";"Code Total";"Code Local";"Depth";"Called From"], ColWidths=[384;100;100;100;100;100;118]
TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[27;27;27;38]
WatchedExpression="QEKF_INS", RefreshRate=2, Window=Watched Data 1
WatchedExpression="BMI088", RefreshRate=2, Window=Watched Data 1
WatchedExpression="RobotMode_t", Window=Watched Data 1
WatchedExpression="RobotMode_t", Window=Watched Data 1
WatchedExpression="power_meter_instance", RefreshRate=2, Window=Watched Data 1
WatchedExpression="pm_voltage", RefreshRate=2, Window=Watched Data 1
WatchedExpression="pm_current", RefreshRate=2, Window=Watched Data 1
WatchedExpression="measure.voltage", Window=Watched Data 1
WatchedExpression="PowerMeterInstance", RefreshRate=2, Window=Watched Data 1