mirror of
https://gitee.com/dlmu-cone/tronone-h7-scaffold
synced 2026-07-24 03:27:45 +08:00
imu test
This commit is contained in:
TuxMonkey
@@ -26,7 +26,7 @@
|
||||
/* Private includes ----------------------------------------------------------*/
|
||||
/* USER CODE BEGIN Includes */
|
||||
#include "ws2812status.h"
|
||||
|
||||
#include "ins_task.h"
|
||||
#include "buzzer.h"
|
||||
// #include "remoteTask.h"
|
||||
//
|
||||
@@ -58,65 +58,65 @@
|
||||
/* Definitions for BeginTask */
|
||||
osThreadId_t BeginTaskHandle;
|
||||
const osThreadAttr_t BeginTask_attributes = {
|
||||
.name = "BeginTask",
|
||||
.stack_size = 256 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
.name = "BeginTask",
|
||||
.stack_size = 256 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
};
|
||||
/* Definitions for shoot */
|
||||
osThreadId_t shootHandle;
|
||||
const osThreadAttr_t shoot_attributes = {
|
||||
.name = "shoot",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
.name = "shoot",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
};
|
||||
/* Definitions for gimbal */
|
||||
osThreadId_t gimbalHandle;
|
||||
const osThreadAttr_t gimbal_attributes = {
|
||||
.name = "gimbal",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
.name = "gimbal",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
};
|
||||
/* Definitions for chassis */
|
||||
osThreadId_t chassisHandle;
|
||||
const osThreadAttr_t chassis_attributes = {
|
||||
.name = "chassis",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
.name = "chassis",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
};
|
||||
/* Definitions for init */
|
||||
osThreadId_t initHandle;
|
||||
const osThreadAttr_t init_attributes = {
|
||||
.name = "init",
|
||||
.stack_size = 256 * 4,
|
||||
.priority = (osPriority_t) osPriorityHigh,
|
||||
.name = "init",
|
||||
.stack_size = 256 * 4,
|
||||
.priority = (osPriority_t) osPriorityHigh,
|
||||
};
|
||||
/* Definitions for vision */
|
||||
osThreadId_t visionHandle;
|
||||
const osThreadAttr_t vision_attributes = {
|
||||
.name = "vision",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
.name = "vision",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
};
|
||||
/* Definitions for cmd */
|
||||
osThreadId_t cmdHandle;
|
||||
const osThreadAttr_t cmd_attributes = {
|
||||
.name = "cmd",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
.name = "cmd",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
};
|
||||
/* Definitions for reference */
|
||||
osThreadId_t referenceHandle;
|
||||
const osThreadAttr_t reference_attributes = {
|
||||
.name = "reference",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
.name = "reference",
|
||||
.stack_size = 512 * 4,
|
||||
.priority = (osPriority_t) osPriorityNormal,
|
||||
};
|
||||
/* Definitions for WS2812Task */
|
||||
osThreadId_t WS2812TaskHandle;
|
||||
const osThreadAttr_t WS2812Task_attributes = {
|
||||
.name = "WS2812Task",
|
||||
.stack_size = 256 * 4,
|
||||
.priority = (osPriority_t) osPriorityBelowNormal,
|
||||
.name = "WS2812Task",
|
||||
.stack_size = 256 * 4,
|
||||
.priority = (osPriority_t) osPriorityBelowNormal,
|
||||
};
|
||||
|
||||
/* Private function prototypes -----------------------------------------------*/
|
||||
@@ -125,43 +125,53 @@ const osThreadAttr_t WS2812Task_attributes = {
|
||||
/* 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 */
|
||||
void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName) {
|
||||
/* Run time stack overflow checking is performed if
|
||||
configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
|
||||
called if a stack overflow is detected. */
|
||||
void vApplicationStackOverflowHook(xTaskHandle xTask, signed char *pcTaskName)
|
||||
{
|
||||
/* Run time stack overflow checking is performed if
|
||||
configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2. This hook function is
|
||||
called if a stack overflow is detected. */
|
||||
}
|
||||
|
||||
/* USER CODE END 4 */
|
||||
|
||||
/* USER CODE BEGIN 5 */
|
||||
void vApplicationMallocFailedHook(void) {
|
||||
/* vApplicationMallocFailedHook() will only be called if
|
||||
configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
|
||||
function that will get called if a call to pvPortMalloc() fails.
|
||||
pvPortMalloc() is called internally by the kernel whenever a task, queue,
|
||||
timer or semaphore is created. It is also called by various parts of the
|
||||
demo application. If heap_1.c or heap_2.c are used, then the size of the
|
||||
heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
|
||||
FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
|
||||
to query the size of free heap space that remains (although it does not
|
||||
provide information on how the remaining heap might be fragmented). */
|
||||
void vApplicationMallocFailedHook(void)
|
||||
{
|
||||
/* vApplicationMallocFailedHook() will only be called if
|
||||
configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h. It is a hook
|
||||
function that will get called if a call to pvPortMalloc() fails.
|
||||
pvPortMalloc() is called internally by the kernel whenever a task, queue,
|
||||
timer or semaphore is created. It is also called by various parts of the
|
||||
demo application. If heap_1.c or heap_2.c are used, then the size of the
|
||||
heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
|
||||
FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
|
||||
to query the size of free heap space that remains (although it does not
|
||||
provide information on how the remaining heap might be fragmented). */
|
||||
}
|
||||
|
||||
/* USER CODE END 5 */
|
||||
@@ -171,62 +181,63 @@ void vApplicationMallocFailedHook(void) {
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
void MX_FREERTOS_Init(void) {
|
||||
/* USER CODE BEGIN Init */
|
||||
void MX_FREERTOS_Init(void)
|
||||
{
|
||||
/* USER CODE BEGIN Init */
|
||||
|
||||
/* USER CODE END Init */
|
||||
/* USER CODE END Init */
|
||||
|
||||
/* USER CODE BEGIN RTOS_MUTEX */
|
||||
/* add mutexes, ... */
|
||||
/* USER CODE END RTOS_MUTEX */
|
||||
/* USER CODE BEGIN RTOS_MUTEX */
|
||||
/* add mutexes, ... */
|
||||
/* USER CODE END RTOS_MUTEX */
|
||||
|
||||
/* USER CODE BEGIN RTOS_SEMAPHORES */
|
||||
/* add semaphores, ... */
|
||||
/* USER CODE END RTOS_SEMAPHORES */
|
||||
/* USER CODE BEGIN RTOS_SEMAPHORES */
|
||||
/* add semaphores, ... */
|
||||
/* USER CODE END RTOS_SEMAPHORES */
|
||||
|
||||
/* USER CODE BEGIN RTOS_TIMERS */
|
||||
/* start timers, add new ones, ... */
|
||||
/* USER CODE END RTOS_TIMERS */
|
||||
/* USER CODE BEGIN RTOS_TIMERS */
|
||||
/* start timers, add new ones, ... */
|
||||
/* USER CODE END RTOS_TIMERS */
|
||||
|
||||
/* USER CODE BEGIN RTOS_QUEUES */
|
||||
/* add queues, ... */
|
||||
/* USER CODE END RTOS_QUEUES */
|
||||
/* USER CODE BEGIN RTOS_QUEUES */
|
||||
/* add queues, ... */
|
||||
/* USER CODE END RTOS_QUEUES */
|
||||
|
||||
/* Create the thread(s) */
|
||||
/* creation of BeginTask */
|
||||
BeginTaskHandle = osThreadNew(StartDefaultTask, NULL, &BeginTask_attributes);
|
||||
/* Create the thread(s) */
|
||||
/* creation of BeginTask */
|
||||
BeginTaskHandle = osThreadNew(StartDefaultTask, NULL, &BeginTask_attributes);
|
||||
|
||||
/* creation of shoot */
|
||||
shootHandle = osThreadNew(ShootTask, NULL, &shoot_attributes);
|
||||
/* creation of shoot */
|
||||
shootHandle = osThreadNew(ShootTask, NULL, &shoot_attributes);
|
||||
|
||||
/* creation of gimbal */
|
||||
gimbalHandle = osThreadNew(GimbalTask, NULL, &gimbal_attributes);
|
||||
/* creation of gimbal */
|
||||
gimbalHandle = osThreadNew(GimbalTask, NULL, &gimbal_attributes);
|
||||
|
||||
/* creation of chassis */
|
||||
chassisHandle = osThreadNew(ChassisTask, NULL, &chassis_attributes);
|
||||
/* creation of chassis */
|
||||
chassisHandle = osThreadNew(ChassisTask, NULL, &chassis_attributes);
|
||||
|
||||
/* creation of init */
|
||||
initHandle = osThreadNew(StartInitTask, NULL, &init_attributes);
|
||||
/* creation of init */
|
||||
initHandle = osThreadNew(StartInitTask, NULL, &init_attributes);
|
||||
|
||||
/* creation of vision */
|
||||
visionHandle = osThreadNew(VisionTask, NULL, &vision_attributes);
|
||||
/* creation of vision */
|
||||
visionHandle = osThreadNew(VisionTask, NULL, &vision_attributes);
|
||||
|
||||
/* creation of cmd */
|
||||
cmdHandle = osThreadNew(CmdTask, NULL, &cmd_attributes);
|
||||
/* creation of cmd */
|
||||
cmdHandle = osThreadNew(CmdTask, NULL, &cmd_attributes);
|
||||
|
||||
/* creation of reference */
|
||||
referenceHandle = osThreadNew(RefereeTask, NULL, &reference_attributes);
|
||||
/* creation of reference */
|
||||
referenceHandle = osThreadNew(RefereeTask, NULL, &reference_attributes);
|
||||
|
||||
/* creation of WS2812Task */
|
||||
WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes);
|
||||
/* creation of WS2812Task */
|
||||
WS2812TaskHandle = osThreadNew(ws2812Task, NULL, &WS2812Task_attributes);
|
||||
|
||||
/* USER CODE BEGIN RTOS_THREADS */
|
||||
/* add threads, ... */
|
||||
/* USER CODE END RTOS_THREADS */
|
||||
/* USER CODE BEGIN RTOS_THREADS */
|
||||
/* add threads, ... */
|
||||
/* USER CODE END RTOS_THREADS */
|
||||
|
||||
/* USER CODE BEGIN RTOS_EVENTS */
|
||||
/* add events, ... */
|
||||
/* USER CODE END RTOS_EVENTS */
|
||||
/* USER CODE BEGIN RTOS_EVENTS */
|
||||
/* add events, ... */
|
||||
/* USER CODE END RTOS_EVENTS */
|
||||
|
||||
}
|
||||
|
||||
@@ -239,14 +250,15 @@ void MX_FREERTOS_Init(void) {
|
||||
/* USER CODE END Header_StartDefaultTask */
|
||||
__weak void StartDefaultTask(void *argument)
|
||||
{
|
||||
/* init code for USB_DEVICE */
|
||||
MX_USB_DEVICE_Init();
|
||||
/* USER CODE BEGIN StartDefaultTask */
|
||||
/* Infinite loop */
|
||||
for (;;) {
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END StartDefaultTask */
|
||||
/* init code for USB_DEVICE */
|
||||
MX_USB_DEVICE_Init();
|
||||
/* USER CODE BEGIN StartDefaultTask */
|
||||
/* Infinite loop */
|
||||
for (;;)
|
||||
{
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END StartDefaultTask */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN Header_ShootTask */
|
||||
@@ -258,12 +270,13 @@ __weak void StartDefaultTask(void *argument)
|
||||
/* USER CODE END Header_ShootTask */
|
||||
__weak void ShootTask(void *argument)
|
||||
{
|
||||
/* USER CODE BEGIN ShootTask */
|
||||
/* Infinite loop */
|
||||
for (;;) {
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END ShootTask */
|
||||
/* USER CODE BEGIN ShootTask */
|
||||
/* Infinite loop */
|
||||
for (;;)
|
||||
{
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END ShootTask */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN Header_GimbalTask */
|
||||
@@ -275,12 +288,13 @@ __weak void ShootTask(void *argument)
|
||||
/* USER CODE END Header_GimbalTask */
|
||||
__weak void GimbalTask(void *argument)
|
||||
{
|
||||
/* USER CODE BEGIN GimbalTask */
|
||||
/* Infinite loop */
|
||||
for (;;) {
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END GimbalTask */
|
||||
/* USER CODE BEGIN GimbalTask */
|
||||
/* Infinite loop */
|
||||
for (;;)
|
||||
{
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END GimbalTask */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN Header_ChassisTask */
|
||||
@@ -292,12 +306,13 @@ __weak void GimbalTask(void *argument)
|
||||
/* USER CODE END Header_ChassisTask */
|
||||
__weak void ChassisTask(void *argument)
|
||||
{
|
||||
/* USER CODE BEGIN ChassisTask */
|
||||
/* Infinite loop */
|
||||
for (;;) {
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END ChassisTask */
|
||||
/* USER CODE BEGIN ChassisTask */
|
||||
/* Infinite loop */
|
||||
for (;;)
|
||||
{
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END ChassisTask */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN Header_StartInitTask */
|
||||
@@ -309,12 +324,13 @@ __weak void ChassisTask(void *argument)
|
||||
/* USER CODE END Header_StartInitTask */
|
||||
__weak void StartInitTask(void *argument)
|
||||
{
|
||||
/* USER CODE BEGIN StartInitTask */
|
||||
/* Infinite loop */
|
||||
for (;;) {
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END StartInitTask */
|
||||
/* USER CODE BEGIN StartInitTask */
|
||||
/* Infinite loop */
|
||||
for (;;)
|
||||
{
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END StartInitTask */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN Header_VisionTask */
|
||||
@@ -326,12 +342,13 @@ __weak void StartInitTask(void *argument)
|
||||
/* USER CODE END Header_VisionTask */
|
||||
__weak void VisionTask(void *argument)
|
||||
{
|
||||
/* USER CODE BEGIN VisionTask */
|
||||
/* Infinite loop */
|
||||
for (;;) {
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END VisionTask */
|
||||
/* USER CODE BEGIN VisionTask */
|
||||
/* Infinite loop */
|
||||
for (;;)
|
||||
{
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END VisionTask */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN Header_CmdTask */
|
||||
@@ -343,12 +360,13 @@ __weak void VisionTask(void *argument)
|
||||
/* USER CODE END Header_CmdTask */
|
||||
__weak void CmdTask(void *argument)
|
||||
{
|
||||
/* USER CODE BEGIN CmdTask */
|
||||
/* Infinite loop */
|
||||
for (;;) {
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END CmdTask */
|
||||
/* USER CODE BEGIN CmdTask */
|
||||
/* Infinite loop */
|
||||
for (;;)
|
||||
{
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END CmdTask */
|
||||
}
|
||||
|
||||
/* USER CODE BEGIN Header_RefereeTask */
|
||||
@@ -360,16 +378,37 @@ __weak void CmdTask(void *argument)
|
||||
/* USER CODE END Header_RefereeTask */
|
||||
__weak void RefereeTask(void *argument)
|
||||
{
|
||||
/* USER CODE BEGIN RefereeTask */
|
||||
/* Infinite loop */
|
||||
for (;;) {
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END RefereeTask */
|
||||
/* USER CODE BEGIN RefereeTask */
|
||||
/* Infinite loop */
|
||||
for (;;)
|
||||
{
|
||||
osDelay(1);
|
||||
}
|
||||
/* USER CODE END RefereeTask */
|
||||
}
|
||||
|
||||
/* Private application code --------------------------------------------------*/
|
||||
/* USER CODE BEGIN Application */
|
||||
|
||||
//Todo:INS_Task是测试阶段使用。
|
||||
__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)
|
||||
// Todo: 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); // 1ms, 1kHz
|
||||
}
|
||||
}
|
||||
|
||||
/* USER CODE END Application */
|
||||
|
||||
|
||||
Reference in New Issue
Block a user