HFUT_Firmament_EC
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sentry_gimbal_hzz
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为裁判系统添加了守护线程，拟解决超级电容功率控制问题

This commit is contained in:
NeoZng 2023-04-24 10:24:36 +08:00
parent 4ef3aa2f76
commit 7a95d3c451
3 changed files with 52 additions and 41 deletions
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10
Src/freertos.c
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@ -131,7 +131,7 @@ void MX_FREERTOS_Init(void)
osThreadDef(instask, StartINSTASK, osPriorityNormal, 0, 1024);
insTaskHandle = osThreadCreate(osThread(instask), NULL);
osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 512);
osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
motorTaskHandle = osThreadCreate(osThread(motortask), NULL);
osThreadDef(daemontask, StartDAEMONTASK, osPriorityNormal, 0, 128);
@ -159,10 +159,10 @@ void StartDefaultTask(void const *argument)
MX_USB_DEVICE_Init();
/* USER CODE BEGIN StartDefaultTask */
/* Infinite loop */
for (;;)
{
osDelay(1);
}
// for (;;)
// {
// osDelay(1);
// }
/* USER CODE END StartDefaultTask */
}

4
modules/referee/referee_task.c
View File

@ -13,8 +13,10 @@
#include "rm_referee.h"
#include "referee_UI.h"
#include "string.h"
static Referee_Interactive_info_t *Interactive_data; // UI绘制需要的机器人状态数据
static referee_info_t *referee_recv_info; // 接收到的裁判系统数据
uint8_t UI_Seq; // 包序号，供整个referee文件使用
/**
* @brief 判断各种ID，选择客户端ID
@ -280,7 +282,7 @@ static void Mode_Change_Check(Referee_Interactive_info_t *_Interactive_data)
if (_Interactive_data->lid_mode != _Interactive_data->lid_last_mode)
{
_Interactive_data->Referee_Interactive_Flag.lid_flag= 1;
_Interactive_data->Referee_Interactive_Flag.lid_flag = 1;
_Interactive_data->lid_last_mode = _Interactive_data->lid_mode;
}

79
modules/referee/rm_referee.c
View File

@ -14,47 +14,14 @@
#include "crc_ref.h"
#include "bsp_usart.h"
#include "task.h"
#include "daemon.h"
#define RE_RX_BUFFER_SIZE 200
static USARTInstance *referee_usart_instance; // 裁判系统串口实例
static DaemonInstance *referee_daemon; // 裁判系统守护进程
static referee_info_t referee_info; // 裁判系统数据
static void RefereeRxCallback();
static void JudgeReadData(uint8_t *buff);
uint8_t UI_Seq = 0; // 包序号，供整个referee文件使用
/* 裁判系统通信初始化 */
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance = USARTRegister(&conf);
return &referee_info;
}
/**
* @brief 裁判系统数据发送函数,由于使用
* @param
*/
void RefereeSend(uint8_t *send, uint16_t tx_len)
{
static TickType_t xLastWakeTime;
USARTSend(referee_usart_instance, send, tx_len, USART_TRANSFER_DMA);
vTaskDelayUntil(&xLastWakeTime, 120);
}
/*裁判系统串口接收回调函数,解析数据 */
static void RefereeRxCallback()
{
JudgeReadData(referee_usart_instance->recv_buff);
}
/**
* @brief 读取裁判数据,中断中读取保证速度
* @param buff: 读取到的裁判系统原始数据
@ -136,3 +103,45 @@ static void JudgeReadData(uint8_t *buff)
}
}
}
/*裁判系统串口接收回调函数,解析数据 */
static void RefereeRxCallback()
{
DaemonReload(referee_daemon);
JudgeReadData(referee_usart_instance->recv_buff);
}
// 裁判系统丢失回调函数,重新初始化裁判系统串口
static void RefereeLostCallback(void *arg)
{
USARTServiceInit(referee_usart_instance);
}
/* 裁判系统通信初始化 */
referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
{
USART_Init_Config_s conf;
conf.module_callback = RefereeRxCallback;
conf.usart_handle = referee_usart_handle;
conf.recv_buff_size = RE_RX_BUFFER_SIZE;
referee_usart_instance = USARTRegister(&conf);
Daemon_Init_Config_s daemon_conf = {
.callback = RefereeLostCallback,
.owner_id = referee_usart_instance,
.reload_count = 30, // 0.3s没有收到数据,则认为丢失,重启串口接收
};
referee_daemon = DaemonRegister(&daemon_conf);
return &referee_info;
}
/**
* @brief 裁判系统数据发送函数
* @param
*/
void RefereeSend(uint8_t *send, uint16_t tx_len)
{
static TickType_t xLastWakeTime;
USARTSend(referee_usart_instance, send, tx_len, USART_TRANSFER_DMA);
vTaskDelayUntil(&xLastWakeTime, 120);
}