15 changed files with 212 additions and 506 deletions
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/******************************************************************************
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版权所有 (C), 2018-2099, Radkil |
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****************************************************************************** |
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文 件 名 : msg_example.c |
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版 本 号 : 初稿 |
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作 者 : radkil |
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生成日期 : 2026年7月13日 |
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最近修改 : |
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功能描述 : 消息中心使用示例 |
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修改历史 : |
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1.日 期 : 2026年7月13日 |
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作 者 : radkil |
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修改内容 : 创建文件 |
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******************************************************************************/ |
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#include "BHBF_robot.h" |
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#include "msg_center.h" |
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#include "motor_manager.h" |
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#include "msp_motor_leisai.h" |
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#include "cmsis_os.h" |
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#include "FreeRTOS.h" |
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/*==============================================*
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* 模块定义 * |
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*==============================================*/ |
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// 模块名称定义
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#define MODULE_NAME_MOTOR "motor" |
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#define MODULE_NAME_CHASSIS "chassis" |
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#define MODULE_NAME_UI "ui" |
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/*==============================================*
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* 电机模块命令字定义 * |
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*==============================================*/ |
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typedef enum { |
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MOTOR_CMD_SET_SPEED = 0x01, // 设置速度
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MOTOR_CMD_SET_POSITION = 0x02, // 设置位置
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MOTOR_CMD_STOP = 0x03, // 停止
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MOTOR_CMD_GET_STATUS = 0x04, // 获取状态
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MOTOR_CMD_SET_HOME = 0x05, // 设置零点
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MOTOR_CMD_SPEED_MODE = 0x06, // 速度模式
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MOTOR_CMD_POSITION_MODE = 0x07, // 位置模式
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} Motor_Cmd_e; |
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// 电机命令数据结构
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typedef struct { |
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uint8_t m_ucMotorIndex; // 电机索引（0=左轮，1=右轮）
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int32_t m_iValue; // 值（速度/位置等）
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} Motor_CmdData_t; |
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// 电机状态数据结构
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typedef struct { |
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uint8_t m_ucMotorIndex; |
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int32_t m_iPosition; |
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int32_t m_iVelocity; |
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uint32_t m_uiFaultCode; |
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} Motor_StatusData_t; |
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/*==============================================*
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* 底盘模块命令字定义 * |
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*==============================================*/ |
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typedef enum { |
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CHASSIS_CMD_MOVE = 0x01, // 移动
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CHASSIS_CMD_STOP = 0x02, // 停止
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CHASSIS_CMD_SET_SPEED = 0x03, // 设置速度
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} Chassis_Cmd_e; |
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typedef struct { |
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int32_t m_iSpeedX; // X方向速度
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int32_t m_iSpeedY; // Y方向速度
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int32_t m_iSpeedW; // 旋转速度
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} Chassis_MoveData_t; |
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/*==============================================*
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* 模块级变量 * |
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*==============================================*/ |
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static uint32_t g_uiMotorModuleID = 0; |
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static uint32_t g_uiChassisModuleID = 0; |
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static uint32_t g_uiUIModuleID = 0; |
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static Motor_Instance_t *g_apstMotors[2] = {NULL, NULL}; |
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/*==============================================*
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* 电机模块消息处理 * |
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*==============================================*/ |
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static void Motor_ModuleHandler(const Msg_t *pstMsg) |
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{ |
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if (NULL == pstMsg) |
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{ |
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return; |
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} |
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switch (pstMsg->m_uiMsgID) |
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{ |
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case MOTOR_CMD_SET_SPEED: |
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{ |
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if (pstMsg->m_uiDataLen >= sizeof(Motor_CmdData_t)) |
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{ |
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Motor_CmdData_t *pstData = (Motor_CmdData_t *)pstMsg->m_aucData; |
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if (pstData->m_ucMotorIndex < 2 && g_apstMotors[pstData->m_ucMotorIndex] != NULL) |
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{ |
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MotorMgr_SetTargetSpeed(g_apstMotors[pstData->m_ucMotorIndex], pstData->m_iValue); |
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} |
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} |
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break; |
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} |
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case MOTOR_CMD_STOP: |
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{ |
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for (int i = 0; i < 2; i++) |
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{ |
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if (g_apstMotors[i] != NULL) |
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{ |
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MotorMgr_SetTargetSpeed(g_apstMotors[i], 0); |
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} |
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} |
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break; |
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} |
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case MOTOR_CMD_SET_HOME: |
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{ |
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if (pstMsg->m_uiDataLen >= sizeof(Motor_CmdData_t)) |
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{ |
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Motor_CmdData_t *pstData = (Motor_CmdData_t *)pstMsg->m_aucData; |
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if (pstData->m_ucMotorIndex < 2 && g_apstMotors[pstData->m_ucMotorIndex] != NULL) |
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{ |
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MotorMgr_SetHome(g_apstMotors[pstData->m_ucMotorIndex]); |
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} |
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} |
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break; |
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} |
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case MOTOR_CMD_GET_STATUS: |
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{ |
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// 回复状态给请求者
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Motor_StatusData_t stStatus; |
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for (int i = 0; i < 2; i++) |
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{ |
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if (g_apstMotors[i] != NULL) |
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{ |
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const Motor_Data_t *pstData = MotorMgr_GetData(g_apstMotors[i]); |
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if (pstData != NULL) |
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{ |
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stStatus.m_ucMotorIndex = i; |
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stStatus.m_iPosition = pstData->m_iRealPosition; |
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stStatus.m_iVelocity = pstData->m_iRealVelocity; |
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stStatus.m_uiFaultCode = pstData->m_uiFaultCode; |
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// 回复给请求者
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MsgCenter_SendTo("ui", 0x10, &stStatus, sizeof(stStatus)); |
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} |
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} |
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} |
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break; |
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} |
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default: |
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break; |
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} |
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} |
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/*==============================================*
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* 底盘模块消息处理 * |
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*==============================================*/ |
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static void Chassis_ModuleHandler(const Msg_t *pstMsg) |
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{ |
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if (NULL == pstMsg) |
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{ |
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return; |
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} |
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switch (pstMsg->m_uiMsgID) |
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{ |
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case CHASSIS_CMD_MOVE: |
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{ |
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if (pstMsg->m_uiDataLen >= sizeof(Chassis_MoveData_t)) |
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{ |
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Chassis_MoveData_t *pstData = (Chassis_MoveData_t *)pstMsg->m_aucData; |
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// 转换为左右轮速度（差速模型）
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int32_t iLeftSpeed = pstData->m_iSpeedX - pstData->m_iSpeedW; |
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int32_t iRightSpeed = pstData->m_iSpeedX + pstData->m_iSpeedW; |
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// 发送给电机模块
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Motor_CmdData_t stMotorCmd; |
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stMotorCmd.m_ucMotorIndex = 0; |
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stMotorCmd.m_iValue = iLeftSpeed; |
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MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, &stMotorCmd, sizeof(stMotorCmd)); |
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stMotorCmd.m_ucMotorIndex = 1; |
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stMotorCmd.m_iValue = iRightSpeed; |
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MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, &stMotorCmd, sizeof(stMotorCmd)); |
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} |
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break; |
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} |
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case CHASSIS_CMD_STOP: |
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{ |
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MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_STOP, NULL, 0); |
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break; |
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} |
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default: |
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break; |
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} |
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} |
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/*==============================================*
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* UI模块消息处理 * |
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*==============================================*/ |
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static void UI_ModuleHandler(const Msg_t *pstMsg) |
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{ |
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if (NULL == pstMsg) |
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{ |
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return; |
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} |
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// 处理来自其他模块的回复
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switch (pstMsg->m_uiMsgID) |
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{ |
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case 0x10: // 电机状态回复
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{ |
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if (pstMsg->m_uiDataLen >= sizeof(Motor_StatusData_t)) |
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{ |
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Motor_StatusData_t *pstStatus = (Motor_StatusData_t *)pstMsg->m_aucData; |
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RD_PRINTF("Motor[%d] Status: Pos=%ld, Vel=%ld, Fault=%ld\n", |
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pstStatus->m_ucMotorIndex, |
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pstStatus->m_iPosition, |
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pstStatus->m_iVelocity, |
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pstStatus->m_uiFaultCode); |
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} |
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break; |
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} |
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default: |
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break; |
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} |
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} |
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/*==============================================*
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* 模块任务函数 * |
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*==============================================*/ |
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// 电机模块任务
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void Motor_ModuleTask(void *argument) |
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{ |
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// 初始化电机
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MotorMgr_Init(); |
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Motor_Config_t stConfig = { |
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.m_ucMotorID = 1, |
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.m_uiPulsePerRound = 10000, |
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.m_uiReductionRatio = 70, |
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.m_fWheelDiameter = 0.26f |
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}; |
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g_apstMotors[0] = MotorMgr_Create(&stConfig, g_ptFDCAN1, LeiSai_GetProtocol(), NULL); |
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stConfig.m_ucMotorID = 2; |
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g_apstMotors[1] = MotorMgr_Create(&stConfig, g_ptFDCAN1, LeiSai_GetProtocol(), NULL); |
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// 初始化电机
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for (int i = 0; i < 2; i++) |
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{ |
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if (g_apstMotors[i] != NULL) |
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{ |
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MotorMgr_ResetAll(g_apstMotors[i]); |
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MotorMgr_ActivateAll(g_apstMotors[i]); |
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MotorMgr_SpeedModeInit(g_apstMotors[i]); |
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} |
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} |
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while (1) |
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{ |
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// 处理消息
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MsgCenter_ProcessWait(g_uiMotorModuleID, 2); |
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// 周期性读取电机状态
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for (int i = 0; i < 2; i++) |
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{ |
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if (g_apstMotors[i] != NULL) |
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{ |
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MotorMgr_RequestPosition(g_apstMotors[i]); |
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MotorMgr_RequestVelocity(g_apstMotors[i]); |
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MotorMgr_RequestFault(g_apstMotors[i]); |
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} |
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} |
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} |
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} |
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// 底盘模块任务
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void Chassis_ModuleTask(void *argument) |
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{ |
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while (1) |
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{ |
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// 处理消息
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MsgCenter_ProcessWait(g_uiChassisModuleID, 10); |
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} |
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} |
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// UI模块任务
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void UI_ModuleTask(void *argument) |
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{ |
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while (1) |
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{ |
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// 处理消息
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MsgCenter_ProcessWait(g_uiUIModuleID, 100); |
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// 定期请求电机状态
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MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_GET_STATUS, NULL, 0); |
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} |
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} |
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/*==============================================*
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* 初始化示例 * |
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*==============================================*/ |
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void MsgExample_Init(void) |
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{ |
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// 初始化消息中心
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MsgCenter_Init(); |
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// 注册模块
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g_uiMotorModuleID = MsgCenter_Register(MODULE_NAME_MOTOR, Motor_ModuleHandler); |
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g_uiChassisModuleID = MsgCenter_Register(MODULE_NAME_CHASSIS, Chassis_ModuleHandler); |
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g_uiUIModuleID = MsgCenter_Register(MODULE_NAME_UI, UI_ModuleHandler); |
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// 创建模块任务
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const osThreadAttr_t motor_task_attr = { |
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.name = "motor_task", |
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.stack_size = 1024, |
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.priority = (osPriority_t) osPriorityHigh5, |
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}; |
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(void)osThreadNew(Motor_ModuleTask, NULL, &motor_task_attr); |
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const osThreadAttr_t chassis_task_attr = { |
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.name = "chassis_task", |
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.stack_size = 512, |
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.priority = (osPriority_t) osPriorityHigh4, |
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}; |
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(void)osThreadNew(Chassis_ModuleTask, NULL, &chassis_task_attr); |
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const osThreadAttr_t ui_task_attr = { |
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.name = "ui_task", |
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.stack_size = 512, |
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.priority = (osPriority_t) osPriorityNormal3, |
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}; |
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(void)osThreadNew(UI_ModuleTask, NULL, &ui_task_attr); |
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} |
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/*==============================================*
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* 外部调用示例 * |
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*==============================================*/ |
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// 从任何线程调用这些函数即可跨线程控制电机
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void Example_SetMotorSpeed(uint8_t ucMotorIndex, int32_t iSpeed) |
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{ |
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Motor_CmdData_t stData; |
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stData.m_ucMotorIndex = ucMotorIndex; |
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stData.m_iValue = iSpeed; |
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MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_SET_SPEED, &stData, sizeof(stData)); |
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} |
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void Example_StopAllMotors(void) |
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{ |
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MsgCenter_SendTo(MODULE_NAME_MOTOR, MOTOR_CMD_STOP, NULL, 0); |
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} |
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void Example_ChassisMove(int32_t iSpeedX, int32_t iSpeedW) |
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{ |
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Chassis_MoveData_t stData; |
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stData.m_iSpeedX = iSpeedX; |
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stData.m_iSpeedY = 0; |
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stData.m_iSpeedW = iSpeedW; |
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MsgCenter_SendTo(MODULE_NAME_CHASSIS, CHASSIS_CMD_MOVE, &stData, sizeof(stData)); |
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} |
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