83 lines
1.2 KiB
C
83 lines
1.2 KiB
C
#include "r12ds.h"
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#include "cmsis_os.h"
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#include "user_task.h"
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#include <string.h>
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#ifdef r12ds_t
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#ifdef DEBUG
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CMD_RC_t cmd_rc;
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uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
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#else
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static CMD_RC_t cmd_rc;
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#endif
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CMD_RC_t *R12ds_DataGet(){
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return &cmd_rc;
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}
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void R12ds_HandleOffline(void) {
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CMD_RC_t *rc;
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rc = R12ds_DataGet();
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memset(rc, 0, sizeof(rc->ch_x) + sizeof(rc->mul) + sizeof(rc->ch_y) + sizeof(rc->ch_w) + sizeof(rc->key));
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}
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#endif
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void Task_r12ds(void *argument)
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{
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(void)argument;
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_R12DS;
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#ifdef r12ds_t
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R12ds_DMA_Init(sbus_rx_buf[0],sbus_rx_buf[1],50);
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#endif
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uint32_t tick = osKernelGetTickCount();
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while (1)
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{
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#ifdef r12ds_t
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#ifdef DEBUG
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task_runtime.stack_water_mark.r12ds =
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osThreadGetStackSpace(osThreadGetId());
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#endif
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sbus_to_rc(sbus_rx_buf[0],&cmd_rc);
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if(cmd_rc.offline ==1)
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{
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R12ds_HandleOffline();
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}
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osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
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osMessageQueuePut(task_runtime.msgq.cmd.raw.rc,(&cmd_rc),0,0);
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#endif
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tick += delay_tick; /* 计算下一个唤醒时*/
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osDelay(10);
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}
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}
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