60 lines
1.5 KiB
C
60 lines
1.5 KiB
C
/*
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DR16接收机通信任务
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*/
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/* Includes ----------------------------------------------------------------- */
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#include <string.h>
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#include "rc.h"
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#include "user_task.h"
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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#ifdef DEBUG
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DR16_t dr16;
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CMD_RC_t cmd_rc;
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LD_raw_t LD_raw;
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LD_Data_t LD;
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#else
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static DR16_t dr16;
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static CMD_RC_t cmd_rc;
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static RC_ctrl_t cc;
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#endif
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* \brief dr16接收机
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*
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* \param argument 未使用
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*/
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void Task_rc(void *argument) {
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(void)argument; /* 未使用，消除警告 */
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RC_SBUS_Init(); /* 初始化 */
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while (1) {
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#ifdef DEBUG
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/* */
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task_runtime.stack_water_mark.rc = osThreadGetStackSpace(osThreadGetId());
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#endif
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/* 开启DMA */
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RC_SBUS_StartDmaRecv();
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if (RC_SBUS_WaitDmaCplt(30)) {
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RC_ParseRC(&dr16,&LD_raw,&LD, &cmd_rc);
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} else {
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/* 处理dr16遥控器离线 ,乐迪不可用*/
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DR16_HandleOffline(&dr16, &cmd_rc);
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LD_HandleOffline(&LD,&cmd_rc);
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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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}
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}
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