73 lines
1.8 KiB
C
73 lines
1.8 KiB
C
#include "user_task.h"
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#include "cmd.h"
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#ifdef DEBUG
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CMD_t cmd;
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CMD_RC_t rc_ctrl;
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CMD_NUC_t Nuc;
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#else
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static CMD_t cmd;
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static CMD_RC_t rc_ctrl;
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static CMD_NUC_t Nuc;
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#endif
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int rec_flag=0;
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void Task_cmd(void *argument){
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(void)argument; /*未使用传递参数 消除警告*/
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/* 计算到下一次调度任务所需要的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CMD;
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/**/
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CMD_Init(&cmd);
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uint32_t tick = osKernelGetTickCount(); /*控制任务运行频率的计时 */
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while(1){
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#ifdef DEBUG
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/*记录任务所需要的栈空间*/
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task_runtime.stack_water_mark.cmd =osThreadGetStackSpace(osThreadGetId());
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task_runtime.last_up_time.cmd=tick;
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task_runtime.freq.cmd=TASK_FREQ_CTRL_CMD;
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#endif
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osKernelLock(); /*锁住RTOS内核调度*/
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/*将各任务接收到的原始数据解析为通用的控制命令*/
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if((osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc, &Nuc,0 ,0) ==osOK)){ //nuc
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}
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else
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{
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memset(&Nuc, 0, sizeof(CMD_NUC_t));
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}
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CMD_ParseNuc(&cmd,&Nuc);
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if(osMessageQueueGet(task_runtime.msgq.cmd.raw.rc, &rc_ctrl, 0, 0) == osOK)//遥控器
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CMD_ParseRc(&cmd, &rc_ctrl);
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osKernelUnlock(); /* 同上 解锁RTOS内核 */
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/*将需要与其他任务共享的数据放到消息队列里 此处主要分享给底盘 后续会添加和上层机构的通信 */
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osMessageQueueReset(task_runtime.msgq.cmd.CHASSIS_cmd_ctrl_t);
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osMessageQueuePut(task_runtime.msgq.cmd.CHASSIS_cmd_ctrl_t,&cmd,0,0);
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osMessageQueueReset(task_runtime.msgq.cmd.UP_cmd_ctrl_t);
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osMessageQueuePut(task_runtime.msgq.cmd.UP_cmd_ctrl_t,&cmd,0,0);
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tick += delay_tick; /*计算下一个唤醒时刻*/
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osDelayUntil(tick); /*绝对延时 等待下一个唤醒时刻 */
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}
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}
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