72 lines
1.7 KiB
C
72 lines
1.7 KiB
C
/*
|
|
DR16接收机通信任务
|
|
*/
|
|
|
|
/* Includes ----------------------------------------------------------------- */
|
|
#include <string.h>
|
|
|
|
#include "rc.h"
|
|
#include "user_task.h"
|
|
|
|
/* Private typedef ---------------------------------------------------------- */
|
|
/* Private define ----------------------------------------------------------- */
|
|
/* Private macro ------------------------------------------------------------ */
|
|
/* Private variables -------------------------------------------------------- */
|
|
#ifdef DEBUG
|
|
DR16_t dr16;
|
|
CMD_RC_t cmd_rc;
|
|
LD_raw_t LD_raw;
|
|
LD_Data_t LD;
|
|
#else
|
|
static DR16_t dr16;
|
|
static CMD_RC_t cmd_rc;
|
|
static LD_raw_t LD_raw;
|
|
static LD_Data_t LD;
|
|
|
|
|
|
#endif
|
|
|
|
/* Private function --------------------------------------------------------- */
|
|
/* Exported functions ------------------------------------------------------- */
|
|
|
|
/**
|
|
* \brief dr16接收机
|
|
*
|
|
* \param argument 未使用
|
|
*/
|
|
void Task_rc(void *argument) {
|
|
(void)argument; /* 未使用，消除警告 */
|
|
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_RC;
|
|
|
|
uint32_t tick = osKernelGetTickCount();
|
|
RC_SBUS_Init(); /* 初始化 */
|
|
|
|
while (1) {
|
|
#ifdef DEBUG
|
|
/* */
|
|
task_runtime.stack_water_mark.rc = osThreadGetStackSpace(osThreadGetId());
|
|
#endif
|
|
/* 开启DMA */
|
|
RC_StartDmaRecv();
|
|
if (RC_WaitDmaCplt(30)) {
|
|
|
|
RC_ParseRC(&dr16,&LD_raw,&LD, &cmd_rc);
|
|
} else {
|
|
/* 处理遥控器离线*/
|
|
|
|
|
|
|
|
DR16_HandleOffline(&dr16, &cmd_rc);
|
|
LD_HandleOffline(&LD,&cmd_rc);
|
|
|
|
|
|
|
|
}
|
|
osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
|
|
osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);
|
|
tick += delay_tick;
|
|
osDelayUntil(tick);
|
|
|
|
}
|
|
}
|