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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CMD_ACTION_t cmd_ops_out;
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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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static CMD_ACTION_t cmd_ops_out;
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#endif
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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 =
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osThreadGetStackSpace(osThreadGetId());
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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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/*注意，不能将nuc和码盘导航一块使用*/
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if(osMessageQueueGet(task_runtime.msgq.cmd.raw.nuc, &Nuc,0 ,0) ==osOK) //nuc
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CMD_ParseNuc(&cmd,&Nuc);
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CMD_CtrlSet(&cmd);
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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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if(osMessageQueueGet(task_runtime.msgq.cmd.raw .ops_9_out , &cmd_ops_out, 0, 0) == osOK)//码盘
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CMD_ParseAction (&cmd ,&cmd_ops_out);
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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);
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osMessageQueuePut(task_runtime.msgq.cmd.chassis,&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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