54 lines
2.1 KiB
C
54 lines
2.1 KiB
C
/*
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cmd_task Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "module/cmd.h"
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/* USER INCLUDE END */
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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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/* USER STRUCT BEGIN */
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CMD_RC_t rc_data; /*遥控器数据解析*/
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Assemble_CMD_t send_cmd_assemble; /*取杆命令*/
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Chassis_CMD_t send_cmd_chassis; /*底盘命令*/
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_cmd_task(void *argument)
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{
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / CMD_TASK_FREQ;
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osDelay(CMD_TASK_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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CMD_Init(&send_cmd_chassis, &send_cmd_assemble);
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/* USER CODE INIT END */
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while (1)
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{
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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osMessageQueueGet(task_runtime.msgq.cmd.rc, &rc_data, NULL, 0);
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CMD_ParseRc(&rc_data, &send_cmd_chassis, &send_cmd_assemble);
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CMD_CtrlSet(&send_cmd_chassis, &rc_data, &send_cmd_assemble);
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osMessageQueueReset(task_runtime.msgq.assmble.assmble_cmd);
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osMessageQueuePut(task_runtime.msgq.assmble.assmble_cmd, &send_cmd_assemble, 0, 0);
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osMessageQueueReset(task_runtime.msgq.chassis.cmd);
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osMessageQueuePut(task_runtime.msgq.chassis.cmd, &send_cmd_chassis, 0, 0);
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |