61 lines
2.1 KiB
C
61 lines
2.1 KiB
C
/*
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cmd 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_c;
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Chassis_CMD_t chassis_cmd_out;
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Mechanism_CMD_t mechanism_cmd_out;
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* USER PRIVATE CODE BEGIN */
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/* USER PRIVATE CODE END */
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/* Exported functions ------------------------------------------------------- */
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void Task_cmd(void *argument) {
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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_FREQ;
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osDelay(CMD_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(&chassis_cmd_out, &mechanism_cmd_out);
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/* USER CODE INIT END */
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while (1) {
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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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/* 接收遥控器数据 */
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if (osMessageQueueGet(task_runtime.msgq.cmd.rc, &rc_c, NULL, 0) == osOK) {
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CMD_ParseRc(&rc_c, &chassis_cmd_out, &mechanism_cmd_out);
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CMD_CtrlSet(&chassis_cmd_out, &rc_c, &mechanism_cmd_out);
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}
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/* 将底盘指令发送给底盘任务 */
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osMessageQueueReset(task_runtime.msgq.chassis.cmd);
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osMessageQueuePut(task_runtime.msgq.chassis.cmd, &chassis_cmd_out, 0, 0);
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/* 将云台指令发送给云台任务（如有需要） */
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osMessageQueueReset(task_runtime.msgq.mechanism.cmd);
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osMessageQueuePut(task_runtime.msgq.mechanism.cmd, &mechanism_cmd_out, 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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} |