R1_up/User/task/shootTask.cpp
2025-07-16 22:31:15 +08:00

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#include "TopDefine.h"
#include "FreeRTOS.h"
#include "userTask.h"
#include <cmsis_os2.h>
#include "shootTask.hpp"
#include "shoot.hpp"
#include "remote_control.h"
#include "nuc.h"
extern RC_ctrl_t rc_ctrl;
Shoot shoot;
NUC_t nucData; // 自瞄
void FunctionShoot(void *argument)
{
(void)argument; /* 未使用argument消除警告 */
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_SHOOT;
osDelay(3000);//等待M2006电机启动
uint32_t tick = osKernelGetTickCount();
while(1)
{
#ifdef DEBUG
task_struct.stack_water_mark.shoot = osThreadGetStackSpace(osThreadGetId());
#endif
shoot.rc_mode(); //遥控器模式
if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
{
shoot.distanceGet(nucData);
}
shoot.shoot_control();
tick += delay_tick; /* 计算下一个唤醒时刻 */
osDelayUntil(tick);
}
}