48 lines
1.0 KiB
C++
48 lines
1.0 KiB
C++
#include "TopDefine.h"
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#include "FreeRTOS.h"
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#include "userTask.h"
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#include <cmsis_os2.h>
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#include "gimbalTask.hpp"
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#include "gimbal.hpp"
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#include "main.h"
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#include "remote_control.h"
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#include "nuc.h"
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Gimbal gimbal;
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NUC_t nucData; // 用于存储从队列接收的数据
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extern RC_ctrl_t rc_ctrl;
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int cnt1=0;
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void FunctionGimbal(void *argument)
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{
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(void)argument; /* 未使用argument，消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_GIMBAL;
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HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);
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uint32_t tick = osKernelGetTickCount();
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while(1)
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{
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#ifdef DEBUG
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task_struct.stack_water_mark.gimbal = osThreadGetStackSpace(osThreadGetId());
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#endif
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cnt1++;
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// gimbal.gimbalFlow();
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// 从消息队列接收视觉数据
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if (osMessageQueueGet(task_struct.msgq.nuc, &nucData, NULL, 0) == osOK)
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{
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// 使用接收到的视觉数据调整云台
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gimbal.gimbalVision(nucData);
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}
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osDelay(1);
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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osDelayUntil(tick);
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}
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}
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