58 lines
1.7 KiB
C
58 lines
1.7 KiB
C
/*
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遥控器通信任务
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*/
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/* Includes ----------------------------------------------------------------- */
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#include <string.h>
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#include "remote_control.h"
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#include "user_task.h"
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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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#ifdef DEBUG
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DR16_t dr16;
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CMD_RC_t cmd_rc;
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LD_raw_t LD;
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#else
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static DR16_t dr16;
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static CMD_RC_t cmd_rc;
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static LD_raw_t LD_raw;
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#endif
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_remote(void *argument) {
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(void)argument; /* 未使用，消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_REMOTE;
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uint32_t tick = osKernelGetTickCount(); /* 获取当前控制任务运行频率的tick*/
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REMOTE_Init(); /* 初始化遥控器 */
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while (1) {
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#ifdef DEBUG
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/* */
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task_runtime.stack_water_mark.dr16 = osThreadGetStackSpace(osThreadGetId());
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#endif
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/* 开启DMA */
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REMOTE_StartDmaRecv();
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if (REMOTE_WaitDmaCplt(30)) {
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REMOTE_ParseRC(&dr16, &cmd_rc,&LD);
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} else {
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/* 处理遥控器离线 */
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DR16_HandleOffline(&dr16, &cmd_rc);
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LD_HandleOffline(&LD,&cmd_rc);
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}
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osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
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osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);
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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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