54 lines
1.9 KiB
C
54 lines
1.9 KiB
C
/*
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cmd Task
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解析各种控制命令，最后将最终命令输出
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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 "component/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_t cmd ;
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CMD_RC_t rc;
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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(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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/* USER CODE INIT BEGIN*/
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CMD_Init(&cmd);
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/* USER CODE INIT END*/
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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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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osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
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if (osMessageQueueGet(task_runtime.msgq.cmd.raw.rc, &rc, 0, 0) == osOK){
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CMD_ParseRc(&rc, &cmd, 1.0f / (float)CMD_FREQ);
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}
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osKernelUnlock(); /* 解锁RTOS内核 */
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osMessageQueueReset(task_runtime.msgq.cmd.chassis);
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osMessageQueuePut(task_runtime.msgq.cmd.chassis, &(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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} |