61 lines
2.1 KiB
C
61 lines
2.1 KiB
C
/*
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rc Task
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遥控器控制
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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 "bsp/buzzer.h"
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#include "bsp/gpio.h"
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#include "device/dr16.h"
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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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DR16_t dr16;
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CMD_RC_t cmd_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_rc(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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osDelay(RC_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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DR16_Init(&dr16); /* 初始化DR16接收机 */
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BSP_Buzzer_Set(300.0f, 0.2f); /* 启动蜂鸣器，频率1kHz，50%占空比 */
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/* USER CODE INIT END*/
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while (1) {
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/* USER CODE BEGIN */
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DR16_StartDmaRecv(&dr16);
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if (DR16_WaitDmaCplt(20)) {
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DR16_ParseData(&dr16);
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// BSP_Buzzer_Start(); /* 启动蜂鸣器 */
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BSP_GPIO_SetPin(BSP_GPIO_24V_EN1, BSP_GPIO_ON); /* 打开24V电源1 */
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BSP_GPIO_SetPin(BSP_GPIO_24V_EN2, BSP_GPIO_ON); /* 打开24V电源2 */
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} else {
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DR16_HandleOffline(&dr16);
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// BSP_Buzzer_Stop(); /* 停止蜂鸣器 */
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BSP_GPIO_SetPin(BSP_GPIO_24V_EN1, BSP_GPIO_OFF); /* 关闭24V电源1 */
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BSP_GPIO_SetPin(BSP_GPIO_24V_EN2, BSP_GPIO_OFF); /* 关闭24V电源2 */
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}
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DR16_ParseRC(&dr16, &cmd_rc); /* 解析遥控器数据 */
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/* 将遥控器数据放入消息队列 */
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osMessageQueueReset(task_runtime.msgq.cmd.raw.rc); /* 重置消息队列 */
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osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0);
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/* USER CODE END */
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}
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} |