86 lines
2.5 KiB
C
86 lines
2.5 KiB
C
/*
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AI上位机通信任务
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "device\ai.h"
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#include "bsp\usb.h"
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#include "task\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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AI_t ai;
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CMD_Host_t cmd_host;
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AHRS_Quaternion_t quat;
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Referee_ForAI_t referee_ai;
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AHRS_Eulr_t gimbal_ai;
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#else
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static AI_t ai;
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static CMD_Host_t cmd_host;
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static AHRS_Quaternion_t quat;
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static Referee_ForAI_t referee_ai;
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static AHRS_Eulr_t gimbal_ai;
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#endif
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* \brief AI通信
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*
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* \param argument 未使用
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*/
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void Task_Ai(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() / TASK_FREQ_AI;
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/* 初始化AI通信 */
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AI_Init(&ai);
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uint32_t tick = osKernelGetTickCount();
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uint32_t last_online_tick = tick;
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while (1) {
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#ifdef DEBUG
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task_runtime.stack_water_mark.ai = osThreadGetStackSpace(osThreadGetId());
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#endif
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/* Task body */
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tick += delay_tick;
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AI_StartReceiving(&ai);
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if (AI_WaitDmaCplt()) {
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AI_ParseHost(&ai);
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last_online_tick = tick;
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} else {
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if (tick - last_online_tick > 300) AI_HandleOffline(&ai,&cmd_host);
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}
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if (ai.status != AI_STATUS_STOP && ai.ai_online){
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AI_PackCmd(&ai, &cmd_host);
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if (ai.from_host.data.notice & AI_NOTICE_SEARCH_ARMOR) {
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AI_SearchArmor(&ai, &cmd_host, &gimbal_ai);
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}
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osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
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osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);
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}
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osMessageQueueGet(task_runtime.msgq.ai.quat, &(quat), NULL, 0);
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osMessageQueueGet(task_runtime.msgq.cmd.ai, &(ai.status), NULL, 0);
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osMessageQueueGet(task_runtime.msgq.gimbal.eulr_encoder, &(gimbal_ai), NULL, 0);
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bool ref_update = (osMessageQueueGet(task_runtime.msgq.referee.ai,
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&(referee_ai), NULL, 0) == osOK);
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AI_PackMCU(&ai, &quat, &gimbal_ai);
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if (ref_update) AI_PackRef(&ai, &(referee_ai));
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AI_StartSend(&(ai), ref_update);
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osDelayUntil(tick);
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}
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}
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