只能烧饼用
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@ -392,6 +392,21 @@
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<WinNumber>1</WinNumber>
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<ItemText>shoot</ItemText>
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</Ww>
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<Ww>
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<count>7</count>
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<WinNumber>1</WinNumber>
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<ItemText>ai</ItemText>
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</Ww>
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<Ww>
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<count>8</count>
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<WinNumber>1</WinNumber>
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<ItemText>cmd</ItemText>
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</Ww>
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<Ww>
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<count>9</count>
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<WinNumber>1</WinNumber>
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<ItemText>rc</ItemText>
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</Ww>
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</WatchWindow1>
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<Tracepoint>
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<THDelay>0</THDelay>
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@ -1255,7 +1270,7 @@
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<Group>
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<GroupName>User/bsp</GroupName>
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<tvExp>1</tvExp>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<cbSel>0</cbSel>
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<RteFlg>0</RteFlg>
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Binary file not shown.
18466
MDK-ARM/DevC/DevC.hex
18466
MDK-ARM/DevC/DevC.hex
File diff suppressed because it is too large
Load Diff
@ -6,6 +6,7 @@
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#include <string.h>
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#include <device\ai.h>
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/**
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* @brief 行为转换为对应按键
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*
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@ -189,19 +190,27 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
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/* 左拨杆相应行为选择和解析 */
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case CMD_SW_UP:
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cmd->chassis.mode = CHASSIS_MODE_BREAK;
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cmd->host_overwrite = false;
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cmd->shoot.ai_fire = false;
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break;
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case CMD_SW_MID:
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cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
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cmd->host_overwrite = true;
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cmd->shoot.ai_fire = false;
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break;
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case CMD_SW_DOWN:
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cmd->chassis.mode = CHASSIS_MODE_ROTOR;
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cmd->chassis.mode_rotor = ROTOR_MODE_CW;
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cmd->host_overwrite = true;
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cmd->shoot.ai_fire = true;
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break;
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case CMD_SW_ERR:
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cmd->chassis.mode = CHASSIS_MODE_RELAX;
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cmd->host_overwrite = false;
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cmd->shoot.ai_fire = false;
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break;
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}
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switch (rc->sw_r) {
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@ -245,6 +254,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
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case CMD_SW_ERR:
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cmd->gimbal.mode = GIMBAL_MODE_RELAX;
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cmd->shoot.mode = SHOOT_MODE_RELAX;
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cmd->host_overwrite = false;
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}
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/* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
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cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
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@ -345,12 +355,12 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
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cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
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cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
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cmd->shoot.mode = SHOOT_MODE_LOADED;
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/* host射击命令,设置不同的射击频率和弹丸初速度 */
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if (host->fire) {
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cmd->shoot.mode = SHOOT_MODE_LOADED;
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if (host->fire && cmd->shoot.ai_fire) {
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cmd->shoot.fire = true;
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} else {
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cmd->shoot.mode = SHOOT_MODE_SAFE;
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cmd->shoot.fire = false;
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}
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return 0;
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}
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@ -84,6 +84,7 @@ typedef struct {
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CMD_ShootMode_t mode; /* 射击运行模式 */
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CMD_FireMode_t fire_mode; /* 开火模式 */
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bool fire; /*开火*/
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bool ai_fire; /* AI开火状态 */
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bool cover_open; /* 弹舱盖开关 */
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bool reverse_trig; /* 拨弹电机状态 */
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} CMD_ShootCmd_t;
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@ -212,7 +213,6 @@ typedef struct {
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} mouse_last; /* 鼠标值 */
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CMD_AI_Status_t ai_status; /* AI状态 */
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const CMD_Params_t *param; /* 命令参数 */
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CMD_ChassisCmd_t chassis; /* 底盘控制命令 */
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@ -38,6 +38,8 @@ int8_t AI_Init(AI_t *ai) {
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BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
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Ai_RxCpltCallback);
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inited = true;
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ai->ai_online = false;
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return 0;
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}
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@ -49,8 +51,8 @@ int8_t AI_Restart(void) {
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int8_t AI_StartReceiving(AI_t *ai) {
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if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
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(uint8_t *)&(ai->form_host),
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sizeof(ai->form_host)) == HAL_OK)
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ai->form_host.rx_buffer,
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sizeof(ai->form_host.rx_buffer)) == HAL_OK)
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return DEVICE_OK;
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return DEVICE_ERR;
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}
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@ -62,15 +64,25 @@ bool AI_WaitDmaCplt(void) {
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int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host) {
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(void)cmd_host;
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if (!CRC16_Verify((const uint8_t *)&(ai->form_host), sizeof(ai->form_host)))
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ai->ai_online = true;
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if (!CRC16_Verify(ai->form_host.rx_buffer, sizeof(ai->form_host.rx_buffer)))
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goto error;
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cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
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cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
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cmd_host->gimbal_delta.rol = ai->form_host.data.gimbal.rol;
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cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
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cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
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cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
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cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;
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memcpy(&(ai->form_host.data), ai->form_host.rx_buffer, sizeof(ai->form_host.data));
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// cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
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// cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
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// cmd_host->gimbal_delta.rol = ai->form_host.data.gimbal.rol;
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// cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
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// cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
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// cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
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// cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;
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cmd_host->gimbal_delta.pit = ai->form_host.data.data.gimbal.pit;
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cmd_host->gimbal_delta.yaw = ai->form_host.data.data.gimbal.yaw;
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cmd_host->gimbal_delta.rol = ai->form_host.data.data.gimbal.rol;
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cmd_host->fire = (ai->form_host.data.data.notice & AI_NOTICE_FIRE);
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cmd_host->chassis_move_vec.vx = ai->form_host.data.data.chassis_move_vec.vx;
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cmd_host->chassis_move_vec.vy = ai->form_host.data.data.chassis_move_vec.vy;
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cmd_host->chassis_move_vec.wz = ai->form_host.data.data.chassis_move_vec.wz;
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return DEVICE_OK;
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error:
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@ -81,8 +93,9 @@ error:
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int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) {
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if (ai == NULL) return DEVICE_ERR_NULL;
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if (cmd_host == NULL) return DEVICE_ERR_NULL;
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memset(&(ai->form_host), 0, sizeof(ai->form_host));
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ai->ai_online = false;
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memset(ai->form_host.rx_buffer, 0, sizeof(ai->form_host.rx_buffer));
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memset(&(ai->form_host.data), 0, sizeof(ai->form_host.data));
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memset(cmd_host, 0, sizeof(*cmd_host));
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return 0;
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}
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@ -36,8 +36,10 @@ typedef struct __packed {
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typedef struct __packed {
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osThreadId_t thread_alert;
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Protocol_DownPackage_t form_host;
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struct {
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uint8_t rx_buffer[sizeof(Protocol_DownPackage_t)];
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Protocol_DownPackage_t data;
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}form_host;
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struct {
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AI_UpPackageReferee_t ref;
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@ -45,6 +47,8 @@ typedef struct __packed {
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} to_host;
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CMD_AI_Status_t status;
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bool ai_online;
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} AI_t;
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/* Exported functions prototypes -------------------------------------------- */
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@ -42,6 +42,9 @@ void Task_Ai(void *argument) {
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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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@ -52,8 +55,9 @@ void Task_Ai(void *argument) {
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AI_StartReceiving(&ai);
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if (AI_WaitDmaCplt()) {
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AI_ParseHost(&ai, &cmd_host);
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last_online_tick = tick;
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} else {
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AI_HandleOffline(&ai, &cmd_host);
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if (tick - last_online_tick > 300) AI_HandleOffline(&ai, &cmd_host);
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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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