97 lines
3.1 KiB
C
97 lines
3.1 KiB
C
/*
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rc Task
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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 "device/dr16.h"
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#include "device/mrobot.h"
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#include "stm32h7xx.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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static DR16_SwitchPos_t last_sw_l = DR16_SW_ERR; /* 记录左拨杆上一次状态 */
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extern bool reset;
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* USER PRIVATE CODE BEGIN */
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/**
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* @brief DR16数据打印回调
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*/
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static int print_dr16(const void *data, char *buf, size_t size) {
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const DR16_t *dr16 = (const DR16_t *)data;
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return MRobot_Snprintf(buf, size,
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" Status : %s\r\n"
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" ChLX : %.3f ChLY : %.3f\r\n"
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" ChRX : %.3f ChRY : %.3f\r\n"
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" ChRes : %.3f\r\n"
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" SwL : %d SwR : %d\r\n"
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" Mouse : X=%d Y=%d Z=%d (L:%d R:%d)\r\n"
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" Keys : 0x%04X\r\n",
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dr16->header.online ? "Online" : "Offline",
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dr16->data.ch_l_x, dr16->data.ch_l_y,
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dr16->data.ch_r_x, dr16->data.ch_r_y,
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dr16->data.ch_res,
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dr16->data.sw_l, dr16->data.sw_r,
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dr16->data.mouse.x, dr16->data.mouse.y, dr16->data.mouse.z,
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dr16->data.mouse.l_click, dr16->data.mouse.r_click,
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dr16->data.keyboard.value);
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}
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/* USER PRIVATE CODE END */
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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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/* 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() / RC_FREQ;
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osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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DR16_Init(&dr16);
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MRobot_RegisterDevice("dr16", &dr16, print_dr16);
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/* USER CODE INIT END */
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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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DR16_StartDmaRecv(&dr16);
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if (DR16_WaitDmaCplt(20)) {
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DR16_ParseData(&dr16);
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} else {
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DR16_Offline(&dr16);
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}
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/* 将 DR16 原始数据推入消息队列，cmd 模块负责解析 */
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osMessageQueueReset(task_runtime.msgq.cmd.rc);
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osMessageQueuePut(task_runtime.msgq.cmd.rc, &dr16, 0, 0);
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/* 检测左拨杆切换到UP位置时触发软件复位 */
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if (dr16.header.online) {
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/* 拨杆从非UP状态切换到UP状态，且复位功能已使能，触发系统复位 */
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if (
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dr16.data.sw_l == DR16_SW_UP &&
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last_sw_l != DR16_SW_UP) {
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reset=!reset;
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}
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last_sw_l = dr16.data.sw_l; /* 更新拨杆状态 */
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}
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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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} |