59 lines
1.7 KiB
C
59 lines
1.7 KiB
C
/*
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ai Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "cmsis_os2.h"
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "device/ai.h"
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#include "component/ahrs.h"
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#include <stdbool.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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AI_t ai;
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AHRS_Quaternion_t quat;
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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_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() / AI_FREQ;
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osDelay(AI_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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AI_Init(&ai);
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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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AI_StartReceiving(&ai);
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if (AI_WaitDmaCplt()) {
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AI_ParseHost(&ai);
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} else {
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AI_HandleOffline(&ai);
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}
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if (osMessageQueueGet(task_runtime.msgq.ai.quat, &quat, NULL, 0) == osOK) {
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AI_PackMCU(&ai, &quat);
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}
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AI_StartSend(&ai, false);
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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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} |