130 lines
4.0 KiB
C
130 lines
4.0 KiB
C
/*
|
|
rc Task
|
|
|
|
*/
|
|
|
|
/* Includes ----------------------------------------------------------------- */
|
|
#include "task/user_task.h"
|
|
/* USER INCLUDE BEGIN */
|
|
#include "device/dr16.h"
|
|
#include "module/balance_chassis.h"
|
|
#include "module/config.h"
|
|
#include "module/gimbal.h"
|
|
#include "module/shoot.h"
|
|
#include <stdbool.h>
|
|
// #include
|
|
/* USER INCLUDE END */
|
|
|
|
/* Private typedef ---------------------------------------------------------- */
|
|
/* Private define ----------------------------------------------------------- */
|
|
/* Private macro ------------------------------------------------------------ */
|
|
/* Private variables -------------------------------------------------------- */
|
|
/* USER STRUCT BEGIN */
|
|
DR16_t dr16;
|
|
Shoot_CMD_t for_shoot;
|
|
Chassis_CMD_t cmd_for_chassis;
|
|
Gimbal_CMD_t cmd_for_gimbal;
|
|
/* USER STRUCT END */
|
|
|
|
/* Private function --------------------------------------------------------- */
|
|
/* Exported functions ------------------------------------------------------- */
|
|
void Task_rc(void *argument) {
|
|
(void)argument; /* 未使用argument,消除警告 */
|
|
|
|
/* 计算任务运行到指定频率需要等待的tick数 */
|
|
const uint32_t delay_tick = osKernelGetTickFreq() / RC_FREQ;
|
|
|
|
osDelay(RC_INIT_DELAY); /* 延时一段时间再开启任务 */
|
|
|
|
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
|
/* USER CODE INIT BEGIN */
|
|
DR16_Init(&dr16);
|
|
/* USER CODE INIT END */
|
|
|
|
while (1) {
|
|
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
|
/* USER CODE BEGIN */
|
|
DR16_StartDmaRecv(&dr16);
|
|
if (DR16_WaitDmaCplt(20)) {
|
|
DR16_ParseData(&dr16);
|
|
|
|
} else {
|
|
DR16_Offline(&dr16);
|
|
}
|
|
|
|
switch (dr16.data.sw_l) {
|
|
case DR16_SW_UP:
|
|
cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
|
|
break;
|
|
case DR16_SW_MID:
|
|
cmd_for_chassis.mode = CHASSIS_MODE_RECOVER;
|
|
break;
|
|
case DR16_SW_DOWN:
|
|
cmd_for_chassis.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
|
|
break;
|
|
default:
|
|
cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
|
|
break;
|
|
}
|
|
cmd_for_chassis.move_vec.vx = dr16.data.ch_l_y;
|
|
cmd_for_chassis.move_vec.vy = dr16.data.ch_l_x;
|
|
cmd_for_chassis.move_vec.wz = dr16.data.ch_r_x;
|
|
cmd_for_chassis.height = dr16.data.ch_res;
|
|
|
|
osMessageQueueReset(
|
|
task_runtime.msgq.Chassis_cmd); // 重置消息队列，防止阻塞
|
|
osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_for_chassis, 0,
|
|
0); // 非阻塞发送底盘控制命令
|
|
|
|
switch (dr16.data.sw_l) {
|
|
case DR16_SW_UP:
|
|
cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
|
|
cmd_for_gimbal.delta_yaw = 0.0f;
|
|
cmd_for_gimbal.delta_pit = 0.0f;
|
|
break;
|
|
case DR16_SW_MID:
|
|
cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
|
|
cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
|
|
cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
|
|
break;
|
|
case DR16_SW_DOWN:
|
|
cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
|
|
cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x * 5.0f;
|
|
cmd_for_gimbal.delta_pit = dr16.data.ch_r_y * 5.0f;
|
|
break;
|
|
default:
|
|
cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
|
|
cmd_for_gimbal.delta_yaw = 0.0f;
|
|
cmd_for_gimbal.delta_pit = 0.0f;
|
|
break;
|
|
}
|
|
|
|
osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
|
|
osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0);
|
|
|
|
for_shoot.online = dr16.header.online;
|
|
switch (dr16.data.sw_r) {
|
|
case DR16_SW_UP:
|
|
for_shoot.ready = false;
|
|
for_shoot.firecmd = false;
|
|
break;
|
|
case DR16_SW_MID:
|
|
for_shoot.ready = true;
|
|
for_shoot.firecmd = false;
|
|
break;
|
|
case DR16_SW_DOWN:
|
|
for_shoot.ready = true;
|
|
for_shoot.firecmd = true;
|
|
break;
|
|
default:
|
|
for_shoot.ready = false;
|
|
for_shoot.firecmd = false;
|
|
break;
|
|
}
|
|
osMessageQueueReset(task_runtime.msgq.shoot.shoot_cmd);
|
|
osMessageQueuePut(task_runtime.msgq.shoot.shoot_cmd, &for_shoot, 0, 0);
|
|
|
|
/* USER CODE END */
|
|
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
|
}
|
|
} |