98 lines
3.3 KiB
C
98 lines
3.3 KiB
C
/*
|
||
cmd Task
|
||
|
||
*/
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include "task/user_task.h"
|
||
/* USER INCLUDE BEGIN */
|
||
#include "module/gimbal.h"
|
||
#include "module/shoot_control.h"
|
||
#include "device/lightbridge2.h"
|
||
#include "module/config.h"
|
||
/* USER INCLUDE END */
|
||
|
||
/* Private typedef ---------------------------------------------------------- */
|
||
/* Private define ----------------------------------------------------------- */
|
||
/* Private macro ------------------------------------------------------------ */
|
||
/* Private variables -------------------------------------------------------- */
|
||
/* USER STRUCT BEGIN */
|
||
DEVICE_LIGHTBRIDGE2_t lightbridge2_from_rc;
|
||
Shoot_CMD_t cmd_for_shoot;
|
||
Gimbal_CMD_t cmd_for_gimbal;
|
||
/* USER STRUCT END */
|
||
|
||
/* Private function --------------------------------------------------------- */
|
||
/* Exported functions ------------------------------------------------------- */
|
||
void Task_cmd(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() / CMD_FREQ;
|
||
|
||
osDelay(CMD_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 */
|
||
|
||
/* USER CODE INIT END */
|
||
|
||
while (1) {
|
||
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
||
/* USER CODE BEGIN */
|
||
osMessageQueueGet(task_runtime.msgq.cmd.rc, &lightbridge2_from_rc, NULL, 0);
|
||
|
||
switch (lightbridge2_from_rc.data.key_G) {
|
||
case LIGHTBRIDGE2_CMD_SW_DOWN:
|
||
cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
|
||
cmd_for_gimbal.delta_yaw = 0.0f;
|
||
cmd_for_gimbal.delta_pit = 0.0f;
|
||
break;
|
||
case LIGHTBRIDGE2_CMD_SW_MID:
|
||
cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
|
||
cmd_for_gimbal.delta_yaw = -lightbridge2_from_rc.data.ch_l_x * 2.0f;
|
||
cmd_for_gimbal.delta_pit = -lightbridge2_from_rc.data.ch_l_y * 1.5f;
|
||
break;
|
||
case LIGHTBRIDGE2_CMD_SW_UP:
|
||
cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
|
||
cmd_for_gimbal.delta_yaw = -lightbridge2_from_rc.data.ch_l_x * 2.0f;
|
||
cmd_for_gimbal.delta_pit = -lightbridge2_from_rc.data.ch_l_y * 1.5f;
|
||
break;
|
||
default:
|
||
cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
|
||
cmd_for_gimbal.delta_yaw = 0.0f;
|
||
cmd_for_gimbal.delta_pit = 0.0f;
|
||
break;
|
||
}
|
||
|
||
switch (lightbridge2_from_rc.data.key_C) {
|
||
case LIGHTBRIDGE2_CMD_SW_DOWN:
|
||
cmd_for_shoot.online = lightbridge2_from_rc.online;
|
||
cmd_for_shoot.ready = true;
|
||
cmd_for_shoot.firecmd = true;
|
||
break;
|
||
case LIGHTBRIDGE2_CMD_SW_MID:
|
||
cmd_for_shoot.online = lightbridge2_from_rc.online;
|
||
cmd_for_shoot.ready = true;
|
||
cmd_for_shoot.firecmd = false;
|
||
break;
|
||
case LIGHTBRIDGE2_CMD_SW_UP:
|
||
cmd_for_shoot.online = lightbridge2_from_rc.online;
|
||
cmd_for_shoot.ready = false;
|
||
cmd_for_shoot.firecmd = false;
|
||
break;
|
||
default:
|
||
cmd_for_shoot.online = lightbridge2_from_rc.online;
|
||
cmd_for_shoot.ready = false;
|
||
cmd_for_shoot.firecmd = false;
|
||
break;
|
||
}
|
||
|
||
osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0);
|
||
osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 0, 0);
|
||
/* USER CODE END */
|
||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||
}
|
||
|
||
} |