59 lines
2.0 KiB
C
59 lines
2.0 KiB
C
/*
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shoot_test Task
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无人机发射任务
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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 "module/config.h"
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#include "module/shoot_control.h"
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#include "component/lightbridge2_cmd.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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COMP_LIGHTBRIDGE2_CMD_t shoot_ctrl_cmd_rc;
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Shoot_t shoot;
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Shoot_CMD_t shoot_cmd;
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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_shoot_test(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() / SHOOT_TEST_FREQ;
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osDelay(SHOOT_TEST_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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Config_ShootInit();
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Shoot_Init(&shoot,&Config_GetRobotParam()->shoot_param,SHOOT_TEST_FREQ);
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Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE); //初始化一个模式
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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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shoot_cmd.online =shoot_ctrl_cmd_rc.online;
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shoot_cmd.ready =shoot_ctrl_cmd_rc.shoot.ready;
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shoot_cmd.firecmd =shoot_ctrl_cmd_rc.shoot.firecmd;
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shoot.mode = shoot_ctrl_cmd_rc.mode; //或者用遥控器随时切换模式；二选一
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Shoot_UpdateFeedback(&shoot);
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Shoot_Control(&shoot,&shoot_cmd);
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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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}
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