73 lines
2.2 KiB
C
73 lines
2.2 KiB
C
/*
|
||
yaokongqi Task
|
||
|
||
*/
|
||
|
||
/* Includes ----------------------------------------------------------------- */
|
||
#include "task/user_task.h"
|
||
/* USER INCLUDE BEGIN */
|
||
#include "device/dr16.h"
|
||
#include "module/chassis.h"
|
||
/* USER INCLUDE END */
|
||
|
||
/* Private typedef ---------------------------------------------------------- */
|
||
/* Private define ----------------------------------------------------------- */
|
||
/* Private macro ------------------------------------------------------------ */
|
||
/* Private variables -------------------------------------------------------- */
|
||
/* USER STRUCT BEGIN */
|
||
DR16_t dr16;
|
||
Chassis_CMD_t cmd_to_chassis; // 控制命令
|
||
/* USER STRUCT END */
|
||
|
||
/* Private function --------------------------------------------------------- */
|
||
/* Exported functions ------------------------------------------------------- */
|
||
void Task_yaokongqi(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() / YAOKONGQI_FREQ;
|
||
|
||
osDelay(YAOKONGQI_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 */
|
||
DR16_StartDmaRecv(&dr16);
|
||
if (DR16_WaitDmaCplt(20)) {
|
||
DR16_ParseData(&dr16);
|
||
|
||
switch (dr16.data.sw_l) {
|
||
case DR16_SW_UP:
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
|
||
break;
|
||
case DR16_SW_MID:
|
||
cmd_to_chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
|
||
break;
|
||
case DR16_SW_DOWN:
|
||
cmd_to_chassis.mode = CHASSIS_MODE_ROTOR;
|
||
break;
|
||
default:
|
||
cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
|
||
break;
|
||
}
|
||
|
||
cmd_to_chassis.ctrl_vec.vx = dr16.data.ch_l_y;
|
||
cmd_to_chassis.ctrl_vec.vy = dr16.data.ch_l_x;
|
||
cmd_to_chassis.ctrl_vec.wz = dr16.data.ch_r_x;
|
||
} else {
|
||
DR16_Offline(&dr16);
|
||
}
|
||
// ChassisCmd_t tmp;
|
||
|
||
osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_to_chassis, 0, 0);
|
||
/* USER CODE END */
|
||
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
||
}
|
||
|
||
} |