78 lines
2.2 KiB
C
78 lines
2.2 KiB
C
/*
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shoot Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "module/cmd.h"
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "module/shoot.h"
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#include "module/config.h"
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#include "device/ai.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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Shoot_t shoot;
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Shoot_CMD_t shoot_cmd;
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AI_cmd_t shoot_ai_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(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_FREQ;
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osDelay(SHOOT_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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Shoot_Init(&shoot,&Config_GetRobotParam()->shoot,SHOOT_FREQ);
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Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
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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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osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.gimbal.ai.s_cmd, &shoot_ai_cmd, NULL, 0);
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if(shoot_cmd.control_mode==SHOOT_REMOTE)
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{
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//do nothing，使用遥控器的指令
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}
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else if(shoot_cmd.control_mode==SHOOT_AI)
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{
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shoot_cmd.mode = SHOOT_MODE_SINGLE;
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if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1)
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{
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shoot_cmd.firecmd=false;
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shoot_cmd.ready=true;
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}
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else if(shoot_ai_cmd.mode==2)
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{
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shoot_cmd.firecmd=true;
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shoot_cmd.ready=true;
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}
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}
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Shoot_UpdateFeedback(&shoot);
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Shoot_SetMode(&shoot,shoot_cmd.mode);
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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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} |