62 lines
2.0 KiB
C
62 lines
2.0 KiB
C
/*
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cmd Task
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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/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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CMD_RC_t rc_c;
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Chassis_CMD_t cmd;
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Gimbal_CMD_t g_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_cmd(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() / CMD_FREQ;
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osDelay(CMD_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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CMD_Init(&cmd,&g_cmd);
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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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osKernelLock(); /*锁住RTOS内核调度*/
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/*接受遥控器数据*/
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if(osMessageQueueGet(task_runtime.msgq.cmd.raw.rc, &rc_c, NULL, 0)==osOK)
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CMD_ParseRc(&cmd, &rc_c, &g_cmd);
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CMD_CtrlSet(&cmd, &rc_c, &g_cmd);
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osKernelUnlock(); /*解锁RTOS内核调度*/
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/*将需要与其他任务共享的数据放到消息队列里 */
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//发送给底盘
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osMessageQueueReset(task_runtime.msgq.cmd.chassis);
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osMessageQueuePut(task_runtime.msgq.cmd.chassis,&cmd,0,0);
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//发送给云台的数据
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osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
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osMessageQueuePut(task_runtime.msgq.gimbal.cmd,&g_cmd,0,0);
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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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} |