69 lines
2.0 KiB
C
69 lines
2.0 KiB
C
/*
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rc 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 "device/dr16.h"
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#include "device/remote_control.h"
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#include "module/chassis.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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DR16_t dr16;
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LD_raw_t ld;
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CMD_RC_t cmd_rc;
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int a=0;
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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_rc(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() / RC_FREQ;
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osDelay(RC_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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// DR16_Init(&dr16);
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REMOTE_Init();
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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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// DR16_StartDmaRecv(&dr16);
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// if (DR16_WaitDmaCplt(20)) {
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// DR16_ParseData(&dr16);
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// } else {
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// DR16_Offline(&dr16);
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// }
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REMOTE_StartDmaRecv();
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if (REMOTE_WaitDmaCplt(20)) {
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REMOTE_ParseRC(&dr16, &cmd_rc, &ld);
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} else {
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DR16_HandleOffline(&dr16, &cmd_rc);
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LD_HandleOffline(&ld, &cmd_rc);
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}
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osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
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if(osMessageQueuePut(task_runtime.msgq.cmd.raw.rc, &cmd_rc, 0, 0)==osOK)
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{
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a=1;
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}
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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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} |