163 lines
4.1 KiB
C
163 lines
4.1 KiB
C
/*
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Task2 Task
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遥控器任务，主要是大疆dr16和乐迪遥控器
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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/ledi.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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extern uint8_t remote_ready;
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extern LD_t rc_ctrl;
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#ifdef DEBUG
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DR16_t dr16;
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Chassis_CMD_t cmd_chassis;
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LD_t ld;
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#else
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static DR16_t dr16;
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static CMD_RC_t cmd_rc;
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static LD_t LD;
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#endif
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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_Task2(void *argument)
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{
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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() / TASK2_FREQ;
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osDelay(TASK2_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_control_init();
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/* USER CODE INIT END */
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while (1)
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{
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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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if(remote_ready)
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{
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remote_ready =0;
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}
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memcpy(&ld, &rc_ctrl, sizeof(LD_t));
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// osMessageQueueReset(task_runtime.msgq.dr16_data);
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if( osMessageQueuePut(task_runtime.msgq.dr16_data,&ld, 0, 0) ==osOK ){
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}
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switch (ld.sw[0])
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{
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case 352:
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cmd_chassis.mode = STOP ;
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cmd_chassis.cmd_power_on_safe = 1;
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break;
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case 1024:
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cmd_chassis.mode = RC ;
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cmd_chassis.cmd_power_on_safe =2;
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break;
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case 1695:
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cmd_chassis.mode = LOCK;
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cmd_chassis.cmd_power_on_safe =3;
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break;
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default:
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cmd_chassis.cmd_power_on_safe=4;
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cmd_chassis.mode = STOP ;
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break;
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}
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switch (ld.sw[1])
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{
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case 352:
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cmd_chassis.throttle =1.0f;
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break;
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case 1024:
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cmd_chassis.throttle = 1.5f;
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break;
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case 1695:
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cmd_chassis.throttle = 5.0f;
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break;
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}
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cmd_chassis.Vx = ld.ch[3] * 1.0f;
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cmd_chassis.Vy = ld.ch[2] * 1.0f;
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cmd_chassis.Vw = ld.ch[0] * 1.0f;
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// osMessageQueueReset(task_runtime.msgq.cmd_chassis);
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if (osMessageQueuePut(task_runtime.msgq.cmd_chassis, &cmd_chassis, 0, 0) == osOK){
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}
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// /*开启dma接收遥控器数据*/
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// DR16_StartDmaRecv(&dr16);
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// /*上传DR16数据到消息队列*/
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// if (DR16_WaitDmaCplt(20))
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// {
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// DR16_ParseData(&dr16);
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// osMessageQueueReset(task_runtime.msgq.dr16_data);
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// osMessageQueuePut(task_runtime.msgq.dr16_data, &dr16, 0, 0);
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// switch (dr16.data.sw_l)
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// {
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// case CMD_SW_UP:
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// cmd_chassis.mode = RC;
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// cmd_chassis.cmd_power_on_safe=1;
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// break;
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// case CMD_SW_MID:
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// default:
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// cmd_chassis.mode = STOP;
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// cmd_chassis.cmd_power_on_safe=0;
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// break;
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// }
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// cmd_chassis.Vx = dr16.data.ch_r_x * 1.0f;
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// cmd_chassis.Vy = dr16.data.ch_r_y * 1.0f;
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// cmd_chassis.Vw = dr16.data.ch_l_x * 1.0f;
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// // cmd_chassis.throttle = dr16.data.ch_l_y * 1.0f;
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// //dji遥控器不太适合用作油门，先不给，后续如果改用ld遥控器可以使用油门
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// osMessageQueuePut(task_runtime.msgq.cmd_chassis, &cmd_chassis, 0, 0);
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// }
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// else
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// {
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// DR16_Offline(&dr16);
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// 超时处理，发送安全命令
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// cmd_chassis.mode = STOP;
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// cmd_chassis.cmd_power_on_safe=2;
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// cmd_chassis.Vx = 0.0f;
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// cmd_chassis.Vy = 0.0f;
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// cmd_chassis.Vw = 0.0f;
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// cmd_chassis.throttle = 0.0f;
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// osMessageQueuePut(task_runtime.msgq.cmd_chassis, &cmd_chassis, 0, 0);
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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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} |