106 lines
3.4 KiB
C
106 lines
3.4 KiB
C
/*
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radio 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 "dma.h"
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#include "usart.h"
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#include "module/mr16.h"
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#include "bsp/flash.h"
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#include "bsp/uart.h"
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#include "device/sx1281_driver/radio.h"
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#include "device/sx1281_driver/sx1281.h"
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#include "module/config.h"
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#include "module/mr16.h"
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#include "device/ws2812.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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MR16_t mr16;
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uint8_t txdata[1];
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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_radio(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() / RADIO_FREQ;
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osDelay(RADIO_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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__HAL_UART_ENABLE_IT(&huart2,UART_IT_IDLE);
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MR16_Init(&mr16,&Config_Get()->mr16);
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// 初始化WS2812状态指示LED (1个LED)
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WS2812_Init(1);
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WS2812_SetBrightness(25); // 25%亮度,减少功耗对射频干扰
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WS2812_SetCommTimeout(1000); // 1秒通信超时
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// 初始状态: 根据角色设置
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if (Config_Get()->mr16.radioParams.RadioRole == RadioRoleTX) {
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WS2812_SetStatus(WS2812_STATUS_TX_OK);
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} else {
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WS2812_SetStatus(WS2812_STATUS_RX_OK);
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}
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WS2812_NotifyCommSuccess(); // 初始化通信时间戳
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// DBUS精确定时发送: 14ms = 14 ticks (FreeRTOS默认1ms一个tick)
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uint32_t dbus_tick = osKernelGetTickCount();
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const uint8_t DBUS_INTERVAL_TICKS = 14; // 14ms间隔
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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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MR16_Main(&mr16);
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//必须加点延迟要不然不能正常跑
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osDelay(1);
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// DBUS精确14ms定时发送(使用FreeRTOS tick计数,避免浮点累积误差)
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uint32_t current_tick = osKernelGetTickCount();
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if (current_tick - dbus_tick >= DBUS_INTERVAL_TICKS) {
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/* 数据格式: Header(2) + 用户数据 + CRC(2) */
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uint16_t dbusLen;
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if (mr16.param->format == MR16_FORMAT_VARIABLE) {
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/* VARIABLE模式: 使用实际接收到的UART数据长度 */
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extern uint8_t uart2_datalength;
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dbusLen = MR16_HEADER_LEN + uart2_datalength + MR16_CRC_LEN;
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} else {
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/* FIXED模式: 使用固定长度 */
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dbusLen = MR16_HEADER_LEN + mr16.param->fixedLength + MR16_CRC_LEN;
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}
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// DBUS使用中断模式发送(false),DMA留给WS2812使用
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BSP_UART_Transmit(BSP_UART_DBUS, mr16.txbuffer, dbusLen, false);
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// 更新下次发送时刻(累加方式,避免漂移)
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dbus_tick += DBUS_INTERVAL_TICKS;
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mr16.timer.lastDbusSend = mr16.timer.now; // 同步更新浮点时间戳
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}
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mr16.txbuffer[1]=1;
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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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} |