65 lines
2.1 KiB
C
65 lines
2.1 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 "device/at9s_pro.h"
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#include "module/at9s_pro_cmd.h"
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#include "module/xm_quadctrl.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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uint8_t cmd_buffer[DEVICE_AT9S_FRAME_LEN];
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DEVICE_AT9S_t at9s;
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COMP_AT9S_CMD_t rc_cmd;
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Quad_CMD_t cmd_for_quad;
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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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DEVICE_AT9S_Init(&at9s);
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DEVICE_AT9S_StartDmaRecv(cmd_buffer);
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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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if (DEVICE_AT9S_WaitDmaCplt(10)) {
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DEVICE_AT9S_ParseRaw(cmd_buffer, &at9s);
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COMP_AT9S_CMD_ParseRc(&at9s, &rc_cmd);
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DEVICE_AT9S_StartDmaRecv(cmd_buffer);
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}
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cmd_for_quad.online=rc_cmd.online;
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cmd_for_quad.start=rc_cmd.start;
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cmd_for_quad.throttle=rc_cmd.ch_l_y;
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cmd_for_quad.yaw=rc_cmd.ch_l_x;
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cmd_for_quad.pit=rc_cmd.ch_r_y;
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cmd_for_quad.rol=rc_cmd.ch_r_x;
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cmd_for_quad.stop=rc_cmd.stop;
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cmd_for_quad.lockoutput=rc_cmd.lockoutput;
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osMessageQueuePut(task_runtime.msgq.quad.cmd, &cmd_for_quad, 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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} |