54 lines
1.7 KiB
C
54 lines
1.7 KiB
C
/*
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ps2 Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task\user_task.h"
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#include "bsp/delay.h"
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#include "bsp/pwm.h"
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#include "device/ps2.h"
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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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PS2_TypeDef rc_to_send;
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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//float motor_speeds[4];
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/**
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* \brief ps2 Task
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*
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* \param argument 未使用
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*/
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void Task_ps2(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() / TASK_FREQ_PS2;
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// osDelay(TASK_INIT_DELAY_TASK_1); /* 延时一段时间再开启任务 */
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BSP_Delay_Init();
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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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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PS2_Read_Data();
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rc_to_send = PS2_Data;
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rc_to_send.Rocker_LX = StickToThrottle_Optimized(PS2_Data.Rocker_LX);
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rc_to_send.Rocker_LY = StickToThrottle_Optimized(PS2_Data.Rocker_LY);
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rc_to_send.Rocker_RX = StickToThrottle_Optimized(PS2_Data.Rocker_RX);
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rc_to_send.Rocker_RY = StickToThrottle_Optimized(PS2_Data.Rocker_RY);
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osMessageQueuePut(task_runtime.msgq.rc, &rc_to_send, 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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}
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