100 lines
2.9 KiB
C
100 lines
2.9 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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#include "bsp/uart.h"
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/* USER INCLUDE BEGIN */
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#define DR16
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#ifdef AT9S
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#include "device/at9s_pro.h"
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#endif
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#ifdef DR16
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#include "device/dr16.h"
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#endif
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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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#ifdef AT9S
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uint8_t cmd_buffer[AT9S_FRAME_LEN];
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AT9S_t at9s;
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#endif
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#ifdef DR16
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// 将DR16变量放到RAM_D1，用于DMA传输并保证32字节对齐以支持Cache操作
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// __attribute__((section(".ram_d1"))) __attribute__((aligned(32)))
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DR16_t dr16;
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static DR16_SwitchPos_t last_sw_l = DR16_SW_ERR; /* 记录左拨杆上一次状态 */
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#endif
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extern bool reset;
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#include "stm32f4xx.h"
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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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#ifdef AT9S
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AT9S_Init(&at9s);
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AT9S_StartDmaRecv(cmd_buffer);
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#endif
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#ifdef DR16
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DR16_Init(&dr16);
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DR16_StartDmaRecv(&dr16); // 立即启动第一次接收
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#endif
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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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#ifdef AT9S
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if (AT9S_WaitDmaCplt(10)) {
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AT9S_ParseRaw(cmd_buffer, &at9s);
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AT9S_StartDmaRecv(cmd_buffer);
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}
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osMessageQueuePut(task_runtime.msgq.cmd.rc, &at9s, 0, 0);
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#endif
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#ifdef DR16
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// 等待DMA接收完成
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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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osMessageQueueReset(task_runtime.msgq.cmd.rc);
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osMessageQueuePut(task_runtime.msgq.cmd.rc, &dr16, 0, 0);
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// 启动下一次DMA接收
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DR16_StartDmaRecv(&dr16);
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if (dr16.header.online) {
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/* 拨杆从非UP状态切换到UP状态，且复位功能已使能，触发系统复位 */
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if (
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dr16.data.sw_l == DR16_SW_UP &&
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last_sw_l != DR16_SW_UP && last_sw_l != DR16_SW_ERR) {
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reset=!reset;
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}
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last_sw_l = dr16.data.sw_l; /* 更新拨杆状态 */
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}
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#endif
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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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