122 lines
4.0 KiB
C
122 lines
4.0 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/config.h"
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#include "module/chassis.h"
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#include "module/gimbal.h"
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#include "module/shoot.h"
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//#define DEAD_AREA 0.05f
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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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DEVICE_AT9S_t at9s_out;
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Shoot_CMD_t cmd_for_shoot;
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//Chassis_Cmd_t cmd_for_chassis;
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Gimbal_CMD_t cmd_for_gimbal;
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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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/* 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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osMessageQueueGet(task_runtime.msgq.cmd.rc, &at9s_out, NULL, 0);
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switch (at9s_out.data.key_G) {
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case AT9S_CMD_SW_DOWN:
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cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
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cmd_for_gimbal.delta_yaw = 0.0f;
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cmd_for_gimbal.delta_pit = 0.0f;
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break;
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case AT9S_CMD_SW_MID:
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cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
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cmd_for_gimbal.delta_yaw = -at9s_out.data.ch_l_x * 2.0f;
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cmd_for_gimbal.delta_pit = -at9s_out.data.ch_l_y * 1.5f;
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break;
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case AT9S_CMD_SW_UP:
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cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
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cmd_for_gimbal.delta_yaw = -at9s_out.data.ch_l_x * 2.0f;
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cmd_for_gimbal.delta_pit = -at9s_out.data.ch_l_y * 1.5f;
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break;
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default:
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cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
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cmd_for_gimbal.delta_yaw = 0.0f;
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cmd_for_gimbal.delta_pit = 0.0f;
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break;
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}
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switch (at9s_out.data.key_C) {
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case AT9S_CMD_SW_DOWN:
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cmd_for_shoot.online = at9s_out.online;
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cmd_for_shoot.ready = true;
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cmd_for_shoot.firecmd = true;
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break;
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case AT9S_CMD_SW_MID:
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cmd_for_shoot.online = at9s_out.online;
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cmd_for_shoot.ready = true;
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cmd_for_shoot.firecmd = false;
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break;
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case AT9S_CMD_SW_UP:
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cmd_for_shoot.online = at9s_out.online;
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cmd_for_shoot.ready = false;
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cmd_for_shoot.firecmd = false;
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break;
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default:
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cmd_for_shoot.online = at9s_out.online;
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cmd_for_shoot.ready = false;
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cmd_for_shoot.firecmd = false;
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break;
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}
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//switch (at9s_from_rc.data.key_E) {
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// case AT9S_CMD_SW_DOWN:
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// cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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// break;
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// case AT9S_CMD_SW_MID:
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// cmd_for_chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
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// break;
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// case AT9S_CMD_SW_UP:
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// cmd_for_chassis.mode = CHASSIS_MODE_ROTOR;
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// break;
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// default:
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// cmd_for_chassis.mode = CHASSIS_MODE_RELAX;
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// break;
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// }
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// cmd_for_chassis.ctrl_vec.vx = at9s_from_rc.data.ch_l_y;
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// cmd_for_chassis.ctrl_vec.vy = at9s_from_rc.data.ch_l_x;
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// cmd_for_chassis.ctrl_vec.wz = at9s_from_rc.data.ch_r_x;
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osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0);
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osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 0, 0);
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// osMessageQueueReset(task_runtime.msgq.chassis.cmd);
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// osMessageQueuePut(task_runtime.msgq.chassis.cmd, &cmd_for_chassis, 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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} |