74 lines
2.3 KiB
C
74 lines
2.3 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/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_from_rc;
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Shoot_CMD_t cmd_for_shoot;
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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_from_rc, NULL, 0);
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switch (at9s_from_rc.data.key_C) {
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case AT9S_CMD_SW_DOWN:
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cmd_for_shoot.online = at9s_from_rc.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_from_rc.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_from_rc.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_from_rc.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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osMessageQueuePut(task_runtime.msgq.shoot.cmd, &cmd_for_shoot, 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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} |