61 lines
2.1 KiB
C
61 lines
2.1 KiB
C
/*
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remote 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 "module/gimbal.h"
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#include "module/shoot.h"
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#include "module/chassis.h"
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#include "module/remote_cmd.h"
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#include "device/dr16.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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Gimbal_CMD_t g_rc_cmd;
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Shoot_CMD_t s_rc_cmd;
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Chassis_CMD_t c_rc_cmd;
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DR16_t remote_dr16;
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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_remote(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() / REMOTE_FREQ;
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osDelay(REMOTE_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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if(osMessageQueueGet(task_runtime.msgq.remote.dr16, &remote_dr16, NULL, 0)==osOK);
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Gimbal_Cmd(&g_rc_cmd,&remote_dr16);
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Shoot_Cmd(&s_rc_cmd,&remote_dr16);
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Chassis_Cmd(&c_rc_cmd,&remote_dr16);
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osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
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osMessageQueuePut(task_runtime.msgq.gimbal.cmd,&g_rc_cmd, 0, 0);
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osMessageQueueReset(task_runtime.msgq.shoot.cmd);
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osMessageQueuePut(task_runtime.msgq.shoot.cmd,&s_rc_cmd, 0, 0);
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osMessageQueueReset(task_runtime.msgq.chassis.cmd);
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osMessageQueuePut(task_runtime.msgq.chassis.cmd,&c_rc_cmd, 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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} |