LSMushui
a4da5ad17c
- 云台(ROBOT_TYPE_GIMBAL)与底盘(ROBOT_TYPE_CHASSIS)完整固件源码 - 新增根级 .gitignore,排除 Keil MDK-ARM 构建产物(.o/.d/.crf/.axf/.lnp/.map/.htm/.sct/.dep/.iex/.lst 等) 与 *.uvguix.* / DebugConfig/(与机器绑定的 UI 布局) - core.autocrlf=false,避免固件源码在检出时被改动换行符
68 lines
2.7 KiB
C
68 lines
2.7 KiB
C
/* =============================================================================
|
|
* c_comm_task.c - 板间通讯周期发送(2ms)
|
|
* 云台板: c_comm_master_send() 转发摇杆/控制状态(键鼠在线时用合成量)
|
|
* 底盘板: c_comm_slave_send() 回传发射机构上电状态
|
|
* 接收方向在中断内由 c_comm 模块的回调完成,本任务只负责发送节拍
|
|
* ========================================================================== */
|
|
#include "app_tasks.h"
|
|
#include "cmsis_os.h"
|
|
#include "FreeRTOS.h"
|
|
#include "task.h"
|
|
#include "c_comm.h"
|
|
#include "robot_typedef.h"
|
|
#include "robot_param.h"
|
|
#if defined(ROBOT_TYPE_GIMBAL)
|
|
#include "robot_cmd_task.h"
|
|
#include "gimbal.h"
|
|
#include "attitude.h"
|
|
#elif defined(ROBOT_TYPE_CHASSIS)
|
|
#include "chassis.h"
|
|
#endif
|
|
|
|
/* c_comm_task(2ms):板间通讯周期发送
|
|
* 云台板:向底盘转发摇杆与控制状态(键鼠在线时用合成量替代摇杆)
|
|
* 底盘板:向云台回传发射机构上电状态 */
|
|
|
|
void c_comm_task(void const * argument)
|
|
{
|
|
TickType_t last_wake = xTaskGetTickCount();
|
|
|
|
while (!app_ready)
|
|
osDelay(2);
|
|
|
|
for (;;)
|
|
{
|
|
#if defined(ROBOT_TYPE_GIMBAL)
|
|
uint8_t kb_online = (keyboard_data.last_tick != 0 &&
|
|
HAL_GetTick() - keyboard_data.last_tick < DEVICE_OFFLINE_TIME_MS * 10);
|
|
uint8_t kb[12];
|
|
kb[0] = (uint8_t)(keyboard_data.mouse_rl & 0xFF);
|
|
kb[1] = (uint8_t)((uint16_t)keyboard_data.mouse_rl >> 8);
|
|
kb[2] = (uint8_t)(keyboard_data.mouse_du & 0xFF);
|
|
kb[3] = (uint8_t)((uint16_t)keyboard_data.mouse_du >> 8);
|
|
kb[4] = (uint8_t)(keyboard_data.mouse_wheel & 0xFF);
|
|
kb[5] = (uint8_t)((uint16_t)keyboard_data.mouse_wheel >> 8);
|
|
kb[6] = keyboard_data.mouse_key_l;
|
|
kb[7] = keyboard_data.mouse_key_r;
|
|
kb[8] = (uint8_t)(keyboard_data.key_w | (keyboard_data.key_s << 1) |
|
|
(keyboard_data.key_a << 2) | (keyboard_data.key_d << 3) |
|
|
(keyboard_data.key_shift << 4) | (keyboard_data.key_ctrl << 5) |
|
|
(keyboard_data.key_q << 6) | (keyboard_data.key_e << 7));
|
|
kb[9] = (uint8_t)(keyboard_data.key_alpha1 | (keyboard_data.key_alpha2 << 1));
|
|
kb[10] = 0;
|
|
kb[11] = 0;
|
|
|
|
c_comm_master_send(kb_online, kb, gimbal_motor_offline(),
|
|
cmd_robot.spin_flag); // 故障位+小陀螺使能位
|
|
|
|
/* 0x1A9 姿态帧:双 INS 跟随方案的数据源 */
|
|
c_comm_master_send_attitude(att_deg_yaw, att_ready);
|
|
#elif defined(ROBOT_TYPE_CHASSIS)
|
|
c_comm_slave_send(chassis_motor_offline()); // 携带底盘电机故障位
|
|
#endif
|
|
|
|
monitor_heartbeat(HB_CCOMM);
|
|
vTaskDelayUntil(&last_wake, pdMS_TO_TICKS(2));
|
|
}
|
|
}
|