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
36 lines
1.0 KiB
C
36 lines
1.0 KiB
C
/* =============================================================================
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* referee_task.c - 裁判系统链路监测
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* 解析在 USART6 空闲中断完成(referee_parse_bytes 流式喂入),
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* 本任务仅做 100ms 周期的链路超时监测与心跳上报
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* ========================================================================== */
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#include "app_tasks.h"
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#include "cmsis_os.h"
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#include "bsp_usart.h"
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#include "referee.h"
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#include "robot_param.h"
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/* referee_task:裁判系统链路监测
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* 解析在接收中断完成(referee_parse_bytes),本任务仅做超时监测与心跳 */
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void referee_frame_callback(const uint8_t * frame, uint16_t len)
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{
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referee_parse_bytes(frame, len);
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}
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void referee_task(void const * argument)
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{
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while (!app_ready)
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osDelay(2);
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for (;;)
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{
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/* 链路超时置断线 */
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if (referee.link_status &&
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HAL_GetTick() - referee.last_update_tick > DEVICE_OFFLINE_TIME_MS * 10)
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referee.link_status = 0;
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monitor_heartbeat(HB_REFEREE);
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osDelay(100);
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}
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}
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