（4/10；5/10）xTaskCreate(atkpTxTask, “...“, ., .., 3, ..)；atkpRxAnlTask /*创建stkp发送和解析任务*/

目录

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前言

    xTaskCreate(atkpTxTask, "ATKP_TX", 150, NULL, 3, NULL);                /*atkp发送任务*/
    xTaskCreate(atkpRxAnlTask, "ATKP_RX_ANL", 300, NULL, 6, NULL);        /*atkp解析任务*/

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一、void atkpTxTask(void *param)

void atkpTxTask(void *param)
{
	sendMsgACK();
	while(1)
	{
		atkpSendPeriod();
		vTaskDelay(1);
	}
}

1.    sendMsgACK();

void sendMsgACK(void)
{
//测试MUP Baro气压 是否初始化完毕
	msg.version = configParam.version;
	msg.mpu_selfTest = getIsMPU9250Present();//MPU是否初始化完毕（应该在后文传感器任务初始）
	msg.baro_slfTest = getIsBaroPresent();//气压计是否初始化完毕
	msg.isCanFly = getIsCalibrated();//重力是否校准完成
	msg.isLowpower = getIsLowpower();//是否低电量
	msg.moduleID = getModuleID();//获取扩展模块 下文任务
	
	atkp_t p;
	p.msgID = UP_REMOTER;
	p.dataLen = sizeof(msg)+1;
	p.data[0] = ACK_MSG;
	memcpy(p.data+1, &msg, sizeof(msg));
//这个数据包的格式为 上行两字节 UP_REMOTER  dataLen  data：ACK_MSG +msg

	
    radiolinkSendPacketBlocking(&p);	//发送到 txQueue队列句柄

}

//msg的格式如下

typedef __packed struct
{
    u8 version;
    bool mpu_selfTest;
    bool baro_slfTest;
    bool isCanFly;
    bool isLowpower;
    enum expModuleID moduleID;
} MiniFlyMsg_t;

 

 

2.    atkpSendPeriod();/*数据周期性发送给上位机，每1ms调用一次*/

static void atkpSendPeriod(void)
{
	static u16 count_ms = 1;

	if(!(count_ms % PERIOD_STATUS)) //在没有30次之前都会进if，之后每到一定PERIOD的倍数 就会余0 然后就会进入if
	{
		attitude_t attitude;//定义了 时间戳 yaw pitch raw
		getAttitudeData(&attitude);
		int positionZ = getPositionZ();
		sendStatus(attitude.roll, attitude.pitch, attitude.yaw, positionZ, 0, flyable);			
	}
	if(!(count_ms % PERIOD_SENSOR))
	{
		Axis3i16 acc;
		Axis3i16 gyro;
		Axis3i16 mag;
		getSensorRawData(&acc, &gyro, &mag);
		sendSenser(acc.x, acc.y, acc.z, gyro.x,gyro.y, gyro.z, mag.x, mag.y,mag.z);
	}
	if(!(count_ms % PERIOD_RCDATA))
	{
		sendRCData(rcdata.thrust, rcdata.yaw, rcdata.roll,
					rcdata.pitch, 0, 0, 0, 0, 0, 0);
	}
	if(!(count_ms % PERIOD_POWER))
	{
		float bat = pmGetBatteryVoltage();
		sendPower(bat*100,500);
	}
	if(!(count_ms % PERIOD_MOTOR))
	{
		u16 m1,m2,m3,m4;
		motorPWM_t motorPWM;
		getMotorPWM(&motorPWM);
		m1 = (float)motorPWM.m1/65535*1000;
		m2 = (float)motorPWM.m2/65535*1000;
		m3 = (float)motorPWM.m3/65535*1000;
		m4 = (float)motorPWM.m4/65535*1000;
		sendMotorPWM(m1,m2,m3,m4,0,0,0,0);
	}
	if(!(count_ms % PERIOD_SENSOR2))
	{
		int baro = getBaroData() * 100.f;
		sendSenser2(baro, 0);
	}
	if(++count_ms>=65535) 
		count_ms = 1;	
}

   主要是获取各个传感器的数据 然后根据不同的  msgID  传给txQueue  队列

3.    vTaskDelay(1);

https://blog.youkuaiyun.com/crjmail/article/details/80015628

二、void atkpRxAnlTask(void *param)

void atkpRxAnlTask(void *param)
{
	atkp_t p;
	while(1)
	{
		xQueueReceive(rxQueue, &p, portMAX_DELAY);
		atkpReceiveAnl(&p);
	}
}

1.

2.static void atkpReceiveAnl(atkp_t *anlPacket)

static void atkpReceiveAnl(atkp_t *anlPacket)
{

	if(anlPacket->msgID	== DOWN_COMMAND) //👈
	{
		switch(anlPacket->data[0])
		{
			case D_COMMAND_ACC_CALIB:
				break;
			
			case D_COMMAND_GYRO_CALIB:
				break;
			
			case D_COMMAND_MAG_CALIB:
				break;
			
			case D_COMMAND_BARO_CALIB:
				break;
			
			case D_COMMAND_ACC_CALIB_STEP1:
				break;
			case D_COMMAND_ACC_CALIB_STEP2:
				break;
			case D_COMMAND_ACC_CALIB_STEP3:
				break;
			case D_COMMAND_ACC_CALIB_STEP4:
				break;
			case D_COMMAND_ACC_CALIB_STEP5:
				break;
			case D_COMMAND_ACC_CALIB_STEP6:
				break;
		//主要是这里👇👇👇👇👇👇	
			case D_COMMAND_FLIGHT_LOCK:
				flyable = false;
				break;
			
			case D_COMMAND_FLIGHT_ULOCK:
				flyable = true;
		}
	}	

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总结

•   主要是将姿态数据 atkp格式数据 通过不同的 IDmsg 发送到  txQueue队列
•   接收队列 读取的是 rxQueue？
•   后期手动计算和整理一下时间片的配置