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| | | #include "UDPClient.h" |
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| | | #include "bluetooth.h" |
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| | | #include "TCPClient.h" |
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| | | static osSemaphoreId_t g_semaphoreHandle = NULL; |
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| | | #include "SBUS.h" |
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| | | #include "pwm_ctrol.h" |
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| | | #include "PythonLink.h" |
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| | | #include "motion_control_task.h" |
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| | | #include "motion_calibration_task.h" |
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| | | osSemaphoreId_t g_semaphoreHandle = NULL; |
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| | | TaskHandle_t g_app_task_handle = NULL; |
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| | | |
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| | | extern uint8_t restart_num; |
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| | | void IdleTask(void) |
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| | | { |
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| | |
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| | | UDPClient_Init(); |
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| | | TCPClient_Init(); |
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| | | BT_Init(); |
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| | | SBUS_Init(); |
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| | | PythonLink_Init(); |
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| | | MotionControl_TaskInit(); |
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| | | MotionCalibration_TaskInit(); |
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| | | while (1) |
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| | | { |
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| | | //HIDO_UINT32 timeout = HIDO_TimerGetNearestTimeout(1000); |
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| | | HIDO_UINT32 timeout = 100; |
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| | | HIDO_UINT32 timeout = 5; |
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| | | if (xSemaphoreTake(g_semaphoreHandle, timeout / portTICK_PERIOD_MS) == pdTRUE) |
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| | | { |
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| | | |
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| | | } |
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| | | DBG_Poll(); |
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| | | BT_Poll(); |
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| | | SBUS_Poll(); |
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| | | PythonLink_Poll(); |
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| | | HIDO_ATLitePoll(); |
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| | | Internet_Poll(); |
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| | | GPS_Poll(); |
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| | |
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| | | |
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| | | uint16_t version = g_com_map[VERSION]; |
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| | | |
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| | | // printf("[BOOT] Version: %u\r\n", version); |
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| | | // printf("[BOOT] DeviceID: %u\r\n", dev_id); |
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| | | // printf("[BOOT] UDP Server: %u.%u.%u.%u:%u\r\n", ip0, ip1, ip2, ip3, udp_port); |
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| | | // printf("[BOOT] TCP Server: %u.%u.%u.%u:%u\r\n", tip0, tip1, tip2, tip3, tcp_port); |
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| | | HIDO_Debug2("[BOOT] Version: %u\r\n", version); |
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| | | HIDO_Debug2("[BOOT] DeviceID: %u\r\n", dev_id); |
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| | | HIDO_Debug2("[BOOT] UDP Server: %u.%u.%u.%u:%u\r\n", ip0, ip1, ip2, ip3, udp_port); |
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| | | HIDO_Debug2("[BOOT] TCP Server: %u.%u.%u.%u:%u\r\n", tip0, tip1, tip2, tip3, tcp_port); |
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| | | } |
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| | | TaskHandle_t xTaskHandle = NULL; |
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| | | |
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| | | osSemaphoreAttr_t semaphore_attr = { |
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| | | .name = "MySemaphore", |
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| | | .attr_bits = 0, |
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| | |
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| | | 2048, |
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| | | NULL, |
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| | | tskIDLE_PRIORITY + 1, |
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| | | &xTaskHandle); |
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| | | &g_app_task_handle); |
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| | | } |
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