修复了遥控器设置键值时数值溢出的问题

HAL_N_Middlewares/Src/freertos.c

@@ -28,6 +28,9 @@
 #include "ins_task.h"
 #include "motor_task.h"
 #include "led_task.h"
+#include "monitor.h"
+#include "robot.h"
+
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -57,6 +60,8 @@ void StartINSTASK(void const * argument);
 
 void StartMOTORTASK(void const * argument);
 
+void StartROBOTTASK(void const* argument);
+
 /* USER CODE END FunctionPrototypes */
 
 void StartDefaultTask(void const * argument);
@@ -117,6 +122,9 @@ void MX_FREERTOS_Init(void) {
   osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
   defaultTaskHandle = osThreadCreate(osThread(motortask), NULL);
 
+  osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 2048);
+  defaultTaskHandle = osThreadCreate(osThread(robottask), NULL);
+
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
@@ -138,6 +146,7 @@ void StartDefaultTask(void const * argument)
   /* Infinite loop */
   for(;;)
   {
+    //1kHz
     led_RGB_flow_task();
     osDelay(1);
   }
@@ -150,6 +159,7 @@ void StartINSTASK(void const * argument)
 {
   while (1)
   {
+    //1kHz
     INS_Task();
     osDelay(1);
   }
@@ -160,10 +170,22 @@ void StartMOTORTASK(void const * argument)
 {
   while (1)
   {
+    //500Hz
     MotorControlTask();
-    osDelay(1);
+    osDelay(2);
   }
 }
 
+void StartROBOTTASK(void const * argument)
+{
+  while (1)
+  {
+    // 200Hz
+    RobotTask();
+    osDelay(5);
+  }
+  
+}
+
 
 /* USER CODE END Application */

modules/remote/remote_control.c

@@ -41,7 +41,7 @@ static void sbus_to_rc(volatile const uint8_t *sbus_buf)
 
     // @todo 似乎可以直接用位域操作进行,把key_temp通过强制类型转换变成key类型? 位域方案在下面,尚未测试
     // 按键值解算,利用宏+循环减少代码长度
-    for (uint16_t i = 0x0001, j = 0; i < 0x8001; i *= 2, j++) // 依次查看每一个键
+    for (uint16_t i = 0x0001, j = 0; i != 0x8000; i *= 2, j++) // 依次查看每一个键
     {
         // 如果键按下,对应键的key press状态置1,否则为0
         rc_ctrl[0].key[KEY_PRESS][j] = rc_ctrl[0].key_temp & i;