56 lines
1.9 KiB
C
56 lines
1.9 KiB
C
/*
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Oid_Encoder_ctrl Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "device/encoder_oid.h"
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#include "bsp/can.h"
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#include <stdio.h>
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/* USER INCLUDE END */
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN */
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ECD_OID_Param_t encoder_param = {
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.can = BSP_CAN_1,
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.id = 0x01
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};
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ECD_OID_t* encoder;
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_Oid_Encoder_ctrl(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / OID_ENCODER_CTRL_FREQ;
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osDelay(OID_ENCODER_CTRL_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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BSP_CAN_Init();
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ECD_OID_Register(&encoder_param);
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encoder = ECD_OID_GetEncoder(&encoder_param);
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Encoder_Set_Mode(&encoder_param,ECD_OID_MODE_QUERY);//询问模式
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/* USER CODE INIT END */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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Encoder_Read_AngularVelocity(&encoder_param);
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ECD_OID_Update(&encoder_param);
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Encoder_Read_Value(&encoder_param);
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ECD_OID_Update(&encoder_param);
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |