72 lines
2.0 KiB
C
72 lines
2.0 KiB
C
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#include "user_task.h"
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#include "vofa.h"
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/*******************************************************************
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该任务用来给上位机打印固定频率的数据 如波形图 如电机的开环曲线等等
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用消息队列将需要打印的数据传送给该线程 注意需要在init里设定传送的数据的大小
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后调用发送函数用虚拟串口发送给上位机
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*********************************************************************/
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#include "can_use.h"
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#ifdef DEBUG
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//此处数组的大小为打印的通道数量值
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float vofa_data[6]= {0};
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CAN_t can_vofa;
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CAN_Output_t out_print;
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void Task_data_print(void *argument)
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{
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(void)argument;/*消除警告*/
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_PRINT ;
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uint32_t tick = osKernelGetTickCount();
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while(1)
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{
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/* 记录任务所使用的的栈空间 */
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task_runtime.stack_water_mark.data_print =
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osThreadGetStackSpace(osThreadGetId());
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// if (osMessageQueueGet(task_runtime.msgq.can.output.chassis6020,
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// &(out_print.chassis6020), 0, 0) == osOK)
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// {
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//
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// }
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// if (osMessageQueueGet(task_runtime.msgq.can.output.chassis3508,
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// &(out_print.motor3508), 0, 0) == osOK)
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// {
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//
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// }
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// if (osMessageQueueGet(task_runtime.msgq.can.output.chassis5065,
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// &(out_print.chassis5065), 0, 0) == osOK)
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// {
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//
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// }
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// osMessageQueueGet(task_runtime.msgq.can.feedback.chassisfed6020, &can_vofa, NULL, 0);
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//
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// osMessageQueueGet(task_runtime.msgq.can.feedback.chassisfed5065, &can_vofa, NULL, 0);
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//
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// osMessageQueueGet(task_runtime.msgq.can.feedback.chassisfed3508, &can_vofa, NULL, 0);
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//
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//// vofa_data[0] = can_vofa.motor.chassis6020.as_array[0].torque_current;
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// vofa_data[0] = can_vofa.motor.chassis6020.as_array[0].rotor_angle;
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// vofa_data[1] = out_print.chassis6020.as_array[0];
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////
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// vofa_tx_main(vofa_data);
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tick += delay_tick;
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osDelayUntil(tick);
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}
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}
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#endif
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