76 lines
1.6 KiB
C
76 lines
1.6 KiB
C
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/*
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码盘解析任务
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处理码盘测量的实际距离
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将需要的数据共享给其他的线程
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*/
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#include "action_task.h"
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#include "Action.h"
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#include "user_task.h"
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#ifdef DEBUG
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Action_POS_t pos;
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#else
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static Action_POS pos;
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#endif
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void Task_action(void *argument)
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{
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(void)argument;
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// osDelay(TASK_INIT_DELAY_ACTION);
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_ACTION;
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ACTIONRECV_Init(&pos);
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uint32_t tick = osKernelGetTickCount(); /* 获取当前控制任务运行频率的tick*/
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while (1)
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{
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#ifdef DEBUG
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/* 记录任务使用的的栈空闄*/
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task_runtime.stack_water_mark.action =
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osThreadGetStackSpace(osThreadGetId());
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#endif
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ACTION_StartReceiving();
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ACTION_DataRefresh(&pos);
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/* 使用下面的错误处理函数遇到一些问题
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每10ms置标志位， ACTION_WaitDmaCplt 判断此标志位，通过后会执行速度计算
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根据计算，任务运行频率大于中断产生频率，每一次运行判断标志位不通过，会导致结构体内数据清0的操作
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目前的处理方法：注释掉Action_HandleOffline函数中，对结构体数据清零的函数memset
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*/
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if(ACTION_WaitDmaCplt()){
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ACTION_Parse(&pos);
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}
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else{
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Action_HandleOffline(&pos);
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}
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//将解算后的码盘位置值放入消息队列供其他任务使用
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osMessageQueueReset(task_runtime.msgq.cmd.raw.Action);
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osMessageQueuePut(task_runtime.msgq.cmd.raw.Action,(&pos),0,0);
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tick += delay_tick; /* 计算下一个唤醒时刻*/
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osDelayUntil(tick);
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}
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}
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