65 lines
1.6 KiB
C
65 lines
1.6 KiB
C
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#include "Calc_task.h"
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#include "cmsis_os.h"
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#include "user_task.h"
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#include "chassis.h"
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#include "remote_control.h"
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#include "map.h"
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#include "usart.h"
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////·<><C2B7><EFBFBD><EFBFBD>ѡ<EFBFBD><D1A1>
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//void path_select(void)
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//{
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// current_path = rc_ctrl.sw[2];
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// if(current_path!=last_path)
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// {
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// switch (current_path)
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// {
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// //<2F><>ǰ<EFBFBD><C7B0>
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// case POINT_CURRENT:
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//// chassis_pos->IS_SICK = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>sick<63><6B>λ
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// path_state.path = &path_current;//ѡ<><D1A1>·<EFBFBD><C2B7>
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// path_state.points_num = 1;//ȷ<><C8B7>·<EFBFBD><C2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// break;
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// //<2F><><EFBFBD>趨<EFBFBD><E8B6A8>
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// case POINT_LEFT:
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//// chassis_pos->IS_SICK = 0;//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>sick<63><6B>λ
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// path_state.path = &path_left;//ѡ<><D1A1>·<EFBFBD><C2B7>
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// path_state.points_num = 1;//ȷ<><C8B7>·<EFBFBD><C2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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//// chassis_pos->sick.dis_set[2] = SICK_PATH_LEFT_Y;//sick<63>趨ֵX<D6B5>ḳֵ
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//// chassis_pos->sick.dis_set[3] = SICK_PATH_LEFT_X;//sick<63>趨ֵY<D6B5>ḳֵ
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// break;
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// //ǰ<>趨<EFBFBD><E8B6A8>
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// case POINT_FRONT:
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//// chassis_pos->IS_SICK = 1;//<2F><><EFBFBD><EFBFBD>sick<63><6B>λ
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// path_state.path = &path_front;//ѡ<><D1A1>·<EFBFBD><C2B7>
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// path_state.points_num = 1;//ȷ<><C8B7>·<EFBFBD><C2B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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//// chassis_pos->sick.dis_set[2] = SICK_PATH_FRONT_Y;//sick<63>趨ֵX<D6B5>ḳֵ
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//// chassis_pos->sick.dis_set[3] = SICK_PATH_FRONT_X;//sick<63>趨ֵY<D6B5>ḳֵ
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// break;
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// }
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// chassis_pos->POS_IS_CPT = NO;
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//// chassis_pos->SICK_IS_CPT = NO;
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// }
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// last_path = current_path;
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//}
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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void Task_Calc(void *argument)
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{
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(void)argument; /* δʹ<CEB4><CAB9>argument<6E><74><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CALCULATE;
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uint32_t tick = osKernelGetTickCount(); /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD>ʵļ<CAB5>ʱ */
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while(1)
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{
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tick += delay_tick; /* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> */
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osDelayUntil(tick); /* <20><><EFBFBD>н<EFBFBD><D0BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȴ<EFBFBD><C8B4><EFBFBD>һ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD> */
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}
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}
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