65 lines
1.6 KiB
C
65 lines
1.6 KiB
C
#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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////路径点选择
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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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// //当前点
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// case POINT_CURRENT:
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//// chassis_pos->IS_SICK = 0;//不启用sick卡位
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// path_state.path = &path_current;//选择路径
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// path_state.points_num = 1;//确定路径点数
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// break;
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// //左设定点
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// case POINT_LEFT:
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//// chassis_pos->IS_SICK = 0;//不启用sick卡位
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// path_state.path = &path_left;//选择路径
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// path_state.points_num = 1;//确定路径点数
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//// chassis_pos->sick.dis_set[2] = SICK_PATH_LEFT_Y;//sick设定值X轴赋值
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//// chassis_pos->sick.dis_set[3] = SICK_PATH_LEFT_X;//sick设定值Y轴赋值
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// break;
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// //前设定点
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// case POINT_FRONT:
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//// chassis_pos->IS_SICK = 1;//启用sick卡位
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// path_state.path = &path_front;//选择路径
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// path_state.points_num = 1;//确定路径点数
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//// chassis_pos->sick.dis_set[2] = SICK_PATH_FRONT_Y;//sick设定值X轴赋值
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//// chassis_pos->sick.dis_set[3] = SICK_PATH_FRONT_X;//sick设定值Y轴赋值
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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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//计算任务
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void Task_Calc(void *argument)
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{
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(void)argument; /* 未使用argument，消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CALCULATE;
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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while(1)
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{
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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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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}
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