#include "ballTask.hpp" #include "TopDefine.h" #include "FreeRTOS.h" #include "userTask.h" #include <cmsis_os2.h> #include "ball.hpp" #include "remote_control.h" #include "vofa.h" extern RC_ctrl_t rc_ctrl; Ball ball; extern int speedm; void FunctionBall(void *argument) { (void)argument; /* 未使用argument,消除警告 */ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL; osDelay(6000);//等待极致控制板启动 XiaomiWait_init(1,&hcan2); //小米电机初始化 uint32_t tick = osKernelGetTickCount(); while(1) { #ifdef DEBUG task_struct.stack_water_mark.ball = osThreadGetStackSpace(osThreadGetId()); #endif ball.rc_mode(); // 遥控器模式 ball.ball_control(); // 控制球的动作 tick += delay_tick; /* 计算下一个唤醒时刻 */ osDelayUntil(tick); } }