27 lines
456 B
C
27 lines
456 B
C
|
/**
|
|||
|
|
* can发送与解码任务
|
|||
|
|
*/
|
|||
|
|
#include "can_task.h"
|
|||
|
|
#include "TopDefine.h"
|
|||
|
|
#include "attrTask.h"
|
|||
|
|
#include "djiMotor.h"
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* \brief can任务
|
|||
|
|
*
|
|||
|
|
* \param argument 未使用
|
|||
|
|
*/
|
|||
|
|
void Task_Can(void *argument)
|
|||
|
|
{
|
|||
|
|
(void)argument; /* 未使用argument，消除警告 */
|
|||
|
|
|
|||
|
|
djiInit();//FIFO滤波器初始化
|
|||
|
|
Odrive_Can_Init();
|
|||
|
|
while(1)
|
|||
|
|
{
|
|||
|
|
waitNewDji();//等待新数据
|
|||
|
|
djiMotorEncode();//数据解析
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
}
|