37 lines
720 B
C++
37 lines
720 B
C++
/**
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* can发送与解码任务
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*/
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#include "TopDefine.h"
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#include "userTask.h"
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#include "encodeCan.hpp"
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#include "djiMotor.h"
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/**
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* \brief can任务
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*
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* \param argument 未使用
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*/
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void FunctionCan(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_CAN;
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djiInit();
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uint32_t tick = osKernelGetTickCount();
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while(1)
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{
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#ifdef DEBUG
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task_struct.stack_water_mark.can = osThreadGetStackSpace(osThreadGetId());
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#endif
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waitNewDji();
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djiMotorEncode();
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can2MotorEncode();
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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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