30 lines
734 B
C
30 lines
734 B
C
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#include "ball_task.h"
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#include "TopDefine.h"
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#include "FreeRTOS.h"
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#include "attrTask.h"
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#include <cmsis_os2.h>
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#include "remote_control.h"
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#include "ball.h"
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extern RC_mess_t RC_mess;
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BASKETBALL basketball;
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void Task_Ball(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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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
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basketball.hand=0;
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basketball.paw=0;
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while(1)
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{
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handling_ball(basketball.hand, basketball.paw);
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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，等待下一个周期唤醒 */
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}
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}
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