37 lines
840 B
C
37 lines
840 B
C
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/**
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* can发送与解码任务
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*/
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#include "can_task.h"
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#include "TopDefine.h"
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#include "attrTask.h"
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#include "djiMotor.h"
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extern motor_measure_t *motor_3508_data;
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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 Task_Can(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();//FIFO滤波器初始化
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Odrive_Can_Init();
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */
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while(1)
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{
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waitNewDji();//等待新数据
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djiMotorEncode();//数据解析
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//将can数据添加到消息队列
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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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