56 lines
1.1 KiB
C
56 lines
1.1 KiB
C
|
#include "dji_task.h"
|
|||
|
|
#include "TopDefine.h"//事件组的一些东西
|
|||
|
|
#include "FreeRTOS.h"
|
|||
|
|
#include "attrTask.h"
|
|||
|
|
#include <cmsis_os2.h>
|
|||
|
|
#include "remote_control.h"
|
|||
|
|
#include "dji.h"
|
|||
|
|
#include "vofa.h"
|
|||
|
|
|
|||
|
|
extern RC_mess_t RC_mess;
|
|||
|
|
extern int16_t result;
|
|||
|
|
extern motor_measure_t *motor_3508_data;
|
|||
|
|
float vofa[8];
|
|||
|
|
/**
|
|||
|
|
* \brief 电机任务
|
|||
|
|
*
|
|||
|
|
* \param argument 未使用
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
int speed=0;
|
|||
|
|
float angle=0;
|
|||
|
|
float m;
|
|||
|
|
void Task_Motor(void *argument)
|
|||
|
|
{
|
|||
|
|
(void)argument; /* 未使用argument，消除警告 */
|
|||
|
|
|
|||
|
|
// const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CHASSIS;
|
|||
|
|
|
|||
|
|
motor_init();
|
|||
|
|
|
|||
|
|
uint32_t tick = osKernelGetTickCount();
|
|||
|
|
|
|||
|
|
while(1)
|
|||
|
|
{
|
|||
|
|
//收到消息队列新数据
|
|||
|
|
|
|||
|
|
//电机控制
|
|||
|
|
//motor_speed(speed);
|
|||
|
|
m=angle*(8191/360);
|
|||
|
|
motor_pos(m);
|
|||
|
|
//CAN_cmd_200(result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],result[MOTOR_UP],&hcan1);
|
|||
|
|
CAN_cmd_200(result,0,0,0,&hcan1);
|
|||
|
|
osDelay(2);
|
|||
|
|
|
|||
|
|
// vofa[0]=motor_3508_data->speed_rpm;
|
|||
|
|
// vofa[1]=speed;
|
|||
|
|
// vofa_tx_main(vofa);
|
|||
|
|
|
|||
|
|
// tick += delay_tick;
|
|||
|
|
// osDelayUntil(tick);
|
|||
|
|
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|