#include "ball_task.h" #include "TopDefine.h" #include "FreeRTOS.h" #include "attrTask.h" #include #include "remote_control.h" #include "ball.h" extern RC_mess_t RC_mess; BASKETBALL basketball; void Task_Ball(void *argument) { (void)argument; /* 未使用argument,消除警告 */ const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN; uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计算 */ basketball.hand=0; basketball.paw=0; while(1) { handling_ball(basketball.hand, basketball.paw); tick += delay_tick; /* 计算下一个唤醒时刻 */ osDelayUntil(tick); /* 运行结束,等待下一个周期唤醒 */ } }