30 lines
734 B
C
30 lines
734 B
C
#include "ball_task.h"
|
||
#include "TopDefine.h"
|
||
#include "FreeRTOS.h"
|
||
#include "attrTask.h"
|
||
#include <cmsis_os2.h>
|
||
#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 */
|
||
}
|
||
|
||
}
|