63 lines
1.9 KiB
C
63 lines
1.9 KiB
C
/*
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test Task
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测试任务
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN*/
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#include "bsp/uart.h"
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#include "gom_protocol.h"
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/* USER INCLUDE END*/
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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/* USER STRUCT BEGIN*/
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MotorCmd_t mcmd = {0};
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MotorData_t data = {0};
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/* USER STRUCT END*/
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_test(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TEST_FREQ;
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osDelay(TEST_INIT_DELAY); /* 延时一段时间再开启任务 */
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/* USER CODE INIT BEGIN*/
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mcmd.id = 0;
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mcmd.mode = 1;
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mcmd.K_P = 0;
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mcmd.K_W = 0;
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mcmd.Pos = 0;
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mcmd.W = 0;
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mcmd.T = 0;
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/* USER CODE INIT END*/
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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while (1) {
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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/* USER CODE BEGIN */
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// modify_data(&mcmd);
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// HAL_UART_Transmit(BSP_UART_GetHandle(BSP_UART_LEFT_LEG), (uint8_t *)&mcmd.motor_send_data, sizeof(mcmd.motor_send_data), 1);
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// HAL_UART_Receive(BSP_UART_GetHandle(BSP_UART_LEFT_LEG), (uint8_t *)&data.motor_recv_data, sizeof(data.motor_recv_data), 1);
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// extract_data(&data);
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/* USER CODE END */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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} |