From 4c697b011f1ab0801053c5d200a369cbfea4acc7 Mon Sep 17 00:00:00 2001
From: RB <robofish>
Date: Sun, 27 Apr 2025 14:30:54 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0task=E6=A8=A1=E6=9D=BF?=
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Content-Type: text/plain; charset=UTF-8
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---
 User/task/init.c          |  2 +-
 User/task/task.c          | 41 +++++++++++++++++++++++++++++++++++++++
 User/task/task.c.template | 41 +++++++++++++++++++++++++++++++++++++++
 3 files changed, 83 insertions(+), 1 deletion(-)
 create mode 100644 User/task/task.c
 create mode 100644 User/task/task.c.template

diff --git a/User/task/init.c b/User/task/init.c
index 425314a..2b3a65c 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -3,7 +3,7 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
-#include "task\\user_task.h"
+#include "task\user_task.h"
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
diff --git a/User/task/task.c b/User/task/task.c
new file mode 100644
index 0000000..71af011
--- /dev/null
+++ b/User/task/task.c
@@ -0,0 +1,41 @@
+/*
+    {{task_name}} Task
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task\user_task.h"
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * \brief {{task_name}} Task
+ *
+ * \param argument 未使用
+ */
+void {{task_function}}(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / {{task_frequency}};
+
+  osDelay({{task_delay}}); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  while (1) {
+    /* 记录任务所使用的的栈空间 */
+    task_runtime.stack_water_mark.{{task_variable}} = osThreadGetStackSpace(osThreadGetId());
+
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    
+    /*User code begin*/
+
+    /*User code end*/
+
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+}
\ No newline at end of file
diff --git a/User/task/task.c.template b/User/task/task.c.template
new file mode 100644
index 0000000..71af011
--- /dev/null
+++ b/User/task/task.c.template
@@ -0,0 +1,41 @@
+/*
+    {{task_name}} Task
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task\user_task.h"
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * \brief {{task_name}} Task
+ *
+ * \param argument 未使用
+ */
+void {{task_function}}(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / {{task_frequency}};
+
+  osDelay({{task_delay}}); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  while (1) {
+    /* 记录任务所使用的的栈空间 */
+    task_runtime.stack_water_mark.{{task_variable}} = osThreadGetStackSpace(osThreadGetId());
+
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    
+    /*User code begin*/
+
+    /*User code end*/
+
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+}
\ No newline at end of file