44 lines
1.7 KiB
C
44 lines
1.7 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "task\user_task.h"
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#include "bsp\led.h"
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#include "bsp\buzzer.h"
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#include "device\can.h"
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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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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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extern CAN_t can;
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void Task_Monitor(void *argument) {
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(void)argument; // 消除未使用参数的警告
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_MONITOR; // 1000Hz
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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BSP_LED_Set(BSP_LED_RED, BSP_LED_ON, 0);
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BSP_LED_Set(BSP_LED_BLUE, BSP_LED_ON, 0);
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BSP_Buzzer_Set(0.1, 0.3f);
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BSP_Buzzer_Start();
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HAL_Delay(300);
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BSP_Buzzer_Set(0.5, 0.5f);
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HAL_Delay(300);
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BSP_Buzzer_Set(0.9, 0.7f);
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HAL_Delay(300);
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BSP_Buzzer_Stop();
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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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// 检测 mailbox 是否存在 0x04
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if (can.mailbox.sick == 0x04) {
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// 如果检测到 0x04，重置 CAN 线程
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osThreadTerminate(osThreadGetId()); // 终止当前线程
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osThreadNew(Task_Can, NULL, NULL); // 创建新的 CAN 线程
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}
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// TODO: 监控任务的具体实现
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BSP_LED_Set(BSP_LED_GREEN, BSP_LED_TAGGLE, 0);
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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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} |