41 lines
1.3 KiB
C
41 lines
1.3 KiB
C
#include "task\user_task.h"
|
|
#include "device\can.h"
|
|
|
|
|
|
/* Private typedef ---------------------------------------------------------- */
|
|
/* Private variables -------------------------------------------------------- */
|
|
|
|
CAN_t can;
|
|
CAN_RawRx_t can_rx;
|
|
|
|
/*懒得写config了直接写这里好了*/
|
|
CAN_Params_t can_param = {
|
|
.sick = BSP_CAN_1,
|
|
.c_board = BSP_CAN_2,
|
|
};
|
|
|
|
/* Exported functions ------------------------------------------------------- */
|
|
void Task_Can(void *argument) {
|
|
(void)argument; // 消除未使用参数的警告
|
|
const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN; // 100Hz
|
|
uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
|
|
|
|
// 初始化 CAN
|
|
CAN_Init(&can, &can_param);
|
|
while (1) {
|
|
tick += delay_tick; /* 计算下一个唤醒时刻 */
|
|
while (osMessageQueueGet(can.msgq_raw, &can_rx, 0, 0) == osOK) {
|
|
CAN_StoreMsg(&can, &can_rx);
|
|
}
|
|
// 发送数据
|
|
osMessageQueueReset(task_runtime.msgq.can.feedback.sick);
|
|
osMessageQueuePut(task_runtime.msgq.can.feedback.sick, &can, 0, 0);
|
|
|
|
osMessageQueueReset(task_runtime.msgq.pc);
|
|
osMessageQueuePut(task_runtime.msgq.pc, &can, 0, 0);
|
|
|
|
CAN_Sick_Send(&can);
|
|
|
|
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
|
|
}
|
|
} |