27 lines
1.2 KiB
C
27 lines
1.2 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "task\user_task.h"
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#include "usart.h"
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#include "device\can.h" // 引入 CAN 数据结构头文件
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/* Private variables -------------------------------------------------------- */
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static CAN_t can; // 用于存储从消息队列获取的 CAN 数据
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/* Exported functions ------------------------------------------------------- */
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void Task_PC(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_PC; // 50Hz
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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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// 从消息队列获取 CAN 数据
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if (osMessageQueueGet(task_runtime.msgq.can.feedback.sick, &can, NULL, 0) == osOK) {
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// 通过 USART3 发送 sick 数据数组
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HAL_UART_Transmit(&huart3, (uint8_t *)can.sick.named.sick, sizeof(can.sick.named.sick), HAL_MAX_DELAY);
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HAL_UART_Transmit(&huart2, (uint8_t *)can.sick.named.sick, sizeof(can.sick.named.sick), HAL_MAX_DELAY);
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}
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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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} |