From 957706859a3a1deda84192e762da336df9b63cdd Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Thu, 19 Feb 2026 12:38:12 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E4=B8=80=E4=B8=AA=E8=B0=83=E8=AF=95?=
 =?UTF-8?q?=E7=BA=BF=E7=A8=8B?=
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---
 CMakeLists.txt           |  1 +
 User/task/config.yaml    |  7 +++
 User/task/ctrl_chassis.c |  1 -
 User/task/debug.c        | 92 ++++++++++++++++++++++++++++++++++++++++
 User/task/init.c         |  1 +
 User/task/user_task.c    |  5 +++
 User/task/user_task.h    | 10 ++++-
 7 files changed, 115 insertions(+), 2 deletions(-)
 create mode 100644 User/task/debug.c

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c267878..cef6493 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -97,6 +97,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/ctrl_chassis.c
     User/task/ctrl_gimbal.c
     User/task/ctrl_shoot.c
+    User/task/debug.c
     User/task/init.c
     User/task/monitor.c
     User/task/rc.c
diff --git a/User/task/config.yaml b/User/task/config.yaml
index 787eb63..be01998 100644
--- a/User/task/config.yaml
+++ b/User/task/config.yaml
@@ -66,3 +66,10 @@
   function: Task_cli
   name: cli
   stack: 1024
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 10.0
+  function: Task_debug
+  name: debug
+  stack: 256
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index 9859c36..b5d3439 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -100,7 +100,6 @@ void Task_ctrl_chassis(void *argument) {
     osMessageQueueReset(task_runtime.msgq.chassis.vofa); // 重置消息队列，防止阻塞
     osMessageQueuePut(task_runtime.msgq.chassis.vofa, &chassis, 0, 0);
     /* USER CODE END */
-    
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
   
diff --git a/User/task/debug.c b/User/task/debug.c
new file mode 100644
index 0000000..5c58566
--- /dev/null
+++ b/User/task/debug.c
@@ -0,0 +1,92 @@
+/*
+    debug Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+#include "bsp/pwm.h"
+#include "bsp/gpio.h"
+#include <stdbool.h>
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+bool flag = false;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* USER PRIVATE CODE BEGIN */
+/* 可根据舵机实际行程调整脉宽范围 */
+#define SERVO_MIN_PULSE_MS 0.4f
+#define SERVO_MAX_PULSE_MS 2.6f
+
+static float Servo_AngleToDuty(float angle_deg) {
+  if (angle_deg < 0.0f) {
+    angle_deg = 0.0f;
+  }
+  if (angle_deg > 180.0f) {
+    angle_deg = 180.0f;
+  }
+
+  const float period_ms = 20.0f; /* 50 Hz */
+  float pulse_ms = SERVO_MIN_PULSE_MS +
+                   (SERVO_MAX_PULSE_MS - SERVO_MIN_PULSE_MS) * (angle_deg / 180.0f);
+
+  return pulse_ms / period_ms;
+}
+
+/* USER PRIVATE CODE END */
+/* Exported functions ------------------------------------------------------- */
+void Task_debug(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() / DEBUG_FREQ;
+
+  osDelay(DEBUG_INIT_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 */
+  /* USER CODE INIT BEGIN */
+  BSP_GPIO_WritePin(BSP_GPIO_POWER_5V,true);
+  BSP_PWM_SetFreq(BSP_PWM_TIM2_CH1, 50.0f);
+  BSP_PWM_Start(BSP_PWM_TIM2_CH1);
+
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    static float angle_1 = 45.0f;
+    static float angle_2 = 90.0f;
+    // static float step = 1.0f;
+
+    // BSP_PWM_SetComp(BSP_PWM_TIM2_CH1, Servo_AngleToDuty(angle));
+
+    // angle += step;
+    // if (angle >= 90.0f) {
+    //   angle = 90.0f;
+    //   step = -step;
+    // } else if (angle <= 45.0f) {
+    //   angle = 45.0f;
+    //   step = -step;
+    // }
+    if (flag) {
+      BSP_PWM_SetComp(BSP_PWM_TIM2_CH1, Servo_AngleToDuty(angle_1));
+      flag = false;
+    } else {
+      BSP_PWM_SetComp(BSP_PWM_TIM2_CH1, Servo_AngleToDuty(angle_2));
+      flag = true;
+    }
+
+    /* 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/init.c b/User/task/init.c
index 546d0db..92671a5 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -42,6 +42,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
   // task_runtime.thread.vofa = osThreadNew(Task_vofa, NULL, &attr_vofa);
   task_runtime.thread.cli = osThreadNew(Task_cli, NULL, &attr_cli);
+  // task_runtime.thread.debug = osThreadNew(Task_debug, NULL, &attr_debug);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
diff --git a/User/task/user_task.c b/User/task/user_task.c
index cb2380f..e292216 100644
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@@ -58,4 +58,9 @@ const osThreadAttr_t attr_cli = {
     .name = "cli",
     .priority = osPriorityNormal,
     .stack_size = 1024 * 4,
+};
+const osThreadAttr_t attr_debug = {
+    .name = "debug",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
 };
\ No newline at end of file
diff --git a/User/task/user_task.h b/User/task/user_task.h
index 7f7dbdf..627e6af 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -21,10 +21,11 @@ extern "C" {
 #define CTRL_SHOOT_FREQ (500.0)
 #define AI_FREQ (500.0)
 #define VOFA_FREQ (500.0)
+#define DEBUG_FREQ (10.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
-#define RC_INIT_DELAY (500u)
+#define RC_INIT_DELAY (0)
 #define ATTI_ESIT_INIT_DELAY (0)
 #define CTRL_CHASSIS_INIT_DELAY (0)
 #define CTRL_GIMBAL_INIT_DELAY (0)
@@ -34,6 +35,7 @@ extern "C" {
 #define AI_INIT_DELAY (0)
 #define VOFA_INIT_DELAY (0)
 #define CLI_INIT_DELAY (0)
+#define DEBUG_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -53,6 +55,7 @@ typedef struct {
         osThreadId_t ai;
         osThreadId_t vofa;
         osThreadId_t cli;
+        osThreadId_t debug;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -109,6 +112,7 @@ typedef struct {
         UBaseType_t ai;
         UBaseType_t vofa;
         UBaseType_t cli;
+        UBaseType_t debug;
     } stack_water_mark;
 
     /* 各任务运行频率 */
@@ -121,6 +125,7 @@ typedef struct {
         float ctrl_shoot;
         float ai;
         float vofa;
+        float debug;
     } freq;
 
     /* 任务最近运行时间 */
@@ -133,6 +138,7 @@ typedef struct {
         float ctrl_shoot;
         float ai;
         float vofa;
+        float debug;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -152,6 +158,7 @@ extern const osThreadAttr_t attr_ctrl_shoot;
 extern const osThreadAttr_t attr_ai;
 extern const osThreadAttr_t attr_vofa;
 extern const osThreadAttr_t attr_cli;
+extern const osThreadAttr_t attr_debug;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
@@ -165,6 +172,7 @@ void Task_ctrl_shoot(void *argument);
 void Task_ai(void *argument);
 void Task_vofa(void *argument);
 void Task_cli(void *argument);
+void Task_debug(void *argument);
 
 #ifdef __cplusplus
 }