92 lines
2.6 KiB
C
92 lines
2.6 KiB
C
/*
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debug Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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#include "bsp/pwm.h"
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#include "bsp/gpio.h"
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#include <stdbool.h>
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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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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/* USER STRUCT BEGIN */
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bool flag = false;
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* USER PRIVATE CODE BEGIN */
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/* 可根据舵机实际行程调整脉宽范围 */
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#define SERVO_MIN_PULSE_MS 0.4f
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#define SERVO_MAX_PULSE_MS 2.6f
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static float Servo_AngleToDuty(float angle_deg) {
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if (angle_deg < 0.0f) {
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angle_deg = 0.0f;
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}
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if (angle_deg > 180.0f) {
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angle_deg = 180.0f;
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}
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const float period_ms = 20.0f; /* 50 Hz */
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float pulse_ms = SERVO_MIN_PULSE_MS +
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(SERVO_MAX_PULSE_MS - SERVO_MIN_PULSE_MS) * (angle_deg / 180.0f);
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return pulse_ms / period_ms;
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}
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/* USER PRIVATE CODE END */
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/* Exported functions ------------------------------------------------------- */
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void Task_debug(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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/* 计算任务运行到指定频率需要等待的tick数 */
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const uint32_t delay_tick = osKernelGetTickFreq() / DEBUG_FREQ;
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osDelay(DEBUG_INIT_DELAY); /* 延时一段时间再开启任务 */
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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/* USER CODE INIT BEGIN */
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BSP_GPIO_WritePin(BSP_GPIO_POWER_5V,true);
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BSP_PWM_SetFreq(BSP_PWM_TIM2_CH1, 50.0f);
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BSP_PWM_Start(BSP_PWM_TIM2_CH1);
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/* USER CODE INIT END */
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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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/* USER CODE BEGIN */
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static float angle_1 = 45.0f;
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static float angle_2 = 90.0f;
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// static float step = 1.0f;
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// BSP_PWM_SetComp(BSP_PWM_TIM2_CH1, Servo_AngleToDuty(angle));
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// angle += step;
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// if (angle >= 90.0f) {
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// angle = 90.0f;
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// step = -step;
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// } else if (angle <= 45.0f) {
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// angle = 45.0f;
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// step = -step;
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// }
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if (flag) {
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BSP_PWM_SetComp(BSP_PWM_TIM2_CH1, Servo_AngleToDuty(angle_1));
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flag = false;
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} else {
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BSP_PWM_SetComp(BSP_PWM_TIM2_CH1, Servo_AngleToDuty(angle_2));
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flag = true;
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}
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/* USER CODE END */
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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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} |