29 lines
1.5 KiB
C
29 lines
1.5 KiB
C
/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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#include "device/ads8864.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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Ads8864_t ads8864;
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_Adc(void *argument) {
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(void)argument; // 消除未使用参数的警告
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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() / TASK_FREQ_ADC; // 200Hz
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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ads8864_Init(&ads8864); // 初始化 ADC
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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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Ads8864_Read(&ads8864);
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osMessageQueueReset(task_runtime.msgq.adc); // 重置消息队列
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osMessageQueuePut(task_runtime.msgq.adc, &ads8864.filtered, 0, 0); // 将数据放入消息队列
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osMessageQueueReset(task_runtime.msgq.pc); // 重置消息队列
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osMessageQueuePut(task_runtime.msgq.pc, &ads8864.filtered.distance,0, 0); // 将数据放入消息队列
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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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} |