105 lines
2.9 KiB
C
105 lines
2.9 KiB
C
/*
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test1 Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task\user_task.h"
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#include "main.h"
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#include "usart.h"
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#include "i2c.h"
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#include "bsp/delay.h"
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//////////
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#include "bsp/dwt.h"
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#include "bsp/time.h"
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#include "bsp/uart.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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uint8_t rx_buffer[256]; // DMA接收缓冲区
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volatile uint16_t rx_index = 0; // 当前接收到的数据长度
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volatile bool rx_complete = false; // 接收完成标志
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uint32_t height;
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/* Private function --------------------------------------------------------- */
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void UART_IdleCallback_test(void)
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{
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UART_HandleTypeDef *huart = BSP_UART_GetHandle(BSP_UART_C8T6);
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// 检查是否是USART6的空闲中断
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// if (__HAL_UART_GET_FLAG(huart, UART_FLAG_IDLE))
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// {
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// 清除空闲中断标志
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__HAL_UART_CLEAR_IDLEFLAG(huart);
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// 停止DMA传输 (这一步是可选的，取决于你的需求)
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HAL_UART_DMAStop(huart);
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// 计算接收到的数据长度
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rx_index = 256 - __HAL_DMA_GET_COUNTER(huart->hdmarx);
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// 设置接收完成标志
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rx_complete = true;
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HAL_UART_Receive_DMA(huart, rx_buffer, 256);
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// 处理接收到的数据 (可以在主循环中处理)
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// }
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}
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/* Exported functions ------------------------------------------------------- */
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/**
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* \brief test1 Task
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*
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* \param argument 未使用
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*/
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void Task_test1(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() / TASK_FREQ_TEST1;
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// osDelay(TASK_INIT_DELAY_TASK_1); /* 延时一段时间再开启任务 */
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BSP_UART_RegisterCallback(BSP_UART_C8T6, BSP_UART_IDLE_LINE_CB, UART_IdleCallback_test);
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__HAL_UART_ENABLE_IT(&huart6, UART_IT_IDLE);
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HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_C8T6), rx_buffer, 256);
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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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/*User code begin*/
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if (rx_complete)
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{
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// 1. 处理接收到的数据 (rx_buffer中前rx_index个字节)
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// 例如: 查找帧头帧尾，解析协议等
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osKernelLock();
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height = ((int32_t)rx_buffer[0] << 24) |
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((int32_t)rx_buffer[1] << 16) |
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((int32_t)rx_buffer[2] << 8) |
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((int32_t)rx_buffer[3]);
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osKernelUnlock();
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// 2. 重置接收状态
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rx_complete = false;
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rx_index = 0;
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}
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osMessageQueuePut(task_runtime.msgq.baro_height, &height, 0, 0);
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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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}
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