105 lines
4.1 KiB
C
105 lines
4.1 KiB
C
/*
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blink Task
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "task/user_task.h"
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/* USER INCLUDE BEGIN */
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#include "bsp/bsp.h"
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#include "bsp/fdcan.h"
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// #include "bsp/pwm.h"
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#include <math.h>
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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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BSP_FDCAN_Message_t msg1={0};
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BSP_FDCAN_Message_t msg2={0};
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BSP_FDCAN_Message_t msg3A={0};
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BSP_FDCAN_Message_t msg3B={0};
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BSP_FDCAN_Message_t msg3C={0};
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/* USER STRUCT END */
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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void Task_blink(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() / BLINK_FREQ;
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osDelay(BLINK_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_PWM_Stop(BSP_PWM_LED_R);
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// BSP_PWM_Stop(BSP_PWM_LED_B);
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// BSP_PWM_SetComp(BSP_PWM_LED_G, 0.0f);
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// BSP_PWM_Start(BSP_PWM_LED_G);
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HAL_GPIO_WritePin(GPIOC, GPIO_PIN_13, GPIO_PIN_SET);
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HAL_GPIO_WritePin(GPIOC, GPIO_PIN_14, GPIO_PIN_SET);
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HAL_GPIO_WritePin(GPIOC, GPIO_PIN_15, GPIO_PIN_SET);
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BSP_FDCAN_Init();
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// 注册要接收的 CAN ID（示例）
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BSP_FDCAN_RegisterId(BSP_FDCAN_1, 0x101, 8);
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BSP_FDCAN_RegisterId(BSP_FDCAN_2, 0x102, 8);
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BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x103, 8);
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BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x104, 8);
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BSP_FDCAN_RegisterId(BSP_FDCAN_3, 0x105, 8);
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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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// 呼吸灯 - 基于tick的正弦波
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// float duty = (sinf(tick * 0.003f) + 1.0f) * 0.5f; // 0到1之间的正弦波，加快频率
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// BSP_PWM_SetComp(BSP_PWM_LED_G, duty);
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// 测试：向三路 CAN 周期性发送电机控制帧（示例数据），并轮询接收
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{
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uint8_t data1[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
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uint8_t data2[8] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
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uint8_t data3[32] = {0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08,
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0x09, 0x0A, 0x0B, 0x0C, 0x0D, 0x0E, 0x0F, 0x10,
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0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18,
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0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x20};
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// 简单 CRC/校验（可选）
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// data1[7] = data1[0] ^ data1[1] ^ data1[2];
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// data2[7] = data2[0] ^ data2[1] ^ data2[2];
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// data3[7] = data3[0] ^ data3[1] ^ data3[2];
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// 使用 BSP 封装的发送接口（非阻塞，若硬件 FIFO 满则内部入队）
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BSP_FDCAN_Transmit(BSP_FDCAN_1, BSP_FDCAN_FORMAT_STD_DATA, 0x101, data1, 8);
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BSP_FDCAN_Transmit(BSP_FDCAN_2, BSP_FDCAN_FORMAT_STD_DATA, 0x102, data2, 8);
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BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x103, data3, 30);
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BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x104, data2, 5);
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BSP_FDCAN_Transmit(BSP_FDCAN_3, BSP_FDCAN_FORMAT_STD_DATA, 0x105, data1, 8);
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_1, 0x101, &msg1, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_2, 0x102, &msg2, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x103, &msg3A, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x104, &msg3B, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x105, &msg3C, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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}
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// osDelay(10);
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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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