94 lines
3.5 KiB
C
94 lines
3.5 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 msg;
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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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/* 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] = {0xA1, 0x01, 0x34, 0x12, 0x10, 0x00, 0x00, 0x00};
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uint8_t data2[8] = {0xA1, 0x02, 0x78, 0x56, 0x20, 0x00, 0x00, 0x00};
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uint8_t data3[8] = {0xA1, 0x03, 0x00, 0x01, 0x30, 0x00, 0x00, 0x00};
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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, 8);
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/* 尝试驱动软件 TX 队列续写（当硬件 FIFO 满且未启用 Tx Event 回调时使用轮询/主动驱动） */
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// BSP_FDCAN_TxCompleteCallback();
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// 立即轮询接收（非阻塞），收到消息则通过 LED 指示
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_1, 0x101, &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_2, 0x102, &msg, BSP_FDCAN_TIMEOUT_IMMEDIATE) == BSP_OK) {
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}
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if (BSP_FDCAN_GetMessage(BSP_FDCAN_3, 0x103, &msg, 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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