64 lines
1.9 KiB
C
64 lines
1.9 KiB
C
/*
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Oid 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 "device/Oid.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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OID_Param_t oid_param_new={
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.can=BSP_CAN_1,
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.id=0x01,
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};
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OID_Param_t encoder_param = {
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.can = BSP_CAN_1,
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.id = 0x01
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};
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OID_t* encoder;
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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_Oid(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() / OID_FREQ;
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osDelay(OID_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_CAN_Init();
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OID_Register(&encoder_param);
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encoder = OID_GetEncoder(&encoder_param);
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OID_Set_Mode(&encoder_param , OID_MODE_QUERY);//询问模式
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// OID_Set_Baudrate(&encoder_param ,OID_BAUD_1M );
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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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// OID_Set_Baudrate(&encoder_param, OID_BAUD_1M);
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OID_Read_AngularVelocity(&encoder_param);
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OID_Update(&encoder_param);
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OID_Read_Value(&encoder_param);
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OID_Update(&encoder_param);
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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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} |