57 lines
1.8 KiB
C
57 lines
1.8 KiB
C
/*
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step_motor 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/motor_step.h"
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#include "device/ET16s.h"
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#include "bsp/gpio.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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STEP_MOTOR StepMotor_param={
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.direction=true,
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.pulse=900,
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.time=500,
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};
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int key1=1;
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ET16S_SwitchPos_t Key_A;
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int prev_state ; // 初始为无状态
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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_step_motor(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() / STEP_MOTOR_FREQ;
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osDelay(STEP_MOTOR_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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/* 当前状态变量 */
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Motor_Step_Init(&StepMotor_param);
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// StepMotor_param.state = 0; // 初始状态为停止
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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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if(osMessageQueueGet(task_runtime.msgq.chassis.SetpMotor, &Key_A, NULL, 0)==osOK);
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Motor_Step_Ctrl(&StepMotor_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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} |