63 lines
2.1 KiB
C
63 lines
2.1 KiB
C
/*
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monitor 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/pwm.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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static uint8_t servo_direction = 0; // 0: 向90度移动, 1: 向45度移动
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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_monitor(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() / MONITOR_FREQ;
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osDelay(MONITOR_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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// 初始化舵机PWM
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// 舵机频率为50Hz
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BSP_PWM_SetFreq(BSP_PWM_TIM1_CH2, 50.0f);
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BSP_PWM_Start(BSP_PWM_TIM1_CH2);
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// 设置初始位置为45度
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// 45度对应约1.25ms脉宽，占空比 = 1.25/20 = 0.0625
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BSP_PWM_SetComp(BSP_PWM_TIM1_CH2, 0.0625f);
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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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// 舵机角度控制
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// 45度: 1.25ms脉宽, 占空比 = 1.25/20 = 0.0625
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// 90度: 1.5ms脉宽, 占空比 = 1.5/20 = 0.075
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if (servo_direction == 0) {
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// 移动到90度
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BSP_PWM_SetComp(BSP_PWM_TIM1_CH2, 0.075f);
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servo_direction = 1;
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} else {
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// 移动到45度
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BSP_PWM_SetComp(BSP_PWM_TIM1_CH2, 0.0625f);
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servo_direction = 0;
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}
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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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} |