TuxMonkey/bf_original_balance_chassis
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将蜂鸣器警报和daemonTask分开

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chenfu
2023-07-07 19:27:24 +08:00
parent 2404edd4eb
commit c2fb92edd8
10 changed files with 223 additions and 133 deletions
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3
application/robot_task.h
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@@ -12,6 +12,7 @@
#include "master_process.h"
#include "daemon.h"
#include "HT04.h"
#include "buzzer.h"
#include "bsp_log.h"
@@ -88,12 +89,14 @@ void StartMOTORTASK(void const *argument)
void StartDAEMONTASK(void const *argument)
{
static float daemon_dt, daemon_start;
buzzer_init();
LOGINFO("[freeRTOS] Daemon Task Start");
while (1)
{
// 100Hz
daemon_start = DWT_GetTimeline_ms();
DaemonTask();
BuzzerTask();
daemon_dt = DWT_GetTimeline_ms() - daemon_start;
if (daemon_dt > 10)
LOGERROR("[freeRTOS] Daemon Task is being DELAY! dt = [%f]", &daemon_dt);