TuxMonkey/bf_original_balance_chassis
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加快can的报文处理实时性

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NeoZng
2023-07-11 16:16:19 +08:00
parent 2404edd4eb
commit df66794bf9
3 changed files with 16 additions and 14 deletions
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4
modules/referee/rm_referee.c
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@@ -16,6 +16,7 @@
#include "task.h"
#include "daemon.h"
#include "bsp_log.h"
#include "cmsis_os.h"
#define RE_RX_BUFFER_SIZE 255u // 裁判系统接收缓冲区大小
@@ -143,7 +144,6 @@ referee_info_t *RefereeInit(UART_HandleTypeDef *referee_usart_handle)
*/
void RefereeSend(uint8_t *send, uint16_t tx_len)
{
static TickType_t xLastWakeTime;
USARTSend(referee_usart_instance, send, tx_len, USART_TRANSFER_DMA);
vTaskDelayUntil(&xLastWakeTime, 120); // 裁判系统接收ui数据和多机通信最大支持频率为10Hz
osDelay(115);
}