63 lines
1.6 KiB
C
63 lines
1.6 KiB
C
#include "app_config.h"
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#include "app_dependence.h"
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#include "interface.h"
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#include "app_frm_monitor.h"
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#include "app_frm_signal.h"
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#include "app_frm_timer.h"
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#include "sdrv_vic.h"
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#include "app_test.h"
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#include "app_differential_drive.h"
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// 定时器结构体
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Timer test_timer;
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// 定时器信号处理函数
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void testTimerProcess(void *signal_id)
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{
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(void)signal_id; // 标记变量为已使用，避免编译器警告
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// static uint32_t start_time = 0;
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// uint32_t test_irq[6] = {0};
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// 再次启动定时器，实现周期定时
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timerStart(&test_timer, 5000,1);
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// printf("speed = %f ",diff_data.desired_speed);
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// printf("curvature = %f ",diff_data.desired_curvature);
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// printf("mode = %d\n",diff_data.mode);
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//
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// sdrv_vic_lld_read_all(test_irq);//打印所有中断使能位
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// printf("irq state = %#X ",test_irq[0]);
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// printf("irq state = %#X ",test_irq[1]);
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// printf("irq state = %#X ",test_irq[2]);
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// printf("irq state = %#X ",test_irq[3]);
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// printf("irq state = %#X ",test_irq[4]);
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// printf("irq state = %#X\n",test_irq[5]);
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// printf("testAPP: %d us \n",getCurrentTime() - start_time);
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// start_time = getCurrentTime();
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}
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// APP模块的初始化
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void testAppInit(void)
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{
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// 初始化定时器
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timerInit(&test_timer);
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// 订阅定时器信号，用于停止电机
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subscribe(&test_timer, testTimerProcess);
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printf("testAPP: initial OK %d\n",getCurrentTime());
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timerStart(&test_timer, 5000,1);
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}
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