第一次提交

ETH/UdpServer/app/app_test.c

@@ -0,0 +1,71 @@
+#include "app_config.h"
+#include "app_dependence.h"
+#include "interface.h"
+
+#include "app_frm_monitor.h"
+#include "app_frm_signal.h"
+#include "app_frm_timer.h"
+
+#include "app_test.h"
+
+uint8_t   IP1[4] = { 192, 168, 17, 33 };              //IP address
+
+
+// 定时器结构体
+Timer test_timer;
+
+// 定时器信号处理函数
+void testTimerProcess(void *signal_id)
+{
+    (void)signal_id; // 标记变量为已使用，避免编译器警告
+    static uint32_t start_time = 0;
+//    short hx,hy,hz=0;
+
+
+    printf("testAPP: %d us \n",getCurrentTime() - start_time);
+
+    // uint8_t arrtest4[10] = {0x56,0x56,0x04};
+
+    printf("AccX:%f,AccY:%f,AccZ:%f,",Acc[0],Acc[1],Acc[2]);
+    printf("GyroX:%f,GyroY:%f,GyroZ:%f\r\n",Gyro[0],Gyro[1],Gyro[2]);//使用串口打印加速度，角速度数据
+    printf("RM3100 hx: %d, hy: %d, hz: %d\r\n", navigation_output1.bit_data.magnetic_x_axis, navigation_output1.bit_data.magnetic_y_axis, navigation_output1.bit_data.magnetic_z_axis);
+
+
+    // uint8_t tesr1 = 0;
+    // uint8_t tesr2 = 0;
+        
+    // tesr1 ++;
+    // wrbyte_24c02(0x10,tesr1);
+    // Delay_Ms(2);
+    // tesr2 = rdbyte_24c02(0x10);
+    // printf("tesr1:%d,tesr2:%d,",tesr1,tesr2);
+
+
+//    uint8_t arrtest8[10] = {0x56,0x56,0x01,0,0,0,0,0,0,0};
+//    uartSendto(UART4, arrtest4, 5);
+//    uartSendto(UART8, arrtest8, 5);
+//    uartSendto(UART6, arrtest4, 5);
+//    uartSendto(UART7, arrtest8, 10); 
+    // ETHUDPTxLen = 8;
+    // UdpSendToData(SocketId,arrtest4,&ETHUDPTxLen,IP1,8011);//测试
+
+
+    start_time = getCurrentTime();
+
+    // 再次启动定时器，实现周期定时
+    timerStart(&test_timer, 1000,1);
+}
+
+
+// APP模块的初始化
+void testAppInit(void)
+{
+    // 初始化定时器
+    timerInit(&test_timer); 
+    // 订阅定时器信号，用于停止电机
+    subscribe(&test_timer, testTimerProcess);
+
+    printf("testAPP: initial OK %d\n",getCurrentTime());
+
+    timerStart(&test_timer, 1000,1);//1ms
+}