72 lines
2.0 KiB
C
72 lines
2.0 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 "app_test.h"
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uint8_t IP1[4] = { 192, 168, 17, 33 }; //IP address
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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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// short hx,hy,hz=0;
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printf("testAPP: %d us \n",getCurrentTime() - start_time);
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// uint8_t arrtest4[10] = {0x56,0x56,0x04};
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printf("AccX:%f,AccY:%f,AccZ:%f,",Acc[0],Acc[1],Acc[2]);
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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
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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);
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// uint8_t tesr1 = 0;
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// uint8_t tesr2 = 0;
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// tesr1 ++;
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// wrbyte_24c02(0x10,tesr1);
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// Delay_Ms(2);
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// tesr2 = rdbyte_24c02(0x10);
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// printf("tesr1:%d,tesr2:%d,",tesr1,tesr2);
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// uint8_t arrtest8[10] = {0x56,0x56,0x01,0,0,0,0,0,0,0};
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// uartSendto(UART4, arrtest4, 5);
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// uartSendto(UART8, arrtest8, 5);
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// uartSendto(UART6, arrtest4, 5);
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// uartSendto(UART7, arrtest8, 10);
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// ETHUDPTxLen = 8;
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// UdpSendToData(SocketId,arrtest4,ÐUDPTxLen,IP1,8011);//测试
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start_time = getCurrentTime();
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// 再次启动定时器，实现周期定时
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timerStart(&test_timer, 1000,1);
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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, 1000,1);//1ms
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}
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