第一次提交

app/app_test.c

@@ -0,0 +1,62 @@
+#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 "sdrv_vic.h"
+#include "app_test.h"
+#include "app_differential_drive.h"
+
+
+// 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;       
+//    uint32_t test_irq[6] = {0};
+    // 再次启动定时器，实现周期定时
+    
+    timerStart(&test_timer, 5000,1); 
+    
+  
+    
+    
+    
+//    printf("speed = %f ",diff_data.desired_speed);
+//    printf("curvature = %f ",diff_data.desired_curvature);
+//    printf("mode = %d\n",diff_data.mode);
+    
+    
+//    
+//    sdrv_vic_lld_read_all(test_irq);//打印所有中断使能位
+//    printf("irq state = %#X ",test_irq[0]);
+//    printf("irq state = %#X ",test_irq[1]);
+//    printf("irq state = %#X ",test_irq[2]);
+//    printf("irq state = %#X ",test_irq[3]);    
+//    printf("irq state = %#X ",test_irq[4]);
+//    printf("irq state = %#X\n",test_irq[5]);    
+    
+//    printf("testAPP: %d us \n",getCurrentTime() - start_time); 
+//    start_time = getCurrentTime();
+
+}
+
+
+// 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, 5000,1);
+}