39 lines
1.0 KiB
Markdown
39 lines
1.0 KiB
Markdown
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# 时间间隔
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目前测试代码如下：
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```c
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create_process(&test_id, "test",NULL, test, (int)(DELTA_TIME*1000));
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```
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对于test函数的调用时间设置的是10ms调用一次，test代码如下：
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```c
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void test(){
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signed short acc_data_buf[3] = {0};
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signed short gyr_data_buf[3] = {0};
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signed short acc_gyro_input[6] = {0};
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float Angle_output[3] = {0};
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SL_SC7U22_RawData_Read(acc_data_buf,gyr_data_buf);
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BLE_send_data = sensor_processing_task(acc_data_buf, gyr_data_buf);
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//----省略-----
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//一些ble数据发送
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memset(&BLE_send_data, 0, sizeof(BLE_send_data_t));
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memset(&data, 0, 50);
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// xlog("end============\n");
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}
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```
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sensor_processing_task当中就进行了计算，包括卡尔曼等，在timer设置成10ms的情况下，实际上test函数（或者是sensor_processing_task函数），距离上次调用到本次调用，实际间隔为40ms
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计算距离不能直接采用timers设置的时间间隔作为dt来求距离，实际每次计算求速度的时间应该是40ms
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