PID挪到定时器中断

Core/Src/main.c

@@ -299,14 +299,17 @@ void MPU_Config(void)
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
 {
   /* USER CODE BEGIN Callback 0 */
-
+  void Timer_Task(void);
   /* USER CODE END Callback 0 */
   if (htim->Instance == TIM3)
   {
     HAL_IncTick();
   }
   /* USER CODE BEGIN Callback 1 */
-
+  else if (htim->Instance == TIM8)
+  {
+    Timer_Task();
+  }
   /* USER CODE END Callback 1 */
 }