加入了消息队列，线程是可以正常运行的,rx接收任务一直运行不成功，暂时放弃

Core/Inc/app_threadx.h

@@ -59,11 +59,11 @@ extern "C" {
 extern TX_QUEUE ble_tx_queue;
 extern TX_EVENT_FLAGS_GROUP system_events;
 
-typedef struct
-{
-	uint8_t msg_type; // 1=λ<><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,2=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
-	char data[128];
-}BLE_Message;  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ <20><><EFBFBD>ݽṹ
+//typedef struct
+//{
+////	uint32_t msg_type;  // 应该使用 int --- 4字节
+//	char data[128];
+//}BLE_Message;  // 
 
 /* USER CODE END PD */
 

Core/Src/app_threadx.c

@@ -52,7 +52,7 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
-/* ȫ<EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
+/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
 
 TX_EVENT_FLAGS_GROUP system_events;
 MotorCommand current_motor_cmd = {0,0};
@@ -66,8 +66,13 @@ UCHAR ble_tx_stack[BLE_TX_THREAD_STACK_SIZE];
 
 TX_QUEUE ble_tx_queue;
 #define BLE_TX_QUEUE_LEN 10
-BLE_Message ble_tx_queue_buffer[BLE_TX_QUEUE_LEN];
+//ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN]; // 一定要是ULONG类型 之前使用的是BLE_Message
 
+#define BLE_TX_MSG_LEN 64
+#define BLE_TX_QUEUE_LEN 10
+
+__attribute__((aligned(4)))
+ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN * ((BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG))];
 
 //
 
@@ -90,7 +95,7 @@ BLE_Message ble_tx_queue_buffer[BLE_TX_QUEUE_LEN];
 UINT App_ThreadX_Init(VOID *memory_ptr)
 {
     HCBle_SendData("进入 App_ThreadX_Init\r\n");
-
+//	HCBle_SendData("%d",sizeof(ULONG));
 	UINT status;
 
 	// === 创建 BLE RX 线程 ===
@@ -111,20 +116,24 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
                               ble_tx_stack, BLE_TX_THREAD_STACK_SIZE,
                               BLE_TX_THREAD_PRIORITY, BLE_TX_THREAD_PRIORITY,
                               TX_NO_TIME_SLICE, TX_AUTO_START);
+	
     if (status != TX_SUCCESS) {
         HCBle_SendData("❌ BLE TX 线程创建失败，错误码=%d\r\n", status);
         return status;
     }
 	
 	    // === 创建 BLE TX 消息队列 ===
-//    status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
-//                             sizeof(ULONG),
-//                             ble_tx_queue_buffer,
-//                             sizeof(ble_tx_queue_buffer));
-//    if (status != TX_SUCCESS) {
-//        HCBle_SendData("❌ BLE TX 消息队列创建失败，错误码=%d\r\n", status);
-//        return status;
-//    }
+	status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
+							 (BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG),
+							 ble_tx_queue_buffer,
+							 sizeof(ble_tx_queue_buffer));
+
+
+     if (status != TX_SUCCESS) {
+        HCBle_SendData("❌ BLE TX 消息队列创建失败，错误码=%d\r\n", status);
+        return status;
+    }
+
 	
     HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
 	
@@ -140,7 +149,7 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
 void MX_ThreadX_Init(void)
 {
   /* USER CODE BEGIN Before_Kernel_Start */
-
+	HCBle_InitEventFlags();  // 这必须在任何使用前调用一次
   /* USER CODE END Before_Kernel_Start */
 
   tx_kernel_enter();
@@ -151,7 +160,7 @@ void MX_ThreadX_Init(void)
 }
 
 /* USER CODE BEGIN 1 */
-#ifdef TEST  //Ŀǰ<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD>
+#ifdef TEST  //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>
 
 
 /* USER CODE BEGIN 1 */
@@ -177,11 +186,7 @@ void main_control_thread_entry(ULONG thread_input)
             Buzzer_Close();
             Shake_Motor_Close();
             
-            // 发送报警到手机
-            BLE_Message msg;
-            msg.msg_type = 2;
-            snprintf(msg.data, sizeof(msg.data), "#{\"alert\":\"Obstacle detected!\"}\n");
-            tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
+
         }
         
         // 处理蓝牙控制指令

Core/Src/main.c

@@ -103,7 +103,7 @@ int main(void)
   /* USER CODE BEGIN 2 */
 //	HCBle_InitDMAReception();
 //	HAL_Delay(200);
-
+//	GPS_Init();
   /* USER CODE END 2 */
 
   MX_ThreadX_Init();