加入Buzzer,Shake_Motor,Ultrasound

Core/Inc/app_threadx.h

@@ -30,12 +30,13 @@ extern "C" {
 
 /* Private includes ----------------------------------------------------------*/
 /* USER CODE BEGIN Includes */
-
+#include "headfile.h"
 /* USER CODE END Includes */
 
 /* Exported types ------------------------------------------------------------*/
 /* USER CODE BEGIN ET */
 
+//extern MotorCommand current_motor_cmd;
 /* USER CODE END ET */
 
 /* Exported constants --------------------------------------------------------*/
@@ -46,7 +47,17 @@ extern "C" {
 /* Private defines -----------------------------------------------------------*/
 
 /* USER CODE BEGIN PD */
+// <20>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD>define
+#define EVENT_OBSTACLE_DETECTED    0x01
+#define EVENT_GPS_DATA_READY       0x02
+#define EVENT_BLE_COMMAND_RECEIVED 0x04
+#define IMU_UPDATE_EVENT           0x08
+#define EVENT_LOCATION_UPDATED     0x10
 
+// <20><><EFBFBD>ڳ<EFBFBD><DAB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܻ<EFBFBD><DCBB><EFBFBD><EFBFBD><EFBFBD>ȥ  0x20 ? 
+extern TX_QUEUE ble_tx_queue;
+extern TX_EVENT_FLAGS_GROUP system_events;
+extern MotorCommand current_motor_cmd;
 /* USER CODE END PD */
 
 /* Main thread defines -------------------------------------------------------*/

Core/Inc/main.h

@@ -57,6 +57,14 @@ void Error_Handler(void);
 /* USER CODE END EFP */
 
 /* Private defines -----------------------------------------------------------*/
+#define HC_Trig_Pin GPIO_PIN_0
+#define HC_Trig_GPIO_Port GPIOA
+#define HC_Echo_Pin GPIO_PIN_1
+#define HC_Echo_GPIO_Port GPIOA
+#define Shake_Motor_Pin GPIO_PIN_4
+#define Shake_Motor_GPIO_Port GPIOD
+#define Buzzer_Pin GPIO_PIN_5
+#define Buzzer_GPIO_Port GPIOD
 
 /* USER CODE BEGIN Private defines */
 

Core/Inc/stm32h5xx_it.h

@@ -56,8 +56,10 @@ void GPDMA1_Channel3_IRQHandler(void);
 void GPDMA1_Channel4_IRQHandler(void);
 void GPDMA1_Channel5_IRQHandler(void);
 void TIM1_UP_IRQHandler(void);
+void TIM2_IRQHandler(void);
 void USART1_IRQHandler(void);
 void USART2_IRQHandler(void);
+void UART5_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */

Core/Inc/tim.h

@@ -0,0 +1,52 @@
+/* USER CODE BEGIN Header */
+/**
+  ******************************************************************************
+  * @file    tim.h
+  * @brief   This file contains all the function prototypes for
+  *          the tim.c file
+  ******************************************************************************
+  * @attention
+  *
+  * Copyright (c) 2025 STMicroelectronics.
+  * All rights reserved.
+  *
+  * This software is licensed under terms that can be found in the LICENSE file
+  * in the root directory of this software component.
+  * If no LICENSE file comes with this software, it is provided AS-IS.
+  *
+  ******************************************************************************
+  */
+/* USER CODE END Header */
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __TIM_H__
+#define __TIM_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "main.h"
+
+/* USER CODE BEGIN Includes */
+
+/* USER CODE END Includes */
+
+extern TIM_HandleTypeDef htim2;
+
+/* USER CODE BEGIN Private defines */
+
+/* USER CODE END Private defines */
+
+void MX_TIM2_Init(void);
+
+/* USER CODE BEGIN Prototypes */
+
+/* USER CODE END Prototypes */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __TIM_H__ */
+

Core/Inc/usart.h

@@ -32,6 +32,8 @@ extern "C" {
 
 /* USER CODE END Includes */
 
+extern UART_HandleTypeDef huart5;
+
 extern UART_HandleTypeDef huart1;
 
 extern UART_HandleTypeDef huart2;
@@ -40,6 +42,7 @@ extern UART_HandleTypeDef huart2;
 
 /* USER CODE END Private defines */
 
+void MX_UART5_Init(void);
 void MX_USART1_UART_Init(void);
 void MX_USART2_UART_Init(void);