Add ble,gps,imu and others in threadx,need test

Core/Src/app_threadx.c

@@ -43,26 +43,70 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
-/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
+/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
 TX_QUEUE ble_tx_queue;
 TX_EVENT_FLAGS_GROUP system_events;
 MotorCommand current_motor_cmd = {0,0};
 _GPSData gps_data;
 
 
-/* <20><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
-typedef struct
-{
-	uint8_t msg_type;  // 1=GPS<50><53><EFBFBD>ݣ<EFBFBD>2=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>3=״̬<D7B4><CCAC>Ϣ
-	char data[128];
-}BLE_Message;
-
-
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN PFP */
 
+// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>app_thread.c<><63>
+// #define task_test    	1
+#ifdef TEST  //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>
+
+
+
+/* USER CODE BEGIN 1 */
+/* USER CODE BEGIN 1 */
+void main_control_thread_entry(ULONG thread_input)
+{
+    ULONG events;
+    MotorCommand motor_cmd = {0, 0};
+    
+    while(1)
+    {
+        // 等待事件发生
+        tx_event_flags_get(&system_events, 
+                          EVENT_OBSTACLE_DETECTED | EVENT_BLE_COMMAND_RECEIVED,
+                          TX_OR_CLEAR, &events, TX_WAIT_FOREVER);
+        
+        // 处理障碍物事件
+        if(events & EVENT_OBSTACLE_DETECTED)
+        {
+            // 触发蜂鸣器和振动提示
+            Buzzer_Open();
+            Shake_Motor_Open();
+            tx_thread_sleep(100); // 振动100ms
+            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
+        if(events & EVENT_BLE_COMMAND_RECEIVED)
+        {
+            // 从队列获取电机命令
+//            tx_queue_receive(&ble_rx_queue, &motor_cmd, TX_WAIT_FOREVER);
+            
+            // 实际控制电机 (伪代码)
+            // set_motor_speed(motor_cmd.leftSpeed, motor_cmd.rightSpeed);
+        }
+    }
+}
+/* USER CODE END 1 */
+/* USER CODE END 1 */
+
+#endif
 /* USER CODE END PFP */
 
 /**