MADAO/ManGoWalk_STM32
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Add ble,gps,imu and others in threadx,need test

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MADAO
2025-06-25 14:25:28 +08:00
parent 64f668fc5f
commit 957d1df05f
41 changed files with 3469 additions and 3025 deletions
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20
fun/Ultrasound.c
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@@ -62,22 +62,24 @@ void HCSR04_Trigger(void)
}
#ifdef HCSR_TEST
#ifdef TEST
void ultrasonic_task_entry(ULONG thread_input) {
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
DWT_Init();
while (1) {
HCSR04_Trigger();
ULONG actual_flags;
ULONG events;
if (tx_event_flags_get(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR_CLEAR,
&actual_flags, TX_WAIT_FOREVER) == TX_SUCCESS) {
&events, TX_WAIT_FOREVER) == TX_SUCCESS) {
if (distance_cm < 30) {
// ִ<>б<EFBFBD><D0B1>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>񶯡<EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE>
tx_event_flags_set(&system_events,EVENT_OBSTACLE_DETECTED,TX_OR);// ִ<>б<EFBFBD><D0B1>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>񶯡<EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE>
}
}
tx_thread_sleep(50); // ÿ<>β<EFBFBD><CEB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 50 ticks
tx_thread_sleep(50); // ÿ<>β<EFBFBD><CEB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 50 ticks 20Hz <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>
}
}
#endif
@@ -85,6 +87,8 @@ void ultrasonic_task_entry(ULONG thread_input) {
/*******
Echo <20><><EFBFBD>벶<EFBFBD><EBB2B6><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
@@ -103,8 +107,8 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
uint32_t delta = (ic_val2 > ic_val1) ? (ic_val2 - ic_val1) : (0xFFFF - ic_val1 + ic_val2);
distance_cm = delta / 58;
// ֪ͨ<CDA8><D6AA><EFBFBD><EFBFBD>
// tx_event_flags_set(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR);
// ֪ͨ<CDA8><D6AA><EFBFBD><EFBFBD> ȡ<><C8A1>ע<EFBFBD><D7A2><EFBFBD>Ի<EFBFBD><D4BB>Ѳ<EFBFBD><D1B2><EFBFBD><EFBFBD>߳<EFBFBD>
tx_event_flags_set(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR);
}
}
}