Final

Core/Src/app_threadx.c

@@ -36,7 +36,7 @@
 
 // BLE define 
 #define BLE_RX_THREAD_STACK_SIZE 2048
-#define BLE_RX_THREAD_PRIORITY    10
+#define BLE_RX_THREAD_PRIORITY    9
 #define BLE_TX_THREAD_STACK_SIZE 2048
 #define BLE_TX_THREAD_PRIORITY    10
 // IMU thread config
@@ -212,19 +212,25 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
                      7, 7,    // 这里的优先级
                      TX_NO_TIME_SLICE,
                      TX_AUTO_START);
+		
+		if(status != TX_SUCCESS)
+	{
+		return status;
+	}
+	
 	//
 //    HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
 					 
-	status = ControlThreadCreate();
-	if(status != TX_SUCCESS)
-	{
-		return status;
-	}			 
-	status = Encoder_ThreadCreate();	
-	if(status != TX_SUCCESS)
-	{
-		return status;
-	}	
+//	status = ControlThreadCreate();
+//	if(status != TX_SUCCESS)
+//	{
+//		return status;
+//	}			 
+//	status = Encoder_ThreadCreate();	
+//	if(status != TX_SUCCESS)
+//	{
+//		return status;
+//	}	
 	
     return TX_SUCCESS;
 }

Core/Src/main.c

@@ -106,6 +106,9 @@ int main(void)
    imu600_init();
    GPS_Init();
    DWT_Init();
+   PWM_GPIO_TIM_Init();
+   HAL_TIM_IC_Start_IT(&htim5,TIM_CHANNEL_1);
+//   				Buzzer_Open();
 //	HCBle_InitDMAReception();
 //	HAL_Delay(200);
 //	GPS_Init();