generated from Template/H563ZI-HAL-CMake-Template
235 lines
6.6 KiB
C
235 lines
6.6 KiB
C
/* USER CODE BEGIN Header */
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/**
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******************************************************************************
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* @file app_threadx.c
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* @author MCD Application Team
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* @brief ThreadX applicative file
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2025 STMicroelectronics.
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* All rights reserved.
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "app_threadx.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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/* USER CODE BEGIN PTD */
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/* USER CODE END PTD */
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/* Private define ------------------------------------------------------------*/
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/* USER CODE BEGIN PD */
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// BLE define
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#define BLE_RX_THREAD_STACK_SIZE 2048
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#define BLE_RX_THREAD_PRIORITY 10
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#define BLE_TX_THREAD_STACK_SIZE 2048
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#define BLE_TX_THREAD_PRIORITY 10
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//IMU define
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#define IMU_ANGLE_THREAD_STACK_SIZE 1024
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#define IMU_ANGLE_THREAD_PRIORITY 9
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/* USER CODE END PD */
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/* Private macro -------------------------------------------------------------*/
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/* USER CODE BEGIN PM */
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/* USER CODE END PM */
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/* Private variables ---------------------------------------------------------*/
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/* USER CODE BEGIN PV */
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/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
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TX_EVENT_FLAGS_GROUP system_events;
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MotorCommand current_motor_cmd = {0,0};
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_GPSData gps_data;
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// Ble thread vd
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TX_THREAD ble_rx_thread;
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TX_THREAD ble_tx_thread;
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UCHAR ble_rx_stack[BLE_RX_THREAD_STACK_SIZE];
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UCHAR ble_tx_stack[BLE_TX_THREAD_STACK_SIZE];
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TX_QUEUE ble_tx_queue;
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#define BLE_TX_QUEUE_LEN 10
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//ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN]; // 一定要是ULONG类型 之前使用的是BLE_Message
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#define BLE_TX_MSG_LEN 64
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#define BLE_TX_QUEUE_LEN 10
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__attribute__((aligned(4)))
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ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN * ((BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG))];
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// 定义Ble 传输数据的队列 也就是经纬度融合数据
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__attribute__((aligned(4)))
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ULONG ble_tx_queue_buff[BLE_TX_QUEUE_LEN * ((sizeof(BleMessage) + sizeof(ULONG) - 1) / sizeof(ULONG))];
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//imu thread
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TX_THREAD imu_angle_thread;
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UCHAR imu_angle_stack[IMU_ANGLE_THREAD_STACK_SIZE];
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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/* USER CODE BEGIN PFP */
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/* USER CODE END 1 */
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/* USER CODE END 1 */
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/* USER CODE END PFP */
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/**
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* @brief Application ThreadX Initialization.
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* @param memory_ptr: memory pointer
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* @retval int
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*/
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UINT App_ThreadX_Init(VOID *memory_ptr)
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{
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HCBle_SendData("进入 App_ThreadX_Init\r\n");
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// HCBle_SendData("%d",sizeof(ULONG));
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UINT status;
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// === 创建 BLE RX 线程 ===
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status = tx_thread_create(&ble_rx_thread, "BLE RX Thread",
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ble_rx_task_entry, 0,
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ble_rx_stack, BLE_RX_THREAD_STACK_SIZE,
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BLE_RX_THREAD_PRIORITY, BLE_RX_THREAD_PRIORITY,
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TX_NO_TIME_SLICE, TX_AUTO_START);
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if(status != TX_SUCCESS)
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{
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return status;
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}
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// === 创建 BLE TX 线程 ===
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status = tx_thread_create(&ble_tx_thread, "BLE TX Thread",
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ble_tx_task_entry, 0,
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ble_tx_stack, BLE_TX_THREAD_STACK_SIZE,
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BLE_TX_THREAD_PRIORITY, BLE_TX_THREAD_PRIORITY,
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TX_NO_TIME_SLICE, TX_AUTO_START);
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if (status != TX_SUCCESS) {
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HCBle_SendData("❌ BLE TX 线程创建失败，错误码=%d\r\n", status);
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return status;
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}
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status = tx_thread_create(&imu_angle_thread,"IMU Angle Thread",
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imu_angle_ble_task_entry,0,
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imu_angle_stack,IMU_ANGLE_THREAD_STACK_SIZE,
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IMU_ANGLE_THREAD_PRIORITY,IMU_ANGLE_THREAD_PRIORITY,
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TX_NO_TIME_SLICE,TX_AUTO_START);
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if(status != TX_SUCCESS)
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{
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return status;
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}
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// === 创建 BLE TX 消息队列 ===
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// status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
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// (BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG),
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// ble_tx_queue_buffer,
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// sizeof(ble_tx_queue_buffer));
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// if (status != TX_SUCCESS) {
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// HCBle_SendData("❌ BLE TX 消息队列创建失败，错误码=%d\r\n", status);
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// return status;
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// }
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status = tx_queue_create(&ble_tx_queue,"Ble lat Imu",
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(sizeof(BleMessage) + sizeof(ULONG) - 1) / sizeof(ULONG),
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ble_tx_queue_buff,
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sizeof(ble_tx_queue_buff));
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if (status != TX_SUCCESS) {
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return status;
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}
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HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
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return TX_SUCCESS;
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}
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/**
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* @brief Function that implements the kernel's initialization.
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* @param None
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* @retval None
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*/
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void MX_ThreadX_Init(void)
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{
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/* USER CODE BEGIN Before_Kernel_Start */
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HCBle_InitEventFlags(); // 这必须在任何使用前调用一次
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/* USER CODE END Before_Kernel_Start */
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tx_kernel_enter();
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/* USER CODE BEGIN Kernel_Start_Error */
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/* USER CODE END Kernel_Start_Error */
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}
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/* USER CODE BEGIN 1 */
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#ifdef TEST //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>
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/* USER CODE BEGIN 1 */
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void main_control_thread_entry(ULONG thread_input)
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{
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ULONG events;
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MotorCommand motor_cmd = {0, 0};
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while(1)
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{
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// 等待事件发生
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tx_event_flags_get(&system_events,
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EVENT_OBSTACLE_DETECTED | EVENT_BLE_COMMAND_RECEIVED,
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TX_OR_CLEAR, &events, TX_WAIT_FOREVER);
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// 处理障碍物事件
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if(events & EVENT_OBSTACLE_DETECTED)
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{
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// 触发蜂鸣器和振动提示
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Buzzer_Open();
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Shake_Motor_Open();
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tx_thread_sleep(100); // 振动100ms
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Buzzer_Close();
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Shake_Motor_Close();
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}
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// 处理蓝牙控制指令
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if(events & EVENT_BLE_COMMAND_RECEIVED)
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{
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// 从队列获取电机命令
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// tx_queue_receive(&ble_rx_queue, &motor_cmd, TX_WAIT_FOREVER);
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// 实际控制电机 (伪代码)
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// set_motor_speed(motor_cmd.leftSpeed, motor_cmd.rightSpeed);
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}
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}
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}
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#endif
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/* USER CODE END 1 */
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