generated from Template/H563ZI-HAL-CMake-Template
158 lines
4.1 KiB
C
158 lines
4.1 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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#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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/* 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_QUEUE ble_tx_queue;
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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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TX_THREAD ble_rx_thread;
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UCHAR ble_rx_stack[BLE_RX_THREAD_STACK_SIZE];
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#define BLE_TX_QUEUE_DEPTH 4
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UCHAR ble_tx_queue_buffer[BLE_TX_QUEUE_DEPTH * sizeof(BLE_Message)];
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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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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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/* 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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/* 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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// 发送报警到手机
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BLE_Message msg;
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msg.msg_type = 2;
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snprintf(msg.data, sizeof(msg.data), "#{\"alert\":\"Obstacle detected!\"}\n");
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tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
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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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