generated from Template/H563ZI-HAL-CMake-Template
296 lines
8.0 KiB
C
296 lines
8.0 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 thread config
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// IMU thread config
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#define IMU_ANGLE_THREAD_STACK_SIZE 1024
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#define IMU_ANGLE_THREAD_PRIORITY 11
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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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TX_EVENT_FLAGS_GROUP sensor_events;
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TX_EVENT_FLAGS_GROUP response_events; // 用于避障事件实现
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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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// imu
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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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#define IM948_RX_QUEUE_SIZE 64
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ULONG im948_rx_queue_buffer[IM948_RX_QUEUE_SIZE];
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TX_QUEUE im948_uart_rx_queue;
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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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#define GPS_TASK_STACK_SIZE 2048
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#define GPS_TASK_PRIORITY 11
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TX_THREAD gps_task;
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ULONG gps_task_stack[GPS_TASK_STACK_SIZE / sizeof(ULONG)];
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static TX_THREAD obstacle_thread;
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static UCHAR obstacle_stack[512];
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//超声波
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static UCHAR ultrasonic_stack[512];
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static void obstacle_thread_entry(ULONG);
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TX_THREAD ultrasonic_task_thread;
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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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// === 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_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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return status;
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}
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status = tx_queue_create(&im948_uart_rx_queue, "IM948_RX_QUEUE",
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TX_1_ULONG, // sizeof(ULONG) bytes per entry
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im948_rx_queue_buffer,
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IM948_RX_QUEUE_SIZE * sizeof(ULONG));
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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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status = tx_thread_create(&gps_task,
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"GPS Task",
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gps_thread_entry,
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0,
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gps_task_stack,
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GPS_TASK_STACK_SIZE,
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GPS_TASK_PRIORITY,
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GPS_TASK_PRIORITY,
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TX_NO_TIME_SLICE,
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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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// obstacle_thread create
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status = tx_thread_create(&obstacle_thread,
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"obstacle",
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obstacle_thread_entry,
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0,obstacle_stack,sizeof(obstacle_stack),8,8,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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status = tx_thread_create(&ultrasonic_task_thread,
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"Ultrasonic",
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ultrasonic_task_entry,
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0,
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ultrasonic_stack,
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sizeof(ultrasonic_stack),
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7, 7, // 这里的优先级
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TX_NO_TIME_SLICE,
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TX_AUTO_START);
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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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status = ControlThreadCreate();
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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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status = Encoder_ThreadCreate();
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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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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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//新加入的 obstacle
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static void obstacle_thread_entry(ULONG arg)
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{
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while(1)
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{
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ULONG evt; // 这个应该是用来接收数据的
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tx_event_flags_get(&response_events,EVENT_OBSTACLE_DETECTED,TX_OR_CLEAR,&evt,TX_WAIT_FOREVER);
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switch(obstacle_level)
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{
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case 1: // 远
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Buzzer_Open();
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Shake_Motor_Open();
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tx_thread_sleep(30);
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Buzzer_Close();
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Shake_Motor_Close();
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break;
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case 2:
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for(int i = 0; i < 2;i++)
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{
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Buzzer_Open();
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Shake_Motor_Open();
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tx_thread_sleep(50);
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Buzzer_Close();
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Shake_Motor_Close();
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tx_thread_sleep(30);
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}
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break;
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case 3: // 近
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Buzzer_Open();
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Shake_Motor_Open();
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tx_thread_sleep(150);
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Buzzer_Close();
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Shake_Motor_Close();
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break;
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default:
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break;
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}
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tx_thread_sleep(20);
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}
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}
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/* USER CODE END 1 */
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