修改move_xr结构

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "ads8864.h": "c"
+    }
+}

User/bsp/bsp.h

@@ -0,0 +1,17 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define BSP_OK (0)
+#define BSP_ERR (-1)
+#define BSP_ERR_NULL (-2)
+#define BSP_ERR_INITED (-3)
+#define BSP_ERR_NO_DEV (-4)
+
+#define SIGNAL_BSP_USB_BUF_RECV (1u << 0)
+
+#ifdef __cplusplus
+}
+#endif

User/bsp/can.c

@@ -0,0 +1,19 @@
+// /* Includes ----------------------------------------------------------------- */
+// #include "bsp\can.h"
+// #include "can.h" // 包含 hcan 的定义
+
+// /* Private define ----------------------------------------------------------- */
+// /* Private macro ------------------------------------------------------------ */
+// /* Private typedef ---------------------------------------------------------- */
+// /* Private variables -------------------------------------------------------- */
+// /* Private function  -------------------------------------------------------- */
+
+// /* Exported functions ------------------------------------------------------- */
+// CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
+//   switch (can) {
+//     case BSP_CAN:
+//       return &hcan; // 返回全局定义的 hcan 实例
+//     default:
+//       return NULL; // 未知的 CAN 枚举值
+//   }
+// }

User/bsp/can.h

@@ -0,0 +1,15 @@
+// #pragma once
+
+// /* Includes ----------------------------------------------------------------- */
+// #include <can.h>
+// #include "bsp/bsp.h"
+
+// /* Exported constants ------------------------------------------------------- */
+// /* Exported macro ----------------------------------------------------------- */
+// /* Exported types ----------------------------------------------------------- */
+// typedef enum {
+//   BSP_CAN,
+// } BSP_CAN_t;
+
+// /* Exported functions prototypes -------------------------------------------- */
+// CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can);

User/bsp/led.c

@@ -1,6 +1,5 @@
 /* Includes ----------------------------------------------------------------- */
 #include "bsp\led.h"
-// #include "stm32f3xx.h" 
 #include "gpio.h"
 #include "tim.h" 
 /* Private define ----------------------------------------------------------- */

User/bsp/led.h

@@ -27,6 +27,4 @@ typedef enum
 
 /* Exported functions prototypes -------------------------------------------- */
 
-int8_t BSP_LED_SET(BSP_LED_Channel_t ch, BSP_LED_Status_t s);
+int8_t BSP_LED_SET(BSP_LED_Channel_t ch, BSP_LED_Status_t s);
-int8_t BSP_WS2812_Set(uint8_t red, uint8_t green, uint8_t blue);
-int8_t BSP_WS2812_Init(void);

User/bsp/spi.c

@@ -0,0 +1,26 @@
+/* Includes ----------------------------------------------------------------- */
+#include "bsp\spi.h"
+
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+static BSP_SPI_t SPI_Get(SPI_HandleTypeDef *hspi) {
+  if (hspi->Instance == SPI2)
+    return BSP_SPI_ADC;
+  else
+    return BSP_ERR;
+}
+
+
+/* Exported functions ------------------------------------------------------- */
+SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi) {
+  switch (spi) {
+    case BSP_SPI_ADC:
+      return &hspi2;
+    default:
+      return NULL;
+  }
+}
+

User/bsp/spi.h

@@ -0,0 +1,22 @@
+#pragma once
+
+
+/* Includes ----------------------------------------------------------------- */
+#include <spi.h>
+
+#include "bsp/bsp.h"
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+/* 要添加使用SPI的新设备，需要先在此添加对应的枚举值 */
+
+/* SPI实体枚举，与设备对应 */
+typedef enum {
+  BSP_SPI_ADC,
+} BSP_SPI_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi);
+

User/component/user_math.c

@@ -0,0 +1,12 @@
+/*
+  自定义的数学运算。
+*/
+
+#include "user_math.h"
+#include <stdint.h>
+
+
+float Adc_to_Distance(uint16_t adc_data) {
+    // return (float)((adc_data * 1000) / 4095);
+    return (float)((adc_data * 1000) / 4095.0f); // 使用浮点数进行计算
+}

User/component/user_math.h

@@ -0,0 +1,20 @@
+/*
+  自定义的数学运算。
+*/
+
+#pragma once
+
+
+#include <math.h>
+#include <stdint.h>
+
+#ifndef M_PI
+#define M_PI 3.14159265358979323846f
+#endif
+
+/**
+ * @brief 用于计算ADC数据对应的距离（mm）
+ * @param adc_data 
+ * @return 
+ */
+float Adc_to_Distance(uint16_t adc_data);

User/device/ads8864.c

@@ -1,9 +1,10 @@
 #include "ads8864.h"
-#include "spi.h"
 #include "gpio.h"
-
+#include "bsp/spi.h"
+#include <string.h> 
+#include "component/user_math.h" 
 /* Private variables --------------------------------------------------------- */
-// static Ads8864_t ads8864_data = {0}; // 全局的ADC数据结构体
+// static Ads8864_t ads8864 = {0}; // 全局的ADC数据结构体
 
 /* Private function prototypes ----------------------------------------------- */
 static uint16_t Ads8864_Read_Internal(void);
@@ -15,30 +16,37 @@ static void Ads8864_Update_Filtered_Data(void);
   * @note   初始化ADC相关引脚
   * @retval None
   */
-void ads8864_Init(void) {
+// void ads8864_Init(void) {
-    HAL_GPIO_WritePin(GPIOB, DIN_Pin, GPIO_PIN_SET);    // 设置DIN引脚为高电平
+//     HAL_GPIO_WritePin(GPIOB, DIN_Pin, GPIO_PIN_SET);    // 设置DIN引脚为高电平
-    HAL_GPIO_WritePin(GPIOB, CONVST_Pin, GPIO_PIN_RESET); // 设置CS引脚为低电平
+//     HAL_GPIO_WritePin(GPIOB, CONVST_Pin, GPIO_PIN_RESET); // 设置CS引脚为低电平
+// }
+int8_t ads8864_Init(Ads8864_t *ads8864) {
+  HAL_GPIO_WritePin(GPIOB, DIN_Pin, GPIO_PIN_SET);    // 设置DIN引脚为高电平
+  HAL_GPIO_WritePin(GPIOB, CONVST_Pin, GPIO_PIN_RESET); // 设置CS引脚为低电平
+  memset(ads8864, 0, sizeof(Ads8864_t)); // 初始化结构体
+  return 0; // 初始化成功
 }
-
 /**
   * @brief  读取ADS8864 ADC数据
   * @note   通过SPI接口读取ADC转换结果，并更新滤波数据
   * @retval uint16_t 返回滤波后的ADC数据
   */
-uint16_t Ads8864_Read(void) {
+ int8_t Ads8864_Read(Ads8864_t *ads8864) {
     // 读取原始数据
     uint16_t raw_data = Ads8864_Read_Internal();
 
     // 更新原始数据缓冲区
     for (int i = 9; i > 0; i--) {
-        ads8864_data.raw.adc_data[i] = ads8864_data.raw.adc_data[i - 1];
+        ads8864->raw.adc_data[i] = ads8864->raw.adc_data[i - 1];
     }
-    ads8864_data.raw.adc_data[0] = raw_data;
+    ads8864->raw.adc_data[0] = raw_data;
 
     // 更新滤波数据
     Ads8864_Update_Filtered_Data();
+    // 计算距离
+    ads8864->filtered.distance = Adc_to_Distance(ads8864->filtered.adc_data); // 计算距离
 
-    return ads8864_data.filtered.adc_data;
+    return 0;
 }
 
 /* Private functions --------------------------------------------------------- */
@@ -50,9 +58,15 @@ uint16_t Ads8864_Read(void) {
 static uint16_t Ads8864_Read_Internal(void) {
     uint8_t rx_data[2] = {0}; // 接收数据缓冲区
 
+    // 获取 SPI 句柄
+    SPI_HandleTypeDef *hspi = BSP_SPI_GetHandle(BSP_SPI_ADC);
+    if (hspi == NULL) {
+        return 0; // 如果句柄为空，返回 0
+    }
+
     HAL_GPIO_WritePin(GPIOB, CONVST_Pin, GPIO_PIN_RESET); // 设置CS引脚为低电平
     HAL_Delay(1); // 延时 1 毫秒
-    HAL_SPI_Receive(&hspi2, rx_data, sizeof(rx_data), HAL_MAX_DELAY); // SPI接收数据
+    HAL_SPI_Receive(hspi, rx_data, sizeof(rx_data), HAL_MAX_DELAY); // SPI接收数据
     HAL_GPIO_WritePin(GPIOB, CONVST_Pin, GPIO_PIN_SET); // 设置CS引脚为高电平
 
     return (rx_data[0] << 8) | rx_data[1]; // 合并接收数据并返回
@@ -68,7 +82,7 @@ static void Ads8864_Update_Filtered_Data(void) {
 
     // 计算原始数据的平均值
     for (int i = 0; i < 10; i++) {
-        sum += ads8864_data.raw.adc_data[i];
+        sum += ads8864.raw.adc_data[i];
     }
-    ads8864_data.filtered.adc_data = (uint16_t)(sum / 10);
+    ads8864.filtered.adc_data = (uint16_t)(sum / 10);
 }

User/device/ads8864.h

@@ -15,6 +15,7 @@ typedef struct {
 // 滤波后的ADC数据
 typedef struct {
   uint16_t adc_data;
+  float distance; // 距离(mm)
 } Ads8864_Filtered_t;
 
 // ADC数据结构体
@@ -23,8 +24,8 @@ typedef struct {
   Ads8864_Filtered_t filtered; // 滤波后的数据
 } Ads8864_t;
 
-extern Ads8864_t ads8864_data; // 声明全局变量
+extern Ads8864_t ads8864; // 声明全局变量
 
 /* Exported functions prototypes -------------------------------------------- */
-void ads8864_Init(void);
+int8_t ads8864_Init(Ads8864_t *ads8864);
-uint16_t Ads8864_Read(void);
+int8_t Ads8864_Read(Ads8864_t *ads8864);

User/device/can.c

@@ -1,11 +1,52 @@
-/*
-  CAN总线上的设
-  将所有CAN总线上挂载的设抽象成一设进行配和控制
-*/
-
-/* Includes ----------------------------------------------------------------- */
 #include "can.h"
+#include "device/can.h"
+#include "stm32f3xx_hal.h"
+// CAN 调试结构体实例
+can_t can_debug = {
+    .TxData = {0},
+    .TxID = 0x023,
+    .TxStatus = 0,
+    .DebugCounter = 0
+};
 
-#include <stdbool.h>
+// 初始化 CAN
-#include <string.h>
+void CAN_Init(CAN_HandleTypeDef *hcan_Cur)
+{
+    // 仅初始化CAN，不配置接收过滤器
+    HAL_CAN_Start(hcan_Cur); // 开启CAN
+}
 
+// CAN 发送函数，添加超时机制
+uint8_t CAN_SendData(CAN_HandleTypeDef *hcan_Cur, uint8_t *pData, uint16_t ID)
+{
+    HAL_StatusTypeDef HAL_RetVal = HAL_ERROR;
+    uint8_t FreeTxNum = 0;
+    CAN_TxHeaderTypeDef TxMessage;
+
+    TxMessage.StdId = ID;
+    TxMessage.DLC = 8;  /* 默认一帧传输长度为8 */
+    TxMessage.IDE = CAN_ID_STD;
+    TxMessage.RTR = CAN_RTR_DATA;
+
+    uint32_t timeout = 5000; // 增加超时时间
+    while (FreeTxNum == 0 && timeout > 0) 
+    {
+        FreeTxNum = HAL_CAN_GetTxMailboxesFreeLevel(hcan_Cur);
+        if (FreeTxNum > 0) break; // 如果有空闲邮箱，退出循环
+        osDelay(1); // 避免忙等待
+        timeout--;
+    }
+    if (timeout == 0) 
+    {
+        return 1; // 超时，发送失败
+    }
+
+    HAL_RetVal = HAL_CAN_AddTxMessage(hcan_Cur, &TxMessage, pData, (uint32_t *)CAN_TX_MAILBOX1);
+
+    if (HAL_RetVal != HAL_OK)
+    {
+        return 1; // 发送失败
+    }
+
+    return 0; // 发送成功
+}

User/device/can.h

@@ -1,19 +1,19 @@
 #pragma once
 
-/* Includes ----------------------------------------------------------------- */
+#include "can.h"
-#include <cmsis_os2.h>
+#include "stm32f3xx_hal.h" 
-#include <stdbool.h>
+#include <stdint.h>
-
+// CAN 调试结构体
-#include "bsp\can.h"
-
-
-#define CAN_TX_BUF_SIZE (8)
-#define CAN_RX_BUF_SIZE (8)
-
-
 typedef struct {
-    uint16_t adc_data;
+    uint8_t TxData[8];       // 要发送的数据
-    struct {
+    uint16_t TxID;           // 发送的CAN ID
-      uint32_t sick;
+    uint8_t TxStatus;        // 发送状态，0: 成功，1: 失败
-    } mailbox;
+    uint32_t DebugCounter;   // 调试计数器
-  } CAN_t;
+} can_t;
+
+// 外部变量声明
+extern can_t can_debug;
+
+// 函数声明
+void CAN_Init(CAN_HandleTypeDef *hcan_Cur);
+uint8_t CAN_SendData(CAN_HandleTypeDef *hcan_Cur, uint8_t *pData, uint16_t ID);

User/device/pc.c

@@ -1,36 +0,0 @@
-// #include "device/pc.h"
-// #include "usart.h" // 包含 USART 驱动头文件
-// #include <string.h> // 用于 memcpy
-
-// /* Private variables --------------------------------------------------------- */
-
-// /* Exported functions -------------------------------------------------------- */
-
-// /**
-//  * @brief 初始化PC通信
-//  */
-// void PC_Init(void) {
-//     // MX_USART1_UART_Init(); // 初始化 USART1
-//     pc_data.PC_online = false; // 默认PC离线
-// }
-
-// /**
-//  * @brief 通过串口发送数据
-//  * @param data 要发送的16位数据
-//  */
-// void PC_SendData(void) {
-//     // 将 pc_data.to_pc 数据通过串口发送
-//     HAL_UART_Transmit(&huart1, (uint8_t *)&pc_data.to_pc, sizeof(PC_UpPackage_t), HAL_MAX_DELAY);
-// }
-
-// /**
-//  * @brief 接收串口数据
-//  * @param data 接收缓冲区
-//  * @param length 接收数据长度
-//  */
-// void PC_ReceiveData(uint8_t *data, uint16_t length) {
-//     if (length == sizeof(PC_DownPackage_t)) {
-//         memcpy(&pc_data.from_pc, data, length); // 将接收到的数据存储到 pc_data.from_pc
-//         pc_data.PC_online = true; // 标记PC在线
-//     }
-// }

User/device/pc.h

@@ -1,33 +0,0 @@
-// #pragma once
-
-// /* Includes ----------------------------------------------------------------- */
-
-// #include <stdint.h>
-// #include <stdbool.h> // 添加此行以定义 bool 类型
-// /* Exported constants ------------------------------------------------------- */
-// /* Exported macro ----------------------------------------------------------- */
-// /* Exported types ----------------------------------------------------------- */
-
-// typedef struct {
-//     uint8_t notice; 
-//   } PC_DownPackage_t;
-  
-//   // 滤波后的ADC数据
-//   typedef struct {
-//     uint16_t adc_data; // ADC数据
-//   } PC_UpPackage_t;
-  
-//   // ADC数据结构体
-//   typedef struct {
-//     PC_DownPackage_t from_pc; // 从PC接收的数据
-//     PC_UpPackage_t to_pc; // 发送到PC的数据
-//     bool PC_online; // PC在线状态
-//   } PC_t;
-
-  
-// extern PC_t pc_data; // 用于存储PC通信数据
-
-// /* Exported functions prototypes -------------------------------------------- */
-// void PC_Init(void);
-// void PC_SendData(void);
-// void PC_ReceiveData(uint8_t *data, uint16_t length);

User/task/adc.c

@@ -1,13 +1,12 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 #include "device/ads8864.h"
-#include "bsp/led.h" // 包含 LED 控制头文件
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 
 /* Private macro ------------------------------------------------------------ */
 /* Private variables --------------------------------------------------------- */
-Ads8864_t ads8864_data; // 引用全局的ADC数据结构体
+Ads8864_t ads8864;
 /* Private function --------------------------------------------------------- */
 
 /* Exported functions ------------------------------------------------------- */
@@ -15,21 +14,16 @@ void Task_Adc(void *argument) {
     (void)argument; // 消除未使用参数的警告
     
     /* 计算任务运行到指定频率需要等待的tick数 */
-    const uint32_t delay_tick = osKernelGetTickFreq() / 200; // 250Hz
+    const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_ADC; // 200Hz
-
-    // osDelay(1000); /* 延时一段时间再开启任务 */
-
     uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
-    ads8864_Init(); // 初始化 ADC
+    ads8864_Init(&ads8864); // 初始化 ADC
     while (1) {
         tick += delay_tick; /* 计算下一个唤醒时刻 */
-        // 读取滤波后的 ADC 数据
+        Ads8864_Read(&ads8864);
-        Ads8864_Read();
+        osMessageQueueReset(task_runtime.msgq.adc); // 重置消息队列
-        osMessageQueueReset(adcQueueHandle); // 重置消息队列
+        osMessageQueuePut(task_runtime.msgq.adc, &ads8864.filtered, 0, 0); // 将数据放入消息队列
-        osMessageQueuePut(adcQueueHandle, &ads8864_data.filtered.adc_data, 0, 0); // 将数据放入消息队列
+        osMessageQueueReset(task_runtime.msgq.pc); // 重置消息队列
-        osMessageQueueReset(pcQueueHandle); // 重置消息队列
+        osMessageQueuePut(task_runtime.msgq.pc, &ads8864.filtered.distance,0, 0); // 将数据放入消息队列
-        osMessageQueuePut(pcQueueHandle, &ads8864_data.filtered.adc_data, 0, 0); // 将数据放入消息队列
-        // BSP_LED_SET(BSP_LED1, BSP_LED_TAGGLE); // 切换 LED 状态
         osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
     }
 }

User/task/can.c

@@ -8,90 +8,40 @@
 #include "can.h"
 #include "task\user_task.h"
 #include "bsp\led.h"
+#include "device\ads8864.h"
+#include "device\can.h"
 
 /* Private typedef ---------------------------------------------------------- */
-typedef struct {
-    uint8_t TxData[8];       // 要发送的数据
-    uint16_t TxID;           // 发送的CAN ID
-    uint8_t TxStatus;        // 发送状态，0: 成功，1: 失败
-    uint32_t DebugCounter;   // 调试计数器
-} can_t;
-
 /* Private define ----------------------------------------------------------- */
 
 /* Private variables -------------------------------------------------------- */
-can_t can_debug = {
+
-    .TxData = {0},
-    .TxID = 0x023,
-    .TxStatus = 0,
-    .DebugCounter = 0
-};
 
 /* Exported functions ------------------------------------------------------- */
-void CAN_Init(CAN_HandleTypeDef *hcan_Cur)
-{
-    // 仅初始化CAN，不配置接收过滤器
-    HAL_CAN_Start(hcan_Cur); // 开启CAN
-}
-
-/* CAN发送函数 */
-uint8_t CAN_SendData(CAN_HandleTypeDef *hcan_Cur, uint8_t *pData, uint16_t ID)
-{
-    HAL_StatusTypeDef HAL_RetVal = HAL_ERROR;
-    uint8_t FreeTxNum = 0;
-    CAN_TxHeaderTypeDef TxMessage;
-
-    TxMessage.StdId = ID;
-    TxMessage.DLC = 8;  /* 默认一帧传输长度为8 */
-    TxMessage.IDE = CAN_ID_STD;
-    TxMessage.RTR = CAN_RTR_DATA;
-
-    FreeTxNum = HAL_CAN_GetTxMailboxesFreeLevel(hcan_Cur);
-
-    while (FreeTxNum == 0) // 等待空邮箱，可能会卡死在这里（小BUG）
-    {
-        FreeTxNum = HAL_CAN_GetTxMailboxesFreeLevel(hcan_Cur);
-    }
-
-    HAL_RetVal = HAL_CAN_AddTxMessage(hcan_Cur, &TxMessage, pData, (uint32_t *)CAN_TX_MAILBOX1);
-
-    if (HAL_RetVal != HAL_OK)
-    {
-        return 1; // 发送失败
-    }
-
-    return 0; // 发送成功
-}
-
 void Task_Can(void *argument) {
     (void)argument; // 消除未使用参数的警告
-    const uint32_t delay_tick = osKernelGetTickFreq() / 100; // 50Hz
+    const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CAN; // 100Hz
     uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
 
     CAN_Init(&hcan); // 初始化CAN模块
-    uint16_t adc_data = 0; // 用于存储从消息队列读取的 ADC 数据
-
-    // 初始化调试结构体数据
-    for (int i = 0; i < 8; i++) {
-        can_debug.TxData[i] = 0; // 填充测试数据
-    }
 
+    uint16_t adc_data = 0; // 用于存储ADC数据
     while (1) {
-      tick += delay_tick; /* 计算下一个唤醒时刻 */
+        tick += delay_tick; /* 计算下一个唤醒时刻 */
         // 周期性发送数据
-        if (osMessageQueueGet(adcQueueHandle, &adc_data, NULL, osWaitForever) == osOK) {
+        if (osMessageQueueGet(task_runtime.msgq.adc, &adc_data, NULL, 100) == osOK) {
-          // 将 ADC 数据填充到 CAN 数据帧
+            // 将 ADC 数据填充到 CAN 数据帧
-          can_debug.TxData[0] = (adc_data >> 8) & 0xFF; // 高字节
+            can_debug.TxData[0] = (adc_data >> 8) & 0xFF; // 高字节
-          can_debug.TxData[1] = adc_data & 0xFF;        // 低字节
+            can_debug.TxData[1] = adc_data & 0xFF;        // 低字节
 
-          // 发送 CAN 数据
+            // 发送 CAN 数据
-          can_debug.TxStatus = CAN_SendData(&hcan, can_debug.TxData, can_debug.TxID);
+            can_debug.TxStatus = CAN_SendData(&hcan, can_debug.TxData, can_debug.TxID);
-          can_debug.DebugCounter++; // 调试计数器递增
+            can_debug.DebugCounter++; // 调试计数器递增
-      }
+        }
-      //每发送10条数据切换一次LED状态
+        // 每发送10条数据切换一次LED状态
         if (can_debug.DebugCounter % 10 == 0) {
             BSP_LED_SET(BSP_LED2, BSP_LED_TAGGLE); // 切换 LED 状态
-            }
+        }
         osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
     }
 }

User/task/init.c

@@ -6,14 +6,12 @@
 
 /* Includes ----------------------------------------------------------------- */
 #include "task\user_task.h"
-
+#include "device/ads8864.h"
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 
-osMessageQueueId_t adcQueueHandle;
-osMessageQueueId_t pcQueueHandle;
 /* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
 
@@ -28,14 +26,16 @@ void Task_Init(void *argument) {
   osKernelLock(); // 锁定内核，防止任务切换
 
   // 创建任务，确保任务创建成功
-  
+  task_runtime.thread.adc = osThreadNew(Task_Adc, NULL, &attr_adc);
-  osThreadId_t monitorTaskHandle = osThreadNew(Task_Monitor, NULL, &attr_monitor);
+  task_runtime.thread.can = osThreadNew(Task_Can, NULL, &attr_can);
-  osThreadId_t adcReadTaskHandle = osThreadNew(Task_Adc, NULL, &attr_adc);
+  task_runtime.thread.monitor = osThreadNew(Task_Monitor, NULL, &attr_monitor);
-  osThreadId_t canTaskHandle = osThreadNew(Task_Can, NULL, &attr_can);
+  task_runtime.thread.pc = osThreadNew(Task_PC, NULL, &attr_pc);
-  osThreadId_t pcTaskHandle = osThreadNew(Task_PC, NULL, &attr_pc);
+
   //创建消息队列
-  adcQueueHandle = osMessageQueueNew(2u, sizeof(uint16_t), NULL);
+  task_runtime.msgq.adc =osMessageQueueNew(2u, sizeof(Ads8864_Filtered_t), NULL);
-  pcQueueHandle = osMessageQueueNew(2u, sizeof(uint16_t), NULL);
+  task_runtime.msgq.can = osMessageQueueNew(2u, sizeof(Ads8864_Filtered_t), NULL);
+  task_runtime.msgq.pc = osMessageQueueNew(2u, sizeof(float), NULL);
+
   osKernelUnlock(); // 解锁内核
   osThreadTerminate(osThreadGetId()); // 任务完成后结束自身
 }

User/task/mointor.c

@@ -13,14 +13,8 @@
 /* Exported functions ------------------------------------------------------- */
 void Task_Monitor(void *argument) {
     (void)argument; // 消除未使用参数的警告
-    // BSP_WS2812_Init(); // 初始化 WS2812 LED
     while (1) {
         BSP_LED_SET(BSP_LED1, BSP_LED_TAGGLE); // 切换 LED 状态
-        // BSP_WS2812_Set(255, 0, 0); // 设置为红色
         HAL_Delay(1000); // 延时 1 秒
-        // BSP_WS2812_Set(0, 255, 0); // 设置为绿色
-        // HAL_Delay(1000); // 延时 1 秒
-        // BSP_WS2812_Set(0, 0, 255); // 设置为蓝色
-        // HAL_Delay(1000); // 延时 1 秒
     }
 } 

User/task/pc.c

@@ -1,12 +1,12 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task\user_task.h"
 // #include "device/pc.h"
-#include "usart.h" // 添加此行以声明 HAL_UART_Receive 和 huart1
+#include "usart.h" 
 #include "bsp\led.h" 
 
 
 /* Private variables -------------------------------------------------------- */
-uint16_t adc_data = 0; // 用于存储ADC数据
+float distance = 0.0f; // 用于存储距离数据单位为米
 /* Exported functions ------------------------------------------------------- */
 void Task_PC(void *argument) {
     (void)argument; // 消除未使用参数的警告
@@ -15,11 +15,10 @@ void Task_PC(void *argument) {
 
     while (1) {
         tick += delay_tick; /* 计算下一个唤醒时刻 */
-        // 使用 DMA 发送数据
+        if (osMessageQueueGet(task_runtime.msgq.pc, &distance, NULL, osWaitForever) == osOK) {
-        if (osMessageQueueGet(pcQueueHandle, &adc_data, NULL, osWaitForever) == osOK) {
+            HAL_UART_Transmit_DMA(&huart3, (uint8_t *)&distance, sizeof(distance)); // 发送数据
-            // 直接发送数字到PC
-            HAL_UART_Transmit_DMA(&huart3, (uint8_t *)&adc_data, sizeof(adc_data));
         }
+
         osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
     }
 }

User/task/user_task.c

@@ -1,5 +1,7 @@
 #include "task/user_task.h"
 
+Task_Runtime_t task_runtime;
+
 // 定义任务属性
 const osThreadAttr_t attr_init = {
     .name = "Task_Init",

User/task/user_task.h

@@ -10,12 +10,51 @@ extern "C" {
 
 // 定义任务运行时结构体
 typedef struct {
-    uint32_t runtime;
+    /* 各任务，也可以叫做线程 */
-} Task_Runtime_t;
+    struct {
+        osThreadId_t can; /* CAN任务 */
+        osThreadId_t adc; /* ADC任务 */
+        osThreadId_t pc; /* PC任务 */
+        osThreadId_t monitor; /* 监控任务 */
+    } thread;
+  
+    struct {
+        osMessageQueueId_t can; /* CAN消息队列 */
+        osMessageQueueId_t adc; /* ADC消息队列 */
+        osMessageQueueId_t pc; /* PC消息队列 */
+    } msgq;
+  
+
+    struct {
+        uint32_t can; /* CAN使用 */
+        uint32_t adc; /* ADC使用 */
+        uint32_t pc; /* PC使用 */
+        uint32_t monitor; /* 监控使用 */
+    } heap_water_mark; /* heap使用 */
+
+    struct {
+        float can; /* CAN任务运行频率 */
+        float adc; /* ADC任务运行频率 */
+        float pc; /* PC任务运行频率 */
+        float monitor; /* 监控任务运行频率 */
+    } freq; /* 任务运行频率 */
+  
+    struct {
+        uint32_t can; /* CAN任务运行时间 */
+        uint32_t adc; /* ADC任务运行时间 */
+        uint32_t pc; /* PC任务运行时间 */
+        uint32_t monitor; /* 监控任务运行时间 */
+    } last_up_time; /* 任务最近运行时间 */
+  } Task_Runtime_t;
+  
+
 
 // 任务频率和初始化延时
-#define TASK_FREQ_CAN (1000u)
+#define TASK_FREQ_CAN (100u)
-#define TASK_FREQ_ADC (500u)
+#define TASK_FREQ_ADC (200u)
+#define TASK_FREQ_MONITOR (1u)
+#define TASK_FREQ_PC (100u)
+
 
 #define TASK_INIT_DELAY_INFO (500u)
 
@@ -24,20 +63,21 @@ typedef struct {
     osThreadId_t can;
     osThreadId_t adc;
     osThreadId_t monitor;
-    // osThreadId_t init;
     osThreadId_t pc;
 } Task_Handles_t;
 
 extern Task_Runtime_t task_runtime;
+
+
 extern const osThreadAttr_t attr_init;
+
 extern const osThreadAttr_t attr_can;
 extern const osThreadAttr_t attr_adc;
 extern const osThreadAttr_t attr_monitor;
 extern const osThreadAttr_t attr_pc;
 
-extern osMessageQueueId_t adcQueueHandle;
+// extern osMessageQueueId_t adcQueueHandle;
-extern osMessageQueueId_t pcQueueHandle; 
+// extern osMessageQueueId_t pcQueueHandle; 
-
 
 void Task_Init(void *argument);
 void Task_Can(void *argument);