第一次提交

app/app_ultrasonic.c

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+#include "app_config.h"
+#include "app_dependence.h"
+#include "interface.h"
+
+#include "app_frm_monitor.h"
+#include "app_frm_signal.h"
+#include "app_frm_timer.h"
+
+#include "sdrv_vic.h"
+#include "app_ultrasonic.h"
+
+
+// 定时器结构体
+Timer ultrasonic_timer;
+Timer ultrasonic_timer1;
+
+uint16_t fornt_distance = 0;//mm
+
+// 定时器信号处理函数
+void ultrasonicTimer1Process(void *signal_id)
+{
+    (void)signal_id; // 标记变量为已使用，避免编译器警告
+    
+     printf("fornt distance = %d\n",fornt_distance);
+      
+    
+    timerStart(&ultrasonic_timer1, 1000,1);    
+}
+
+
+
+
+
+// 定时器信号处理函数
+void ultrasonicTimerProcess(void *signal_id)
+{
+    (void)signal_id; // 标记变量为已使用，避免编译器警告
+    
+    un_ultrasonic_output1.bit_data.node = ULTRASONIC_FRONT_NODE;
+    un_ultrasonic_output1.bit_data.function_code = ULTRASONIC_READ;
+    un_ultrasonic_output1.bit_data.register_address = REALTIME_DISTANCE_REG;
+    un_ultrasonic_output1.bit_data.data = 0x100;
+    publishMessage(&un_ultrasonic_output1, 1);
+    
+    timerStart(&ultrasonic_timer, 200,1);    
+}
+
+void ultrasonicInput(void *signal_id)
+{
+    if(signal_id == &un_ultrasonic_input1)
+    {   
+        fornt_distance = SWAP_ENDIAN_16(un_ultrasonic_input1.bit_data.data);//高低字节交换         
+    }
+}
+
+
+
+
+// APP模块的初始化
+void ultrasonicAppInit(void)
+{
+    // 初始化定时器
+    timerInit(&ultrasonic_timer); 
+    timerInit(&ultrasonic_timer1);     
+    // 订阅定时器信号
+    subscribe(&ultrasonic_timer, ultrasonicTimerProcess);
+    subscribe(&ultrasonic_timer1, ultrasonicTimer1Process);    
+    
+    subscribe(&un_ultrasonic_input1, ultrasonicInput);    
+    printf("ultrasonicAPP: initial OK %d\n",getCurrentTime());
+    timerStart(&ultrasonic_timer, 200,1);
+    timerStart(&ultrasonic_timer1, 1000,1);    
+}
+
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