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