HC-SR04软件包

请问怎么基于sr04软件包的sample文件更改出能驱动多个hcsr04的驱动程序？

发布于 2025-03-12 22:28:15 浏览：135 订阅该版

在使用SR04软件包驱动超声波模块后成功获取到距离值，但依葫芦画瓢创建了第二个线程后，也更改了定时器防止冲突，却老是提示无法找到线程2的设备不知道要怎么解决😭

```c
/*
 * Copyright (c) 2006-2020, RT-Thread Development Team
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Change Logs:
 * Date           Author       Notes
 * 2020-05-09     shany       the first version
 * 2023-10-10     Optimized   Optimized code structure and added comments
 * 2023-10-11     Modified    Support dual HC-SR04 sensors
 */

#include <stdlib.h>
#include <rtthread.h>
#include "board.h"
#include "sensor.h"
#include "sensor_hc_sr04.h"

/* 修改引脚定义以适应两个传感器 */
#define SR04_1_TRIG_PIN    GET_PIN(C, 4)  // 第一个超声波模块Trig引脚
#define SR04_1_ECHO_PIN    GET_PIN(A, 4)  // 第一个超声波模块Echo引脚
#define SR04_2_TRIG_PIN    GET_PIN(C, 5)  // 第二个超声波模块Trig引脚
#define SR04_2_ECHO_PIN    GET_PIN(A, 5)  // 第二个超声波模块Echo引脚

/* 通用读取线程入口函数 */
static void sr04_read_distance_entry(void *parameter)
{
    const char *dev_name = (const char *)parameter;
    rt_device_t dev = RT_NULL;
    struct rt_sensor_data sensor_data;
    rt_size_t res;

/* 查找传感器设备 */
    if ((dev = rt_device_find(dev_name)) == RT_NULL) {
        rt_kprintf("Can't find device: %s\n", dev_name);
        return;
    }

/* 打开设备 */
    if (rt_device_open(dev, RT_DEVICE_FLAG_RDWR) != RT_EOK) {
        rt_kprintf("Failed to open device: %s\n", dev_name);
        return;
    }

/* 设置采样率 */
    rt_device_control(dev, RT_SENSOR_CTRL_SET_ODR, (void *)100);

/* 持续读取数据 */
    while (1) {
        res = rt_device_read(dev, 0, &sensor_data, 1);
        if (res != 1) {
            rt_kprintf("Failed to read data from: %s\n", dev_name);
            rt_device_close(dev);
            return;
        } else {
            rt_kprintf("[%s] Distance: %3d.%d cm, Timestamp: %5d\n",
                       dev_name,
                       sensor_data.data.proximity / 10,
                       sensor_data.data.proximity % 10,
                       sensor_data.timestamp);
        }
        rt_thread_mdelay(1000);  // 适当调整延时避免冲突
    }
}

/* 创建两个独立的数据读取线程 */
int sr04_read_distance_sample(void)
{
    rt_thread_t t1, t2;

/* 创建第一个传感器的读取线程 */
    t1 = rt_thread_create("sr04_1_th",
                          sr04_read_distance_entry,
                          "sr04_1",
                          1024,
                          RT_THREAD_PRIORITY_MAX / 2,
                          20);
    if (t1) rt_thread_startup(t1);

/* 创建第二个传感器的读取线程 */
    t2 = rt_thread_create("sr04_2_th",
                          sr04_read_distance_entry,
                          "sr04_2",
                          1024,
                          RT_THREAD_PRIORITY_MAX / 2,
                          20);
    if (t2) rt_thread_startup(t2);

return RT_EOK;
}
INIT_APP_EXPORT(sr04_read_distance_sample);

/* 传感器硬件初始化函数（支持双设备） */
static int sr04_port_init(const char *name, 
                         rt_base_t trig_pin,
                         rt_base_t echo_pin,
                         const char *timer_dev)
{
    struct rt_sensor_config cfg;
    rt_base_t pins[2] = {trig_pin, echo_pin};

cfg.intf.dev_name = timer_dev;       // 使用指定定时器
    cfg.intf.user_data = (void *)pins;   // 传递引脚配置

return rt_hw_sr04_init(name, &cfg);
}

/* 初始化两个超声波模块 */
int rt_hw_sr04_port(void)
{
    /* 初始化第一个传感器（使用TIM4） */
    sr04_port_init("sr04_1", SR04_1_TRIG_PIN, SR04_1_ECHO_PIN, "timer4");
    
    /* 初始化第二个传感器（使用TIM5） */
    sr04_port_init("sr04_2", SR04_2_TRIG_PIN, SR04_2_ECHO_PIN, "timer5");

return RT_EOK;
}
INIT_COMPONENT_EXPORT(rt_hw_sr04_port);
```

这是我修改后的代码，球球各位大佬能不能帮我看看😭