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😭
/*
* 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😭