feat: 添加协议处理和校验和计算功能，更新 UART 相关代码

Core/Src/freertos.c

@@ -29,6 +29,7 @@
 #include "bsp_beep.h"
 #include "usart.h"
 #include "elog.h"
+#include "protocol.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -57,6 +58,18 @@ const osThreadAttr_t initTask_attributes = {
   .stack_size = 128 * 4,
   .priority = (osPriority_t) osPriorityNormal,
 };
+/* Definitions for CarCtrlTask */
+osThreadId_t CarCtrlTaskHandle;
+const osThreadAttr_t CarCtrlTask_attributes = {
+  .name = "CarCtrlTask",
+  .stack_size = 256 * 4,
+  .priority = (osPriority_t) osPriorityNormal,
+};
+/* Definitions for CmdQueue */
+osMessageQueueId_t CmdQueueHandle;
+const osMessageQueueAttr_t CmdQueue_attributes = {
+  .name = "CmdQueue"
+};
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN FunctionPrototypes */
@@ -73,6 +86,7 @@ PUTCHAR_PROTOTYPE {
 /* USER CODE END FunctionPrototypes */
 
 void StartDefaultTask(void *argument);
+void CarCtrl_Task(void *argument);
 
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
@@ -103,6 +117,10 @@ void MX_FREERTOS_Init(void) {
   /* start timers, add new ones, ... */
   /* USER CODE END RTOS_TIMERS */
 
+  /* Create the queue(s) */
+  /* creation of CmdQueue */
+  CmdQueueHandle = osMessageQueueNew (16, 16, &CmdQueue_attributes);
+
   /* USER CODE BEGIN RTOS_QUEUES */
   /* add queues, ... */
   /* USER CODE END RTOS_QUEUES */
@@ -111,6 +129,9 @@ void MX_FREERTOS_Init(void) {
   /* creation of initTask */
   initTaskHandle = osThreadNew(StartDefaultTask, NULL, &initTask_attributes);
 
+  /* creation of CarCtrlTask */
+  CarCtrlTaskHandle = osThreadNew(CarCtrl_Task, NULL, &CarCtrlTask_attributes);
+
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
@@ -134,24 +155,35 @@ void StartDefaultTask(void *argument)
   /* Infinite loop */
   for(;;)
   {
-    const char *message = "Hello, ESP12F! This is a test message.";
-    HAL_StatusTypeDef status = ESP12F_TCP_SendMessage(message);
-    if (status == HAL_OK) {
-        HAL_GPIO_WritePin(RUN_LED_GPIO_Port, RUN_LED_Pin, GPIO_PIN_SET);
-        BEEP_On();
-        osDelay(50);
-        BEEP_Off();
-        osDelay(20);
-        
-      } else {
-        HAL_GPIO_WritePin(RUN_LED_GPIO_Port, RUN_LED_Pin, GPIO_PIN_RESET);
-    }
+
+        HAL_GPIO_TogglePin(RUN_LED_GPIO_Port, RUN_LED_Pin);
+
     osDelay(1000);
 
   }
   /* USER CODE END StartDefaultTask */
 }
 
+/* USER CODE BEGIN Header_CarCtrl_Task */
+/**
+* @brief Function implementing the CarCtrlTask thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_CarCtrl_Task */
+__weak void CarCtrl_Task(void *argument)
+{
+  /* USER CODE BEGIN CarCtrl_Task */
+
+  /* Infinite loop */
+  for(;;)
+  {
+
+    osDelay(1); // osMessageQueueGet 已经是阻塞的，不需要额外的 osDelay
+  }
+  /* USER CODE END CarCtrl_Task */
+}
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */