实现RFID逻辑

Core/Src/freertos.c

@@ -34,6 +34,7 @@
 #include "bsp_hall.h" // 添加对 bsp_hall.h 的包含
 #include "bsp_track_ir.h" // 添加对 bsp_track_ir.h 的包含
 #include "bsp_sr04.h"    // 添加超声波头文件
+#include "bsp_rc522.h"  // 添加 RFID 头文件
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -83,6 +84,13 @@ const osThreadAttr_t sr04Task_attributes = {
   .stack_size = 128 * 4,
   .priority = (osPriority_t) osPriorityLow,
 };
+/* Definitions for rc522Task */
+osThreadId_t rc522TaskHandle;
+const osThreadAttr_t rc522Task_attributes = {
+  .name = "rc522Task",
+  .stack_size = 128 * 4,
+  .priority = (osPriority_t) osPriorityBelowNormal,
+};
 /* Definitions for CmdQueue */
 osMessageQueueId_t CmdQueueHandle;
 const osMessageQueueAttr_t CmdQueue_attributes = {
@@ -107,6 +115,7 @@ void StartDefaultTask(void *argument);
 void CarCtrl_Task(void *argument);
 void speed_get(void *argument);
 void sr04_task(void *argument);
+void rc522_task(void *argument);
 
 void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */
 
@@ -126,6 +135,9 @@ void MX_FREERTOS_Init(void) {
   hall_init(); // 初始化霍尔传感器
   track_ir_init(); // 初始化轨迹红外传感器
   sr04_init(); // 初始化超声波
+  rc522_init(); // 初始化 RFID 模块
+
+
 
   /* USER CODE END Init */
 
@@ -162,6 +174,9 @@ void MX_FREERTOS_Init(void) {
   /* creation of sr04Task */
   sr04TaskHandle = osThreadNew(sr04_task, NULL, &sr04Task_attributes);
 
+  /* creation of rc522Task */
+  rc522TaskHandle = osThreadNew(rc522_task, NULL, &rc522Task_attributes);
+
   /* USER CODE BEGIN RTOS_THREADS */
   /* add threads, ... */
   /* USER CODE END RTOS_THREADS */
@@ -256,6 +271,43 @@ void sr04_task(void *argument)
   /* USER CODE END sr04_task */
 }
 
+/* USER CODE BEGIN Header_rc522_task */
+/**
+* @brief Function implementing the rc522Task thread.
+* @param argument: Not used
+* @retval None
+*/
+/* USER CODE END Header_rc522_task */
+void rc522_task(void *argument)
+{
+  /* USER CODE BEGIN rc522_task */
+    rc522_card_info_t card;
+    char uid_str[3 * RC522_UID_MAX_LEN] = {0};
+    station_id_t station = STATION_NONE;
+  /* Infinite loop */
+    for(;;)
+    {
+      rc522_status_t st = rc522_poll(&card);
+      if (st == RC522_OK) {
+        if (rc522_uid_to_string(&card, uid_str, sizeof(uid_str))) {
+          printf("RFID UID: %s, SAK:0x%02X, ATQA:0x%04X\r\n",
+               uid_str, card.sak, card.atqa);
+        }
+        // 站点匹配逻辑
+        station = rc522_match_station(card.uid, card.uid_len);
+        if (station == STATION_1) {
+          printf("到达站点1！\r\n");
+          // 可在此处添加到站动作，如停车、蜂鸣等
+        } else if (station == STATION_2) {
+          printf("到达站点2！\r\n");
+          // 可在此处添加到站动作，如停车、蜂鸣等
+        }
+      }
+      osDelay(100);
+    }
+  /* USER CODE END rc522_task */
+}
+
 /* Private application code --------------------------------------------------*/
 /* USER CODE BEGIN Application */