MADAO/ManGoWalk_STM32
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imu and gps allright

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This commit is contained in:
MADAO
2025-07-02 00:06:16 +08:00
parent a6ebf4b8a5
commit 0361cd17af
15 changed files with 1293 additions and 1202 deletions
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6
fun/HCBle.c
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@@ -33,7 +33,7 @@ uint8_t rx_data; //
uint8_t uart_dma_rx_buf[UART_DMA_RX_BUF_SIZE];
RingBuffer ble_rx_ring = {0}; //<2F><>ʼ<EFBFBD><CABC>
MotorCommand cmd;
LocationData current_location = {0};
BleMessage current_location = {0};
float imu_angle = 0.0f;
TX_EVENT_FLAGS_GROUP ble_event_flags;
@@ -200,8 +200,10 @@ void ble_tx_task_entry(ULONG thread_input) {
if(tx_queue_receive(&ble_tx_queue,&msg,TX_WAIT_FOREVER) == TX_SUCCESS)
{
HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.1f}\n",
msg.lat, msg.lon,0);
msg.lat, msg.lon,msg.angle);
}
tx_thread_sleep(100);
}
}