替换\n结尾,replace with $

MDK-ARM/AutoGuideStick.uvoptx

@@ -152,82 +152,18 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>97</LineNumber>
+          <LineNumber>162</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134229406</Address>
+          <Address>134296028</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>1</BreakIfRCount>
-          <Filename>../Core/Src/app_threadx.c</Filename>
+          <Filename>..\fun\HCBle.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\AutoGuideStick\../Core/Src/app_threadx.c\97</Expression>
+          <Expression>\\AutoGuideStick\../fun/HCBle.c\162</Expression>
-        </Bp>
-        <Bp>
-          <Number>1</Number>
-          <Type>0</Type>
-          <LineNumber>0</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>134229670</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>1</BreakIfRCount>
-          <Filename></Filename>
-          <ExecCommand></ExecCommand>
-          <Expression></Expression>
-        </Bp>
-        <Bp>
-          <Number>2</Number>
-          <Type>0</Type>
-          <LineNumber>93</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>0</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>0</BreakIfRCount>
-          <Filename>../Core/Src/app_threadx.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression></Expression>
-        </Bp>
-        <Bp>
-          <Number>3</Number>
-          <Type>0</Type>
-          <LineNumber>95</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>0</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>0</BreakIfRCount>
-          <Filename>../Core/Src/app_threadx.c</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression></Expression>
-        </Bp>
-        <Bp>
-          <Number>4</Number>
-          <Type>0</Type>
-          <LineNumber>95</LineNumber>
-          <EnabledFlag>1</EnabledFlag>
-          <Address>0</Address>
-          <ByteObject>0</ByteObject>
-          <HtxType>0</HtxType>
-          <ManyObjects>0</ManyObjects>
-          <SizeOfObject>0</SizeOfObject>
-          <BreakByAccess>0</BreakByAccess>
-          <BreakIfRCount>0</BreakIfRCount>
-          <Filename>startup_stm32h563xx.s</Filename>
-          <ExecCommand></ExecCommand>
-          <Expression></Expression>
         </Bp>
       </Breakpoint>
       <WatchWindow1>

MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm

@@ -27,10 +27,6 @@ Project File Date:  06/26/2025
 <h2>Output:</h2>
 *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
 Build target 'AutoGuideStick'
-compiling app_threadx.c...
-linking...
-Program Size: Code=83340 RO-data=1604 RW-data=16 ZI-data=11520  
-FromELF: creating hex file...
 "AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
@@ -55,7 +51,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE@5.6.0
       Include file:  CMSIS/Core/Include/tz_context.h
-Build Time Elapsed:  00:00:08
+Build Time Elapsed:  00:00:00
 </pre>
 </body>
 </html>

MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep

@@ -1,7 +1,7 @@
 Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
 CompilerVersion: 6210000::V6.21::ARMCLANG
 F (startup_stm32h563xx.s)(0x685D3117)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c
-
+
 -gdwarf-4 -I ../Core/Inc -I ../AZURE_RTOS/App -I ../Drivers/STM32H5xx_HAL_Driver/Inc -I ../Drivers/STM32H5xx_HAL_Driver/Inc/Legacy -I ../Middlewares/ST/threadx/common/inc -I ../Drivers/CMSIS/Device/ST/STM32H5xx/Include -I ../Middlewares/ST/threadx/ports/cortex_m33/ac6/inc -I ../Drivers/CMSIS/Include
 
 -I./RTE/_AutoGuideStick
@@ -140,8 +140,8 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 -ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
 
 -D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
-
+
--o autoguidestick/gpdma.o -MD)
+-o autoguidestick/gpdma.o -MD)
 I (..\Core\Inc\main.hc.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
@@ -352,7 +352,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
-I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
+I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
@@ -2070,7 +2070,7 @@ I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 
 -o autoguidestick/tx_event_flags_info_get.o -MD)
 I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
-I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
 I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
@@ -2111,9 +2111,9 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 
 -o autoguidestick/tx_event_flags_set.o -MD)
 I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
-I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
-I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
+I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_event_flags.h)(0x683FA4DA)
@@ -2154,7 +2154,7 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 
 -o autoguidestick/tx_mutex_cleanup.o -MD)
 I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
-I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
+I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
 I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)

fun/HCBle.c

@@ -77,7 +77,7 @@ void HCBle_SendData(char *p,...)
 // <20><><EFBFBD>ڷ<EFBFBD><DAB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>Լ<EFBFBD><D4BC><EFBFBD>һ<EFBFBD><D2BB>DMA
 
 
-
+// <20>ҷ<EFBFBD><D2B7>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD> --- \n <20><><EFBFBD>ֿ<EFBFBD><D6BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>Ծ<EFBFBD>һֱ<D2BB><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 {
     if (huart->Instance == UART4)
@@ -87,7 +87,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
             uint8_t ch = uart_dma_rx_buf[i];
             uint16_t next_head = (ble_rx_ring.head + 1) % RING_BUFFER_SIZE;
 
-            if (next_head != ble_rx_ring.tail)
+			if(next_head != ble_rx_ring.tail)
 			{
 				 ble_rx_ring.buffer[ble_rx_ring.head] = ch;
 				 ble_rx_ring.head = next_head;
@@ -101,51 +101,30 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 
 
 
-// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD> Json<6F><6E><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD> <20>Լ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><DDB8>ֻ<EFBFBD>App
 
-
+void HCBle_ParseAndHandleFrame(const char *frame)
-void HCBle_ExtractAndParseFrame(void) {
+{
-    static char json_buf[128];
-    static int idx = 0;
-    static int parsing = 0;
-
-    while (ble_rx_ring.tail != ble_rx_ring.head) {
-        char c = ble_rx_ring.buffer[ble_rx_ring.tail];
-        ble_rx_ring.tail = (ble_rx_ring.tail + 1) % RING_BUFFER_SIZE;
-
-        if (!parsing) {
-            if (c == '#') {
-                idx = 0;
-                parsing = 1;
-                memset(json_buf, 0, sizeof(json_buf));
-                json_buf[idx++] = c;
-            }
-            continue;
-        }
-
-        if (idx < sizeof(json_buf) - 1) {
-            json_buf[idx++] = c;
-            if (c == '\n') {
-                json_buf[idx] = '\0';
     int left, right;
-                if (sscanf(json_buf, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}\n", &left, &right) == 2) {
+    float lat, lon, angle;
-                    HCBle_SendData("? <20><><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>: <20><>=%d, <20><>=%d\r\n", left, right);
+
+//    if (sscanf(frame, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}", &left, &right) == 2) {
+//        cmd.LeftSpeed = left;
+//        cmd.RightSpeed = right;
+//        HCBle_SendData("? <20><><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>: <20><>=%d, <20><>=%d\r\n", left, right);
+//        return;
+//    }
+
+	if (sscanf(frame, "%*[^0-9]%d%*[^0-9]%d", &left, &right) == 2) {
         cmd.LeftSpeed = left;
         cmd.RightSpeed = right;
-                } else {
+        HCBle_SendData("? <20><><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>: <20><>=%d, <20><>=%d\r\n", left, right);
-                    HCBle_SendData("? JSON<4F><4E>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD>: %s\r\n", json_buf);
+        return;
-                }
-                parsing = 0;
-                idx = 0;
-            }
-        } else {
-            parsing = 0;
-            idx = 0;
-            memset(json_buf, 0, sizeof(json_buf));
-        }
     }
+		
+    HCBle_SendData("? <20><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>: %s\r\n", frame);
 }
 
+
 //Ϊɶһֱʹ<D6B1>ò<EFBFBD><C3B2>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD><EFBFBD>һֱ<D2BB>ٵȴ<D9B5>TX<54><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 // <20>ں<EFBFBD>̨<EFBFBD><CCA8><EFBFBD>е<EFBFBD>һ<EFBFBD><D2BB><EFBFBD>̣߳<DFB3><CCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȴ<EFBFBD>UART<52>յ<EFBFBD>BLE<4C><45><EFBFBD>ݺ󴥷<DDBA><F3B4A5B7><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD>Ȼ<EFBFBD><C8BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Щ<EFBFBD><D0A9><EFBFBD><EFBFBD>
 void ble_rx_task_entry(ULONG thread_input)
@@ -153,19 +132,47 @@ void ble_rx_task_entry(ULONG thread_input)
     HCBle_InitDMAReception();
 
     ULONG actual_flags;
+    static char json_buf[128];
+    static int idx = 0;
+    static int parsing = 0;
 
     while (1)
     {
         tx_event_flags_get(&ble_event_flags, BLE_EVENT_DATA_READY, TX_OR_CLEAR, &actual_flags, TX_WAIT_FOREVER);
 
-        if (actual_flags & BLE_EVENT_DATA_READY)
+        while (ble_rx_ring.tail != ble_rx_ring.head)
         {
-            HCBle_ExtractAndParseFrame();
+            char c = ble_rx_ring.buffer[ble_rx_ring.tail];
+            ble_rx_ring.tail = (ble_rx_ring.tail + 1) % RING_BUFFER_SIZE;
+
+            if (!parsing) {
+                if (c == '#') {
+                    parsing = 1;
+                    idx = 0;
+                    json_buf[idx++] = c;
+                }
+                continue;
+            }
+
+            if (idx < sizeof(json_buf) - 1) {
+                json_buf[idx++] = c;
+                if (c == '$') {
+                    json_buf[idx] = '\0';
+					HCBle_SendData("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>json_buf: %s\r\n", json_buf);
+                    HCBle_ParseAndHandleFrame(json_buf);
+                    parsing = 0;
+                    idx = 0;
+                }
+            } else {
+                parsing = 0;
+                idx = 0;
+            }
         }
     }
 }
 
 
+
 // "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
 //                 HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n", 
 //                                  current_location.lat, current_location.lon, current_location.angle);

fun/HCBle.h

@@ -2,10 +2,10 @@
 #define __HCBLE_H
 
 #include "headfile.h"
-//#define DEBUG_EN   		1   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> ʹ<><CAB9>DMA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9> <20><><EFBFBD><EFBFBD>ʽ
+#define DEBUG_EN   		1   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> ʹ<><CAB9>DMA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9> <20><><EFBFBD><EFBFBD>ʽ
 #define RX_DataSize		128
 #define RING_BUFFER_SIZE	256	
-#define UART_DMA_RX_BUF_SIZE  64
+#define UART_DMA_RX_BUF_SIZE  20
 
 
 // HCBle <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݶ<EFBFBD><DDB6><EFBFBD>

fun/gps.c

@@ -161,14 +161,6 @@ void GPS_Data_CLR(void)
 }
 
 
-
-void GPS_DMA_Start(void)
-{
-	HAL_UART_Receive_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
-	__HAL_DMA_ENABLE_IT(huart2.hdmarx,DMA_IT_HT);  //<2F>봫<EFBFBD><EBB4AB><EFBFBD>ж<EFBFBD>
-	__HAL_DMA_ENABLE_IT(huart2.hdmarx,DMA_IT_TC);  //ȫ<><C8AB><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
-}
-
 //void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 //{
 //	if(huart->Instance == USART2)
@@ -181,7 +173,6 @@ void GPS_DMA_Start(void)
 //		tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
 //		//<2F><><EFBFBD>¿<EFBFBD><C2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 //		HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
-//		__HAL_DMA_DISABLE_IT(&handle_GPDMA1_Channel3,DMA_IT_HT);
 //	}
 //	
 //}
@@ -216,7 +207,6 @@ void gps_thread_entry(ULONG thread_input)
                      current_location.angle);
             tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
 
-
         }
     }
 }