加入了消息队列，线程是可以正常运行的,rx接收任务一直运行不成功，暂时放弃

AZURE_RTOS/App/app_azure_rtos.c

@@ -100,7 +100,7 @@ VOID tx_application_define(VOID *first_unused_memory)
       /* USER CODE END  App_ThreadX_Init_Error */
     }
     /* USER CODE BEGIN  App_ThreadX_Init_Success */
-//	App_ThreadX_Init(first_unused_memory);  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> //app_thread_init()<29>ſ<EFBFBD><C5BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//	App_ThreadX_Init(first_unused_memory);  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> //app_thread_init()<29>ſ<EFBFBD><C5BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
     /* USER CODE END  App_ThreadX_Init_Success */
 
   }

Core/Inc/app_threadx.h

@@ -59,11 +59,11 @@ extern "C" {
 extern TX_QUEUE ble_tx_queue;
 extern TX_EVENT_FLAGS_GROUP system_events;
 
-typedef struct
-{
-	uint8_t msg_type; // 1=λ<><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,2=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
-	char data[128];
-}BLE_Message;  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ <20><><EFBFBD>ݽṹ
+//typedef struct
+//{
+////	uint32_t msg_type;  // 应该使用 int --- 4字节
+//	char data[128];
+//}BLE_Message;  // 
 
 /* USER CODE END PD */
 

Core/Src/app_threadx.c

@@ -52,7 +52,7 @@
 
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
-/* ȫ<EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
+/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
 
 TX_EVENT_FLAGS_GROUP system_events;
 MotorCommand current_motor_cmd = {0,0};
@@ -66,8 +66,13 @@ UCHAR ble_tx_stack[BLE_TX_THREAD_STACK_SIZE];
 
 TX_QUEUE ble_tx_queue;
 #define BLE_TX_QUEUE_LEN 10
-BLE_Message ble_tx_queue_buffer[BLE_TX_QUEUE_LEN];
+//ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN]; // 一定要是ULONG类型 之前使用的是BLE_Message
 
+#define BLE_TX_MSG_LEN 64
+#define BLE_TX_QUEUE_LEN 10
+
+__attribute__((aligned(4)))
+ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN * ((BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG))];
 
 //
 
@@ -90,7 +95,7 @@ BLE_Message ble_tx_queue_buffer[BLE_TX_QUEUE_LEN];
 UINT App_ThreadX_Init(VOID *memory_ptr)
 {
     HCBle_SendData("进入 App_ThreadX_Init\r\n");
-
+//	HCBle_SendData("%d",sizeof(ULONG));
 	UINT status;
 
 	// === 创建 BLE RX 线程 ===
@@ -111,20 +116,24 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
                               ble_tx_stack, BLE_TX_THREAD_STACK_SIZE,
                               BLE_TX_THREAD_PRIORITY, BLE_TX_THREAD_PRIORITY,
                               TX_NO_TIME_SLICE, TX_AUTO_START);
+	
     if (status != TX_SUCCESS) {
         HCBle_SendData("❌ BLE TX 线程创建失败，错误码=%d\r\n", status);
         return status;
     }
 	
 	    // === 创建 BLE TX 消息队列 ===
-//    status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
-//                             sizeof(ULONG),
-//                             ble_tx_queue_buffer,
-//                             sizeof(ble_tx_queue_buffer));
-//    if (status != TX_SUCCESS) {
-//        HCBle_SendData("❌ BLE TX 消息队列创建失败，错误码=%d\r\n", status);
-//        return status;
-//    }
+	status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
+							 (BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG),
+							 ble_tx_queue_buffer,
+							 sizeof(ble_tx_queue_buffer));
+
+
+     if (status != TX_SUCCESS) {
+        HCBle_SendData("❌ BLE TX 消息队列创建失败，错误码=%d\r\n", status);
+        return status;
+    }
+
 	
     HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
 	
@@ -140,7 +149,7 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
 void MX_ThreadX_Init(void)
 {
   /* USER CODE BEGIN Before_Kernel_Start */
-
+	HCBle_InitEventFlags();  // 这必须在任何使用前调用一次
   /* USER CODE END Before_Kernel_Start */
 
   tx_kernel_enter();
@@ -151,7 +160,7 @@ void MX_ThreadX_Init(void)
 }
 
 /* USER CODE BEGIN 1 */
-#ifdef TEST  //Ŀǰ<EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD>
+#ifdef TEST  //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>
 
 
 /* USER CODE BEGIN 1 */
@@ -177,11 +186,7 @@ void main_control_thread_entry(ULONG thread_input)
             Buzzer_Close();
             Shake_Motor_Close();
             
-            // 发送报警到手机
-            BLE_Message msg;
-            msg.msg_type = 2;
-            snprintf(msg.data, sizeof(msg.data), "#{\"alert\":\"Obstacle detected!\"}\n");
-            tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
+
         }
         
         // 处理蓝牙控制指令

Core/Src/main.c

@@ -103,7 +103,7 @@ int main(void)
   /* USER CODE BEGIN 2 */
 //	HCBle_InitDMAReception();
 //	HAL_Delay(200);
-
+//	GPS_Init();
   /* USER CODE END 2 */
 
   MX_ThreadX_Init();

MDK-ARM/AutoGuideStick.uvoptx

@@ -152,18 +152,82 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>110</LineNumber>
+          <LineNumber>97</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134273076</Address>
+          <Address>134229406</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\fun\HCBle.c</Filename>
+          <Filename>../Core/Src/app_threadx.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\AutoGuideStick\../fun/HCBle.c\110</Expression>
+          <Expression>\\AutoGuideStick\../Core/Src/app_threadx.c\97</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>
@@ -217,6 +281,16 @@
           <WinNumber>1</WinNumber>
           <ItemText>tx_event_flags_get</ItemText>
         </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>GPS</ItemText>
+        </Ww>
+        <Ww>
+          <count>11</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>status</ItemText>
+        </Ww>
       </WatchWindow1>
       <WatchWindow2>
         <Ww>

MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm

@@ -27,6 +27,10 @@ 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>
@@ -51,7 +55,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE@5.6.0
       Include file:  CMSIS/Core/Include/tz_context.h
-Build Time Elapsed:  00:00:01
+Build Time Elapsed:  00:00:08
 </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)(0x685C2A9A)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c
-
+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

@@ -38,6 +38,8 @@ float imu_angle = 0.0f;
 
 TX_EVENT_FLAGS_GROUP ble_event_flags;
 #define BLE_EVENT_DATA_READY  0x01
+
+
 void HCBle_InitEventFlags(void)
 {	tx_event_flags_create(&ble_event_flags, "BLE Events");}
 
@@ -144,6 +146,8 @@ void HCBle_ExtractAndParseFrame(void) {
     }
 }
 
+//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)
 {
     HCBle_InitDMAReception();
@@ -166,11 +170,15 @@ void ble_rx_task_entry(ULONG thread_input)
 //                 HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n", 
 //                                  current_location.lat, current_location.lon, current_location.angle);
 void ble_tx_task_entry(ULONG thread_input) {
-    BLE_Message msg;
+	char recv_msg[128];
     while(1) {
-//		HCBle_SendData("fuck");
-                HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
-        tx_thread_sleep(500);
+
+//        HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
+//        tx_thread_sleep(500);
+		if(tx_queue_receive(&ble_tx_queue,&recv_msg,TX_WAIT_FOREVER) == TX_SUCCESS)
+		{
+			HCBle_SendData("%s",recv_msg);
+		}
     }
 }
 

fun/gps.c

@@ -25,8 +25,8 @@ _GPSData GPS;
 
 void GPS_Init(void)
 {
-    HAL_UARTEx_ReceiveToIdle_DMA(&huart2, GPS_DMA_RX_BUF, GPS_DMA_RX_BUF_LEN);
-    __HAL_DMA_DISABLE_IT(&handle_GPDMA1_Channel3, DMA_IT_HT);  // <20><><EFBFBD>ð봫<C3B0><EBB4AB>
+    HAL_UARTEx_ReceiveToIdle_IT(&huart2, GPS_DMA_RX_BUF, GPS_DMA_RX_BUF_LEN);
+//    __HAL_DMA_DISABLE_IT(&handle_GPDMA1_Channel3, DMA_IT_HT);  // <20><><EFBFBD>ð봫<C3B0><EBB4AB>
 }
 
 #ifdef parse
@@ -162,12 +162,12 @@ 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 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)
 //{
@@ -178,6 +178,7 @@ void GPS_Data_CLR(void)
 //		GPS.GPS_Buffer[Size] = '\0';
 //		GPS.isGetData = 1;  //<2F><><EFBFBD>ݽ<EFBFBD><DDBD>ձ<EFBFBD>־λ<D6BE><CEBB>Ϊ1
 //		
+//		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);
@@ -208,22 +209,14 @@ void gps_thread_entry(ULONG thread_input)
             current_location.lon = Convert_to_degrees(GPS.longitude);
             tx_event_flags_set(&system_events, EVENT_LOCATION_UPDATED, TX_OR);
 
-            BLE_Message msg;
-            msg.msg_type = 1;
-            snprintf(msg.data, sizeof(msg.data), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
+            char msg[128];
+            snprintf(msg, sizeof(msg), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
                      current_location.lat,
                      current_location.lon,
                      current_location.angle);
             tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
 
-            if (!gps_first_fix_sent)
-            {
-                gps_first_fix_sent = 1;
-                BLE_Message fix_msg;
-                fix_msg.msg_type = 2;
-                snprintf(fix_msg.data, sizeof(fix_msg.data), "#{\"info\":\"GPS fixed and ready\"}\n");
-                tx_queue_send(&ble_tx_queue, &fix_msg, TX_WAIT_FOREVER);
-            }
+
         }
     }
 }

fun/gps.h

@@ -34,6 +34,6 @@ extern _GPSData GPS;
 extern uint8_t GPS_DMA_RX_BUF[GPS_DMA_RX_BUF_LEN];
 
 void gps_thread_entry(ULONG thread_input);
-
+void GPS_Init(void);
 
 #endif