MADAO/ManGoWalk_STM32
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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

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This commit is contained in:
MADAO
2025-06-26 22:54:24 +08:00
parent 36ddb0a136
commit 10be34ec09
18 changed files with 7363 additions and 7007 deletions
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16
fun/HCBle.c
View File

@@ -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);
}
}
}

31
fun/gps.c
View File

@@ -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);
}
}
}
}

2
fun/gps.h
View File

@@ -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