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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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
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@@ -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);
}
}
}