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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2
AZURE_RTOS/App/app_azure_rtos.c
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@@ -100,7 +100,7 @@ VOID tx_application_define(VOID *first_unused_memory)
/* USER CODE END App_ThreadX_Init_Error */ /* USER CODE END App_ThreadX_Init_Error */
} }
/* USER CODE BEGIN App_ThreadX_Init_Success */ /* 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 */ /* USER CODE END App_ThreadX_Init_Success */
} }

10
Core/Inc/app_threadx.h
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@@ -59,11 +59,11 @@ extern "C" {
extern TX_QUEUE ble_tx_queue; extern TX_QUEUE ble_tx_queue;
extern TX_EVENT_FLAGS_GROUP system_events; extern TX_EVENT_FLAGS_GROUP system_events;
typedef struct //typedef struct
{ //{
uint8_t msg_type; // 1=λ<><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,2=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ //// uint32_t msg_type; // 应该使用 int --- 4字节
char data[128]; // char data[128];
}BLE_Message; // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ <20><><EFBFBD>ݽṹ //}BLE_Message; //
/* USER CODE END PD */ /* USER CODE END PD */

41
Core/Src/app_threadx.c
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@@ -52,7 +52,7 @@
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */ /* 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; TX_EVENT_FLAGS_GROUP system_events;
MotorCommand current_motor_cmd = {0,0}; MotorCommand current_motor_cmd = {0,0};
@@ -66,8 +66,13 @@ UCHAR ble_tx_stack[BLE_TX_THREAD_STACK_SIZE];
TX_QUEUE ble_tx_queue; TX_QUEUE ble_tx_queue;
#define BLE_TX_QUEUE_LEN 10 #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) UINT App_ThreadX_Init(VOID *memory_ptr)
{ {
HCBle_SendData("进入 App_ThreadX_Init\r\n"); HCBle_SendData("进入 App_ThreadX_Init\r\n");
// HCBle_SendData("%d",sizeof(ULONG));
UINT status; UINT status;
// === 创建 BLE RX 线程 === // === 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_stack, BLE_TX_THREAD_STACK_SIZE,
BLE_TX_THREAD_PRIORITY, BLE_TX_THREAD_PRIORITY, BLE_TX_THREAD_PRIORITY, BLE_TX_THREAD_PRIORITY,
TX_NO_TIME_SLICE, TX_AUTO_START); TX_NO_TIME_SLICE, TX_AUTO_START);
if (status != TX_SUCCESS) { if (status != TX_SUCCESS) {
HCBle_SendData("❌ BLE TX 线程创建失败，错误码=%d\r\n", status); HCBle_SendData("❌ BLE TX 线程创建失败，错误码=%d\r\n", status);
return status; return status;
} }
// === 创建 BLE TX 消息队列 === // === 创建 BLE TX 消息队列 ===
// status = tx_queue_create(&ble_tx_queue, "BLE TX Queue", status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
// sizeof(ULONG), (BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG),
// ble_tx_queue_buffer, ble_tx_queue_buffer,
// sizeof(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; 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"); 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) void MX_ThreadX_Init(void)
{ {
/* USER CODE BEGIN Before_Kernel_Start */ /* 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 */ /* USER CODE END Before_Kernel_Start */
tx_kernel_enter(); tx_kernel_enter();
@@ -151,7 +160,7 @@ void MX_ThreadX_Init(void)
} }
/* USER CODE BEGIN 1 */ /* 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 */ /* USER CODE BEGIN 1 */
@@ -177,11 +186,7 @@ void main_control_thread_entry(ULONG thread_input)
Buzzer_Close(); Buzzer_Close();
Shake_Motor_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 // 处理蓝牙控制指令

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

204
MDK-ARM/AutoGuideStick.uvguix.madao
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File diff suppressed because one or more lines are too long

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

BIN
MDK-ARM/AutoGuideStick/AutoGuideStick.axf
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6
MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
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@@ -27,6 +27,10 @@ Project File Date: 06/26/2025
<h2>Output:</h2> <h2>Output:</h2>
*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin' *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
Build target 'AutoGuideStick' 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). "AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2> <h2>Software Packages used:</h2>
@@ -51,7 +55,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE@5.6.0 * Component: ARM::CMSIS:CORE@5.6.0
Include file: CMSIS/Core/Include/tz_context.h Include file: CMSIS/Core/Include/tz_context.h
Build Time Elapsed: 00:00:01 Build Time Elapsed: 00:00:08
</pre> </pre>
</body> </body>
</html> </html>

9103
MDK-ARM/AutoGuideStick/AutoGuideStick.hex
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File diff suppressed because it is too large Load Diff

2610
MDK-ARM/AutoGuideStick/AutoGuideStick.htm
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File diff suppressed because it is too large Load Diff

2243
MDK-ARM/AutoGuideStick/AutoGuideStick.map
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File diff suppressed because it is too large Load Diff

18
MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
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@@ -1,7 +1,7 @@
Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !) Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
CompilerVersion: 6210000::V6.21::ARMCLANG 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 -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 -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 -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 -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\main.hc.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98) I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98)
I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD) 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 (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.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 (..\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_rcc_ex.h)(0x683FA4DD)
I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.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) 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) -o autoguidestick/tx_event_flags_info_get.o -MD)
I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA) 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 (..\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_trace.h)(0x683FA4DA)
@@ -2111,9 +2111,9 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
-o autoguidestick/tx_event_flags_set.o -MD) -o autoguidestick/tx_event_flags_set.o -MD)
I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA) 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 (..\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_trace.h)(0x683FA4DA)
I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA) I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
I (..\Middlewares\ST\threadx\common\inc\tx_event_flags.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) -o autoguidestick/tx_mutex_cleanup.o -MD)
I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA) 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 (..\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_thread.h)(0x683FA4DA) I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)

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MDK-ARM/AutoGuideStick/app_threadx.o
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MDK-ARM/AutoGuideStick/gps.o
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MDK-ARM/AutoGuideStick/hcble.o
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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; TX_EVENT_FLAGS_GROUP ble_event_flags;
#define BLE_EVENT_DATA_READY 0x01 #define BLE_EVENT_DATA_READY 0x01
void HCBle_InitEventFlags(void) void HCBle_InitEventFlags(void)
{ tx_event_flags_create(&ble_event_flags, "BLE Events");} { 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) void ble_rx_task_entry(ULONG thread_input)
{ {
HCBle_InitDMAReception(); HCBle_InitDMAReception();
@@ -166,11 +170,15 @@ void ble_rx_task_entry(ULONG thread_input)
// HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n", // HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
// current_location.lat, current_location.lon, current_location.angle); // current_location.lat, current_location.lon, current_location.angle);
void ble_tx_task_entry(ULONG thread_input) { void ble_tx_task_entry(ULONG thread_input) {
BLE_Message msg; char recv_msg[128];
while(1) { while(1) {
// HCBle_SendData("fuck");
HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0); // HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
tx_thread_sleep(500); // 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) void GPS_Init(void)
{ {
HAL_UARTEx_ReceiveToIdle_DMA(&huart2, GPS_DMA_RX_BUF, GPS_DMA_RX_BUF_LEN); 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> // __HAL_DMA_DISABLE_IT(&handle_GPDMA1_Channel3, DMA_IT_HT); // <20><><EFBFBD>ð봫<C3B0><EBB4AB>
} }
#ifdef parse #ifdef parse
@@ -162,12 +162,12 @@ void GPS_Data_CLR(void)
//void GPS_DMA_Start(void) void GPS_DMA_Start(void)
//{ {
// HAL_UART_Receive_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN); 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_HT); //<2F>봫<EFBFBD><EBB4AB><EFBFBD>ж<EFBFBD>
// __HAL_DMA_ENABLE_IT(huart2.hdmarx,DMA_IT_TC); //ȫ<><C8AB><EFBFBD><EFBFBD><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) //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.GPS_Buffer[Size] = '\0';
// GPS.isGetData = 1; //<2F><><EFBFBD>ݽ<EFBFBD><DDBD>ձ<EFBFBD>־λ<D6BE><CEBB>Ϊ1 // 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> // //<2F><><EFBFBD>¿<EFBFBD><C2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN); // HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
// __HAL_DMA_DISABLE_IT(&handle_GPDMA1_Channel3,DMA_IT_HT); // __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); current_location.lon = Convert_to_degrees(GPS.longitude);
tx_event_flags_set(&system_events, EVENT_LOCATION_UPDATED, TX_OR); tx_event_flags_set(&system_events, EVENT_LOCATION_UPDATED, TX_OR);
BLE_Message msg; char msg[128];
msg.msg_type = 1; snprintf(msg, sizeof(msg), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
snprintf(msg.data, sizeof(msg.data), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
current_location.lat, current_location.lat,
current_location.lon, current_location.lon,
current_location.angle); current_location.angle);
tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER); 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]; extern uint8_t GPS_DMA_RX_BUF[GPS_DMA_RX_BUF_LEN];
void gps_thread_entry(ULONG thread_input); void gps_thread_entry(ULONG thread_input);
void GPS_Init(void);
#endif #endif