Test GPS;it can achieve function what i wannna

Core/Src/app_threadx.c

@@ -41,9 +41,13 @@
 #define BLE_TX_THREAD_PRIORITY    10
 //IMU define
 #define IMU_ANGLE_THREAD_STACK_SIZE 	 1024
-#define IMU_ANGLE_THREAD_PRIORITY    	  9
+#define IMU_ANGLE_THREAD_PRIORITY    	  11
-
+// GPS define
-
+#define GPS_THREAD_STACK_SIZE 1024
+#define GPS_THREAD_PRIORITY    11
+//线程控制块和栈
+#define SENSOR_AGG_STACK_SIZE   512
+#define SENSOR_AGG_PRIORITY     12
 
 /* USER CODE END PD */
 
@@ -56,7 +60,7 @@
 /* USER CODE BEGIN PV */
 /* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
 
-TX_EVENT_FLAGS_GROUP system_events;
+TX_EVENT_FLAGS_GROUP system_events; // 传感器事件组
 MotorCommand current_motor_cmd = {0,0};
 _GPSData gps_data;
 
@@ -85,6 +89,11 @@ ULONG ble_tx_queue_buff[BLE_TX_QUEUE_LEN * ((sizeof(BleMessage) + sizeof(ULONG)
 //imu thread
 TX_THREAD imu_angle_thread;
 UCHAR imu_angle_stack[IMU_ANGLE_THREAD_STACK_SIZE];
+
+//GPS thread
+TX_THREAD gps_thread;
+UCHAR    gps_stack[GPS_THREAD_STACK_SIZE];
+
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -131,6 +140,7 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
         return status;
     }
 	
+	// ============IMU 角度线程 ==================
 	status = tx_thread_create(&imu_angle_thread,"IMU Angle Thread",
 							imu_angle_ble_task_entry,0,
 							imu_angle_stack,IMU_ANGLE_THREAD_STACK_SIZE,
@@ -142,17 +152,19 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
 		return status;
 	}
 	
+	// ============= GPS 定位线程 ================
+	status = tx_thread_create(&gps_thread, "GPS Thread",
+                          gps_thread_entry, 0,
+                          gps_stack,  GPS_THREAD_STACK_SIZE,
+                          GPS_THREAD_PRIORITY, GPS_THREAD_PRIORITY,
+                          TX_NO_TIME_SLICE, TX_AUTO_START);
+	if (status != TX_SUCCESS) {
+		HCBle_SendData("❌ GPS 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",
-//							 (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;
-//    }
 
 	status = tx_queue_create(&ble_tx_queue,"Ble lat Imu",
 							(sizeof(BleMessage) + sizeof(ULONG) - 1) / sizeof(ULONG),
@@ -190,45 +202,5 @@ void MX_ThreadX_Init(void)
 }
 
 /* USER CODE BEGIN 1 */
-#ifdef TEST  //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>
 
-
-/* USER CODE BEGIN 1 */
-void main_control_thread_entry(ULONG thread_input)
-{
-    ULONG events;
-    MotorCommand motor_cmd = {0, 0};
-    
-    while(1)
-    {
-        // 等待事件发生
-        tx_event_flags_get(&system_events, 
-                          EVENT_OBSTACLE_DETECTED | EVENT_BLE_COMMAND_RECEIVED,
-                          TX_OR_CLEAR, &events, TX_WAIT_FOREVER);
-        
-        // 处理障碍物事件
-        if(events & EVENT_OBSTACLE_DETECTED)
-        {
-            // 触发蜂鸣器和振动提示
-            Buzzer_Open();
-            Shake_Motor_Open();
-            tx_thread_sleep(100); // 振动100ms
-            Buzzer_Close();
-            Shake_Motor_Close();
-            
-
-        }
-        
-        // 处理蓝牙控制指令
-        if(events & EVENT_BLE_COMMAND_RECEIVED)
-        {
-            // 从队列获取电机命令
-//            tx_queue_receive(&ble_rx_queue, &motor_cmd, TX_WAIT_FOREVER);
-            
-            // 实际控制电机 (伪代码)
-            // set_motor_speed(motor_cmd.leftSpeed, motor_cmd.rightSpeed);
-        }
-    }
-}
-#endif
 /* USER CODE END 1 */

MDK-ARM/AutoGuideStick.uvoptx

@@ -148,40 +148,7 @@
           <Name>-U004200403132511238363431 -O2254 -SF10000 -C0 -A1 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(6BA02477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32H5xx_2M_0800.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32H563ZITx$CMSIS\Flash\STM32H5xx_2M_0800.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint>
+      <Breakpoint/>
-        <Bp>
-          <Number>0</Number>
-          <Type>0</Type>
-          <LineNumber>141</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>1</Number>
-          <Type>0</Type>
-          <LineNumber>143</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>
-      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>

MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm

@@ -27,10 +27,6 @@ Project File Date:  06/29/2025
 <h2>Output:</h2>
 *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
 Build target 'AutoGuideStick'
-compiling imu948.c...
-linking...
-Program Size: Code=84772 RO-data=1628 RW-data=16 ZI-data=12160  
-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:  00:00:02
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>

MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep

@@ -141,7 +141,7 @@ 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)
 I (..\Core\Inc\main.hc.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98)
@@ -2074,7 +2074,7 @@ 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)
@@ -2117,7 +2117,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_api.h)(0x683FA4DA)
 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)
@@ -2293,7 +2293,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
 F (../Middlewares/ST/threadx/common/src/tx_mutex_priority_change.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
-
+
 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar
 
 -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -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 ../fun
@@ -2335,7 +2335,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.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_mutex.h)(0x683FA4DA)
-F (../Middlewares/ST/threadx/common/src/tx_queue_cleanup.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+F (../Middlewares/ST/threadx/common/src/tx_queue_cleanup.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
 
 -fno-rtti -funsigned-char -fshort-enums -fshort-wchar
 
@@ -2379,7 +2379,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_queue.h)(0x683FA4DA)
 F (../Middlewares/ST/threadx/common/src/tx_queue_delete.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
 
--fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
 
 -gdwarf-4 -O0 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -Wno-reserved-identifier -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 ../fun
 
@@ -2422,5 +2422,5 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_queue.h)(0x683FA4DA)
 F (../Middlewares/ST/threadx/common/src/tx_queue_front_send.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
-
+
--fno-rtti -funsigned-char -fshort-enums -fshort-wchar
+-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

fun/HCBle.c

@@ -97,6 +97,18 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 		tx_event_flags_set(&ble_event_flags, BLE_EVENT_DATA_READY, TX_OR);
         HAL_UARTEx_ReceiveToIdle_IT(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
     }
+	else if(huart->Instance == USART2) // gps<70>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	{
+		//		// <20><><EFBFBD><EFBFBD> Size <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		memcpy(GPS.GPS_Buffer,GPS_DMA_RX_BUF,Size);
+		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_IT(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
+
+	}
 }