From 32d4821e6f68a904c236b29d545dd626e4f6afb7 Mon Sep 17 00:00:00 2001
From: MADAO <3335075714@qq.com>
Date: Sun, 29 Jun 2025 14:06:17 +0800
Subject: [PATCH] add IMU,slove promblem about Ble_tx
---
Core/Src/app_threadx.c | 58 +-
MDK-ARM/AutoGuideStick.uvguix.madao | 120 +-
MDK-ARM/AutoGuideStick.uvoptx | 62 +-
MDK-ARM/AutoGuideStick.uvprojx | 15 +
MDK-ARM/AutoGuideStick/AutoGuideStick.axf | Bin 565580 -> 583168 bytes
.../AutoGuideStick.build_log.htm | 17 +-
MDK-ARM/AutoGuideStick/AutoGuideStick.hex | 9335 +++++++++--------
MDK-ARM/AutoGuideStick/AutoGuideStick.htm | 2729 ++---
MDK-ARM/AutoGuideStick/AutoGuideStick.lnp | 1 +
MDK-ARM/AutoGuideStick/AutoGuideStick.map | 3201 +++---
.../AutoGuideStick_AutoGuideStick.dep | 88 +-
MDK-ARM/AutoGuideStick/app_azure_rtos.d | 3 +-
MDK-ARM/AutoGuideStick/app_threadx.d | 2 +-
MDK-ARM/AutoGuideStick/app_threadx.o | Bin 11404 -> 11928 bytes
MDK-ARM/AutoGuideStick/buzzer.d | 3 +-
MDK-ARM/AutoGuideStick/gps.d | 2 +-
MDK-ARM/AutoGuideStick/hcble.d | 2 +-
MDK-ARM/AutoGuideStick/hcble.o | Bin 19076 -> 19404 bytes
MDK-ARM/AutoGuideStick/imu.d | 2 +-
MDK-ARM/AutoGuideStick/imu.o | Bin 2388 -> 69524 bytes
MDK-ARM/AutoGuideStick/imu948.d | 43 +
MDK-ARM/AutoGuideStick/imu948.o | Bin 0 -> 2844 bytes
MDK-ARM/AutoGuideStick/main.d | 2 +-
MDK-ARM/AutoGuideStick/motor.d | 3 +-
MDK-ARM/AutoGuideStick/shake_motor.d | 3 +-
MDK-ARM/AutoGuideStick/stm32h5xx_it.d | 2 +-
MDK-ARM/AutoGuideStick/ultrasound.d | 3 +-
fun/HCBle.c | 9 +-
fun/IMU.c | 1355 ++-
fun/IMU.h | 255 +-
fun/headfile.h | 6 +
fun/imu948.c | 31 +
fun/imu948.h | 9 +
fun/value.h | 15 +
34 files changed, 10077 insertions(+), 7299 deletions(-)
create mode 100644 MDK-ARM/AutoGuideStick/imu948.d
create mode 100644 MDK-ARM/AutoGuideStick/imu948.o
create mode 100644 fun/imu948.c
create mode 100644 fun/imu948.h
create mode 100644 fun/value.h
diff --git a/Core/Src/app_threadx.c b/Core/Src/app_threadx.c
index 35d87fa..8d51b86 100644
--- a/Core/Src/app_threadx.c
+++ b/Core/Src/app_threadx.c
@@ -39,7 +39,9 @@
#define BLE_RX_THREAD_PRIORITY 10
#define BLE_TX_THREAD_STACK_SIZE 2048
#define BLE_TX_THREAD_PRIORITY 10
-//
+//IMU define
+#define IMU_ANGLE_THREAD_STACK_SIZE 1024
+#define IMU_ANGLE_THREAD_PRIORITY 9
@@ -74,8 +76,15 @@ TX_QUEUE ble_tx_queue;
__attribute__((aligned(4)))
ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN * ((BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG))];
-//
+// 定义Ble 传输数据的队列 也就是经纬度融合数据
+__attribute__((aligned(4)))
+ULONG ble_tx_queue_buff[BLE_TX_QUEUE_LEN * ((sizeof(BleMessage) + sizeof(ULONG) - 1) / sizeof(ULONG))];
+
+
+//imu thread
+TX_THREAD imu_angle_thread;
+UCHAR imu_angle_stack[IMU_ANGLE_THREAD_STACK_SIZE];
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -122,21 +131,42 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
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_thread_create(&imu_angle_thread,"IMU Angle Thread",
+ imu_angle_ble_task_entry,0,
+ imu_angle_stack,IMU_ANGLE_THREAD_STACK_SIZE,
+ IMU_ANGLE_THREAD_PRIORITY,IMU_ANGLE_THREAD_PRIORITY,
+ TX_NO_TIME_SLICE,TX_AUTO_START);
+ if(status != TX_SUCCESS)
+ {
+ 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),
+ ble_tx_queue_buff,
+ sizeof(ble_tx_queue_buff));
+
+ if (status != TX_SUCCESS) {
+ return status;
+
+ }
HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
+
+
return TX_SUCCESS;
}
diff --git a/MDK-ARM/AutoGuideStick.uvguix.madao b/MDK-ARM/AutoGuideStick.uvguix.madao
index 108a4a2..f644984 100644
--- a/MDK-ARM/AutoGuideStick.uvguix.madao
+++ b/MDK-ARM/AutoGuideStick.uvguix.madao
@@ -15,17 +15,17 @@
38003
Registers
- 115 67
+ 115 100
346
Code Coverage
- 770 160
+ 770 560
204
Performance Analyzer
- 930
+ 930 139 139 122
@@ -93,8 +93,8 @@
2
3
- -1
- -1
+ -32000
+ -32000
-1
@@ -110,8 +110,8 @@
0
- 916
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+ 678
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@@ -1806,7 +1806,7 @@
File
2911
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1423
@@ -1822,7 +1822,7 @@
Build
988
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583
@@ -3547,7 +3547,7 @@
File
2911
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diff --git a/MDK-ARM/AutoGuideStick.uvoptx b/MDK-ARM/AutoGuideStick.uvoptx
index 920338c..86939b4 100644
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diff --git a/MDK-ARM/AutoGuideStick.uvprojx b/MDK-ARM/AutoGuideStick.uvprojx
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