MADAO/ManGoWalk_STM32
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add IMU,slove promblem about Ble_tx

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MADAO
2025-06-29 14:06:17 +08:00
parent 88103d9eee
commit 32d4821e6f
34 changed files with 10077 additions and 7299 deletions
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9
fun/HCBle.c
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@@ -110,7 +110,8 @@ void HCBle_ParseAndHandleFrame(const char *frame)
if (sscanf(frame, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}$", &left, &right) == 2) {
cmd.LeftSpeed = left;
cmd.RightSpeed = right;
HCBle_SendData("left=%d, right=%d\r\n", left, right);
HCBle_SendData("left=%d, right=%d\r\n", cmd.LeftSpeed, cmd.RightSpeed);
// HCBle_SendData("left=%d, right=%d\r\n", left, right);
return;
}
@@ -179,13 +180,15 @@ void ble_rx_task_entry(ULONG thread_input)
// current_location.lat, current_location.lon, current_location.angle);
void ble_tx_task_entry(ULONG thread_input) {
char recv_msg[128];
BleMessage msg;
while(1) {
// 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)
if(tx_queue_receive(&ble_tx_queue,&msg,TX_WAIT_FOREVER) == TX_SUCCESS)
{
HCBle_SendData("%s",recv_msg);
HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.1f}\n",
msg.lat,msg.lon,msg.angle);
}
}
}

1355
fun/IMU.c
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File diff suppressed because it is too large Load Diff

255
fun/IMU.h
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@@ -1,7 +1,258 @@
/******************************************************************************
<20>豸<EFBFBD><E8B1B8>IM948ģ<38><C4A3>֮<EFBFBD><D6AE><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>ͨ<EFBFBD>ſ<EFBFBD>
<EFBFBD>汾: V1.05
<EFBFBD><EFBFBD>¼: 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ټƺ<D9BC><C6BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̿<EFBFBD><CCBF><EFBFBD><EFBFBD><EFBFBD>
2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ų<EFBFBD>У׼<D0A3><D7BC>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>
3<><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>
4<><34><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>þ<EFBFBD>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>ģʽ<C4A3>Ĵ<EFBFBD><C4B4><EFBFBD>ʱ<EFBFBD><CAB1>
5<><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>Ȧ<EFBFBD><C8A6><EFBFBD><EFBFBD>֧<EFBFBD><D6A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͸<EFBFBD><CDB8>
6<><36><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>z<EFBFBD>Ƕ<EFBFBD>Ϊָ<CEAA><D6B8>ֵ
*******************************************************************************/
#ifndef __IMU_H__
#define __IMU_H__
#include "headfile.h"
void imu_thread_entry(ULONG thread_input);
#endif
typedef signed char S8;
typedef unsigned char U8;
typedef signed short S16;
typedef unsigned short U16;
typedef signed long S32;
typedef unsigned long U32;
typedef float F32;
#define pow2(x) ((x)*(x)) // <20><>ƽ<EFBFBD><C6BD>
// <20><><EFBFBD><EFBFBD>ʱת<CAB1><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>--------------
#define scaleAccel 0.00478515625f // <20><><EFBFBD>ٶ<EFBFBD> [-16g~+16g] 9.8*16/32768
#define scaleQuat 0.000030517578125f // <20><>Ԫ<EFBFBD><D4AA> [-1~+1] 1/32768
#define scaleAngle 0.0054931640625f // <20>Ƕ<EFBFBD> [-180~+180] 180/32768
#define scaleAngleSpeed 0.06103515625f // <20><><EFBFBD>ٶ<EFBFBD> [-2000~+2000] 2000/32768
#define scaleMag 0.15106201171875f // <20>ų<EFBFBD> [-4950~+4950] 4950/32768
#define scaleTemperature 0.01f // <20><EFBFBD>
#define scaleAirPressure 0.0002384185791f // <20><>ѹ [-2000~+2000] 2000/8388608
#define scaleHeight 0.0010728836f // <20>߶<EFBFBD> [-9000~+9000] 9000/8388608
#define CmdPacket_Begin 0x49 // <20><>ʼ<EFBFBD><CABC>
#define CmdPacket_End 0x4D // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define CmdPacketMaxDatSizeRx 73 // ģ<>鷢<EFBFBD><E9B7A2><EFBFBD><EFBFBD> <20><><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>󳤶<EFBFBD>
#define CmdPacketMaxDatSizeTx 31 // <20><><EFBFBD>͸<EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD> <20><><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>󳤶<EFBFBD>
#define FifoSize 200 // <20><><EFBFBD><EFBFBD>3<EFBFBD><33>fifo<66><6F>С <20>ֽ<EFBFBD><D6BD><EFBFBD>
typedef struct // <20><><EFBFBD><EFBFBD> Fifo<66><6F><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
U8 RxBuf[FifoSize];
volatile U8 In;
volatile U8 Out;
volatile U8 Cnt;
}struct_UartFifo;
extern struct_UartFifo UartFifo;
// <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȼ<EFBFBD><C8BB>浽fifo<66><6F>, Ȼ<><C8BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD>
#define Fifo_in(RxByte) if (FifoSize > UartFifo.Cnt)\
{\
UartFifo.RxBuf[UartFifo.In] = (RxByte);\
if(++UartFifo.In >= FifoSize)\
{\
UartFifo.In = 0;\
}\
++UartFifo.Cnt;\
}
// ===============================<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>====================================
#define __Debug // ʹ<>õ<EFBFBD><C3B5>Կ<EFBFBD><D4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ,<2C><>ʹ<EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD>α<EFBFBD><CEB1>伴<EFBFBD><E4BCB4>
#ifdef __Debug
#define Dbp(fmt, args...) printf(fmt, ##args) // <20><><EFBFBD><EFBFBD>Ҫʹ<D2AA>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD>Ϣ, <20>û<EFBFBD><C3BB>Խ<EFBFBD>Dbp<62><70><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// extern void Dbp_U8_buf(char *sBeginInfo, char *sEndInfo, char *sFormat, const U8 *Buf, U32 Len);
#else
#define Dbp(fmt, args...)
#define Dbp_U8_buf(sBeginInfo, sEndInfo, sFormat, Buf, Len)
#endif
// =================================<3D><>ֲ<EFBFBD>ӿ<EFBFBD>======================================
/**
* <20><><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>, <20>û<EFBFBD>ֻ<EFBFBD><D6BB><EFBFBD>ѽ<EFBFBD><D1BD>յ<EFBFBD><D5B5><EFBFBD>ÿ<EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD><EFBFBD>ú<EFBFBD><C3BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param byte <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD>ÿ<EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD><EFBFBD>
* @return U8 1=<3D><><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>, 0δ<30><CEB4>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
*/
extern U8 Cmd_GetPkt(U8 byte);
// <20><><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD>Ч<EFBFBD><D0A7><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD>뵽 Cmd_RxUnpack(U8 *buf, U8 DLen) <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><C3BB>ڸú<DAB8><C3BA><EFBFBD><EFBFBD>ﴦ<EFBFBD><EFB4A6><EFBFBD><EFBFBD><EFBFBD>ݼ<EFBFBD><DDBC>ɣ<EFBFBD><C9A3><EFBFBD><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD>Ǹ<EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>һ<EFBFBD>е<EFBFBD>ȫ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD>
extern F32 AngleX,AngleY,AngleZ;// <20><>Cmd_RxUnpack<63>л<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><DDB8>µ<EFBFBD>ȫ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>û<EFBFBD><C3BB>Լ<EFBFBD><D4BC><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD>߼<EFBFBD>ʹ<EFBFBD><CAB9>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3>ɲο<C9B2><CEBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӽ<EFBFBD><D3BC><EFBFBD>
extern U8 isNewData;// 1=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD><C2B5><EFBFBD><EFBFBD>ݵ<EFBFBD>ȫ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void im948_test(void); // <20><><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE> <20><><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>ڷ<EFBFBD><DAB7><EFBFBD><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD>ָ<EFBFBD>Ȼ<EEA3AC><C8BB><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD>в<EFBFBD><D0B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD>Ｔ<EFBFBD><EFBCB4>
// ================================ģ<><C4A3><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD>ָ<EFBFBD><D6B8>=================================
extern U8 targetDeviceAddress; // ͨ<>ŵ<EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD>Ϊ0-254ָ<34><D6B8><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD>Ϊ255<35><35><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD>豸(<28><><EFBFBD>㲥), <20><><EFBFBD><EFBFBD>Ҫʹ<D2AA><CAB9>485<38><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽͨ<CABD><CDA8>ʱͨ<CAB1><CDA8><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>ѡ<EFBFBD><D1A1>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǵ<EFBFBD><C7B4><EFBFBD>1<EFBFBD><31>1ͨ<31><CDA8><EFBFBD><EFBFBD>Ϊ<EFBFBD>㲥<EFBFBD><E3B2A5>ַ255<35><35><EFBFBD><EFBFBD>
extern void Cmd_02(void);// ˯<>ߴ<EFBFBD><DFB4><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_03(void);// <20><><EFBFBD>Ѵ<EFBFBD><D1B4><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_18(void);// <20>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>
extern void Cmd_19(void);// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>
extern void Cmd_11(void);// <20><>ȡ1<C8A1>ζ<EFBFBD><CEB6>ĵĹ<C4B5><C4B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_10(void);// <20><>ȡ<EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD>Ժ<EFBFBD>״̬
/**
* <20><><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
* @param accStill <20>ߵ<EFBFBD>-<2D><>ֹ״̬<D7B4><CCAC><EFBFBD>ٶȷ<D9B6>ֵ <20><>λdm/s?
* @param stillToZero <20>ߵ<EFBFBD>-<2D><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(<28><>λcm/s) 0:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 255:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param moveToZero <20>ߵ<EFBFBD>-<2D><>̬<EFBFBD><CCAC><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(<28><>λcm/s) 0:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param isCompassOn 1=<3D><><EFBFBD>ںϴų<CFB4> 0=<3D><><EFBFBD>ںϴų<CFB4>
* @param barometerFilter <20><>ѹ<EFBFBD>Ƶ<EFBFBD><C6B5>˲<EFBFBD><CBB2>ȼ<EFBFBD>[ȡֵ0-3],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param reportHz <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD><CFB1>Ĵ<EFBFBD><C4B4><EFBFBD>֡<EFBFBD><D6A1>[ȡֵ0-250HZ], 0<><30>ʾ0.5HZ
* @param gyroFilter <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>ϵ<EFBFBD><CFB5>[ȡֵ0-2],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param accFilter <20><><EFBFBD>ټ<EFBFBD><D9BC>˲<EFBFBD>ϵ<EFBFBD><CFB5>[ȡֵ0-4],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param compassFilter <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>ϵ<EFBFBD><CFB5>[ȡֵ0-9],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param Cmd_ReportTag <20><><EFBFBD>ܶ<EFBFBD><DCB6>ı<EFBFBD>ʶ
*/
extern void Cmd_12(U8 accStill, U8 stillToZero, U8 moveToZero, U8 isCompassOn, U8 barometerFilter, U8 reportHz, U8 gyroFilter, U8 accFilter, U8 compassFilter, U16 Cmd_ReportTag);
extern void Cmd_13(void);// <20>ߵ<EFBFBD><DFB5><EFBFBD>ά<EFBFBD>ռ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_16(void);// <20>Ʋ<EFBFBD><C6B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_14(void);// <20>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD>У׼<D0A3><D7BC><EFBFBD><EFBFBD>
extern void Cmd_15(void);// <20><><EFBFBD>浱ǰУ׼<D0A3><D7BC><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>У׼<D0A3><D7BC><EFBFBD><EFBFBD>
extern void Cmd_07(void);// <20><><EFBFBD>ټƼ<D9BC><C6BC><EFBFBD>У׼ ģ<>龲ֹ<E9BEB2><D6B9>ˮƽ<CBAE><C6BD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>͸<EFBFBD>ָ<EFBFBD><EFBFBD>յ<EFBFBD><D5B5>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD>ȴ<EFBFBD>5<EFBFBD>뼴<EFBFBD><EBBCB4>
/**
* <20><><EFBFBD>ټƸ߾<C6B8><DFBE><EFBFBD>У׼
* @param flag <20><>ģ<EFBFBD><C4A3>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>У׼״̬ʱ<CCAC><CAB1>
* ֵ0 <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼһ<CABC><D2BB>У׼<D0A3><D7BC><EFBFBD>ɼ<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* ֵ255 <20><>ʾѯ<CABE><D1AF><EFBFBD>豸<EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>У׼
* <20><>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У׼<D0A3><D7BC>:
* ֵ1 <20><>ʾҪ<CABE>ɼ<EFBFBD><C9BC><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* ֵ255 <20><>ʾҪ<CABE>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>ݲ<EFBFBD><DDB2><EFBFBD><EFBFBD><EFBFBD>
*/
extern void Cmd_17(U8 flag);
extern void Cmd_32(void);// <20><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У׼
extern void Cmd_04(void);// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У׼
extern void Cmd_05(void);// z<><7A><EFBFBD>ǹ<EFBFBD><C7B9><EFBFBD>
/**
* <20><><EFBFBD><EFBFBD> Z<><5A><EFBFBD>Ƕ<EFBFBD>Ϊָ<CEAA><D6B8>ֵ
* @param val Ҫ<><D2AA><EFBFBD>õĽǶ<C4BD>ֵ(<28><>λ0.001<EFBFBD><EFBFBD>)<29>з<EFBFBD><D0B7><EFBFBD>32λ<32><CEBB>
*/
extern void Cmd_28(S32 val);
extern void Cmd_06(void);// xyz<79><7A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>
extern void Cmd_08(void);// <20>ָ<EFBFBD>Ĭ<EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵZ<CFB5><5A>ָ<EFBFBD>򼰻ָ<F2BCB0BB>Ĭ<EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ
/**
* <20><><EFBFBD><EFBFBD>PCB<43><42>װ<EFBFBD><D7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param accMatrix <20><><EFBFBD>ټƷ<D9BC><C6B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param comMatrix <20><><EFBFBD><EFBFBD><EFBFBD>Ʒ<EFBFBD><C6B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*/
extern void Cmd_20(S8 *accMatrix, S8 *comMatrix);
extern void Cmd_21(void);// <20><>ȡPCB<43><42>װ<EFBFBD><D7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/**
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㲥<EFBFBD><E3B2A5><EFBFBD><EFBFBD>
*
* @param bleName <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD>֧<EFBFBD><D6A7>15<31><35><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD>,<2C><>֧<EFBFBD><D6A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
*/
extern void Cmd_22(U8 *bleName);
extern void Cmd_23(void);// <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>㲥<EFBFBD><E3B2A5><EFBFBD><EFBFBD>
/**
* <20><><EFBFBD>ùػ<C3B9><D8BB><EFBFBD>ѹ<EFBFBD>ͳ<EFBFBD><CDB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param PowerDownVoltageFlag <20>ػ<EFBFBD><D8BB><EFBFBD>ѹѡ<D1B9><D1A1> 0=3.4V(﮵<><EFAEB5><EFBFBD><EFBFBD><EFBFBD>) 1=2.7V(<28><><EFBFBD><EFBFBD><EFBFBD>ɵ<EFBFBD><C9B5><EFBFBD><EFBFBD><EFBFBD>)
* @param charge_full_mV <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹ<EFBFBD><D6B9>ѹ 0:3962mv 1:4002mv 2:4044mv 3:4086mv 4:4130mv 5:4175mv 6:4222mv 7:4270mv 8:4308mv 9:4349mv 10:4391mv
* @param charge_full_mA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD> 0:2ma 1:5ma 2:7ma 3:10ma 4:15ma 5:20ma 6:25ma 7:30ma
* @param charge_mA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0:20ma 1:30ma 2:40ma 3:50ma 4:60ma 5:70ma 6:80ma 7:90ma 8:100ma 9:110ma 10:120ma 11:140ma 12:160ma 13:180ma 14:200ma 15:220ma
*/
extern void Cmd_24(U8 PowerDownVoltageFlag, U8 charge_full_mV, U8 charge_full_mA, U8 charge_mA);
extern void Cmd_25(void);// <20><>ȡ <20>ػ<EFBFBD><D8BB><EFBFBD>ѹ<EFBFBD>ͳ<EFBFBD><CDB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_26(void);// <20>Ͽ<EFBFBD><CFBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/**
* <20><><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD>GPIO<49><4F><EFBFBD><EFBFBD>
*
* @param M 0=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 1=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 2=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 3=<3D><><EFBFBD><EFBFBD>0, 4=<3D><><EFBFBD><EFBFBD>1
*/
extern void Cmd_27(U8 M);
extern void Cmd_2A(void);// <20>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
extern void Cmd_2B(void);// <20>豸<EFBFBD>ػ<EFBFBD>
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD>йػ<D0B9>ʱ<EFBFBD><CAB1>
*
* @param idleToPowerOffTime <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><C3BB>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڹ㲥<DAB9>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ﵽ<EFBFBD><EFB5BD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD>10<31><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ػ<EFBFBD> 0=<3D><><EFBFBD>ػ<EFBFBD>
*/
extern void Cmd_2C(U8 idleToPowerOffTime);
extern void Cmd_2D(void);// <20><>ȡ <20><><EFBFBD>йػ<D0B9>ʱ<EFBFBD><CAB1>
/**
* <20><><EFBFBD><EFBFBD> <20><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƺͳ<C6BA><CDB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʶ
*
* @param DisableBleSetNameAndCahrge 1=<3D><>ֹͨ<D6B9><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƽ<EFBFBD><C6BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0=<3D><><EFBFBD><EFBFBD>(Ĭ<><C4AC>) <20><><EFBFBD>ܿͻ<DCBF><CDBB>IJ<EFBFBD>Ʒ<EFBFBD><C6B7><EFBFBD><EFBFBD><EFBFBD>ñ<EFBFBD><C3B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD>Ϊ1<CEAA><31><EFBFBD><EFBFBD>
*/
extern void Cmd_2E(U8 DisableBleSetNameAndCahrge);
extern void Cmd_2F(void);// <20><>ȡ <20><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƺͳ<C6BA><CDB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʶ
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ͨ<EFBFBD>ŵ<EFBFBD>ַ
*
* @param address <20>豸<EFBFBD><E8B1B8>ַֻ<D6B7><D6BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0-254
*/
extern void Cmd_30(U8 address);
extern void Cmd_31(void);// <20><>ȡ <20><><EFBFBD><EFBFBD>ͨ<EFBFBD>ŵ<EFBFBD>ַ
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD>ټƺ<D9BC><C6BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @param AccRange Ŀ<><C4BF><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD> 0=2g 1=4g 2=8g 3=16g
* @param GyroRange Ŀ<><C4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0=256 1=512 2=1024 3=2048
*/
extern void Cmd_33(U8 AccRange, U8 GyroRange);
extern void Cmd_34(void);// <20><>ȡ <20><><EFBFBD>ټƺ<D9BC><C6BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD>ʶ
*
* @param GyroAutoFlag 1=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȿ<EFBFBD> 0=<3D><>
*/
extern void Cmd_35(U8 GyroAutoFlag);
extern void Cmd_36(void);// <20><>ȡ <20><><EFBFBD>ټƺ<D9BC><C6BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/**
* <20><><EFBFBD><EFBFBD> <20><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>ģʽ<C4A3>Ĵ<EFBFBD><C4B4><EFBFBD>ʱ<EFBFBD><CAB1>
*
* @param EcoTime_10s <20><>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>ģʽ(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˯<EFBFBD>ߺ<EFBFBD><DFBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD><CFB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹEcoTime_10s<30><73>10<31><30><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>) 0=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>
*/
extern void Cmd_37(U8 EcoTime_10s);
extern void Cmd_38(void);// <20><>ȡ <20><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>ģʽ<C4A3>Ĵ<EFBFBD><C4B4><EFBFBD>ʱ<EFBFBD><CAB1>
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
*
* @param Flag ȡֵ2=<3D><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD><CFB1><EFBFBD>1=<3D><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>, 0=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҵ<EFBFBD><D2B4>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>
*/
extern void Cmd_40(U8 Flag);
// <20><>ȡ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
extern void Cmd_41(void);
/**
* <20><><EFBFBD><EFBFBD> <20><>ǰ<EFBFBD>߶<EFBFBD>Ϊָ<CEAA><D6B8>ֵ
*
* @param val Ҫ<><D2AA><EFBFBD>õĸ߶<C4B8>ֵ <20><>λΪmm
*/
extern void Cmd_42(S32 val);
/**
* <20><><EFBFBD><EFBFBD> <20>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߶ȱ<DFB6>ʶ
*
* @param OnOff 0=<3D>ر<EFBFBD> 1=<3D><><EFBFBD><EFBFBD>
*/
extern void Cmd_43(U8 OnOff);
// <20><>ȡ <20>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߶ȱ<DFB6>ʶ
extern void Cmd_44(void);
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
*
* @param BaudRate Ŀ<>겨<EFBFBD><EAB2A8><EFBFBD><EFBFBD> 0=9600 1=115200 2=230400 3=460800
*/
extern void Cmd_47(U8 BaudRate);
// <20><>ȡ <20><><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_48(void);
// <20><>˸<EFBFBD><CBB8><EFBFBD><EFBFBD>ledָʾ<D6B8><CABE>
extern void Cmd_49(void);
/**
* <20><><EFBFBD><EFBFBD>͸<EFBFBD><CDB8>
*
* @param TxBuf Ҫ͸<D2AA><CDB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param TxLen <20>ֽ<EFBFBD><D6BD><EFBFBD> <20><><EFBFBD><EFBFBD>С<EFBFBD><D0A1>CmdPacketMaxDatSizeTx
*/
extern void Cmd_50(U8 *TxBuf, U8 TxLen);
/**
* <20><><EFBFBD><EFBFBD> <20>Ƿ<EFBFBD><C7B7>ϴ<EFBFBD><CFB4><EFBFBD>Ȧ<EFBFBD><C8A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @param isReportCycle 0=<3D><><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 1=<3D><><EFBFBD><EFBFBD>Ȧ<EFBFBD><C8A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD>Ǵ<EFBFBD><C7B4><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȧ<EFBFBD><C8A6>
*/
extern void Cmd_51(U8 isReportCycle);
#endif

6
fun/headfile.h
View File

@@ -13,6 +13,7 @@
#include "stdlib.h"
#include "stdarg.h"
#include "string.h"
#include "math.h"
#include "HCBle.h"
#include "gps.h"
@@ -20,4 +21,9 @@
#include "Ultrasound.h"
#include "Buzzer.h"
#include "Motor.h"
#include "IMU.h"
#include "imu948.h"
#include "value.h" // ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#endif

31
fun/imu948.c Normal file
View File

@@ -0,0 +1,31 @@
#include "imu948.h"
extern _GPSData gps_data;
extern TX_QUEUE ble_tx_queue;
/***
<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD> <20><>IMU.c<><63>Ϊ<EFBFBD>ײ<EFBFBD><D7B2><EFBFBD><EFBFBD><EFBFBD> Base
<EFBFBD><EFBFBD><EFBFBD>ڱ<EFBFBD>дӦ<EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
***/
void imu_angle_ble_task_entry(ULONG thread_input)
{
BleMessage msg;
UINT sta; // ״̬
while(1)
{
// ֻҪ<D6BB><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3>ʹ<EFBFBD><CDB4><EFBFBD>
tx_thread_sleep(500); // ÿ20ms<6D><73><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>
//<2F><>ȡ<EFBFBD><C8A1><EFBFBD>½Ƕ<C2BD>
msg.angle = 96.7;
// <20><><EFBFBD>͵<EFBFBD><CDB5><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>
sta = tx_queue_send(&ble_tx_queue,&msg,TX_NO_WAIT);
if(sta != TX_SUCCESS)
{
HCBle_SendData("Queue is full,IMU's Data was abandon");
}
}
}

9
fun/imu948.h Normal file
View File

@@ -0,0 +1,9 @@
#ifndef __IMU948_H__
#define __IMU948_H__
#include "headfile.h"
void imu_angle_ble_task_entry(ULONG thread_input);
#endif

15
fun/value.h Normal file
View File

@@ -0,0 +1,15 @@
#ifndef __VALUE_H__
#define __VALUE_H__
typedef struct
{
float lat;
float lon;
float angle;
}BleMessage;
#endif