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);
}
}
}