add IMU,slove promblem about Ble_tx

2025-06-29 14:06:17 +08:00
parent 88103d9eee
commit 32d4821e6f
34 changed files with 10077 additions and 7299 deletions
--- a/fun/imu948.c
+++ b/fun/imu948.c
@@ -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");
+		}
+	}
+	
+}