generated from Template/H563ZI-HAL-CMake-Template
add IMU,slove promblem about Ble_tx
This commit is contained in:
@@ -39,7 +39,9 @@
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#define BLE_RX_THREAD_PRIORITY 10
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#define BLE_TX_THREAD_STACK_SIZE 2048
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#define BLE_TX_THREAD_PRIORITY 10
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//
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//IMU define
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#define IMU_ANGLE_THREAD_STACK_SIZE 1024
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#define IMU_ANGLE_THREAD_PRIORITY 9
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@@ -74,8 +76,15 @@ TX_QUEUE ble_tx_queue;
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__attribute__((aligned(4)))
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ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN * ((BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG))];
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//
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// 定义Ble 传输数据的队列 也就是经纬度融合数据
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__attribute__((aligned(4)))
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ULONG ble_tx_queue_buff[BLE_TX_QUEUE_LEN * ((sizeof(BleMessage) + sizeof(ULONG) - 1) / sizeof(ULONG))];
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//imu thread
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TX_THREAD imu_angle_thread;
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UCHAR imu_angle_stack[IMU_ANGLE_THREAD_STACK_SIZE];
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/* USER CODE END PV */
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/* Private function prototypes -----------------------------------------------*/
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@@ -122,21 +131,42 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
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return status;
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}
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// === 创建 BLE TX 消息队列 ===
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status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
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(BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG),
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ble_tx_queue_buffer,
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sizeof(ble_tx_queue_buffer));
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if (status != TX_SUCCESS) {
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HCBle_SendData("❌ BLE TX 消息队列创建失败，错误码=%d\r\n", status);
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return status;
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}
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status = tx_thread_create(&imu_angle_thread,"IMU Angle Thread",
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imu_angle_ble_task_entry,0,
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imu_angle_stack,IMU_ANGLE_THREAD_STACK_SIZE,
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IMU_ANGLE_THREAD_PRIORITY,IMU_ANGLE_THREAD_PRIORITY,
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TX_NO_TIME_SLICE,TX_AUTO_START);
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if(status != TX_SUCCESS)
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{
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return status;
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}
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// === 创建 BLE TX 消息队列 ===
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// status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
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// (BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG),
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// ble_tx_queue_buffer,
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// sizeof(ble_tx_queue_buffer));
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// if (status != TX_SUCCESS) {
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// HCBle_SendData("❌ BLE TX 消息队列创建失败，错误码=%d\r\n", status);
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// return status;
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// }
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status = tx_queue_create(&ble_tx_queue,"Ble lat Imu",
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(sizeof(BleMessage) + sizeof(ULONG) - 1) / sizeof(ULONG),
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ble_tx_queue_buff,
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sizeof(ble_tx_queue_buff));
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if (status != TX_SUCCESS) {
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return status;
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}
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HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
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return TX_SUCCESS;
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}
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File diff suppressed because one or more lines are too long
@@ -152,18 +152,34 @@
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<Bp>
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<Number>0</Number>
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<Type>0</Type>
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<LineNumber>162</LineNumber>
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<LineNumber>141</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<Address>134296028</Address>
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<Address>0</Address>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>1</BreakIfRCount>
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<Filename>..\fun\HCBle.c</Filename>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>../Core/Src/app_threadx.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression>\\AutoGuideStick\../fun/HCBle.c\162</Expression>
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<Expression></Expression>
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</Bp>
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<Bp>
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<Number>1</Number>
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<Type>0</Type>
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<LineNumber>143</LineNumber>
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<EnabledFlag>1</EnabledFlag>
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<Address>0</Address>
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<ByteObject>0</ByteObject>
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<HtxType>0</HtxType>
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<ManyObjects>0</ManyObjects>
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<SizeOfObject>0</SizeOfObject>
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<BreakByAccess>0</BreakByAccess>
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<BreakIfRCount>0</BreakIfRCount>
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<Filename>../Core/Src/app_threadx.c</Filename>
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<ExecCommand></ExecCommand>
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<Expression></Expression>
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</Bp>
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</Breakpoint>
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<WatchWindow1>
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@@ -2861,6 +2877,42 @@
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<RteFlg>0</RteFlg>
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<bShared>0</bShared>
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</File>
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<File>
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<GroupNumber>7</GroupNumber>
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<FileNumber>211</FileNumber>
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<FileType>1</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>..\fun\imu948.c</PathWithFileName>
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<FilenameWithoutPath>imu948.c</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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<bShared>0</bShared>
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</File>
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<File>
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<GroupNumber>7</GroupNumber>
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<FileNumber>212</FileNumber>
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<FileType>5</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>..\fun\imu948.h</PathWithFileName>
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<FilenameWithoutPath>imu948.h</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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<bShared>0</bShared>
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</File>
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<File>
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<GroupNumber>7</GroupNumber>
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<FileNumber>213</FileNumber>
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<FileType>5</FileType>
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<tvExp>0</tvExp>
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<tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2>
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<PathWithFileName>..\fun\value.h</PathWithFileName>
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<FilenameWithoutPath>value.h</FilenameWithoutPath>
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<RteFlg>0</RteFlg>
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<bShared>0</bShared>
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</File>
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</Group>
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<Group>
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@@ -1719,6 +1719,21 @@
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<FileType>5</FileType>
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<FilePath>..\fun\Motor.h</FilePath>
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</File>
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<File>
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<FileName>imu948.c</FileName>
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<FileType>1</FileType>
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<FilePath>..\fun\imu948.c</FilePath>
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</File>
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<File>
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<FileName>imu948.h</FileName>
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<FileType>5</FileType>
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<FilePath>..\fun\imu948.h</FilePath>
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</File>
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<File>
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<FileName>value.h</FileName>
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<FileType>5</FileType>
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<FilePath>..\fun\value.h</FilePath>
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</File>
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</Files>
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</Group>
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<Group>
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Binary file not shown.
@@ -22,25 +22,16 @@ Dialog DLL: TCM.DLL V1.56.4.0
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<h2>Project:</h2>
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D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
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Project File Date: 06/28/2025
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Project File Date: 06/29/2025
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<h2>Output:</h2>
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*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
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Build target 'AutoGuideStick'
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compiling app_threadx.c...
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../fun/HCBle.c(124): warning: illegal character encoding in string literal [-Winvalid-source-encoding]
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124 | HCBle_SendData("? <BD><E2><CE><F6>ʧ<B0><DC>: %s\r\n", frame);
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| ^~~~~~~~~~~~~~~~ ~~~~~~~~
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1 warning generated.
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compiling HCBle.c...
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compiling stm32h5xx_it.c...
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compiling IMU.c...
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compiling gps.c...
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compiling main.c...
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compiling imu948.c...
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linking...
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Program Size: Code=83284 RO-data=1592 RW-data=16 ZI-data=11480
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Program Size: Code=84772 RO-data=1628 RW-data=16 ZI-data=12160
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FromELF: creating hex file...
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"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 1 Warning(s).
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"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
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<h2>Software Packages used:</h2>
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File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -201,6 +201,7 @@
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"autoguidestick\ultrasound.o"
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"autoguidestick\imu.o"
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"autoguidestick\motor.o"
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"autoguidestick\imu948.o"
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--strict --scatter "AutoGuideStick\AutoGuideStick.sct"
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--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
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--info sizes --info totals --info unused --info veneers
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File diff suppressed because it is too large
Load Diff
@@ -1,7 +1,7 @@
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Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
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CompilerVersion: 6210000::V6.21::ARMCLANG
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F (startup_stm32h563xx.s)(0x685FF569)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto -Wa,armasm,--diag_suppress=A1950W -c
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-gdwarf-4 -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
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-I./RTE/_AutoGuideStick
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@@ -42,7 +42,7 @@ I (..\Core\Inc\gpdma.ha.\Core\Inc\tim.h)(0x00000000)
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I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
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I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
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I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
|
||||
I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
|
||||
I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
|
||||
I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
|
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I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
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I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
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@@ -141,7 +141,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
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-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
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-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
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-o autoguidestick/gpdma.o -MD)
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I (..\Core\Inc\main.hc.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
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I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98)
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@@ -183,8 +183,8 @@ I (..\Core\Inc\gpdma.ha.\Core\Inc\tim.h)(0x00000000)
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-I./RTE/_AutoGuideStick
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-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
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-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
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-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
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-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
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@@ -290,7 +290,7 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
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-ID:/keil5/ARM/PACK/Keil/STM32H5xx_DFP/1.3.0/Drivers/CMSIS/Device/ST/STM32H5xx/Include
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-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
|
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-D__UVISION_VERSION="539" -D_RTE_ -DSTM32H563xx -D_RTE_ -DTX_INCLUDE_USER_DEFINE_FILE -DTX_SINGLE_MODE_NON_SECURE="1" -DUSE_HAL_DRIVER -DSTM32H563xx
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-o autoguidestick/tim.o -MD)
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I (..\Core\Inc\main.h..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
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@@ -397,7 +397,8 @@ I (..\Core\Inc\gpdma.ha.\Core\Inc\tim.h)(0x00000000)
|
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I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
|
||||
I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h)(0x683FA4DE)
|
||||
I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h)(0x683FA4DE)
|
||||
I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
|
||||
I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h)(0x683FA4DE)
|
||||
I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h)(0x683FA4DE)
|
||||
I (..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x683FA4DD)
|
||||
I (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
|
||||
I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
|
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@@ -2073,7 +2074,7 @@ I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
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-o autoguidestick/tx_event_flags_info_get.o -MD)
|
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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)
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||||
@@ -2114,9 +2115,9 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
|
||||
|
||||
-o autoguidestick/tx_event_flags_set.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 (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)
|
||||
@@ -2158,7 +2159,7 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
|
||||
-o autoguidestick/tx_mutex_cleanup.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 (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
|
||||
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_thread.h)(0x683FA4DA)
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
|
||||
@@ -2201,7 +2202,8 @@ I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
|
||||
-o autoguidestick/tx_mutex_delete.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 (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
|
||||
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)
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
|
||||
@@ -2244,7 +2246,8 @@ I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
|
||||
-o autoguidestick/tx_mutex_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)
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
|
||||
F (../Middlewares/ST/threadx/common/src/tx_mutex_initialize.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
|
||||
@@ -2287,9 +2290,10 @@ I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
|
||||
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)
|
||||
I (D:\keil5\ARM\ARMCLANG\include\string.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
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
|
||||
|
||||
-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
|
||||
@@ -2330,9 +2334,9 @@ 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 (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_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
|
||||
|
||||
-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
|
||||
@@ -2372,5 +2376,51 @@ I (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
|
||||
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)
|
||||
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
|
||||
|
||||
-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
|
||||
|
||||
-I./RTE/_AutoGuideStick
|
||||
|
||||
-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
|
||||
|
||||
-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/tx_queue_delete.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 (..\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)
|
||||
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_flush.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
|
||||
|
||||
-I./RTE/_AutoGuideStick
|
||||
|
||||
-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
|
||||
|
||||
-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/tx_queue_flush.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 (..\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)
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
|
||||
I (..\Middlewares\ST\threadx\common\inc\tx_queue.h)(0x683FA4DA)
|
||||
I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
|
||||
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
|
||||
|
||||
@@ -40,4 +40,5 @@ autoguidestick/app_azure_rtos.o: ..\AZURE_RTOS\App\app_azure_rtos.c \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
|
||||
..\fun\Motor.h ..\AZURE_RTOS\App\app_azure_rtos_config.h
|
||||
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h \
|
||||
..\AZURE_RTOS\App\app_azure_rtos_config.h
|
||||
|
||||
@@ -40,4 +40,4 @@ autoguidestick/app_threadx.o: ..\Core\Src\app_threadx.c \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
|
||||
..\fun\Motor.h
|
||||
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h
|
||||
|
||||
Binary file not shown.
@@ -39,4 +39,5 @@ autoguidestick/buzzer.o: ..\fun\Buzzer.c ..\fun\Buzzer.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\string.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Motor.h
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Motor.h ..\fun\IMU.h \
|
||||
..\fun\imu948.h ..\fun\value.h
|
||||
|
||||
@@ -39,4 +39,4 @@ autoguidestick/gps.o: ..\fun\gps.c ..\fun\gps.h ..\fun\headfile.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h \
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
|
||||
..\fun\Motor.h
|
||||
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h
|
||||
|
||||
@@ -39,4 +39,4 @@ autoguidestick/hcble.o: ..\fun\HCBle.c ..\fun\HCBle.h ..\fun\headfile.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\gps.h \
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
|
||||
..\fun\Motor.h
|
||||
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h
|
||||
|
||||
Binary file not shown.
@@ -39,4 +39,4 @@ autoguidestick/imu.o: ..\fun\IMU.c ..\fun\IMU.h ..\fun\headfile.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
|
||||
..\fun\Motor.h
|
||||
..\fun\Motor.h ..\fun\imu948.h ..\fun\value.h
|
||||
|
||||
Binary file not shown.
43
MDK-ARM/AutoGuideStick/imu948.d
Normal file
43
MDK-ARM/AutoGuideStick/imu948.d
Normal file
@@ -0,0 +1,43 @@
|
||||
autoguidestick/imu948.o: ..\fun\imu948.c ..\fun\imu948.h \
|
||||
..\fun\headfile.h ..\Core\Inc\main.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
|
||||
..\Core\Inc\stm32h5xx_hal_conf.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\math.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
|
||||
..\Drivers\CMSIS\Include\core_cm33.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdint.h \
|
||||
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
|
||||
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
|
||||
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
|
||||
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
|
||||
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stddef.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
|
||||
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h \
|
||||
..\Core\Inc\memorymap.h ..\Core\Inc\usart.h ..\Core\Inc\gpio.h \
|
||||
..\Core\Inc\gpdma.h ..\Core\Inc\tim.h ..\Core\Inc\app_threadx.h \
|
||||
..\Middlewares\ST\threadx\common\inc\tx_api.h \
|
||||
..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h \
|
||||
..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\string.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
|
||||
..\fun\Motor.h ..\fun\IMU.h ..\fun\value.h
|
||||
BIN
MDK-ARM/AutoGuideStick/imu948.o
Normal file
BIN
MDK-ARM/AutoGuideStick/imu948.o
Normal file
Binary file not shown.
@@ -39,4 +39,4 @@ autoguidestick/main.o: ..\Core\Src\main.c ..\Core\Inc\app_threadx.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
|
||||
..\fun\Motor.h
|
||||
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h
|
||||
|
||||
@@ -38,4 +38,5 @@ autoguidestick/motor.o: ..\fun\Motor.c ..\fun\Motor.h ..\fun\headfile.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\string.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\IMU.h \
|
||||
..\fun\imu948.h ..\fun\value.h
|
||||
|
||||
@@ -39,4 +39,5 @@ autoguidestick/shake_motor.o: ..\fun\Shake_Motor.c ..\fun\Shake_Motor.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\string.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
|
||||
..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\Motor.h
|
||||
..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\Motor.h ..\fun\IMU.h \
|
||||
..\fun\imu948.h ..\fun\value.h
|
||||
|
||||
@@ -40,4 +40,4 @@ autoguidestick/stm32h5xx_it.o: ..\Core\Src\stm32h5xx_it.c \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
|
||||
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
|
||||
..\fun\Motor.h
|
||||
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h
|
||||
|
||||
@@ -39,4 +39,5 @@ autoguidestick/ultrasound.o: ..\fun\Ultrasound.c ..\fun\Ultrasound.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\string.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdio.h \
|
||||
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
|
||||
..\fun\Shake_Motor.h ..\fun\Buzzer.h ..\fun\Motor.h
|
||||
..\fun\Shake_Motor.h ..\fun\Buzzer.h ..\fun\Motor.h ..\fun\IMU.h \
|
||||
..\fun\imu948.h ..\fun\value.h
|
||||
|
||||
@@ -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);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
255
fun/IMU.h
255
fun/IMU.h
@@ -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
|
||||
|
||||
|
||||
@@ -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
31
fun/imu948.c
Normal 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
9
fun/imu948.h
Normal 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
15
fun/value.h
Normal file
@@ -0,0 +1,15 @@
|
||||
#ifndef __VALUE_H__
|
||||
#define __VALUE_H__
|
||||
|
||||
typedef struct
|
||||
{
|
||||
float lat;
|
||||
float lon;
|
||||
float angle;
|
||||
}BleMessage;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
#endif
|
||||
Reference in New Issue
Block a user