Ble Transmit Success

Core/Src/app_threadx.c

@@ -33,7 +33,11 @@
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
+#define BLE_RX_THREAD_STACK_SIZE 1024
+#define BLE_RX_THREAD_PRIORITY    10
 
+#define BLE_TX_THREAD_STACK_SIZE 1024
+#define BLE_TX_THREAD_PRIORITY    10
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
@@ -49,7 +53,16 @@ TX_EVENT_FLAGS_GROUP system_events;
 MotorCommand current_motor_cmd = {0,0};
 _GPSData gps_data;
 
+TX_THREAD ble_rx_thread;
+UCHAR ble_rx_stack[BLE_RX_THREAD_STACK_SIZE];
 
+
+
+TX_THREAD ble_tx_thread;
+UCHAR ble_tx_stack[BLE_TX_THREAD_STACK_SIZE];
+
+#define BLE_TX_QUEUE_DEPTH 4
+UCHAR ble_tx_queue_buffer[BLE_TX_QUEUE_DEPTH * sizeof(BLE_Message)];
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -69,14 +82,40 @@ _GPSData gps_data;
   */
 UINT App_ThreadX_Init(VOID *memory_ptr)
 {
-  UINT ret = TX_SUCCESS;
+//  UINT ret = TX_SUCCESS;
   /* USER CODE BEGIN App_ThreadX_MEM_POOL */
-
+	UINT status;
+	
+	//初始化BLE接收任务
+	    // 初始化 BLE 接收任务
+    status = tx_thread_create(&ble_rx_thread, "BLE RX Thread",
+                               ble_rx_task_entry, 0,
+                               ble_rx_stack, BLE_RX_THREAD_STACK_SIZE,
+                               BLE_RX_THREAD_PRIORITY, BLE_RX_THREAD_PRIORITY,
+                               TX_NO_TIME_SLICE, TX_AUTO_START);
+    if (status != TX_SUCCESS) {
+        return status;
+    }
+	
+    // 创建 BLE TX 线程
+    status = tx_thread_create(&ble_tx_thread, "BLE TX Thread",
+                               ble_tx_task_entry, 0,
+                               ble_tx_stack, BLE_TX_THREAD_STACK_SIZE,
+                               BLE_TX_THREAD_PRIORITY, BLE_TX_THREAD_PRIORITY,
+                               TX_NO_TIME_SLICE, TX_AUTO_START);
+    if (status != TX_SUCCESS) return status;
+	
+	    // ✅ 创建 BLE TX 消息队列
+    status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
+                             sizeof(BLE_Message)/sizeof(ULONG),
+                             ble_tx_queue_buffer,
+                             sizeof(ble_tx_queue_buffer));
+    if (status != TX_SUCCESS) return status;
   /* USER CODE END App_ThreadX_MEM_POOL */
   /* USER CODE BEGIN App_ThreadX_Init */
   /* USER CODE END App_ThreadX_Init */
 
-  return ret;
+  return TX_SUCCESS;
 }
 
   /**

Core/Src/main.c

@@ -100,11 +100,15 @@ int main(void)
   MX_UART4_Init();
   MX_TIM1_Init();
   MX_TIM8_Init();
+  
+//   MX_ThreadX_Init();
   /* USER CODE BEGIN 2 */
+	HCBle_InitDMAReception();
+	HAL_Delay(200);
 
   /* USER CODE END 2 */
 
-  MX_ThreadX_Init();
+//  MX_ThreadX_Init();
 
   /* We should never get here as control is now taken by the scheduler */
 
@@ -113,7 +117,16 @@ int main(void)
   while (1)
   {
     /* USER CODE END WHILE */
-
+	  if(flag == 1)
+	  {
+		  HCBle_ExtractAndParseFrame();
+		  flag = 0;
+	  }
+	  
+	  // Ŀǰ BLE<4C>Ľ<EFBFBD><C4BD>ջ<EFBFBD>û<EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>Ƿ<EFBFBD><C7B7>ʹ<EFBFBD><CDB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n", 
+                    23.123456, 113.654321, 95.0);
+    HAL_Delay(1000);
     /* USER CODE BEGIN 3 */
   }
   /* USER CODE END 3 */

Core/Src/stm32h5xx_it.c

@@ -289,13 +289,29 @@ void USART3_IRQHandler(void)
   */
 void UART4_IRQHandler(void)
 {
-  /* USER CODE BEGIN UART4_IRQn 0 */
+    HAL_UART_IRQHandler(&huart4);
 
-  /* USER CODE END UART4_IRQn 0 */
-  HAL_UART_IRQHandler(&huart4);
-  /* USER CODE BEGIN UART4_IRQn 1 */
+    if (__HAL_UART_GET_FLAG(&huart4, UART_FLAG_IDLE))
+    {
+        __HAL_UART_CLEAR_IDLEFLAG(&huart4);  // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϱ<D0B6>־
 
-  /* USER CODE END UART4_IRQn 1 */
+        // ֹͣDMA
+        HAL_UART_DMAStop(&huart4);
+
+        // <20><><EFBFBD><EFBFBD>ʵ<EFBFBD>ʽ<EFBFBD><CABD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD>ݳ<EFBFBD><DDB3><EFBFBD>
+        uint16_t len = UART_DMA_RX_BUF_SIZE - __HAL_DMA_GET_COUNTER(huart4.hdmarx);
+
+        // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ring buffer
+        for (uint16_t i = 0; i < len; i++)
+        {
+            ble_rx_ring.buffer[ble_rx_ring.head] = uart_dma_rx_buf[i];
+            ble_rx_ring.head = (ble_rx_ring.head + 1) % RING_BUFFER_SIZE;
+		
+        }
+		flag = 1;
+        // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>DMA
+        HAL_UART_Receive_DMA(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
+    }
 }
 
 /* USER CODE BEGIN 1 */