tx task success,rx dont

AZURE_RTOS/App/app_azure_rtos.c

@@ -32,13 +32,12 @@
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-#define BLE_TX_THREAD_STACK_SIZE 2048
+
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
 /* USER CODE BEGIN PM */
-TX_THREAD ble_tx_thread;
+
-UCHAR ble_tx_stack[BLE_TX_THREAD_STACK_SIZE];
 /* USER CODE END PM */
 
 /* Private variables ---------------------------------------------------------*/
@@ -101,7 +100,7 @@ VOID tx_application_define(VOID *first_unused_memory)
       /* USER CODE END  App_ThreadX_Init_Error */
     }
     /* USER CODE BEGIN  App_ThreadX_Init_Success */
-
+//	App_ThreadX_Init(first_unused_memory);  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> //app_thread_init()<29>ſ<EFBFBD><C5BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
     /* USER CODE END  App_ThreadX_Init_Success */
 
   }

Core/Src/app_threadx.c

@@ -33,11 +33,16 @@
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
+
+// BLE define 
 #define BLE_RX_THREAD_STACK_SIZE 2048
 #define BLE_RX_THREAD_PRIORITY    10
-
 #define BLE_TX_THREAD_STACK_SIZE 2048
 #define BLE_TX_THREAD_PRIORITY    10
+//
+
+
+
 /* USER CODE END PD */
 
 /* Private macro -------------------------------------------------------------*/
@@ -48,27 +53,30 @@
 /* Private variables ---------------------------------------------------------*/
 /* USER CODE BEGIN PV */
 /* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
-TX_QUEUE ble_tx_queue;
+
 TX_EVENT_FLAGS_GROUP system_events;
 MotorCommand current_motor_cmd = {0,0};
 _GPSData gps_data;
 
+// Ble thread vd
 TX_THREAD ble_rx_thread;
+TX_THREAD ble_tx_thread;
 UCHAR ble_rx_stack[BLE_RX_THREAD_STACK_SIZE];
+UCHAR ble_tx_stack[BLE_TX_THREAD_STACK_SIZE];
+
+TX_QUEUE ble_tx_queue;
+#define BLE_TX_QUEUE_LEN 10
+BLE_Message ble_tx_queue_buffer[BLE_TX_QUEUE_LEN];
 
 
+//
 
-
-
-#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 -----------------------------------------------*/
 /* USER CODE BEGIN PFP */
 
 
-
 /* USER CODE END 1 */
 /* USER CODE END 1 */
 
@@ -83,6 +91,42 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
 {
     HCBle_SendData("进入 App_ThreadX_Init\r\n");
 
+	UINT status;
+
+	// === 创建 BLE RX 线程 ===
+    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) {
+        HCBle_SendData("❌ BLE TX 线程创建失败，错误码=%d\r\n", status);
+        return status;
+    }
+	
+	    // === 创建 BLE TX 消息队列 ===
+//    status = tx_queue_create(&ble_tx_queue, "BLE TX Queue",
+//                             sizeof(ULONG),
+//                             ble_tx_queue_buffer,
+//                             sizeof(ble_tx_queue_buffer));
+//    if (status != TX_SUCCESS) {
+//        HCBle_SendData("❌ BLE TX 消息队列创建失败，错误码=%d\r\n", status);
+//        return status;
+//    }
+	
+    HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
 	
     return TX_SUCCESS;
 }
@@ -110,8 +154,6 @@ void MX_ThreadX_Init(void)
 #ifdef TEST  //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>
 
 
-
-/* USER CODE BEGIN 1 */
 /* USER CODE BEGIN 1 */
 void main_control_thread_entry(ULONG thread_input)
 {

Core/Src/main.c

@@ -101,7 +101,7 @@ int main(void)
   MX_TIM1_Init();
   MX_TIM8_Init();
   /* USER CODE BEGIN 2 */
-	HCBle_InitDMAReception();
+//	HCBle_InitDMAReception();
 //	HAL_Delay(200);
 
   /* USER CODE END 2 */
@@ -115,7 +115,7 @@ int main(void)
   while (1)
   {
     /* USER CODE END WHILE */
-//		HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
+
     /* USER CODE BEGIN 3 */
   }
   /* USER CODE END 3 */

MDK-ARM/AutoGuideStick.uvoptx

@@ -148,7 +148,24 @@
           <Name>-U004200403132511238363431 -O2254 -SF10000 -C0 -A1 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(6BA02477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32H5xx_2M_0800.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32H563ZITx$CMSIS\Flash\STM32H5xx_2M_0800.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0</Name>
         </SetRegEntry>
       </TargetDriverDllRegistry>
-      <Breakpoint/>
+      <Breakpoint>
+        <Bp>
+          <Number>0</Number>
+          <Type>0</Type>
+          <LineNumber>110</LineNumber>
+          <EnabledFlag>1</EnabledFlag>
+          <Address>134273076</Address>
+          <ByteObject>0</ByteObject>
+          <HtxType>0</HtxType>
+          <ManyObjects>0</ManyObjects>
+          <SizeOfObject>0</SizeOfObject>
+          <BreakByAccess>0</BreakByAccess>
+          <BreakIfRCount>1</BreakIfRCount>
+          <Filename>..\fun\HCBle.c</Filename>
+          <ExecCommand></ExecCommand>
+          <Expression>\\AutoGuideStick\../fun/HCBle.c\110</Expression>
+        </Bp>
+      </Breakpoint>
       <WatchWindow1>
         <Ww>
           <count>0</count>
@@ -170,7 +187,44 @@
           <WinNumber>1</WinNumber>
           <ItemText>uart_dma_rx_buf</ItemText>
         </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ble_rx_ring</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>json_buf[idx++]</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ble_rx_ring.head,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>uart_dma_rx_buf[last_pos]</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>json_buf</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>tx_event_flags_get</ItemText>
+        </Ww>
       </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>json_buf[128]</ItemText>
+        </Ww>
+      </WatchWindow2>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>

MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm

@@ -27,10 +27,6 @@ Project File Date:  06/26/2025
 <h2>Output:</h2>
 *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
 Build target 'AutoGuideStick'
-compiling app_azure_rtos.c...
-linking...
-Program Size: Code=81692 RO-data=1768 RW-data=16 ZI-data=9352  
-FromELF: creating hex file...
 "AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
 
 <h2>Software Packages used:</h2>
@@ -55,7 +51,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE@5.6.0
       Include file:  CMSIS/Core/Include/tz_context.h
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>

MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep

@@ -1,7 +1,7 @@
 Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
 CompilerVersion: 6210000::V6.21::ARMCLANG
 F (startup_stm32h563xx.s)(0x685C2A9A)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto  -Wa,armasm,--diag_suppress=A1950W -c
-
+
 -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
 
 -I./RTE/_AutoGuideStick
@@ -43,7 +43,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012)
 I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
 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\cmsis_armclang.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)
@@ -140,7 +140,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 -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/gpdma.o -MD)
 I (..\Core\Inc\main.hc.\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h)(0x00000000)
 I (..\Core\Inc\stm32h5xx_hal_conf.h)(0x685C2A98)
@@ -246,7 +246,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h)(0x683FA4DD)
 I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\math.h)(0x6569B012)
-I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
+I (..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h)(0x683FA4DE)
 I (..\Drivers\CMSIS\Include\core_cm33.h)(0x683FA4DE)
 I (D:\keil5\ARM\ARMCLANG\include\stdint.h)(0x6569B012)
 I (D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h)(0x683FA4DE)
@@ -320,7 +320,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h)(0x683FA4DD)
-I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
+I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h)(0x683FA4DD)
 F (../Core/Src/usart.c)(0x685BB8D6)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
 
@@ -352,7 +352,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
 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 (D:\keil5\ARM\ARMCLANG\include\stddef.h)(0x6569B012)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h)(0x683FA4DD)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h)(0x683FA4DD)
@@ -2070,7 +2070,7 @@ I (..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h)(0x683FA4D9)
 
 -o autoguidestick/tx_event_flags_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)
@@ -2111,9 +2111,9 @@ 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)

fun/HCBle.c

@@ -1,6 +1,8 @@
 #include "HCBle.h"
 
 /**
+<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> δ<><CEB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
 <EFBFBD><EFBFBD>ʾ: <20><>Ȼ BLE <20>Լ<EFBFBD> GPS<50><53><EFBFBD><EFBFBD>DMA+ UART<52><54><EFBFBD>գ<EFBFBD><D5A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬ
 BLE --- DMA + IDLE <20>ж<EFBFBD>  ѭ<><D1AD> DMA + <20><><EFBFBD><EFBFBD><EFBFBD>жϴ<D0B6><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>  UART IDLE  
 GPS --- DMA +<2B>̶<EFBFBD><CCB6><EFBFBD><EFBFBD><EFBFBD> + TC<54>ж<EFBFBD>   <20><><EFBFBD>ù̶<C3B9><CCB6><EFBFBD><EFBFBD><EFBFBD> DMA    DMA<4D><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
@@ -34,11 +36,17 @@ MotorCommand cmd;
 LocationData current_location = {0};
 float imu_angle = 0.0f;
 
+TX_EVENT_FLAGS_GROUP ble_event_flags;
+#define BLE_EVENT_DATA_READY  0x01
+void HCBle_InitEventFlags(void)
+{	tx_event_flags_create(&ble_event_flags, "BLE Events");}
 
 //<2F><>ʼ<EFBFBD><CABC>DMA<4D><41><EFBFBD>պ<EFBFBD><D5BA><EFBFBD>
 void HCBle_InitDMAReception(void)
 {
-	HAL_UARTEx_ReceiveToIdle_DMA(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
+	HAL_UARTEx_ReceiveToIdle_IT(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
+//	HAL_UART_Receive_DMA(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
+//	HAL_UARTEx_ReceiveToIdle_DMA(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
 	// ֻ<><D6BB>Ҫֱ<D2AA>Ӵ<EFBFBD><D3B4><EFBFBD> <20><><EFBFBD>ڿ<EFBFBD><DABF>н<EFBFBD><D0BD><EFBFBD> 
 	// HAL_UARTEx_RxEventCallback --- <20><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD>
 }
@@ -67,86 +75,90 @@ void HCBle_SendData(char *p,...)
 // <20><><EFBFBD>ڷ<EFBFBD><DAB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>Լ<EFBFBD><D4BC><EFBFBD>һ<EFBFBD><D2BB>DMA
 
 
+
 void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 {
     if (huart->Instance == UART4)
     {
-
+        for (uint16_t i = 0; i < Size; i++)
-		uint16_t data_len = UART_DMA_RX_BUF_SIZE - __HAL_DMA_GET_COUNTER(huart->hdmarx);
-		for (uint16_t i = 0; i < data_len; i++)
         {
-            ble_rx_ring.buffer[ble_rx_ring.head] = uart_dma_rx_buf[i];
+            uint8_t ch = uart_dma_rx_buf[i];
-            ble_rx_ring.head = (ble_rx_ring.head + 1) % RING_BUFFER_SIZE;
+            uint16_t next_head = (ble_rx_ring.head + 1) % RING_BUFFER_SIZE;
+
+            if (next_head != ble_rx_ring.tail)
+            {
+                ble_rx_ring.buffer[ble_rx_ring.head] = ch;
+                ble_rx_ring.head = next_head;
+            }
         }
-//		memset(uart_dma_rx_buf, '\0', data_len);
+
-        // <20><><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> uart_rx_buf[0..Size-1] <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȴ<EFBFBD><C8B4><EFBFBD><EFBFBD>߼<EFBFBD>
+        tx_event_flags_set(&ble_event_flags, BLE_EVENT_DATA_READY, TX_OR);
-		HAL_UARTEx_ReceiveToIdle_DMA(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
+        HAL_UARTEx_ReceiveToIdle_IT(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE);
-        // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>գ<EFBFBD>HAL<41><4C><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD>ˣ<EFBFBD>
     }
 }
 
 
+
 // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD> Json<6F><6E><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD> <20>Լ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><DDB8>ֻ<EFBFBD>App
 
 
-// Json<6F><6E><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD>  <20><><EFBFBD><EFBFBD>ʹ<EFBFBD>õ<EFBFBD>Thread x <20><><EFBFBD>н<EFBFBD><D0BD><EFBFBD>
+void HCBle_ExtractAndParseFrame(void) {
-void HCBle_ExtractAndParseFrame(void)
+    static char json_buf[128];
-{
+    static int idx = 0;
-	static char json_buf[128];
+    static int parsing = 0;
-	static int idx = 0;
-	static int in_frame = 0;
 
-	while (ble_rx_ring.tail != ble_rx_ring.head)
+    while (ble_rx_ring.tail != ble_rx_ring.head) {
-	{
+        char c = ble_rx_ring.buffer[ble_rx_ring.tail];
-		char c = ble_rx_ring.buffer[ble_rx_ring.tail];
+        ble_rx_ring.tail = (ble_rx_ring.tail + 1) % RING_BUFFER_SIZE;
-		ble_rx_ring.tail = (ble_rx_ring.tail + 1) % RING_BUFFER_SIZE;
 
-		// ֡<><D6A1>ʼ<EFBFBD><CABC>#
+        if (!parsing) {
-		if (c == '#') {
+            if (c == '#') {
-			idx = 0;
+                idx = 0;
-			in_frame = 1;
+                parsing = 1;
-			json_buf[idx++] = c;
+                memset(json_buf, 0, sizeof(json_buf));
-		}
+                json_buf[idx++] = c;
-		else if (in_frame) {
+            }
-			if (idx < sizeof(json_buf) - 1) {
+            continue;
-				json_buf[idx++] = c;
+        }
 
-				// ֡<><D6A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\n
+        if (idx < sizeof(json_buf) - 1) {
-				if (c == '\n') {
+            json_buf[idx++] = c;
-					json_buf[idx] = '\0';
+            if (c == '\n') {
-
+                json_buf[idx] = '\0';
-					// ? JSON<4F><4E><EFBFBD><EFBFBD>
+                int left, right;
-					if (strstr(json_buf, "leftSpeed") && strstr(json_buf, "rightSpeed")) {
+                if (sscanf(json_buf, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}\n", &left, &right) == 2) {
-						sscanf(json_buf, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}", &cmd.LeftSpeed, &cmd.RightSpeed);
+                    HCBle_SendData("? <20><><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>: <20><>=%d, <20><>=%d\r\n", left, right);
-						tx_event_flags_set(&system_events,EVENT_BLE_COMMAND_RECEIVED,TX_OR);
+                    cmd.LeftSpeed = left;
-						//SetMotorSpeed(cmd.LeftSpeed, cmd.RightSpeed); <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+                    cmd.RightSpeed = right;
-						HCBle_SendData("<EFBFBD><EFBFBD>=%d, <20><>=%d\r\n", cmd.LeftSpeed, cmd.RightSpeed);
+                } else {
-					}
+                    HCBle_SendData("? JSON<4F><4E>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD>: %s\r\n", json_buf);
-
+                }
-					in_frame = 0;
+                parsing = 0;
-					idx = 0;
+                idx = 0;
-				}
+            }
-			} else {
+        } else {
-				// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǿ<EFBFBD><C7BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+            parsing = 0;
-				in_frame = 0;
+            idx = 0;
-				idx = 0;
+            memset(json_buf, 0, sizeof(json_buf));
-			}
+        }
-		}
+    }
-	}
 }
 
-
-// BLE<4C><45><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 void ble_rx_task_entry(ULONG thread_input)
 {
     HCBle_InitDMAReception();
-	HCBle_SendData("BLE RX <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\r\n");
+
-    while(1)
+    ULONG actual_flags;
+
+    while (1)
     {
-        // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+        tx_event_flags_get(&ble_event_flags, BLE_EVENT_DATA_READY, TX_OR_CLEAR, &actual_flags, TX_WAIT_FOREVER);
-        HCBle_ExtractAndParseFrame(); //<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>JSON<4F><4E><EFBFBD><EFBFBD>
+
-		tx_thread_sleep(10);  //ÿ10ms<6D><73>ѯ1<D1AF><31>
+        if (actual_flags & BLE_EVENT_DATA_READY)
-	}
+        {
+            HCBle_ExtractAndParseFrame();
+        }
+    }
 }
 
 
@@ -155,25 +167,10 @@ 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) {
     BLE_Message msg;
-	HCBle_SendData("BLE TX <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>\r\n");
     while(1) {
-		HCBle_SendData("fuck");
+//		HCBle_SendData("fuck");
-        if (tx_queue_receive(&ble_tx_queue, &msg, TX_WAIT_FOREVER) == TX_SUCCESS) {
-			switch (msg.msg_type)
-            {
-                case 1: // <20><><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD>λ<EFBFBD>ϱ<EFBFBD>
                 HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
-                    break;
+        tx_thread_sleep(500);
-
-                case 2: // ACK <20><><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE>
-                    HCBle_SendData("%s", msg.data);
-                    break;
-
-                default:
-                    HCBle_SendData("δ֪<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ\n");
-                    break;
-            }
-        }
     }
 }
 

fun/HCBle.h

@@ -45,4 +45,6 @@ void HCBle_ExtractAndParseFrame(void);
 
 void ble_rx_task_entry(ULONG thread_input);
 void ble_tx_task_entry(ULONG thread_input);
+void HCBle_InitEventFlags(void);
+
 #endif