MADAO/ManGoWalk_STM32
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IMU Angle Z get Successful

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MADAO
2025-07-01 13:16:48 +08:00
parent 1dd27dce37
commit 4d36d07b2c
30 changed files with 8747 additions and 11498 deletions
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26
fun/HCBle.c
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@@ -41,7 +41,9 @@ TX_EVENT_FLAGS_GROUP ble_event_flags;
void HCBle_InitEventFlags(void)
{ tx_event_flags_create(&ble_event_flags, "BLE Events");}
{ tx_event_flags_create(&ble_event_flags, "BLE Events");
// tx_event_flags_create(&sensor_events,"Sensor Events");
}
//<2F><>ʼ<EFBFBD><CABC>DMA<4D><41><EFBFBD>պ<EFBFBD><D5BA><EFBFBD>
void HCBle_InitDMAReception(void)
@@ -109,6 +111,7 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
HAL_UARTEx_ReceiveToIdle_IT(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
}
}
@@ -127,12 +130,7 @@ void HCBle_ParseAndHandleFrame(const char *frame)
return;
}
// if (sscanf(frame, "%*[^0-9]%d%*[^0-9]%d", &left, &right) == 2) {
// cmd.LeftSpeed = left;
// cmd.RightSpeed = right;
// HCBle_SendData("? <20><><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>: <20><>=%d, <20><>=%d\r\n", left, right);
// return;
// }
HCBle_SendData("? <20><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>: %s\r\n", frame);
}
@@ -195,13 +193,13 @@ void ble_tx_task_entry(ULONG thread_input) {
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,&msg,TX_WAIT_FOREVER) == TX_SUCCESS)
{
HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.1f}\n",
msg.lat,msg.lon,msg.angle);
}
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,&msg,TX_WAIT_FOREVER) == TX_SUCCESS)
// {
// HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.1f}\n",
// 23.123456, 113.654321,msg.angle);
// }
}
}