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IMU Angle Z get Successful

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This commit is contained in:
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
AutoGuideStick.ioc
View File

@@ -51,13 +51,13 @@ Mcu.Name=STM32H563ZITx
Mcu.Package=LQFP144
Mcu.Pin0=PH0-OSC_IN(PH0)
Mcu.Pin1=PH1-OSC_OUT(PH1)
Mcu.Pin10=PC6
Mcu.Pin11=PC7
Mcu.Pin12=PC8
Mcu.Pin13=PC9
Mcu.Pin14=PA13(JTMS/SWDIO)
Mcu.Pin15=PA14(JTCK/SWCLK)
Mcu.Pin16=PC10
Mcu.Pin10=PG3
Mcu.Pin11=PC6
Mcu.Pin12=PC7
Mcu.Pin13=PC8
Mcu.Pin14=PC9
Mcu.Pin15=PA13(JTMS/SWDIO)
Mcu.Pin16=PA14(JTCK/SWCLK)
Mcu.Pin17=PC11
Mcu.Pin18=PC12
Mcu.Pin19=PD2
@@ -84,8 +84,8 @@ Mcu.Pin4=PG0
Mcu.Pin5=PG1
Mcu.Pin6=PE9
Mcu.Pin7=PE11
Mcu.Pin8=PG2
Mcu.Pin9=PG3
Mcu.Pin8=PB10
Mcu.Pin9=PG2
Mcu.PinsNb=37
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
@@ -125,15 +125,15 @@ PB1.GPIOParameters=GPIO_Label
PB1.GPIO_Label=PWMB
PB1.Locked=true
PB1.Signal=S_TIM3_CH4
PB10.Locked=true
PB10.Mode=Asynchronous
PB10.Signal=USART3_TX
PB8.Locked=true
PB8.Mode=Asynchronous
PB8.Signal=UART4_RX
PB9.Locked=true
PB9.Mode=Asynchronous
PB9.Signal=UART4_TX
PC10.Locked=true
PC10.Mode=Asynchronous
PC10.Signal=USART3_TX
PC11.Locked=true
PC11.Mode=Asynchronous
PC11.Signal=USART3_RX
@@ -353,7 +353,7 @@ UART4.IPParameters=BaudRate
USART2.BaudRate=9600
USART2.IPParameters=VirtualMode-Asynchronous,BaudRate
USART2.VirtualMode-Asynchronous=VM_ASYNC
USART3.BaudRate=9600
USART3.BaudRate=115200
USART3.IPParameters=VirtualMode-Asynchronous,BaudRate
USART3.VirtualMode-Asynchronous=VM_ASYNC
VP_BOOTPATH_VS_BOOTPATH.Mode=BP_Activate

5
Core/Inc/app_threadx.h
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@@ -49,16 +49,15 @@ extern "C" {
/* USER CODE BEGIN PD */
// <20>¼<EFBFBD><C2BC><EFBFBD>־<EFBFBD><D6BE><EFBFBD><EFBFBD>
#define EVENT_OBSTACLE_DETECTED 0x01
#define EVENT_GPS_DATA_READY 0x02
#define EVENT_BLE_COMMAND_RECEIVED 0x04
#define IMU_UPDATE_EVENT 0x08
#define EVENT_LOCATION_UPDATED 0x10
#define EVENT_IMU_DATA_READY 0x20 // <20><><EFBFBD><EFBFBD>IMU<4D><55><EFBFBD>ݾ<EFBFBD><DDBE><EFBFBD><EFBFBD>¼<EFBFBD>
#define TEST 1
extern TX_QUEUE ble_tx_queue;
extern TX_EVENT_FLAGS_GROUP system_events;
extern TX_EVENT_FLAGS_GROUP sensor_events; //传感器事件组
//typedef struct
//{
//// uint32_t msg_type; // 应该使用 int --- 4字节

93
Core/Src/app_threadx.c
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@@ -39,15 +39,12 @@
#define BLE_RX_THREAD_PRIORITY 10
#define BLE_TX_THREAD_STACK_SIZE 2048
#define BLE_TX_THREAD_PRIORITY 10
//IMU define
#define IMU_ANGLE_THREAD_STACK_SIZE 1024
#define IMU_ANGLE_THREAD_PRIORITY 11
// GPS define
#define GPS_THREAD_STACK_SIZE 1024
#define GPS_THREAD_PRIORITY 11
//线程控制块和栈
#define SENSOR_AGG_STACK_SIZE 512
#define SENSOR_AGG_PRIORITY 12
// IMU thread config
// IMU thread config
#define IMU_ANGLE_THREAD_STACK_SIZE 1024
#define IMU_ANGLE_THREAD_PRIORITY 11
/* USER CODE END PD */
@@ -60,7 +57,8 @@
/* USER CODE BEGIN PV */
/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
TX_EVENT_FLAGS_GROUP system_events; // 传感器事件组
TX_EVENT_FLAGS_GROUP system_events;
TX_EVENT_FLAGS_GROUP sensor_events;
MotorCommand current_motor_cmd = {0,0};
_GPSData gps_data;
@@ -80,20 +78,13 @@ TX_QUEUE ble_tx_queue;
__attribute__((aligned(4)))
ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN * ((BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG))];
// 定义Ble 传输数据的队列 也就是经纬度融合数据
__attribute__((aligned(4)))
ULONG ble_tx_queue_buff[BLE_TX_QUEUE_LEN * ((sizeof(BleMessage) + sizeof(ULONG) - 1) / sizeof(ULONG))];
//imu thread
// imu
TX_THREAD imu_angle_thread;
UCHAR imu_angle_stack[IMU_ANGLE_THREAD_STACK_SIZE];
//GPS thread
TX_THREAD gps_thread;
UCHAR gps_stack[GPS_THREAD_STACK_SIZE];
#define IM948_RX_QUEUE_SIZE 64
ULONG im948_rx_queue_buffer[IM948_RX_QUEUE_SIZE];
TX_QUEUE im948_uart_rx_queue;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -140,45 +131,37 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
return status;
}
// ============IMU 角度线程 ==================
status = tx_thread_create(&imu_angle_thread,"IMU Angle Thread",
imu_angle_ble_task_entry,0,
imu_angle_stack,IMU_ANGLE_THREAD_STACK_SIZE,
IMU_ANGLE_THREAD_PRIORITY,IMU_ANGLE_THREAD_PRIORITY,
TX_NO_TIME_SLICE,TX_AUTO_START);
if(status != TX_SUCCESS)
{
return status;
}
// ============= GPS 定位线程 ================
status = tx_thread_create(&gps_thread, "GPS Thread",
gps_thread_entry, 0,
gps_stack, GPS_THREAD_STACK_SIZE,
GPS_THREAD_PRIORITY, GPS_THREAD_PRIORITY,
TX_NO_TIME_SLICE, TX_AUTO_START);
if (status != TX_SUCCESS) {
HCBle_SendData("❌ GPS 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",
(BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG),
ble_tx_queue_buffer,
sizeof(ble_tx_queue_buffer));
status = tx_queue_create(&ble_tx_queue,"Ble lat Imu",
(sizeof(BleMessage) + sizeof(ULONG) - 1) / sizeof(ULONG),
ble_tx_queue_buff,
sizeof(ble_tx_queue_buff));
if (status != TX_SUCCESS) {
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;
}
status = tx_thread_create(&imu_angle_thread, "IMU Angle Thread",
imu_angle_ble_task_entry, 0,
imu_angle_stack, IMU_ANGLE_THREAD_STACK_SIZE,
IMU_ANGLE_THREAD_PRIORITY, IMU_ANGLE_THREAD_PRIORITY,
TX_NO_TIME_SLICE, TX_AUTO_START);
if (status != TX_SUCCESS) {
return status;
}
status = tx_queue_create(&im948_uart_rx_queue, "IM948_RX_QUEUE",
TX_1_ULONG, // sizeof(ULONG) bytes per entry
im948_rx_queue_buffer,
IM948_RX_QUEUE_SIZE * sizeof(ULONG));
HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
return TX_SUCCESS;
}
@@ -193,7 +176,6 @@ void MX_ThreadX_Init(void)
/* USER CODE BEGIN Before_Kernel_Start */
HCBle_InitEventFlags(); // 这必须在任何使用前调用一次
/* USER CODE END Before_Kernel_Start */
tx_kernel_enter();
/* USER CODE BEGIN Kernel_Start_Error */
@@ -203,4 +185,5 @@ void MX_ThreadX_Init(void)
/* USER CODE BEGIN 1 */
/* USER CODE END 1 */

4
Core/Src/main.c
View File

@@ -48,7 +48,7 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
uint8_t rx_byte; // imu_<75><5F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
@@ -101,6 +101,8 @@ int main(void)
MX_TIM1_Init();
MX_TIM8_Init();
/* USER CODE BEGIN 2 */
imu600_init();
// HCBle_InitDMAReception();
// HAL_Delay(200);
// GPS_Init();

20
Core/Src/usart.c
View File

@@ -135,7 +135,7 @@ void MX_USART3_UART_Init(void)
/* USER CODE END USART3_Init 1 */
huart3.Instance = USART3;
huart3.Init.BaudRate = 9600;
huart3.Init.BaudRate = 115200;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE;
@@ -404,12 +404,20 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
/* USART3 clock enable */
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**USART3 GPIO Configuration
PC10 ------> USART3_TX
PB10 ------> USART3_TX
PC11 ------> USART3_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
GPIO_InitStruct.Pin = GPIO_PIN_10;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF7_USART3;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -484,10 +492,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
__HAL_RCC_USART3_CLK_DISABLE();
/**USART3 GPIO Configuration
PC10 ------> USART3_TX
PB10 ------> USART3_TX
PC11 ------> USART3_RX
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_11);
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10);
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_11);
/* USART3 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART3_IRQn);

304
MDK-ARM/AutoGuideStick.uvguix.madao
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File diff suppressed because one or more lines are too long

35
MDK-ARM/AutoGuideStick.uvoptx
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@@ -210,6 +210,21 @@
<WinNumber>1</WinNumber>
<ItemText>status</ItemText>
</Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>UartFifo</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>temp</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>isNewData</ItemText>
</Ww>
</WatchWindow1>
<WatchWindow2>
<Ww>
@@ -217,6 +232,26 @@
<WinNumber>2</WinNumber>
<ItemText>json_buf[128]</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>2</WinNumber>
<ItemText>x</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>2</WinNumber>
<ItemText>rx_byte</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>2</WinNumber>
<ItemText>buf[5+CmdPacketMaxDatSizeRx]</ItemText>
</Ww>
<Ww>
<count>4</count>
<WinNumber>2</WinNumber>
<ItemText>AngleZ</ItemText>
</Ww>
</WatchWindow2>
<Tracepoint>
<THDelay>0</THDelay>

2
MDK-ARM/AutoGuideStick.uvprojx
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@@ -190,7 +190,7 @@
<hadIRAM2>0</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
<useUlib>0</useUlib>
<useUlib>1</useUlib>
<EndSel>0</EndSel>
<uLtcg>0</uLtcg>
<nSecure>0</nSecure>

BIN
MDK-ARM/AutoGuideStick/AutoGuideStick.axf
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Binary file not shown.

8
MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
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@@ -22,11 +22,15 @@ Dialog DLL: TCM.DLL V1.56.4.0
<h2>Project:</h2>
D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
Project File Date: 06/29/2025
Project File Date: 07/01/2025
<h2>Output:</h2>
*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
Build target 'AutoGuideStick'
compiling imu948.c...
linking...
Program Size: Code=82196 RO-data=1164 RW-data=20 ZI-data=12836
FromELF: creating hex file...
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@@ -51,7 +55,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE@5.6.0
Include file: CMSIS/Core/Include/tz_context.h
Build Time Elapsed: 00:00:01
Build Time Elapsed: 00:00:02
</pre>
</body>
</html>

10823
MDK-ARM/AutoGuideStick/AutoGuideStick.hex
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File diff suppressed because it is too large Load Diff

3346
MDK-ARM/AutoGuideStick/AutoGuideStick.htm
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File diff suppressed because it is too large Load Diff

2
MDK-ARM/AutoGuideStick/AutoGuideStick.lnp
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@@ -202,7 +202,7 @@
"autoguidestick\imu.o"
"autoguidestick\motor.o"
"autoguidestick\imu948.o"
--strict --scatter "AutoGuideStick\AutoGuideStick.sct"
--library_type=microlib --strict --scatter "AutoGuideStick\AutoGuideStick.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--info sizes --info totals --info unused --info veneers
--list "AutoGuideStick.map" -o AutoGuideStick\AutoGuideStick.axf

4991
MDK-ARM/AutoGuideStick/AutoGuideStick.map
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File diff suppressed because it is too large Load Diff

416
MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
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File diff suppressed because it is too large Load Diff

BIN
MDK-ARM/AutoGuideStick/app_threadx.o
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BIN
MDK-ARM/AutoGuideStick/gps.o
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Binary file not shown.

BIN
MDK-ARM/AutoGuideStick/hcble.o
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Binary file not shown.

BIN
MDK-ARM/AutoGuideStick/imu.o
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Binary file not shown.

BIN
MDK-ARM/AutoGuideStick/imu948.o
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Binary file not shown.

BIN
MDK-ARM/AutoGuideStick/main.o
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BIN
MDK-ARM/AutoGuideStick/startup_stm32h563xx.o
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BIN
MDK-ARM/AutoGuideStick/usart.o
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Binary file not shown.

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);
// }
}
}

18
fun/IMU.c
View File

@@ -1037,23 +1037,15 @@ char IMU_Send_Data[128]; //
/******
IMU <20><><EFBFBD>ڷ<EFBFBD><DAB7><EFBFBD>
*******/
void IMU_SendData(char *p,...)
int UART_Write(uint8_t n, uint8_t *buf, int Len)
{
va_list ap;
va_start(ap,p);
vsprintf(IMU_Send_Data,p,ap);
va_end(ap);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
HAL_UART_Transmit(&huart3,(uint8_t *)IMU_Send_Data,strlen(IMU_Send_Data),10);
// HAL_UART_Transmi(&huart1,(uint8_t *)formatBuf,strlen(formatBuf),1);
// <20><><EFBFBD><EFBFBD>û<EFBFBD><C3BB>ʹ<EFBFBD><CAB9><EFBFBD>жϵĴ<CFB5><C4B4>ڷ<EFBFBD><DAB7>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HAL_UART_Transmit_IT(&huart3, buf, Len);
return Len;
}
/**
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>Ҫ<EFBFBD>û<EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4>ڷ<EFBFBD><DAB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݷ<EFBFBD><DDB7><EFBFBD>-------------------------------------
* @param pBuf Ҫ<><D2AA><EFBFBD>͵<EFBFBD><CDB5><EFBFBD><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>
@@ -1062,7 +1054,7 @@ void IMU_SendData(char *p,...)
static void Cmd_Write(U8 *pBuf, int Len)
{
// ͨ<><CDA8>UART_Write<74><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD><EFBFBD>Եײ<D4B5>Ӳ<EFBFBD><D3B2>ʵ<EFBFBD><CAB5>UART_Write<74><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD>bufָ<66><D6B8>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD>Len<65>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD>ݷ<EFBFBD><DDB7>ͳ<EFBFBD>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD>
IMU_SendData(0, pBuf, Len);
UART_Write(0, pBuf, Len);
Dbp_U8_buf("tx: ", "\r\n",
"%02X ",

4
fun/IMU.h
View File

@@ -59,10 +59,10 @@ extern struct_UartFifo UartFifo;
// ===============================<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>
// #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);
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)

3
fun/gps.h
View File

@@ -32,7 +32,8 @@ typedef struct GPSData
extern _GPSData GPS;
extern uint8_t GPS_DMA_RX_BUF[GPS_DMA_RX_BUF_LEN];
double Convert_to_degrees(char *data);
void parseGpsBuffer();
void gps_thread_entry(ULONG thread_input);
void GPS_Init(void);

113
fun/imu948.c
View File

@@ -2,7 +2,61 @@
extern _GPSData gps_data;
extern TX_QUEUE ble_tx_queue;
extern uint8_t rx_byte;
extern TX_EVENT_FLAGS_GROUP sensor_events;
void imu600_init(void)
{
HAL_UART_Receive_IT(&huart3,&rx_byte,1);
HAL_Delay(6000);
//------- <20><><EFBFBD>Ѵ<EFBFBD><D1B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>úô<C3BA><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȼ<EFBFBD><C8BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>-----
Cmd_03(); //<2F><><EFBFBD>Ѵ<EFBFBD><D1B4><EFBFBD><EFBFBD><EFBFBD>
HAL_Delay(500);
/**
* <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>迪<EFBFBD><E8BFAA><EFBFBD>ų<EFBFBD> 0=<3D><><EFBFBD>رմų<D5B4>
* @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
*/
Cmd_12(5, 255, 0, 0, 3, 2, 2, 4, 9, 0xFFF);// 2 <20><><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD>1) ֻ<><D6BB><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD><EFBFBD>
HAL_Delay(500);
Cmd_19();// 3 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ҾͲ<D2BE><CDB2><EFBFBD><EFBFBD>и<EFBFBD><D0B8><EFBFBD><EFBFBD><EFBFBD>
}
//void IM948_Init(void)
//{
// HAL_UART_Receive_IT(&huart3, &rx_byte, 1);
// // <20><>ģ<EFBFBD><C4A3><EFBFBD>ϵ<EFBFBD>
// tx_thread_sleep( TX_TIMER_TICKS_PER_SECOND * 5 );
// Cmd_03(); // <20><><EFBFBD><EFBFBD>
// tx_thread_sleep( TX_TIMER_TICKS_PER_SECOND / 10 );
// // ֻ<><D6BB><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD><EFBFBD>
// Cmd_12(
// 5, 255, 0,
// 0, 3, 5,
// 2, 2, 4,
// 0x0040 // ֻҪŷ<D2AA><C5B7><EFBFBD><EFBFBD>
// );
// tx_thread_sleep( TX_TIMER_TICKS_PER_SECOND / 10 );
// Cmd_19(); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>
//}
extern TX_QUEUE im948_uart_rx_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>
@@ -10,22 +64,49 @@ extern TX_QUEUE ble_tx_queue;
void imu_angle_ble_task_entry(ULONG thread_input)
{
BleMessage msg;
UINT sta; // ״̬
while(1)
ULONG rx_data;
// <20><>ʼ<EFBFBD><CABC>ģ<EFBFBD><C4A3>
// IM948_Init();
// HCBle_SendData("halo");
while(1)
{
// <20><><EFBFBD><EFBFBD><EFBFBD>ȶ<EFBFBD><C8B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4>ڽ<EFBFBD><DABD><EFBFBD>
if (tx_queue_receive(&im948_uart_rx_queue, &rx_data, TX_WAIT_FOREVER) == TX_SUCCESS)
{
Cmd_GetPkt( (uint8_t)rx_data );
}
// <20><><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>°<EFBFBD>
if (isNewData)
{
isNewData = 0;
float angle = AngleZ;
HCBle_SendData("Z:%.2f\r\n",AngleZ);
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>angle<6C><65>ä<EFBFBD>ȳ<EFBFBD><C8B3><EFBFBD><EFBFBD>ж<EFBFBD>
// <20><><EFBFBD><EFBFBD>:
if(angle > 30.0f) {
// <20><><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>
}
}
}
}
// <20><><EFBFBD><EFBFBD><EFBFBD>úý<C3BA><C3BD>պ<EFBFBD><D5BA><EFBFBD>
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart->Instance == USART3)
{
// ֻ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;
// <EFBFBD><EFBFBD><EFBFBD>͵<EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD><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");
}
// HCBle_SendData("RX USART3: 0x%02X (%c)\r\n", rx_byte, rx_byte);
// Fifo_in(rx_byte);
ULONG rx_data = rx_byte;
tx_queue_send(&im948_uart_rx_queue, &rx_data, TX_NO_WAIT);
// tx_event_flags_set(&sensor_events, EVENT_IMU_DATA_READY, TX_OR);
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϣ<EFBFBD><EFBFBD>Ա<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HAL_UART_Receive_IT(huart,&rx_byte,1);
}
}

2
fun/imu948.h
View File

@@ -4,6 +4,6 @@
#include "headfile.h"
void imu_angle_ble_task_entry(ULONG thread_input);
void imu600_init(void);
#endif

4
fun/value.h
View File

@@ -8,8 +8,8 @@ typedef struct
float angle;
}BleMessage;
#define EVENT_GPS_DATA_READY (1U << 0)
#define EVENT_IMU_DATA_READY (1U << 1)
#endif