MADAO/ManGoWalk_STM32
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gps could receive but not parese

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This commit is contained in:
MADAO
2025-07-01 21:40:02 +08:00
parent 4d36d07b2c
commit 69d790d5e2
19 changed files with 8046 additions and 7547 deletions
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22
Core/Src/app_threadx.c
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@@ -89,7 +89,11 @@ TX_QUEUE im948_uart_rx_queue;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
#define GPS_TASK_STACK_SIZE 2048
#define GPS_TASK_PRIORITY 11
TX_THREAD gps_task;
ULONG gps_task_stack[GPS_TASK_STACK_SIZE / sizeof(ULONG)];
/* USER CODE END 1 */
/* USER CODE END 1 */
@@ -158,8 +162,26 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
TX_1_ULONG, // sizeof(ULONG) bytes per entry
im948_rx_queue_buffer,
IM948_RX_QUEUE_SIZE * sizeof(ULONG));
if(status != TX_SUCCESS)
{
return status;
}
status = tx_thread_create(&gps_task,
"GPS Task",
gps_thread_entry,
0,
gps_task_stack,
GPS_TASK_STACK_SIZE,
GPS_TASK_PRIORITY,
GPS_TASK_PRIORITY,
TX_NO_TIME_SLICE,
TX_AUTO_START);
if(status != TX_SUCCESS)
{
return status;
}
HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
return TX_SUCCESS;

1
Core/Src/main.c
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@@ -103,6 +103,7 @@ int main(void)
/* USER CODE BEGIN 2 */
imu600_init();
GPS_Init();
// HCBle_InitDMAReception();
// HAL_Delay(200);
// GPS_Init();

86
MDK-ARM/AutoGuideStick.uvguix.madao
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File diff suppressed because one or more lines are too long

5
MDK-ARM/AutoGuideStick.uvoptx
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@@ -252,6 +252,11 @@
<WinNumber>2</WinNumber>
<ItemText>AngleZ</ItemText>
</Ww>
<Ww>
<count>5</count>
<WinNumber>2</WinNumber>
<ItemText>GPS_DMA_RX_BUF[GPS_DMA_RX_BUF_LEN]</ItemText>
</Ww>
</WatchWindow2>
<Tracepoint>
<THDelay>0</THDelay>

BIN
MDK-ARM/AutoGuideStick/AutoGuideStick.axf
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11
MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
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@@ -27,11 +27,16 @@ 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...
compiling gps.c...
../fun/HCBle.c(140): warning: illegal character encoding in string literal [-Winvalid-source-encoding]
140 | HCBle_SendData("? <BD><E2><CE><F6>ʧ<B0><DC>: %s\r\n", frame);
| ^~~~~~~~~~~~~~~~ ~~~~~~~~
1 warning generated.
compiling HCBle.c...
linking...
Program Size: Code=82196 RO-data=1164 RW-data=20 ZI-data=12836
Program Size: Code=83580 RO-data=1428 RW-data=20 ZI-data=15532
FromELF: creating hex file...
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 1 Warning(s).
<h2>Software Packages used:</h2>

10389
MDK-ARM/AutoGuideStick/AutoGuideStick.hex
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2262
MDK-ARM/AutoGuideStick/AutoGuideStick.htm
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2483
MDK-ARM/AutoGuideStick/AutoGuideStick.map
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24
MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
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@@ -1,7 +1,7 @@
Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
CompilerVersion: 6210000::V6.21::ARMCLANG
F (startup_stm32h563xx.s)(0x68634847)(--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 -Wa,armasm,--pd,"__MICROLIB SETA 1" -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
@@ -141,8 +141,8 @@ 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)
-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)
I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
@@ -216,7 +216,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h)(0x683FA4DD)
I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h)(0x683FA4DD)
I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h)(0x683FA4DD)
I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.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)
@@ -2074,7 +2074,7 @@ 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)
@@ -2118,7 +2118,7 @@ I (..\fun\Shake_Motor.hG.\fun\Ultrasound.h..\fun\Buzzer.h)(0x00000000)
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_trace.h)(0x683FA4DA)
I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
I (..\Middlewares\ST\threadx\common\inc\tx_event_flags.h)(0x683FA4DA)
F (../Middlewares/ST/threadx/common/src/tx_event_flags_set_notify.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
@@ -2160,7 +2160,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012)
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 (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_create.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
@@ -2293,7 +2293,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdarg.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
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -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
@@ -2335,7 +2335,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.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
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
@@ -2379,7 +2379,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012)
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
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar
-D__MICROLIB -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
@@ -2422,5 +2422,5 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012)
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_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
-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

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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BIN
MDK-ARM/AutoGuideStick/imu948.o
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BIN
MDK-ARM/AutoGuideStick/main.o
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32
fun/HCBle.c
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@@ -42,6 +42,7 @@ TX_EVENT_FLAGS_GROUP ble_event_flags;
void HCBle_InitEventFlags(void)
{ tx_event_flags_create(&ble_event_flags, "BLE Events");
tx_event_flags_create(&system_events,"gps Events");
// tx_event_flags_create(&sensor_events,"Sensor Events");
}
@@ -101,15 +102,19 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
}
else if(huart->Instance == USART2) // gps<70>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
// // <20><><EFBFBD><EFBFBD> Size <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
memcpy(GPS.GPS_Buffer,GPS_DMA_RX_BUF,Size);
GPS.GPS_Buffer[Size] = '\0';
GPS.isGetData = 1; //<2F><><EFBFBD>ݽ<EFBFBD><DDBD>ձ<EFBFBD>־λ<D6BE><CEBB>Ϊ1
tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
// // <20><><EFBFBD><EFBFBD> Size <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// memcpy(GPS.GPS_Buffer,GPS_DMA_RX_BUF,Size);
// GPS.GPS_Buffer[Size] = '\0';
// GPS.isGetData = 1; //<2F><><EFBFBD>ݽ<EFBFBD><DDBD>ձ<EFBFBD>־λ<D6BE><CEBB>Ϊ1
//
// tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
for (uint16_t i = 0; i < Size; ++i) { /* <20><><EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><D0BB><EFBFBD> */
GPS_LinePush(GPS_DMA_RX_BUF[i]);
}
//<2F><><EFBFBD>¿<EFBFBD><C2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HAL_UARTEx_ReceiveToIdle_IT(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
// HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
}
}
@@ -189,17 +194,16 @@ void ble_rx_task_entry(ULONG thread_input)
// HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
// 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,&msg,TX_WAIT_FOREVER) == TX_SUCCESS)
// {
// HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.1f}\n",
// 23.123456, 113.654321,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",
msg.lat, msg.lon,0);
}
}
}

267
fun/gps.c
View File

@@ -26,68 +26,206 @@ _GPSData GPS;
void GPS_Init(void)
{
HAL_UARTEx_ReceiveToIdle_IT(&huart2, GPS_DMA_RX_BUF, GPS_DMA_RX_BUF_LEN);
// __HAL_DMA_DISABLE_IT(&handle_GPDMA1_Channel3, DMA_IT_HT); // <20><><EFBFBD>ð봫<C3B0><EBB4AB>
// HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
}
#ifdef parse
// GPS<50><53><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD>
void parseGpsBuffer()
//void parseGpsBuffer()
//{
// char *subString;
// char *subStringNext;
// char i = 0;
//
// if(GPS.isGetData)
// {
// GPS.isGetData = 0; // <20>ѱ<EFBFBD>־λ<D6BE><CEBB>Ϊ1
//
// char usefullBuffer[2] = {0};
// for(i = 0; i <= 6; i++)
// {
// if(i == 0)
// {
//
// subString = strstr(GPS.GPS_Buffer,",");
// if(!subString)return;
// }
// else
// {
// subString++;
// subStringNext = strstr(subString,",");
// if(!subStringNext)return;
//
// switch(i)
// {
// case 1:
// memcpy(GPS.UTCTime,subString,subStringNext - subString);
// break;
// case 2:
// memcpy(usefullBuffer,subString,subStringNext - subString);
// break;
// case 3:
// memcpy(GPS.latitude,subString,subStringNext - subString);
// break;
// case 4:
// memcpy(GPS.N_S,subString,subStringNext - subString);
// break;
// case 5:
// memcpy(GPS.longitude,subString,subStringNext - subString);
// break;
// case 6:
// memcpy(GPS.E_W,subString,subStringNext - subString);
// break;
// default:break;
// }
//
// subString = subStringNext;
// }
//
// }
// GPS.isParseData = 1;
// GPS.isUsefull = (usefullBuffer[0] == 'A') ? 1 : 0;
// }
//
//}
//void parseGpsBuffer(void)
//{
// if (!GPS.isGetData) return;
// GPS.isGetData = 0;
// /* ----------- <20><><EFBFBD><EFBFBD><EFBFBD>б<EFBFBD> ------------ */
// const char *p = GPS.GPS_Buffer;
// /* <20><> RMC ----------------------------------------------------- */
// if (!strncmp(p, "$GNRMC", 6) || !strncmp(p, "$GPRMC", 6))
// {
// char status, lat[16], ns[3], lon[16], ew[3];
// if (sscanf(p,
// "$%*[^,],%*[^,],%c,%15[^,],%2[^,],%15[^,],%2[^,],",
// &status, lat, ns, lon, ew) == 5)
// {
// if (status == 'A') /* <20><>λ<EFBFBD><CEBB>Ч */
// {
// strcpy(GPS.latitude, lat);
// strcpy(GPS.N_S, ns);
// strcpy(GPS.longitude, lon);
// strcpy(GPS.E_W, ew);
// GPS.isParseData = 1;
// GPS.isUsefull = 1;
// }
// }
// return;
// }
// /* <20><> GGA ----------------------------------------------------- */
// if (!strncmp(p, "$GNGGA", 6) || !strncmp(p, "$GPGGA", 6))
// {
// int q; char lat[16], ns[3], lon[16], ew[3];
// if (sscanf(p,
// "$%*[^,],%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%d,",
// lat, ns, lon, ew, &q) == 5)
// {
// if (q > 0) /* q=0 <20>޶<EFBFBD>λ */
// {
// strcpy(GPS.latitude, lat);
// strcpy(GPS.N_S, ns);
// strcpy(GPS.longitude, lon);
// strcpy(GPS.E_W, ew);
// GPS.isParseData = 1;
// GPS.isUsefull = 1;
// }
// }
// return;
// }
// /* <20><> GLL ----------------------------------------------------- */
// if (!strncmp(p, "$GNGLL", 6) || !strncmp(p, "$GPGLL", 6))
// {
// char status, lat[16], ns[3], lon[16], ew[3];
// if (sscanf(p,
// "$%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%*[^,],%c",
// lat, ns, lon, ew, &status) == 5)
// {
// if (status == 'A')
// {
// strcpy(GPS.latitude, lat);
// strcpy(GPS.N_S, ns);
// strcpy(GPS.longitude, lon);
// strcpy(GPS.E_W, ew);
// GPS.isParseData = 1;
// GPS.isUsefull = 1;
// }
// }
// }
//}
/* === <20><> <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD> & <20><><EFBFBD>ͺ<EFBFBD><CDBA><EFBFBD> === */
static char line_buf[GPS_Buffer_Length];
static uint16_t line_w = 0;
void GPS_LinePush(uint8_t ch)
{
char *subString;
char *subStringNext;
char i = 0;
if(GPS.isGetData)
{
GPS.isGetData = 0; // <20>ѱ<EFBFBD>־λ<D6BE><CEBB>Ϊ1
char usefullBuffer[2] = {0};
for(i = 0; i <= 6; i++)
{
if(i == 0)
{
subString = strstr(GPS.GPS_Buffer,",");
if(!subString)return;
if (ch == '\n') { /* һ<><D2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
line_buf[line_w] = '\0';
strncpy(GPS.GPS_Buffer, line_buf, GPS_Buffer_Length);
line_w = 0;
GPS.isGetData = 1;
tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
return;
}
else
{
subString++;
subStringNext = strstr(subString,",");
if(!subStringNext)return;
switch(i)
{
case 1:
memcpy(GPS.UTCTime,subString,subStringNext - subString);
break;
case 2:
memcpy(usefullBuffer,subString,subStringNext - subString);
break;
case 3:
memcpy(GPS.latitude,subString,subStringNext - subString);
break;
case 4:
memcpy(GPS.N_S,subString,subStringNext - subString);
break;
case 5:
memcpy(GPS.longitude,subString,subStringNext - subString);
break;
case 6:
memcpy(GPS.E_W,subString,subStringNext - subString);
break;
default:break;
}
subString = subStringNext;
}
}
GPS.isParseData = 1;
GPS.isUsefull = (usefullBuffer[0] == 'A') ? 1 : 0;
}
if (line_w < GPS_Buffer_Length - 1)
line_buf[line_w++] = ch; /* <20><>ͨ<EFBFBD>ַ<EFBFBD> */
}
/* === <20><> <20>½<EFBFBD><C2BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֻҪ<D6BB><D2AA>γ<EFBFBD><CEB3> === */
void parseGpsBuffer(void)
{
if (!GPS.isGetData) return;
GPS.isGetData = 0;
GPS.isParseData = 0;
GPS.isUsefull = 0;
const char *p = GPS.GPS_Buffer;
/* ---- $GxRMC ---- */
if (!strncmp(p, "$GNRMC", 6) || !strncmp(p, "$GPRMC", 6)) {
char s, lat[16], ns[3], lon[16], ew[3];
if (sscanf(p,
"$%*[^,],%*[^,],%c,%15[^,],%2[^,],%15[^,],%2[^,],",
&s, lat, ns, lon, ew) == 5 && s == 'A') {
strcpy(GPS.latitude, lat); strcpy(GPS.N_S, ns);
strcpy(GPS.longitude, lon); strcpy(GPS.E_W, ew);
GPS.isParseData = GPS.isUsefull = 1;
}
return;
}
/* ---- $GxGGA ---- */
if (!strncmp(p, "$GNGGA", 6) || !strncmp(p, "$GPGGA", 6)) {
int q; char lat[16], ns[3], lon[16], ew[3];
if (sscanf(p,
"$%*[^,],%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%d,",
lat, ns, lon, ew, &q) == 5 && q > 0) {
strcpy(GPS.latitude, lat); strcpy(GPS.N_S, ns);
strcpy(GPS.longitude, lon); strcpy(GPS.E_W, ew);
GPS.isParseData = GPS.isUsefull = 1;
}
return;
}
/* ---- $GxGLL ---- */
if (!strncmp(p, "$GNGLL", 6) || !strncmp(p, "$GPGLL", 6)) {
char s, lat[16], ns[3], lon[16], ew[3];
if (sscanf(p,
"$%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%*[^,],%c",
lat, ns, lon, ew, &s) == 5 && s == 'A') {
strcpy(GPS.latitude, lat); strcpy(GPS.N_S, ns);
strcpy(GPS.longitude, lon); strcpy(GPS.E_W, ew);
GPS.isParseData = GPS.isUsefull = 1;
}
}
}
#else // <20><><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6>ڸĽ<DAB8><C4BD><EFBFBD><EFBFBD><EFBFBD>parse <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD>в<EFBFBD><D0B2><EFBFBD>
void parseGpsBuffer()
{
@@ -172,7 +310,7 @@ void GPS_Data_CLR(void)
//
// tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
// //<2F><><EFBFBD>¿<EFBFBD><C2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
// HAL_UARTEx_ReceiveToIdle_IT(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
// }
//
//}
@@ -186,25 +324,28 @@ void gps_thread_entry(ULONG thread_input)
{
GPS_Init();
static int gps_first_fix_sent = 0;
BleMessage msg;
while (1)
{
ULONG events;
tx_event_flags_get(&system_events, EVENT_GPS_DATA_READY, TX_OR_CLEAR, &events, TX_WAIT_FOREVER);
parseGpsBuffer();
HCBle_SendData("[GPS] isGetData=%d, isParseData=%d, isUsefull=%d, Buffer=%s\r\n",
GPS.isGetData, GPS.isParseData, GPS.isUsefull, GPS.GPS_Buffer);
if (GPS.isParseData && GPS.isUsefull)
{
current_location.lat = Convert_to_degrees(GPS.latitude);
current_location.lon = Convert_to_degrees(GPS.longitude);
tx_event_flags_set(&system_events, EVENT_LOCATION_UPDATED, TX_OR);
char msg[128];
snprintf(msg, sizeof(msg), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
current_location.lat,
current_location.lon,
current_location.angle);
msg.lat = current_location.lat;
msg.lon = current_location.lon;
// snprintf(msg, sizeof(msg), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
// current_location.lat,
// current_location.lon,
// current_location.angle);
tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
}

5
fun/gps.h
View File

@@ -6,11 +6,11 @@
#define USART_REC_LEN 200
#define EN_USART2_RX 1 //ʹ<>ܽ<EFBFBD><DCBD><EFBFBD> --- 1 <20><>֮ 0
#define GPS_DMA_RX_BUF_LEN 200 //<2F>ɸ<EFBFBD><C9B8><EFBFBD>NMEA<45><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define GPS_DMA_RX_BUF_LEN 220 //<2F>ɸ<EFBFBD><C9B8><EFBFBD>NMEA<45><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20><><EFBFBD><EFBFBD>gps<70>ṹ<EFBFBD><E1B9B9>
#define GPS_Buffer_Length 80
#define GPS_Buffer_Length 256
#define UTCTime_Length 11
#define latitude_Length 11
#define N_S_Length 2
@@ -36,5 +36,6 @@ double Convert_to_degrees(char *data);
void parseGpsBuffer();
void gps_thread_entry(ULONG thread_input);
void GPS_Init(void);
void GPS_LinePush(uint8_t ch);
#endif

4
fun/imu948.c
View File

@@ -82,8 +82,8 @@ void imu_angle_ble_task_entry(ULONG thread_input)
{
isNewData = 0;
float angle = AngleZ;
HCBle_SendData("Z:%.2f\r\n",AngleZ);
float angle = AngleZ * 0.0054931640625f;
// 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) {