MADAO/ManGoWalk_STM32
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Add ble,gps,imu and others in threadx,need test

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This commit is contained in:
MADAO
2025-06-25 14:25:28 +08:00
parent 64f668fc5f
commit 957d1df05f
41 changed files with 3469 additions and 3025 deletions
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31
fun/HCBle.c
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@@ -25,6 +25,9 @@ uint8_t rx_data; //
uint8_t uart_dma_rx_buf[UART_DMA_RX_BUF_SIZE];
RingBuffer ble_rx_ring = {0}; //<2F><>ʼ<EFBFBD><CABC>
MotorCommand cmd;
LocationData current_location = {0};
float imu_angle = 0.0f;
//<2F><>ʼ<EFBFBD><CABC>DMA<4D><41><EFBFBD>պ<EFBFBD><D5BA><EFBFBD>
void HCBle_InitDMAReception(void)
@@ -119,6 +122,7 @@ void HCBle_ExtractAndParseFrame(void)
// ? JSON<4F><4E><EFBFBD><EFBFBD>
if (strstr(json_buf, "leftSpeed") && strstr(json_buf, "rightSpeed")) {
sscanf(json_buf, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}", &cmd.LeftSpeed, &cmd.RightSpeed);
tx_event_flags_set(&system_events,EVENT_BLE_COMMAND_RECEIVED,TX_OR);
//SetMotorSpeed(cmd.LeftSpeed, cmd.RightSpeed); <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
@@ -134,19 +138,30 @@ void HCBle_ExtractAndParseFrame(void)
}
}
#ifdef task
#ifdef TEST //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>app_thread.h<><68>
// BLE<4C><45><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void ble_rx_task_entry(ULONG thread_input)
{
HCBle_InitDMAReception();
while(1)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HCBle_InitDMAReception();
while(1)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HCBle_ExtractAndParseFrame();
tx_thread_sleep(10);
}
}
void ble_tx_task_entry(ULONG thread_input) {
BLE_Message msg;
while(1) {
if (tx_queue_receive(&ble_tx_queue, &msg, TX_WAIT_FOREVER) == TX_SUCCESS) {
HCBle_SendData("%s", msg.data);
}
}
}
#endif