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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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111
AutoGuideStick.ioc
View File

@@ -31,9 +31,10 @@ Mcu.Family=STM32H5
Mcu.IP0=BOOTPATH
Mcu.IP1=CORTEX_M33_NS
Mcu.IP10=TIM2
Mcu.IP11=UART5
Mcu.IP11=TIM3
Mcu.IP12=USART1
Mcu.IP13=USART2
Mcu.IP14=USART3
Mcu.IP2=DEBUG
Mcu.IP3=GPDMA1
Mcu.IP4=MEMORYMAP
@@ -42,14 +43,14 @@ Mcu.IP6=PWR
Mcu.IP7=RCC
Mcu.IP8=SYS
Mcu.IP9=THREADX
Mcu.IPNb=14
Mcu.IPNb=15
Mcu.Name=STM32H563ZITx
Mcu.Package=LQFP144
Mcu.Pin0=PH0-OSC_IN(PH0)
Mcu.Pin1=PA0
Mcu.Pin10=PA14(JTCK/SWCLK)
Mcu.Pin11=PD4
Mcu.Pin12=PD5
Mcu.Pin1=PB14
Mcu.Pin10=PD2
Mcu.Pin11=PD5
Mcu.Pin12=PD6
Mcu.Pin13=VP_CORTEX_M33_NS_VS_Hclk
Mcu.Pin14=VP_GPDMA1_VS_GPDMACH3
Mcu.Pin15=VP_GPDMA1_VS_GPDMACH4
@@ -57,19 +58,20 @@ Mcu.Pin16=VP_GPDMA1_VS_GPDMACH5
Mcu.Pin17=VP_PWR_VS_SECSignals
Mcu.Pin18=VP_PWR_VS_LPOM
Mcu.Pin19=VP_SYS_VS_tim1
Mcu.Pin2=PA1
Mcu.Pin2=PB15
Mcu.Pin20=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
Mcu.Pin21=VP_TIM2_VS_ClockSourceINT
Mcu.Pin22=VP_BOOTPATH_VS_BOOTPATH
Mcu.Pin23=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin3=PA2
Mcu.Pin4=PA3
Mcu.Pin5=PB12
Mcu.Pin6=PB13
Mcu.Pin7=PB14
Mcu.Pin8=PB15
Mcu.Pin9=PA13(JTMS/SWDIO)
Mcu.PinsNb=24
Mcu.Pin22=VP_TIM3_VS_ClockSourceINT
Mcu.Pin23=VP_BOOTPATH_VS_BOOTPATH
Mcu.Pin24=VP_MEMORYMAP_VS_MEMORYMAP
Mcu.Pin3=PC8
Mcu.Pin4=PC9
Mcu.Pin5=PA13(JTMS/SWDIO)
Mcu.Pin6=PA14(JTCK/SWCLK)
Mcu.Pin7=PC10
Mcu.Pin8=PC11
Mcu.Pin9=PC12
Mcu.PinsNb=25
Mcu.ThirdPartyNb=0
Mcu.UserConstants=
Mcu.UserName=STM32H563ZITx
@@ -95,44 +97,48 @@ NVIC.TIM1_UP_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.TimeBase=TIM1_UP_IRQn
NVIC.TimeBaseIP=TIM1
NVIC.UART5_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.USART1_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
PA0.GPIOParameters=GPIO_Label
PA0.GPIO_Label=HC_Trig
PA0.Locked=true
PA0.Signal=GPIO_Output
PA1.GPIOParameters=GPIO_Label
PA1.GPIO_Label=HC_Echo
PA1.Locked=true
PA1.Signal=S_TIM2_CH2
PA13(JTMS/SWDIO).Mode=Serial_Wire
PA13(JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO
PA14(JTCK/SWCLK).Mode=Serial_Wire
PA14(JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK
PA2.Mode=Asynchronous
PA2.Signal=USART2_TX
PA3.Mode=Asynchronous
PA3.Signal=USART2_RX
PB12.Mode=Asynchronous
PB12.Signal=UART5_RX
PB13.Mode=Asynchronous
PB13.Signal=UART5_TX
PB14.Mode=Asynchronous
PB14.Signal=USART1_TX
PB15.Mode=Asynchronous
PB15.Signal=USART1_RX
PD4.GPIOParameters=GPIO_PuPd,GPIO_Label
PD4.GPIO_Label=Shake_Motor
PD4.GPIO_PuPd=GPIO_PULLDOWN
PD4.Locked=true
PD4.Signal=GPIO_Output
PD5.GPIOParameters=GPIO_PuPd,GPIO_Label
PD5.GPIO_Label=Buzzer
PD5.GPIO_PuPd=GPIO_PULLDOWN
PC10.Locked=true
PC10.Mode=Asynchronous
PC10.Signal=USART3_TX
PC11.Locked=true
PC11.Mode=Asynchronous
PC11.Signal=USART3_RX
PC12.GPIOParameters=GPIO_PuPd,GPIO_Label
PC12.GPIO_Label=Shake_Motor
PC12.GPIO_PuPd=GPIO_PULLDOWN
PC12.Locked=true
PC12.Signal=GPIO_Output
PC8.GPIOParameters=GPIO_Label
PC8.GPIO_Label=HC_Trig
PC8.Locked=true
PC8.Signal=GPIO_Output
PC9.GPIOParameters=GPIO_Label
PC9.GPIO_Label=HC_Echo
PC9.Locked=true
PC9.Signal=S_TIM3_CH4
PD2.GPIOParameters=GPIO_PuPd,GPIO_Label
PD2.GPIO_Label=Buzzer
PD2.GPIO_PuPd=GPIO_PULLDOWN
PD2.Locked=true
PD2.Signal=GPIO_Output
PD5.Locked=true
PD5.Signal=GPIO_Output
PD5.Mode=Asynchronous
PD5.Signal=USART2_TX
PD6.Locked=true
PD6.Mode=Asynchronous
PD6.Signal=USART2_RX
PH0-OSC_IN(PH0).Mode=HSE-External-Clock-Source
PH0-OSC_IN(PH0).Signal=RCC_OSC_IN
PinOutPanel.RotationAngle=0
@@ -167,7 +173,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=false
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_UART5_Init-UART5-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_GPDMA1_Init-GPDMA1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART2_UART_Init-USART2-false-HAL-true,6-MX_TIM2_Init-TIM2-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,0-MX_CORTEX_M33_NS_Init-CORTEX_M33_NS-false-HAL-true,0-MX_PWR_Init-PWR-false-HAL-true
RCC.ADCFreq_Value=250000000
RCC.AHBFreq_Value=250000000
RCC.APB1Freq_Value=250000000
@@ -253,21 +259,24 @@ RCC.VCOInputFreq_Value=4000000
RCC.VCOOutputFreq_Value=500000000
RCC.VCOPLL2OutputFreq_Value=516000000
RCC.VCOPLL3OutputFreq_Value=516000000
SH.S_TIM2_CH2.0=TIM2_CH2,Input_Capture2_from_TI2
SH.S_TIM2_CH2.ConfNb=1
SH.S_TIM3_CH4.0=TIM3_CH4,Input_Capture4_from_TI4
SH.S_TIM3_CH4.ConfNb=1
THREADX.IPParameters=TX_APP_GENERATE_INIT_CODE
THREADX.TX_APP_GENERATE_INIT_CODE=false
TIM2.Channel-Input_Capture2_from_TI2=TIM_CHANNEL_2
TIM2.IPParameters=Channel-Input_Capture2_from_TI2,Prescaler
TIM2.IPParameters=Prescaler
TIM2.Prescaler=250 - 1
UART5.BaudRate=9600
UART5.IPParameters=BaudRate
TIM3.Channel-Input_Capture4_from_TI4=TIM_CHANNEL_4
TIM3.IPParameters=Channel-Input_Capture4_from_TI4,Prescaler
TIM3.Prescaler=250 - 1
USART1.BaudRate=9600
USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
USART1.VirtualMode-Asynchronous=VM_ASYNC
USART2.BaudRate=9600
USART2.IPParameters=VirtualMode-Asynchronous,BaudRate
USART2.VirtualMode-Asynchronous=VM_ASYNC
USART3.BaudRate=9600
USART3.IPParameters=VirtualMode-Asynchronous,BaudRate
USART3.VirtualMode-Asynchronous=VM_ASYNC
VP_BOOTPATH_VS_BOOTPATH.Mode=BP_Activate
VP_BOOTPATH_VS_BOOTPATH.Signal=BOOTPATH_VS_BOOTPATH
VP_CORTEX_M33_NS_VS_Hclk.Mode=Hclk_Mode
@@ -290,4 +299,6 @@ VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault.Mode=Core_Default
VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault.Signal=THREADX_VS_RTOSJjThreadXJjCoreJjDefault
VP_TIM2_VS_ClockSourceINT.Mode=Internal
VP_TIM2_VS_ClockSourceINT.Signal=TIM2_VS_ClockSourceINT
VP_TIM3_VS_ClockSourceINT.Mode=Internal
VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
board=custom

11
Core/Inc/app_threadx.h
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@@ -47,17 +47,24 @@ extern "C" {
/* Private defines -----------------------------------------------------------*/
/* USER CODE BEGIN PD */
// <20>¼<EFBFBD><C2BC><EFBFBD><EFBFBD><EFBFBD>define
// <20>¼<EFBFBD><C2BC><EFBFBD>־<EFBFBD><EFBFBD><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>
// <20><><EFBFBD>ڳ<EFBFBD><DAB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܻ<EFBFBD><DCBB><EFBFBD><EFBFBD><EFBFBD>ȥ 0x20 ?
#define TEST 1
extern TX_QUEUE ble_tx_queue;
extern TX_EVENT_FLAGS_GROUP system_events;
typedef struct
{
uint8_t msg_type; // 1=λ<><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,2=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
char data[128];
}BLE_Message; // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ <20><><EFBFBD>ݽṹ
/* USER CODE END PD */
/* Main thread defines -------------------------------------------------------*/

14
Core/Inc/main.h
View File

@@ -57,13 +57,13 @@ void Error_Handler(void);
/* USER CODE END EFP */
/* Private defines -----------------------------------------------------------*/
#define HC_Trig_Pin GPIO_PIN_0
#define HC_Trig_GPIO_Port GPIOA
#define HC_Echo_Pin GPIO_PIN_1
#define HC_Echo_GPIO_Port GPIOA
#define Shake_Motor_Pin GPIO_PIN_4
#define Shake_Motor_GPIO_Port GPIOD
#define Buzzer_Pin GPIO_PIN_5
#define HC_Trig_Pin GPIO_PIN_8
#define HC_Trig_GPIO_Port GPIOC
#define HC_Echo_Pin GPIO_PIN_9
#define HC_Echo_GPIO_Port GPIOC
#define Shake_Motor_Pin GPIO_PIN_12
#define Shake_Motor_GPIO_Port GPIOC
#define Buzzer_Pin GPIO_PIN_2
#define Buzzer_GPIO_Port GPIOD
/* USER CODE BEGIN Private defines */

2
Core/Inc/stm32h5xx_it.h
View File

@@ -59,7 +59,7 @@ void TIM1_UP_IRQHandler(void);
void TIM2_IRQHandler(void);
void USART1_IRQHandler(void);
void USART2_IRQHandler(void);
void UART5_IRQHandler(void);
void USART3_IRQHandler(void);
/* USER CODE BEGIN EFP */
/* USER CODE END EFP */

3
Core/Inc/tim.h
View File

@@ -34,11 +34,14 @@ extern "C" {
extern TIM_HandleTypeDef htim2;
extern TIM_HandleTypeDef htim3;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_TIM2_Init(void);
void MX_TIM3_Init(void);
/* USER CODE BEGIN Prototypes */

6
Core/Inc/usart.h
View File

@@ -32,19 +32,19 @@ extern "C" {
/* USER CODE END Includes */
extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
/* USER CODE BEGIN Private defines */
/* USER CODE END Private defines */
void MX_UART5_Init(void);
void MX_USART1_UART_Init(void);
void MX_USART2_UART_Init(void);
void MX_USART3_UART_Init(void);
/* USER CODE BEGIN Prototypes */

62
Core/Src/app_threadx.c
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@@ -43,26 +43,70 @@
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
/* 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;
/* <20><>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
typedef struct
{
uint8_t msg_type; // 1=GPS<50><53><EFBFBD>ݣ<EFBFBD>2=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2>3=״̬<D7B4><CCAC>Ϣ
char data[128];
}BLE_Message;
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>app_thread.c<><63>
// #define task_test 1
#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)
{
ULONG events;
MotorCommand motor_cmd = {0, 0};
while(1)
{
// 等待事件发生
tx_event_flags_get(&system_events,
EVENT_OBSTACLE_DETECTED | EVENT_BLE_COMMAND_RECEIVED,
TX_OR_CLEAR, &events, TX_WAIT_FOREVER);
// 处理障碍物事件
if(events & EVENT_OBSTACLE_DETECTED)
{
// 触发蜂鸣器和振动提示
Buzzer_Open();
Shake_Motor_Open();
tx_thread_sleep(100); // 振动100ms
Buzzer_Close();
Shake_Motor_Close();
// 发送报警到手机
BLE_Message msg;
msg.msg_type = 2;
snprintf(msg.data, sizeof(msg.data), "#{\"alert\":\"Obstacle detected!\"}\n");
tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
}
// 处理蓝牙控制指令
if(events & EVENT_BLE_COMMAND_RECEIVED)
{
// 从队列获取电机命令
// tx_queue_receive(&ble_rx_queue, &motor_cmd, TX_WAIT_FOREVER);
// 实际控制电机 (伪代码)
// set_motor_speed(motor_cmd.leftSpeed, motor_cmd.rightSpeed);
}
}
}
/* USER CODE END 1 */
/* USER CODE END 1 */
#endif
/* USER CODE END PFP */
/**

20
Core/Src/gpio.c
View File

@@ -44,15 +44,16 @@ void MX_GPIO_Init(void)
/* GPIO Ports Clock Enable */
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(HC_Trig_GPIO_Port, HC_Trig_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOC, HC_Trig_Pin|Shake_Motor_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin Output Level */
HAL_GPIO_WritePin(GPIOD, Shake_Motor_Pin|Buzzer_Pin, GPIO_PIN_RESET);
HAL_GPIO_WritePin(Buzzer_GPIO_Port, Buzzer_Pin, GPIO_PIN_RESET);
/*Configure GPIO pin : HC_Trig_Pin */
GPIO_InitStruct.Pin = HC_Trig_Pin;
@@ -61,12 +62,19 @@ void MX_GPIO_Init(void)
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(HC_Trig_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pins : Shake_Motor_Pin Buzzer_Pin */
GPIO_InitStruct.Pin = Shake_Motor_Pin|Buzzer_Pin;
/*Configure GPIO pin : Shake_Motor_Pin */
GPIO_InitStruct.Pin = Shake_Motor_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
HAL_GPIO_Init(Shake_Motor_GPIO_Port, &GPIO_InitStruct);
/*Configure GPIO pin : Buzzer_Pin */
GPIO_InitStruct.Pin = Buzzer_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLDOWN;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(Buzzer_GPIO_Port, &GPIO_InitStruct);
}

3
Core/Src/main.c
View File

@@ -95,7 +95,8 @@ int main(void)
MX_USART1_UART_Init();
MX_USART2_UART_Init();
MX_TIM2_Init();
MX_UART5_Init();
MX_TIM3_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */

16
Core/Src/stm32h5xx_it.c
View File

@@ -64,9 +64,9 @@ extern DMA_HandleTypeDef handle_GPDMA1_Channel4;
extern DMA_NodeTypeDef Node_GPDMA1_Channel3;
extern DMA_QListTypeDef List_GPDMA1_Channel3;
extern DMA_HandleTypeDef handle_GPDMA1_Channel3;
extern UART_HandleTypeDef huart5;
extern UART_HandleTypeDef huart1;
extern UART_HandleTypeDef huart2;
extern UART_HandleTypeDef huart3;
extern TIM_HandleTypeDef htim1;
/* USER CODE BEGIN EV */
@@ -284,17 +284,17 @@ void USART2_IRQHandler(void)
}
/**
* @brief This function handles UART5 global interrupt.
* @brief This function handles USART3 global interrupt.
*/
void UART5_IRQHandler(void)
void USART3_IRQHandler(void)
{
/* USER CODE BEGIN UART5_IRQn 0 */
/* USER CODE BEGIN USART3_IRQn 0 */
/* USER CODE END UART5_IRQn 0 */
HAL_UART_IRQHandler(&huart5);
/* USER CODE BEGIN UART5_IRQn 1 */
/* USER CODE END USART3_IRQn 0 */
HAL_UART_IRQHandler(&huart3);
/* USER CODE BEGIN USART3_IRQn 1 */
/* USER CODE END UART5_IRQn 1 */
/* USER CODE END USART3_IRQn 1 */
}
/* USER CODE BEGIN 1 */

109
Core/Src/tim.c
View File

@@ -25,6 +25,7 @@
/* USER CODE END 0 */
TIM_HandleTypeDef htim2;
TIM_HandleTypeDef htim3;
/* TIM2 init function */
void MX_TIM2_Init(void)
@@ -36,7 +37,6 @@ void MX_TIM2_Init(void)
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
/* USER CODE BEGIN TIM2_Init 1 */
@@ -56,13 +56,54 @@ void MX_TIM2_Init(void)
{
Error_Handler();
}
if (HAL_TIM_IC_Init(&htim2) != HAL_OK)
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE END TIM2_Init 2 */
}
/* TIM3 init function */
void MX_TIM3_Init(void)
{
/* USER CODE BEGIN TIM3_Init 0 */
/* USER CODE END TIM3_Init 0 */
TIM_ClockConfigTypeDef sClockSourceConfig = {0};
TIM_MasterConfigTypeDef sMasterConfig = {0};
TIM_IC_InitTypeDef sConfigIC = {0};
/* USER CODE BEGIN TIM3_Init 1 */
/* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3;
htim3.Init.Prescaler = 250 - 1;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 65535;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
if (HAL_TIM_ConfigClockSource(&htim3, &sClockSourceConfig) != HAL_OK)
{
Error_Handler();
}
if (HAL_TIM_IC_Init(&htim3) != HAL_OK)
{
Error_Handler();
}
sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
if (HAL_TIMEx_MasterConfigSynchronization(&htim2, &sMasterConfig) != HAL_OK)
if (HAL_TIMEx_MasterConfigSynchronization(&htim3, &sMasterConfig) != HAL_OK)
{
Error_Handler();
}
@@ -70,13 +111,13 @@ void MX_TIM2_Init(void)
sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
sConfigIC.ICFilter = 0;
if (HAL_TIM_IC_ConfigChannel(&htim2, &sConfigIC, TIM_CHANNEL_2) != HAL_OK)
if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_4) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN TIM2_Init 2 */
/* USER CODE BEGIN TIM3_Init 2 */
/* USER CODE END TIM2_Init 2 */
/* USER CODE END TIM3_Init 2 */
}
@@ -92,17 +133,6 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* TIM2 clock enable */
__HAL_RCC_TIM2_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
/**TIM2 GPIO Configuration
PA1 ------> TIM2_CH2
*/
GPIO_InitStruct.Pin = HC_Echo_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF1_TIM2;
HAL_GPIO_Init(HC_Echo_GPIO_Port, &GPIO_InitStruct);
/* TIM2 interrupt Init */
HAL_NVIC_SetPriority(TIM2_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(TIM2_IRQn);
@@ -110,6 +140,29 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
/* USER CODE END TIM2_MspInit 1 */
}
else if(tim_baseHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspInit 0 */
/* USER CODE END TIM3_MspInit 0 */
/* TIM3 clock enable */
__HAL_RCC_TIM3_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**TIM3 GPIO Configuration
PC9 ------> TIM3_CH4
*/
GPIO_InitStruct.Pin = HC_Echo_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
HAL_GPIO_Init(HC_Echo_GPIO_Port, &GPIO_InitStruct);
/* USER CODE BEGIN TIM3_MspInit 1 */
/* USER CODE END TIM3_MspInit 1 */
}
}
void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
@@ -123,17 +176,29 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
/* Peripheral clock disable */
__HAL_RCC_TIM2_CLK_DISABLE();
/**TIM2 GPIO Configuration
PA1 ------> TIM2_CH2
*/
HAL_GPIO_DeInit(HC_Echo_GPIO_Port, HC_Echo_Pin);
/* TIM2 interrupt Deinit */
HAL_NVIC_DisableIRQ(TIM2_IRQn);
/* USER CODE BEGIN TIM2_MspDeInit 1 */
/* USER CODE END TIM2_MspDeInit 1 */
}
else if(tim_baseHandle->Instance==TIM3)
{
/* USER CODE BEGIN TIM3_MspDeInit 0 */
/* USER CODE END TIM3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_TIM3_CLK_DISABLE();
/**TIM3 GPIO Configuration
PC9 ------> TIM3_CH4
*/
HAL_GPIO_DeInit(HC_Echo_GPIO_Port, HC_Echo_Pin);
/* USER CODE BEGIN TIM3_MspDeInit 1 */
/* USER CODE END TIM3_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */

223
Core/Src/usart.c
View File

@@ -24,9 +24,9 @@
/* USER CODE END 0 */
UART_HandleTypeDef huart5;
UART_HandleTypeDef huart1;
UART_HandleTypeDef huart2;
UART_HandleTypeDef huart3;
DMA_NodeTypeDef Node_GPDMA1_Channel5;
DMA_QListTypeDef List_GPDMA1_Channel5;
DMA_HandleTypeDef handle_GPDMA1_Channel5;
@@ -35,49 +35,6 @@ DMA_NodeTypeDef Node_GPDMA1_Channel3;
DMA_QListTypeDef List_GPDMA1_Channel3;
DMA_HandleTypeDef handle_GPDMA1_Channel3;
/* UART5 init function */
void MX_UART5_Init(void)
{
/* USER CODE BEGIN UART5_Init 0 */
/* USER CODE END UART5_Init 0 */
/* USER CODE BEGIN UART5_Init 1 */
/* USER CODE END UART5_Init 1 */
huart5.Instance = UART5;
huart5.Init.BaudRate = 9600;
huart5.Init.WordLength = UART_WORDLENGTH_8B;
huart5.Init.StopBits = UART_STOPBITS_1;
huart5.Init.Parity = UART_PARITY_NONE;
huart5.Init.Mode = UART_MODE_TX_RX;
huart5.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart5.Init.OverSampling = UART_OVERSAMPLING_16;
huart5.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart5.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart5.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart5) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart5, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart5, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart5) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN UART5_Init 2 */
/* USER CODE END UART5_Init 2 */
}
/* USART1 init function */
void MX_USART1_UART_Init(void)
@@ -165,6 +122,50 @@ void MX_USART2_UART_Init(void)
/* USER CODE END USART2_Init 2 */
}
/* USART3 init function */
void MX_USART3_UART_Init(void)
{
/* USER CODE BEGIN USART3_Init 0 */
/* USER CODE END USART3_Init 0 */
/* USER CODE BEGIN USART3_Init 1 */
/* USER CODE END USART3_Init 1 */
huart3.Instance = USART3;
huart3.Init.BaudRate = 9600;
huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE;
huart3.Init.Mode = UART_MODE_TX_RX;
huart3.Init.HwFlowCtl = UART_HWCONTROL_NONE;
huart3.Init.OverSampling = UART_OVERSAMPLING_16;
huart3.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
huart3.Init.ClockPrescaler = UART_PRESCALER_DIV1;
huart3.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
if (HAL_UART_Init(&huart3) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetTxFifoThreshold(&huart3, UART_TXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_SetRxFifoThreshold(&huart3, UART_RXFIFO_THRESHOLD_1_8) != HAL_OK)
{
Error_Handler();
}
if (HAL_UARTEx_DisableFifoMode(&huart3) != HAL_OK)
{
Error_Handler();
}
/* USER CODE BEGIN USART3_Init 2 */
/* USER CODE END USART3_Init 2 */
}
void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
@@ -173,44 +174,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
GPIO_InitTypeDef GPIO_InitStruct = {0};
DMA_NodeConfTypeDef NodeConfig= {0};
RCC_PeriphCLKInitTypeDef PeriphClkInitStruct = {0};
if(uartHandle->Instance==UART5)
{
/* USER CODE BEGIN UART5_MspInit 0 */
/* USER CODE END UART5_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_UART5;
PeriphClkInitStruct.Uart5ClockSelection = RCC_UART5CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* UART5 clock enable */
__HAL_RCC_UART5_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
/**UART5 GPIO Configuration
PB12 ------> UART5_RX
PB13 ------> UART5_TX
*/
GPIO_InitStruct.Pin = GPIO_PIN_12|GPIO_PIN_13;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF14_UART5;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
/* UART5 interrupt Init */
HAL_NVIC_SetPriority(UART5_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(UART5_IRQn);
/* USER CODE BEGIN UART5_MspInit 1 */
/* USER CODE END UART5_MspInit 1 */
}
else if(uartHandle->Instance==USART1)
if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspInit 0 */
@@ -348,17 +312,17 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
/* USART2 clock enable */
__HAL_RCC_USART2_CLK_ENABLE();
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOD_CLK_ENABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
PD5 ------> USART2_TX
PD6 ------> USART2_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_2|GPIO_PIN_3;
GPIO_InitStruct.Pin = GPIO_PIN_5|GPIO_PIN_6;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
GPIO_InitStruct.Alternate = GPIO_AF7_USART2;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
HAL_GPIO_Init(GPIOD, &GPIO_InitStruct);
/* USART2 DMA Init */
/* GPDMA1_REQUEST_USART2_RX Init */
@@ -423,32 +387,49 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
/* USER CODE END USART2_MspInit 1 */
}
else if(uartHandle->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspInit 0 */
/* USER CODE END USART3_MspInit 0 */
/** Initializes the peripherals clock
*/
PeriphClkInitStruct.PeriphClockSelection = RCC_PERIPHCLK_USART3;
PeriphClkInitStruct.Usart3ClockSelection = RCC_USART3CLKSOURCE_PCLK1;
if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInitStruct) != HAL_OK)
{
Error_Handler();
}
/* USART3 clock enable */
__HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
/**USART3 GPIO Configuration
PC10 ------> USART3_TX
PC11 ------> USART3_RX
*/
GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11;
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(GPIOC, &GPIO_InitStruct);
/* USART3 interrupt Init */
HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspInit 1 */
/* USER CODE END USART3_MspInit 1 */
}
}
void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
{
if(uartHandle->Instance==UART5)
{
/* USER CODE BEGIN UART5_MspDeInit 0 */
/* USER CODE END UART5_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_UART5_CLK_DISABLE();
/**UART5 GPIO Configuration
PB12 ------> UART5_RX
PB13 ------> UART5_TX
*/
HAL_GPIO_DeInit(GPIOB, GPIO_PIN_12|GPIO_PIN_13);
/* UART5 interrupt Deinit */
HAL_NVIC_DisableIRQ(UART5_IRQn);
/* USER CODE BEGIN UART5_MspDeInit 1 */
/* USER CODE END UART5_MspDeInit 1 */
}
else if(uartHandle->Instance==USART1)
if(uartHandle->Instance==USART1)
{
/* USER CODE BEGIN USART1_MspDeInit 0 */
@@ -481,10 +462,10 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
__HAL_RCC_USART2_CLK_DISABLE();
/**USART2 GPIO Configuration
PA2 ------> USART2_TX
PA3 ------> USART2_RX
PD5 ------> USART2_TX
PD6 ------> USART2_RX
*/
HAL_GPIO_DeInit(GPIOA, GPIO_PIN_2|GPIO_PIN_3);
HAL_GPIO_DeInit(GPIOD, GPIO_PIN_5|GPIO_PIN_6);
/* USART2 DMA DeInit */
HAL_DMA_DeInit(uartHandle->hdmarx);
@@ -495,6 +476,26 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
/* USER CODE END USART2_MspDeInit 1 */
}
else if(uartHandle->Instance==USART3)
{
/* USER CODE BEGIN USART3_MspDeInit 0 */
/* USER CODE END USART3_MspDeInit 0 */
/* Peripheral clock disable */
__HAL_RCC_USART3_CLK_DISABLE();
/**USART3 GPIO Configuration
PC10 ------> USART3_TX
PC11 ------> USART3_RX
*/
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_11);
/* USART3 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART3_IRQn);
/* USER CODE BEGIN USART3_MspDeInit 1 */
/* USER CODE END USART3_MspDeInit 1 */
}
}
/* USER CODE BEGIN 1 */

170
MDK-ARM/AutoGuideStick.uvguix.madao
View File

File diff suppressed because one or more lines are too long

BIN
MDK-ARM/AutoGuideStick/AutoGuideStick.axf
View File

Binary file not shown.

12
MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
View File

@@ -22,11 +22,19 @@ Dialog DLL: TCM.DLL V1.56.4.0
<h2>Project:</h2>
D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
Project File Date: 06/24/2025
Project File Date: 06/25/2025
<h2>Output:</h2>
*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
Build target 'AutoGuideStick'
compiling HCBle.c...
compiling app_threadx.c...
compiling gps.c...
compiling Shake_Motor.c...
compiling Ultrasound.c...
linking...
Program Size: Code=60986 RO-data=726 RW-data=16 ZI-data=6296
FromELF: creating hex file...
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
<h2>Software Packages used:</h2>
@@ -51,7 +59,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE@5.6.0
Include file: CMSIS/Core/Include/tz_context.h
Build Time Elapsed: 00:00:00
Build Time Elapsed: 00:00:07
</pre>
</body>
</html>

3118
MDK-ARM/AutoGuideStick/AutoGuideStick.hex
View File

File diff suppressed because it is too large Load Diff

876
MDK-ARM/AutoGuideStick/AutoGuideStick.htm
View File

File diff suppressed because it is too large Load Diff

1476
MDK-ARM/AutoGuideStick/AutoGuideStick.map
View File

File diff suppressed because it is too large Load Diff

36
MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
View File

@@ -1,7 +1,7 @@
Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
CompilerVersion: 6210000::V6.21::ARMCLANG
F (startup_stm32h563xx.s)(0x685A710C)(--target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -masm=auto -Wa,armasm,--diag_suppress=A1950W -c
F (startup_stm32h563xx.s)(0x685B80D5)(--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)
@@ -140,8 +140,8 @@ 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)(0x684461E1)
I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
@@ -182,7 +182,7 @@ I (..\Core\Inc\gpdma.ha.\Core\Inc\tim.h)(0x00000000)
-I./RTE/_AutoGuideStick
-ID:/keil5/ARM/PACK/ARM/CMSIS/5.9.0/CMSIS/Core/Include
-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
@@ -214,7 +214,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h)(0x683FA4DD)
I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.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_pwr_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)
@@ -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)
@@ -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)
@@ -2154,7 +2154,7 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
-o autoguidestick/tx_mutex_cleanup.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_thread.h)(0x683FA4DA)
@@ -2198,7 +2198,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012)
-o autoguidestick/tx_mutex_delete.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 (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
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_thread.h)(0x683FA4DA)
@@ -2240,8 +2240,8 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
-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/tx_mutex_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\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 (..\Middlewares\ST\threadx\common\inc\tx_trace.h)(0x683FA4DA)
@@ -2283,8 +2283,8 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
-o autoguidestick/tx_mutex_prioritize.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 (..\Core\Inc\tx_user.he:\keil5\ARM\ARMCLANG\include\stdlib.h)(0x00000000)
I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
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_thread.h)(0x683FA4DA)
I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
@@ -2325,4 +2325,4 @@ I (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
-o autoguidestick/tx_mutex_put.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)

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29
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

4
fun/HCBle.h
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@@ -7,7 +7,7 @@
#define RING_BUFFER_SIZE 256
#define UART_DMA_RX_BUF_SIZE 64
#define task 1
// HCBle <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݶ<EFBFBD><DDB6><EFBFBD>
typedef struct
{
@@ -39,4 +39,6 @@ extern LocationData current_location;
void HCBle_InitDMAReception(void);
void HCBle_ExtractAndParseFrame(void);
void ble_rx_task_entry(ULONG thread_input);
#endif

20
fun/IMU.c
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@@ -1,2 +1,22 @@
#include "IMU.h"
#ifdef TEST
void imu_thread_entry(ULONG thread_input)
{
while (1)
{
// float imu_angle = GetIMUAngle();
float imu_angle = 96.0f; //<2F><>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>ֵ
current_location.angle = imu_angle;
tx_event_flags_set(&system_events, EVENT_IMU_DATA_READY, TX_OR);
tx_thread_sleep(100);
}
}
#endif

2
fun/IMU.h
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@@ -3,5 +3,5 @@
#include "headfile.h"
void imu_thread_entry(ULONG thread_input);
#endif

22
fun/Shake_Motor.c
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@@ -9,3 +9,25 @@ void Shake_Motor_Close(void)
{
HAL_GPIO_WritePin(Shake_Motor_GPIO_Port,Shake_Motor_Pin,GPIO_PIN_RESET); // <20>͵<EFBFBD>ƽ<EFBFBD>ر<EFBFBD>
}
// <20><><EFBFBD>ӷ<EFBFBD><D3B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD><C6B9><EFBFBD>
void Shake_Motor_Left(void)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ: <20><><EFBFBD><EFBFBD>3<EFBFBD><33>
for(int i=0; i<3; i++)
{
HAL_GPIO_WritePin(Shake_Motor_GPIO_Port, Shake_Motor_Pin, GPIO_PIN_SET);
tx_thread_sleep(50);
HAL_GPIO_WritePin(Shake_Motor_GPIO_Port, Shake_Motor_Pin, GPIO_PIN_RESET);
tx_thread_sleep(100);
}
}
void Shake_Motor_Right(void)
{
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ: <20><><EFBFBD><EFBFBD>1<EFBFBD><31>
HAL_GPIO_WritePin(Shake_Motor_GPIO_Port, Shake_Motor_Pin, GPIO_PIN_SET);
tx_thread_sleep(300);
HAL_GPIO_WritePin(Shake_Motor_GPIO_Port, Shake_Motor_Pin, GPIO_PIN_RESET);
}

4
fun/Shake_Motor.h
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@@ -5,5 +5,7 @@
void Shake_Motor_Open(void);
void Shake_Motor_Close(void);
// <20><><EFBFBD>ӷ<EFBFBD><D3B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD><C6B9><EFBFBD>
void Shake_Motor_Left(void);
void Shake_Motor_Right(void);
#endif

18
fun/Ultrasound.c
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@@ -62,22 +62,24 @@ void HCSR04_Trigger(void)
}
#ifdef HCSR_TEST
#ifdef TEST
void ultrasonic_task_entry(ULONG thread_input) {
HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
DWT_Init();
while (1) {
HCSR04_Trigger();
ULONG actual_flags;
ULONG events;
if (tx_event_flags_get(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR_CLEAR,
&actual_flags, TX_WAIT_FOREVER) == TX_SUCCESS) {
&events, TX_WAIT_FOREVER) == TX_SUCCESS) {
if (distance_cm < 30) {
// ִ<>б<EFBFBD><D0B1>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>񶯡<EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE>
tx_event_flags_set(&system_events,EVENT_OBSTACLE_DETECTED,TX_OR);// ִ<>б<EFBFBD><D0B1>ϴ<EFBFBD><CFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>񶯡<EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE>
}
}
tx_thread_sleep(50); // ÿ<>β<EFBFBD><CEB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 50 ticks
tx_thread_sleep(50); // ÿ<>β<EFBFBD><CEB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 50 ticks 20Hz <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>
}
}
#endif
@@ -85,6 +87,8 @@ void ultrasonic_task_entry(ULONG thread_input) {
/*******
Echo <20><><EFBFBD>벶<EFBFBD><EBB2B6><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD><EFBFBD>
@@ -103,8 +107,8 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
uint32_t delta = (ic_val2 > ic_val1) ? (ic_val2 - ic_val1) : (0xFFFF - ic_val1 + ic_val2);
distance_cm = delta / 58;
// ֪ͨ<CDA8><D6AA><EFBFBD><EFBFBD>
// tx_event_flags_set(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR);
// ֪ͨ<CDA8><D6AA><EFBFBD><EFBFBD> ȡ<><C8A1>ע<EFBFBD><D7A2><EFBFBD>Ի<EFBFBD><D4BB>Ѳ<EFBFBD><D1B2><EFBFBD><EFBFBD>߳<EFBFBD>
tx_event_flags_set(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR);
}
}
}

1
fun/Ultrasound.h
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@@ -22,4 +22,5 @@ pulse to the trigger input to start the ranging
<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Բ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰһ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Trig Ϊ<>ߵ<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD>ܵ<EFBFBD><DCB5>´<EFBFBD><C2B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><CBBC><EFBFBD> HAL_GPIO_WritePin(..., RESET); HAL_Delay(); <20><>һ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD>д<EFBFBD><D0B4><EFBFBD><EFBFBD>
******/
void HCSR04_Trigger(void);
void ultrasonic_task_entry(ULONG thread_input);
#endif

115
fun/gps.c
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@@ -1,5 +1,11 @@
#include "gps.h"
//#define TEST 1 //<2F><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>,ȥ<><C8A5><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ԽӴ<D4BD><D3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><C4B5><EFBFBD>
#define parse 1 // <20><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>
/**
<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
@@ -17,47 +23,12 @@ extern DMA_HandleTypeDef handle_GPDMA1_Channel3;
uint8_t GPS_DMA_RX_BUF[GPS_DMA_RX_BUF_LEN]; //<2F><><EFBFBD><EFBFBD>DMA<4D><41><EFBFBD>ջ<EFBFBD><D5BB><EFBFBD>
_GPSData GPS;
// TEST <20>ǽ<EFBFBD><C7BD><EFBFBD><EFBFBD>߼<EFBFBD><DFBC><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD>Ĵ<EFBFBD><C4B4>룬else֮<65><D6AE><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC>뵽Thread X<><58>ʵ<EFBFBD>ʿ<EFBFBD><CABF>ƴ<EFBFBD><C6B4><EFBFBD>
#ifdef TEST
//void GPS_DMA_Start(void)
//{
// HAL_UART_Receive_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
// __HAL_DMA_ENABLE_IT(huart2.hdmarx,DMA_IT_HT); //<2F>봫<EFBFBD><EBB4AB><EFBFBD>ж<EFBFBD>
// __HAL_DMA_ENABLE_IT(huart2.hdmarx,DMA_IT_TC); //ȫ<><C8AB><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
//}
void GPS_Init(void)
{
HAL_UARTEx_ReceiveToIdle_DMA(&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>
}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
if(huart->Instance == USART2)
{
// <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
//<2F><><EFBFBD>¿<EFBFBD><C2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
__HAL_DMA_DISABLE_IT(&handle_GPDMA1_Channel3,DMA_IT_HT);
}
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void GPS_Data_CLR(void)
{
memset(GPS_DMA_RX_BUF,0,GPS_DMA_RX_BUF_LEN);
}
#ifdef parse
// GPS<50><53><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD>
void parseGpsBuffer()
@@ -172,7 +143,6 @@ void parseGpsBuffer()
*/
#endif
// ת<><D7AA><EFBFBD>Ƕ<EFBFBD>
double Convert_to_degrees(char *data)
{
@@ -181,11 +151,82 @@ double Convert_to_degrees(char *data)
double min = temp - deg * 100;
return deg + (min / 60.0);
}
#else // <20>ⲿ<EFBFBD><E2B2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Thread X
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void GPS_Data_CLR(void)
{
memset(GPS_DMA_RX_BUF,0,GPS_DMA_RX_BUF_LEN);
}
//void GPS_DMA_Start(void)
//{
// HAL_UART_Receive_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
// __HAL_DMA_ENABLE_IT(huart2.hdmarx,DMA_IT_HT); //<2F>봫<EFBFBD><EBB4AB><EFBFBD>ж<EFBFBD>
// __HAL_DMA_ENABLE_IT(huart2.hdmarx,DMA_IT_TC); //ȫ<><C8AB><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD>
//}
void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
{
if(huart->Instance == USART2)
{
// <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
//<2F><><EFBFBD>¿<EFBFBD><C2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
__HAL_DMA_DISABLE_IT(&handle_GPDMA1_Channel3,DMA_IT_HT);
}
}
// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫʹ<D2AA>õ<EFBFBD>ThreadX <20>Ͱ<EFBFBD>gps.h<>е<EFBFBD> TEST <20>궨<EFBFBD><EAB6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#ifdef TEST
void gps_thread_entry(ULONG thread_input)
{
GPS_Init();
static int gps_first_fix_sent = 0;
while (1)
{
ULONG events;
tx_event_flags_get(&system_events, EVENT_GPS_DATA_READY, TX_OR_CLEAR, &events, TX_WAIT_FOREVER);
parseGpsBuffer();
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);
BLE_Message msg;
msg.msg_type = 1;
snprintf(msg.data, sizeof(msg.data), "#{\"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);
if (!gps_first_fix_sent)
{
gps_first_fix_sent = 1;
BLE_Message fix_msg;
fix_msg.msg_type = 2;
snprintf(fix_msg.data, sizeof(fix_msg.data), "#{\"info\":\"GPS fixed and ready\"}\n");
tx_queue_send(&ble_tx_queue, &fix_msg, TX_WAIT_FOREVER);
}
}
}
}
#endif

5
fun/gps.h
View File

@@ -8,8 +8,6 @@
#define GPS_DMA_RX_BUF_LEN 200 //<2F>ɸ<EFBFBD><C9B8><EFBFBD>NMEA<45><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define TEST 1 //<2F><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>,ȥ<><C8A5><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>ԽӴ<D4BD><D3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD><C4B5><EFBFBD>
#define parse 1 // <20><><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9>
// <20><><EFBFBD><EFBFBD>gps<70>ṹ<EFBFBD><E1B9B9>
#define GPS_Buffer_Length 80
@@ -35,4 +33,7 @@ typedef struct GPSData
extern _GPSData GPS;
extern uint8_t GPS_DMA_RX_BUF[GPS_DMA_RX_BUF_LEN];
void gps_thread_entry(ULONG thread_input);
#endif