MADAO/ManGoWalk_STM32
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MADAO
2025-06-28 20:33:31 +08:00
parent 03dba7bcc3
commit 9ca28fd516
10 changed files with 6634 additions and 6486 deletions
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18
MDK-ARM/AutoGuideStick.uvguix.madao
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MDK-ARM/AutoGuideStick/AutoGuideStick.axf
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MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
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@@ -27,7 +27,15 @@ Project File Date: 06/26/2025
<h2>Output:</h2>
*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
Build target 'AutoGuideStick'
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
../fun/HCBle.c(124): warning: illegal character encoding in string literal [-Winvalid-source-encoding]
124 | HCBle_SendData("? <BD><E2><CE><F6>ʧ<B0><DC>: %s\r\n", frame);
| ^~~~~~~~~~~~~~~~ ~~~~~~~~
1 warning generated.
compiling HCBle.c...
linking...
Program Size: Code=83284 RO-data=1592 RW-data=16 ZI-data=11480
FromELF: creating hex file...
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 1 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: 00:00:02
</pre>
</body>
</html>

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MDK-ARM/AutoGuideStick/AutoGuideStick.hex
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MDK-ARM/AutoGuideStick/AutoGuideStick.htm
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MDK-ARM/AutoGuideStick/AutoGuideStick.map
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6
MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
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@@ -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)

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MDK-ARM/AutoGuideStick/hcble.o
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21
fun/HCBle.c
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@@ -101,30 +101,32 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
// <20>ѳɹ<D1B3>ʵ<EFBFBD><CAB5> Ble<6C><65>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>
void HCBle_ParseAndHandleFrame(const char *frame)
{
int left, right;
float lat, lon, angle;
// if (sscanf(frame, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}", &left, &right) == 2) {
if (sscanf(frame, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}$", &left, &right) == 2) {
cmd.LeftSpeed = left;
cmd.RightSpeed = right;
HCBle_SendData("left=%d, right=%d\r\n", left, right);
return;
}
// if (sscanf(frame, "%*[^0-9]%d%*[^0-9]%d", &left, &right) == 2) {
// cmd.LeftSpeed = left;
// cmd.RightSpeed = right;
// HCBle_SendData("? <20><><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>: <20><>=%d, <20><>=%d\r\n", left, right);
// return;
// }
if (sscanf(frame, "%*[^0-9]%d%*[^0-9]%d", &left, &right) == 2) {
cmd.LeftSpeed = left;
cmd.RightSpeed = right;
HCBle_SendData("? <20><><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>: <20><>=%d, <20><>=%d\r\n", left, right);
return;
}
HCBle_SendData("? <20><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>: %s\r\n", frame);
}
//Ϊɶһֱʹ<D6B1>ò<EFBFBD><C3B2>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD><EFBFBD>һֱ<D2BB>ٵȴ<D9B5>TX<54><58><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
// <20>ں<EFBFBD>̨<EFBFBD><CCA8><EFBFBD>е<EFBFBD>һ<EFBFBD><D2BB><EFBFBD>̣߳<DFB3><CCA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȴ<EFBFBD>UART<52>յ<EFBFBD>BLE<4C><45><EFBFBD>ݺ󴥷<DDBA><F3B4A5B7><EFBFBD><EFBFBD>¼<EFBFBD><C2BC><EFBFBD>Ȼ<EFBFBD><C8BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Щ<EFBFBD><D0A9><EFBFBD><EFBFBD>
void ble_rx_task_entry(ULONG thread_input)
@@ -158,7 +160,6 @@ void ble_rx_task_entry(ULONG thread_input)
json_buf[idx++] = c;
if (c == '$') {
json_buf[idx] = '\0';
HCBle_SendData("<EFBFBD><EFBFBD><EFBFBD><EFBFBD>json_buf: %s\r\n", json_buf);
HCBle_ParseAndHandleFrame(json_buf);
parsing = 0;
idx = 0;

2
fun/HCBle.h
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@@ -2,7 +2,7 @@
#define __HCBLE_H
#include "headfile.h"
#define DEBUG_EN 1 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> ʹ<><CAB9>DMA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9> <20><><EFBFBD><EFBFBD>ʽ
//#define DEBUG_EN 1 //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1> ʹ<><CAB9>DMA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD><CAB9> <20><><EFBFBD><EFBFBD>ʽ
#define RX_DataSize 128
#define RING_BUFFER_SIZE 256
#define UART_DMA_RX_BUF_SIZE 20