gps parse successful

MDK-ARM/AutoGuideStick.uvoptx

@@ -225,6 +225,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>isNewData</ItemText>
         </Ww>
+        <Ww>
+          <count>15</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>current_location</ItemText>
+        </Ww>
       </WatchWindow1>
       <WatchWindow2>
         <Ww>
@@ -257,6 +262,11 @@
           <WinNumber>2</WinNumber>
           <ItemText>GPS_DMA_RX_BUF[GPS_DMA_RX_BUF_LEN]</ItemText>
         </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>msg</ItemText>
+        </Ww>
       </WatchWindow2>
       <Tracepoint>
         <THDelay>0</THDelay>

MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm

@@ -27,14 +27,14 @@ Project File Date:  07/01/2025
 <h2>Output:</h2>
 *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
 Build target 'AutoGuideStick'
-compiling gps.c...
+compiling imu948.c...
-../fun/HCBle.c(140): warning: illegal character encoding in string literal [-Winvalid-source-encoding]
+../fun/HCBle.c(138): warning: illegal character encoding in string literal [-Winvalid-source-encoding]
-  140 |     HCBle_SendData("? <BD><E2><CE><F6>ʧ<B0><DC>: %s\r\n", frame);
+  138 |     HCBle_SendData("? <BD><E2><CE><F6>ʧ<B0><DC>: %s\r\n", frame);
       |                       ^~~~~~~~~~~~~~~~ ~~~~~~~~
 1 warning generated.
 compiling HCBle.c...
 linking...
-Program Size: Code=83580 RO-data=1428 RW-data=20 ZI-data=15532  
+Program Size: Code=83396 RO-data=1364 RW-data=20 ZI-data=15268  
 FromELF: creating hex file...
 "AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 1 Warning(s).
 
@@ -60,7 +60,7 @@ Package Vendor: Keil
 
    * Component: ARM::CMSIS:CORE@5.6.0
       Include file:  CMSIS/Core/Include/tz_context.h
-Build Time Elapsed:  00:00:02
+Build Time Elapsed:  00:00:01
 </pre>
 </body>
 </html>

MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep

@@ -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
@@ -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
 

fun/HCBle.c

@@ -104,14 +104,12 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
 	{
 		
 		//		// <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);
+		memcpy(GPS.GPS_Buffer,GPS_DMA_RX_BUF,Size);
-//		GPS.GPS_Buffer[Size] = '\0';
+		GPS.GPS_Buffer[Size] = '\0';
-//		GPS.isGetData = 1;  //<2F><><EFBFBD>ݽ<EFBFBD><DDBD>ձ<EFBFBD>־λ<D6BE><CEBB>Ϊ1
+		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);
+		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);

fun/gps.c

@@ -167,16 +167,25 @@ static uint16_t line_w = 0;
 
 void GPS_LinePush(uint8_t ch)
 {
-    if (ch == '\n') {                 /* һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
+    if (ch == '\n') {                     /* <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>н<EFBFBD><EFBFBD><EFBFBD> */
         line_buf[line_w] = '\0';
-        strncpy(GPS.GPS_Buffer, line_buf, GPS_Buffer_Length);
+
+
+        /* A. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> '$' <20><>ͷ<EFBFBD><CDB7>˵<EFBFBD><CBB5><EFBFBD><EFBFBD>ֻ<EFBFBD><D6BB><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ĺ<EFBFBD><C4BA><EFBFBD><EFBFBD><EFBFBD> <20><> ֱ<><D6B1>ƴ<EFBFBD><C6B4> */
+        if (line_buf[0] != '$' && GPS.isGetData == 0 && GPS.GPS_Buffer[0] == '$')
+        {
+            strncat(GPS.GPS_Buffer, line_buf, GPS_Buffer_Length - strlen(GPS.GPS_Buffer) - 1);
+        }
+        else        /* B. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¾<EFBFBD> */
+        {
+            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;
     }
-    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> === */
@@ -331,8 +340,8 @@ void gps_thread_entry(ULONG thread_input)
         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",
+//		HCBle_SendData("[GPS] isGetData=%d, isParseData=%d, isUsefull=%d, Buffer=%s\r\n",
-		GPS.isGetData, GPS.isParseData, GPS.isUsefull, GPS.GPS_Buffer);
+//		GPS.isGetData, GPS.isParseData, GPS.isUsefull, GPS.GPS_Buffer);
         if (GPS.isParseData && GPS.isUsefull)
         {
             current_location.lat = Convert_to_degrees(GPS.latitude);

fun/imu948.c

@@ -65,7 +65,7 @@ extern TX_QUEUE im948_uart_rx_queue;
 void imu_angle_ble_task_entry(ULONG thread_input)
 {
     ULONG rx_data;
-
+	BleMessage msg;
     // <20><>ʼ<EFBFBD><CABC>ģ<EFBFBD><C4A3>
 //    IM948_Init();
 //			HCBle_SendData("halo");
@@ -83,12 +83,11 @@ void imu_angle_ble_task_entry(ULONG thread_input)
             isNewData = 0;
 
             float angle = AngleZ * 0.0054931640625f;
+//			msg.angle = AngleZ * 0.0054931640625f;
+//			tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
 //			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>
-            }
         }
     }
 }