MADAO/ManGoWalk_STM32
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gps parse successful

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MADAO
2025-07-01 22:12:49 +08:00
parent 69d790d5e2
commit a6ebf4b8a5
14 changed files with 7146 additions and 7193 deletions
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84
MDK-ARM/AutoGuideStick.uvguix.madao
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10
MDK-ARM/AutoGuideStick.uvoptx
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@@ -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>

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MDK-ARM/AutoGuideStick/AutoGuideStick.axf
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10
MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
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@@ -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...
../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);
compiling imu948.c...
../fun/HCBle.c(138): warning: illegal character encoding in string literal [-Winvalid-source-encoding]
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>

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MDK-ARM/AutoGuideStick/AutoGuideStick.hex
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1596
MDK-ARM/AutoGuideStick/AutoGuideStick.htm
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2115
MDK-ARM/AutoGuideStick/AutoGuideStick.map
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6
MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
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@@ -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

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MDK-ARM/AutoGuideStick/gps.o
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MDK-ARM/AutoGuideStick/hcble.o
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MDK-ARM/AutoGuideStick/imu948.o
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14
fun/HCBle.c
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@@ -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);
// 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]);
}
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);
//<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);

19
fun/gps.c
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@@ -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';
/* 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",
GPS.isGetData, GPS.isParseData, GPS.isUsefull, GPS.GPS_Buffer);
// 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);

9
fun/imu948.c
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@@ -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>
}
}
}
}