gps parse successful

Core/Src/app_threadx.c

@@ -89,7 +89,11 @@ TX_QUEUE im948_uart_rx_queue;
 
 /* Private function prototypes -----------------------------------------------*/
 /* USER CODE BEGIN PFP */
+#define GPS_TASK_STACK_SIZE   2048
+#define GPS_TASK_PRIORITY     11
 
+TX_THREAD gps_task;
+ULONG gps_task_stack[GPS_TASK_STACK_SIZE / sizeof(ULONG)];
 
 /* USER CODE END 1 */
 /* USER CODE END 1 */
@@ -158,8 +162,26 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
                                TX_1_ULONG, // sizeof(ULONG) bytes per entry
                                im948_rx_queue_buffer,
                                IM948_RX_QUEUE_SIZE * sizeof(ULONG));
+	if(status != TX_SUCCESS)
+	{
+		return status;
+	}
 	
+	status = tx_thread_create(&gps_task,
+                  "GPS Task",
+                  gps_thread_entry,
+                  0,
+                  gps_task_stack,
+                  GPS_TASK_STACK_SIZE,
+                  GPS_TASK_PRIORITY,
+                  GPS_TASK_PRIORITY,
+                  TX_NO_TIME_SLICE,
+                  TX_AUTO_START);
 	
+	if(status != TX_SUCCESS)
+	{
+		return status;
+	}
     HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
 	
     return TX_SUCCESS;

Core/Src/main.c

@@ -103,6 +103,7 @@ int main(void)
   /* USER CODE BEGIN 2 */
 
    imu600_init();
+   GPS_Init();
 //	HCBle_InitDMAReception();
 //	HAL_Delay(200);
 //	GPS_Init();

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>
@@ -252,6 +257,16 @@
           <WinNumber>2</WinNumber>
           <ItemText>AngleZ</ItemText>
         </Ww>
+        <Ww>
+          <count>5</count>
+          <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

@@ -28,10 +28,15 @@ Project File Date:  07/01/2025
 *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
 Build target 'AutoGuideStick'
 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=82196 RO-data=1164 RW-data=20 ZI-data=12836  
+Program Size: Code=83396 RO-data=1364 RW-data=20 ZI-data=15268  
 FromELF: creating hex file...
-"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
+"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 1 Warning(s).
 
 <h2>Software Packages used:</h2>
 
@@ -55,7 +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

@@ -1,7 +1,7 @@
 Dependencies for Project 'AutoGuideStick', Target 'AutoGuideStick': (DO NOT MODIFY !)
 CompilerVersion: 6210000::V6.21::ARMCLANG
 F (startup_stm32h563xx.s)(0x68634847)(--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 -Wa,armasm,--pd,"__MICROLIB SETA 1" -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
@@ -141,8 +141,8 @@ 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)(0x685C2A98)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h)(0x683FA4DD)
@@ -216,7 +216,7 @@ I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.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_tim.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)
 I (..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h)(0x683FA4DD)
@@ -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
@@ -2160,7 +2160,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012)
 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 (D:\keil5\ARM\ARMCLANG\include\string.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
 F (../Middlewares/ST/threadx/common/src/tx_mutex_create.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
@@ -2293,7 +2293,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdarg.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_mutex.h)(0x683FA4DA)
 F (../Middlewares/ST/threadx/common/src/tx_mutex_priority_change.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
 
 -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
@@ -2335,7 +2335,7 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.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)
-F (../Middlewares/ST/threadx/common/src/tx_queue_cleanup.c)(0x683FA4DA)(-xc -std=c11 --target=arm-arm-none-eabi -mcpu=cortex-m33 -mfpu=fpv5-sp-d16 -mfloat-abi=hard -c
+F (../Middlewares/ST/threadx/common/src/tx_queue_cleanup.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
 
@@ -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
 
@@ -2422,5 +2422,5 @@ I (D:\keil5\ARM\ARMCLANG\include\stdio.h)(0x6569B012)
 I (..\Middlewares\ST\threadx\common\inc\tx_thread.h)(0x683FA4DA)
 I (..\Middlewares\ST\threadx\common\inc\tx_queue.h)(0x683FA4DA)
 F (../Middlewares/ST/threadx/common/src/tx_queue_front_send.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

fun/HCBle.c

@@ -42,6 +42,7 @@ TX_EVENT_FLAGS_GROUP ble_event_flags;
 
 void HCBle_InitEventFlags(void)
 {	tx_event_flags_create(&ble_event_flags, "BLE Events");
+	tx_event_flags_create(&system_events,"gps Events");
 //	tx_event_flags_create(&sensor_events,"Sensor Events");
 }
 
@@ -101,15 +102,17 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
     }
 	else if(huart->Instance == USART2) // gps<70>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 	{
+		
 		//		// <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);
+
 		//<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);
 	}
 	
 }
@@ -189,17 +192,16 @@ void ble_rx_task_entry(ULONG thread_input)
 //                 HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n", 
 //                                  current_location.lat, current_location.lon, current_location.angle);
 void ble_tx_task_entry(ULONG thread_input) {
-	char recv_msg[128];
 	BleMessage msg;
     while(1) {
 
-        HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
+//        HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",23.123456, 113.654321, 95.0);
-        tx_thread_sleep(500);
+//        tx_thread_sleep(500);
-//		if(tx_queue_receive(&ble_tx_queue,&msg,TX_WAIT_FOREVER) == TX_SUCCESS)
+		if(tx_queue_receive(&ble_tx_queue,&msg,TX_WAIT_FOREVER) == TX_SUCCESS)
-//		{
+		{
-//			HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.1f}\n", 
+			HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.1f}\n", 
-//                              23.123456, 113.654321,msg.angle);
+                              msg.lat, msg.lon,0);
-//		}
+		}
     }
 }
 

fun/gps.c

@@ -26,68 +26,215 @@ _GPSData GPS;
 void GPS_Init(void)
 {
     HAL_UARTEx_ReceiveToIdle_IT(&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>
+//		HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
 }
 
 #ifdef parse
 // GPS<50><53><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD>
-void parseGpsBuffer()
+//void parseGpsBuffer()
-{
+//{
-	char *subString;
+//	char *subString;
-	char *subStringNext;
+//	char *subStringNext;
-	char i = 0;
+//	char i = 0;
+//	
+//	if(GPS.isGetData)
+//	{
+//		GPS.isGetData = 0; // <20>ѱ<EFBFBD>־λ<D6BE><CEBB>Ϊ1
+//		
+//		char usefullBuffer[2] = {0};
+//		for(i = 0; i <= 6; i++)
+//		{
+//			if(i == 0)
+//			{
+//				
+//				subString = strstr(GPS.GPS_Buffer,",");
+//				if(!subString)return;
+//			}
+//			else
+//			{
+//				subString++;
+//				subStringNext = strstr(subString,",");
+//				if(!subStringNext)return;
+//				
+//				switch(i)
+//				{
+//					case 1:
+//						memcpy(GPS.UTCTime,subString,subStringNext - subString);
+//						break;
+//					case 2:
+//						memcpy(usefullBuffer,subString,subStringNext - subString);
+//						break;
+//					case 3:
+//						memcpy(GPS.latitude,subString,subStringNext - subString);
+//						break;
+//					case 4:
+//						memcpy(GPS.N_S,subString,subStringNext - subString);
+//						break;
+//					case 5:
+//						memcpy(GPS.longitude,subString,subStringNext - subString);
+//						break;
+//					case 6:
+//						memcpy(GPS.E_W,subString,subStringNext - subString);
+//						break;
+//					default:break;
+//				}
+//				
+//				subString = subStringNext;
+//			}
+//			
+//		}
+//		GPS.isParseData = 1;
+//		GPS.isUsefull = (usefullBuffer[0] == 'A') ? 1 : 0;
+//	}
+//	
+//}
 
-	if(GPS.isGetData)
-	{
-		GPS.isGetData = 0; // <20>ѱ<EFBFBD>־λ<D6BE><CEBB>Ϊ1
 
-		char usefullBuffer[2] = {0};
+//void parseGpsBuffer(void)
-		for(i = 0; i <= 6; i++)
+//{
-		{
+//    if (!GPS.isGetData) return;
-			if(i == 0)
+//    GPS.isGetData = 0;
-			{
 
-				subString = strstr(GPS.GPS_Buffer,",");
+//    /* ----------- <20><><EFBFBD><EFBFBD><EFBFBD>б<EFBFBD> ------------ */
-				if(!subString)return;
+//    const char *p = GPS.GPS_Buffer;
+
+//    /* <20><> RMC ----------------------------------------------------- */
+//    if (!strncmp(p, "$GNRMC", 6) || !strncmp(p, "$GPRMC", 6))
+//    {
+//        char status, lat[16], ns[3], lon[16], ew[3];
+//        if (sscanf(p,
+//                   "$%*[^,],%*[^,],%c,%15[^,],%2[^,],%15[^,],%2[^,],",
+//                   &status, lat, ns, lon, ew) == 5)
+//        {
+//            if (status == 'A')                      /* <20><>λ<EFBFBD><CEBB>Ч */
+//            {
+//                strcpy(GPS.latitude,  lat);
+//                strcpy(GPS.N_S,       ns);
+//                strcpy(GPS.longitude, lon);
+//                strcpy(GPS.E_W,       ew);
+//                GPS.isParseData = 1;
+//                GPS.isUsefull   = 1;
+//            }
+//        }
+//        return;
+//    }
+
+//    /* <20><> GGA ----------------------------------------------------- */
+//    if (!strncmp(p, "$GNGGA", 6) || !strncmp(p, "$GPGGA", 6))
+//    {
+//        int q;  char lat[16], ns[3], lon[16], ew[3];
+//        if (sscanf(p,
+//                   "$%*[^,],%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%d,",
+//                   lat, ns, lon, ew, &q) == 5)
+//        {
+//            if (q > 0)                              /* q=0 <20>޶<EFBFBD>λ */
+//            {
+//                strcpy(GPS.latitude,  lat);
+//                strcpy(GPS.N_S,       ns);
+//                strcpy(GPS.longitude, lon);
+//                strcpy(GPS.E_W,       ew);
+//                GPS.isParseData = 1;
+//                GPS.isUsefull   = 1;
+//            }
+//        }
+//        return;
+//    }
+
+//    /* <20><> GLL ----------------------------------------------------- */
+//    if (!strncmp(p, "$GNGLL", 6) || !strncmp(p, "$GPGLL", 6))
+//    {
+//        char status, lat[16], ns[3], lon[16], ew[3];
+//        if (sscanf(p,
+//                   "$%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%*[^,],%c",
+//                   lat, ns, lon, ew, &status) == 5)
+//        {
+//            if (status == 'A')
+//            {
+//                strcpy(GPS.latitude,  lat);
+//                strcpy(GPS.N_S,       ns);
+//                strcpy(GPS.longitude, lon);
+//                strcpy(GPS.E_W,       ew);
+//                GPS.isParseData = 1;
+//                GPS.isUsefull   = 1;
+//            }
+//        }
+//    }
+//}
+
+/* === <20><> <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD> & <20><><EFBFBD>ͺ<EFBFBD><CDBA><EFBFBD> === */
+static char line_buf[GPS_Buffer_Length];
+static uint16_t line_w = 0;
+
+void GPS_LinePush(uint8_t ch)
+{
+    if (ch == '\n') {                     /* <20><><EFBFBD><EFBFBD><EFBFBD>н<EFBFBD><D0BD><EFBFBD> */
+        line_buf[line_w] = '\0';
+
+
+        /* A. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> '$' <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
+        else        /* B. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¾<EFBFBD> */
         {
-				subString++;
+            strncpy(GPS.GPS_Buffer, line_buf, GPS_Buffer_Length);
-				subStringNext = strstr(subString,",");
-				if(!subStringNext)return;
-				
-				switch(i)
-				{
-					case 1:
-						memcpy(GPS.UTCTime,subString,subStringNext - subString);
-						break;
-					case 2:
-						memcpy(usefullBuffer,subString,subStringNext - subString);
-						break;
-					case 3:
-						memcpy(GPS.latitude,subString,subStringNext - subString);
-						break;
-					case 4:
-						memcpy(GPS.N_S,subString,subStringNext - subString);
-						break;
-					case 5:
-						memcpy(GPS.longitude,subString,subStringNext - subString);
-						break;
-					case 6:
-						memcpy(GPS.E_W,subString,subStringNext - subString);
-						break;
-					default:break;
         }
 
-				subString = subStringNext;
+        line_w = 0;
+        GPS.isGetData = 1;
+        tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
+        return;
+    }
 }
 
+/* === <20><> <20>½<EFBFBD><C2BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֻҪ<D6BB><D2AA>γ<EFBFBD><CEB3> === */
+void parseGpsBuffer(void)
+{
+    if (!GPS.isGetData) return;
+    GPS.isGetData = 0;
+    GPS.isParseData = 0;
+    GPS.isUsefull  = 0;
+
+    const char *p = GPS.GPS_Buffer;
+    /* ---- $GxRMC ---- */
+    if (!strncmp(p, "$GNRMC", 6) || !strncmp(p, "$GPRMC", 6)) {
+        char s, lat[16], ns[3], lon[16], ew[3];
+        if (sscanf(p,
+                   "$%*[^,],%*[^,],%c,%15[^,],%2[^,],%15[^,],%2[^,],",
+                   &s, lat, ns, lon, ew) == 5 && s == 'A') {
+            strcpy(GPS.latitude, lat); strcpy(GPS.N_S, ns);
+            strcpy(GPS.longitude, lon); strcpy(GPS.E_W, ew);
+            GPS.isParseData = GPS.isUsefull = 1;
+        }
+        return;
+    }
+    /* ---- $GxGGA ---- */
+    if (!strncmp(p, "$GNGGA", 6) || !strncmp(p, "$GPGGA", 6)) {
+        int q; char lat[16], ns[3], lon[16], ew[3];
+        if (sscanf(p,
+            "$%*[^,],%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%d,",
+            lat, ns, lon, ew, &q) == 5 && q > 0) {
+            strcpy(GPS.latitude, lat); strcpy(GPS.N_S, ns);
+            strcpy(GPS.longitude, lon); strcpy(GPS.E_W, ew);
+            GPS.isParseData = GPS.isUsefull = 1;
+        }
+        return;
+    }
+    /* ---- $GxGLL ---- */
+    if (!strncmp(p, "$GNGLL", 6) || !strncmp(p, "$GPGLL", 6)) {
+        char s, lat[16], ns[3], lon[16], ew[3];
+        if (sscanf(p,
+            "$%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%*[^,],%c",
+            lat, ns, lon, ew, &s) == 5 && s == 'A') {
+            strcpy(GPS.latitude, lat); strcpy(GPS.N_S, ns);
+            strcpy(GPS.longitude, lon); strcpy(GPS.E_W, ew);
+            GPS.isParseData = GPS.isUsefull = 1;
+        }
     }
-		GPS.isParseData = 1;
-		GPS.isUsefull = (usefullBuffer[0] == 'A') ? 1 : 0;
 }
 
-}
+
 #else // <20><><EFBFBD><EFBFBD><EFBFBD>Ƕ<EFBFBD><C7B6>ڸĽ<DAB8><C4BD><EFBFBD><EFBFBD><EFBFBD>parse <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD>в<EFBFBD><D0B2><EFBFBD>
 void parseGpsBuffer()
 {
@@ -172,7 +319,7 @@ void GPS_Data_CLR(void)
 //		
 //		tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
 //		//<2F><><EFBFBD>¿<EFBFBD><C2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-//		HAL_UARTEx_ReceiveToIdle_DMA(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
+//		HAL_UARTEx_ReceiveToIdle_IT(&huart2,GPS_DMA_RX_BUF,GPS_DMA_RX_BUF_LEN);
 //	}
 //	
 //}
@@ -186,25 +333,28 @@ void gps_thread_entry(ULONG thread_input)
 {
     GPS_Init();
     static int gps_first_fix_sent = 0;
-
+	BleMessage msg;
     while (1)
     {
         ULONG events;
         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);
         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);
 
-            char msg[128];
+			
-            snprintf(msg, sizeof(msg), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
+			msg.lat = current_location.lat;
-                     current_location.lat,
+			msg.lon = current_location.lon;
-                     current_location.lon,
+//            snprintf(msg, sizeof(msg), "#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
-                     current_location.angle);
+//                     current_location.lat,
+//                     current_location.lon,
+//                     current_location.angle);
             tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
 
         }

fun/gps.h

@@ -6,11 +6,11 @@
 #define USART_REC_LEN			200	
 #define EN_USART2_RX			1  //ʹ<>ܽ<EFBFBD><DCBD><EFBFBD> --- 1 <20><>֮ 0
 
-#define GPS_DMA_RX_BUF_LEN		200 //<2F>ɸ<EFBFBD><C9B8><EFBFBD>NMEA<45><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#define GPS_DMA_RX_BUF_LEN		220 //<2F>ɸ<EFBFBD><C9B8><EFBFBD>NMEA<45><41><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
 
 // <20><><EFBFBD><EFBFBD>gps<70>ṹ<EFBFBD><E1B9B9>
-#define GPS_Buffer_Length 80
+#define GPS_Buffer_Length 256
 #define UTCTime_Length 11
 #define latitude_Length 11
 #define N_S_Length 2
@@ -36,5 +36,6 @@ double Convert_to_degrees(char *data);
 void parseGpsBuffer();
 void gps_thread_entry(ULONG thread_input);
 void GPS_Init(void);
+void GPS_LinePush(uint8_t ch);
 
 #endif

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");
@@ -82,13 +82,12 @@ void imu_angle_ble_task_entry(ULONG thread_input)
         {
             isNewData = 0;
 
-            float angle = AngleZ;
+            float angle = AngleZ * 0.0054931640625f;
-			HCBle_SendData("Z:%.2f\r\n",AngleZ);
+//			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>
-            }
         }
     }
 }