MADAO/ManGoWalk_STM32
1
0
Fork 0
generated from Template/H563ZI-HAL-CMake-Template
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: MADAO:8b51db65876a5f1a8d7c21eb8d807c4a7cf5e188
Branches Tags
MADAO:main MADAO:develop MADAO:madao
...
compare: MADAO:eb643e686fce3094250c880fa5c3f6c221414ec2
Branches Tags
MADAO:main MADAO:develop MADAO:madao

7 Commits
8b51db6587 ... eb643e686f

Author SHA1 Message Date
MADAO
eb643e686f Merge branch 'madao' 2025-07-02 00:08:05 +08:00
MADAO
a6ebf4b8a5 gps parse successful 2025-07-01 22:12:49 +08:00
MADAO
69d790d5e2 gps could receive but not parese 2025-07-01 21:40:02 +08:00
MADAO
4d36d07b2c IMU Angle Z get Successful 2025-07-01 13:16:48 +08:00
MADAO
1dd27dce37 Test GPS;it can achieve function what i wannna 2025-06-29 19:29:35 +08:00
MADAO
32d4821e6f add IMU,slove promblem about Ble_tx 2025-06-29 14:06:17 +08:00
MADAO
88103d9eee add Motor function 2025-06-28 22:33:16 +08:00
49 changed files with 11639 additions and 10429 deletions
Expand all files Collapse all files

35
AutoGuideStick.ioc
View File

@@ -51,13 +51,13 @@ Mcu.Name=STM32H563ZITx
Mcu.Package=LQFP144 Mcu.Package=LQFP144
Mcu.Pin0=PH0-OSC_IN(PH0) Mcu.Pin0=PH0-OSC_IN(PH0)
Mcu.Pin1=PH1-OSC_OUT(PH1) Mcu.Pin1=PH1-OSC_OUT(PH1)
Mcu.Pin10=PC6 Mcu.Pin10=PG3
Mcu.Pin11=PC7 Mcu.Pin11=PC6
Mcu.Pin12=PC8 Mcu.Pin12=PC7
Mcu.Pin13=PC9 Mcu.Pin13=PC8
Mcu.Pin14=PA13(JTMS/SWDIO) Mcu.Pin14=PC9
Mcu.Pin15=PA14(JTCK/SWCLK) Mcu.Pin15=PA13(JTMS/SWDIO)
Mcu.Pin16=PC10 Mcu.Pin16=PA14(JTCK/SWCLK)
Mcu.Pin17=PC11 Mcu.Pin17=PC11
Mcu.Pin18=PC12 Mcu.Pin18=PC12
Mcu.Pin19=PD2 Mcu.Pin19=PD2
@@ -84,8 +84,8 @@ Mcu.Pin4=PG0
Mcu.Pin5=PG1 Mcu.Pin5=PG1
Mcu.Pin6=PE9 Mcu.Pin6=PE9
Mcu.Pin7=PE11 Mcu.Pin7=PE11
Mcu.Pin8=PG2 Mcu.Pin8=PB10
Mcu.Pin9=PG3 Mcu.Pin9=PG2
Mcu.PinsNb=37 Mcu.PinsNb=37
Mcu.ThirdPartyNb=0 Mcu.ThirdPartyNb=0
Mcu.UserConstants= Mcu.UserConstants=
@@ -125,15 +125,15 @@ PB1.GPIOParameters=GPIO_Label
PB1.GPIO_Label=PWMB PB1.GPIO_Label=PWMB
PB1.Locked=true PB1.Locked=true
PB1.Signal=S_TIM3_CH4 PB1.Signal=S_TIM3_CH4
PB10.Locked=true
PB10.Mode=Asynchronous
PB10.Signal=USART3_TX
PB8.Locked=true PB8.Locked=true
PB8.Mode=Asynchronous PB8.Mode=Asynchronous
PB8.Signal=UART4_RX PB8.Signal=UART4_RX
PB9.Locked=true PB9.Locked=true
PB9.Mode=Asynchronous PB9.Mode=Asynchronous
PB9.Signal=UART4_TX PB9.Signal=UART4_TX
PC10.Locked=true
PC10.Mode=Asynchronous
PC10.Signal=USART3_TX
PC11.Locked=true PC11.Locked=true
PC11.Mode=Asynchronous PC11.Mode=Asynchronous
PC11.Signal=USART3_RX PC11.Signal=USART3_RX
@@ -341,16 +341,19 @@ TIM2.IPParameters=Prescaler
TIM2.Prescaler=250 - 1 TIM2.Prescaler=250 - 1
TIM3.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3 TIM3.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4 TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM3.IPParameters=Prescaler,Channel-PWM Generation4 CH4,Channel-Input_Capture3_from_TI3 TIM3.IPParameters=Prescaler,Channel-PWM Generation4 CH4,Channel-Input_Capture3_from_TI3,PeriodNoDither
TIM3.Prescaler=250 - 1 TIM3.PeriodNoDither=255
TIM3.Prescaler=48
TIM4.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4 TIM4.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
TIM4.IPParameters=Channel-PWM Generation4 CH4 TIM4.IPParameters=Channel-PWM Generation4 CH4,Prescaler,PeriodNoDither
TIM4.PeriodNoDither=255
TIM4.Prescaler=48
UART4.BaudRate=9600 UART4.BaudRate=9600
UART4.IPParameters=BaudRate UART4.IPParameters=BaudRate
USART2.BaudRate=9600 USART2.BaudRate=9600
USART2.IPParameters=VirtualMode-Asynchronous,BaudRate USART2.IPParameters=VirtualMode-Asynchronous,BaudRate
USART2.VirtualMode-Asynchronous=VM_ASYNC USART2.VirtualMode-Asynchronous=VM_ASYNC
USART3.BaudRate=9600 USART3.BaudRate=115200
USART3.IPParameters=VirtualMode-Asynchronous,BaudRate USART3.IPParameters=VirtualMode-Asynchronous,BaudRate
USART3.VirtualMode-Asynchronous=VM_ASYNC USART3.VirtualMode-Asynchronous=VM_ASYNC
VP_BOOTPATH_VS_BOOTPATH.Mode=BP_Activate VP_BOOTPATH_VS_BOOTPATH.Mode=BP_Activate

5
Core/Inc/app_threadx.h
View File

@@ -49,16 +49,15 @@ extern "C" {
/* USER CODE BEGIN PD */ /* USER CODE BEGIN PD */
// <20>¼<EFBFBD><C2BC><EFBFBD>־<EFBFBD><D6BE><EFBFBD><EFBFBD> // <20>¼<EFBFBD><C2BC><EFBFBD>־<EFBFBD><D6BE><EFBFBD><EFBFBD>
#define EVENT_OBSTACLE_DETECTED 0x01 #define EVENT_OBSTACLE_DETECTED 0x01
#define EVENT_GPS_DATA_READY 0x02
#define EVENT_BLE_COMMAND_RECEIVED 0x04 #define EVENT_BLE_COMMAND_RECEIVED 0x04
#define IMU_UPDATE_EVENT 0x08 #define IMU_UPDATE_EVENT 0x08
#define EVENT_LOCATION_UPDATED 0x10 #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>
#define TEST 1 #define TEST 1
extern TX_QUEUE ble_tx_queue; extern TX_QUEUE ble_tx_queue;
extern TX_EVENT_FLAGS_GROUP system_events; extern TX_EVENT_FLAGS_GROUP system_events;
extern TX_EVENT_FLAGS_GROUP sensor_events; //传感器事件组
//typedef struct //typedef struct
//{ //{
//// uint32_t msg_type; // 应该使用 int --- 4字节 //// uint32_t msg_type; // 应该使用 int --- 4字节

91
Core/Src/app_threadx.c
View File

@@ -39,7 +39,10 @@
#define BLE_RX_THREAD_PRIORITY 10 #define BLE_RX_THREAD_PRIORITY 10
#define BLE_TX_THREAD_STACK_SIZE 2048 #define BLE_TX_THREAD_STACK_SIZE 2048
#define BLE_TX_THREAD_PRIORITY 10 #define BLE_TX_THREAD_PRIORITY 10
// // IMU thread config
// IMU thread config
#define IMU_ANGLE_THREAD_STACK_SIZE 1024
#define IMU_ANGLE_THREAD_PRIORITY 11
@@ -55,6 +58,7 @@
/* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */ /* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
TX_EVENT_FLAGS_GROUP system_events; TX_EVENT_FLAGS_GROUP system_events;
TX_EVENT_FLAGS_GROUP sensor_events;
MotorCommand current_motor_cmd = {0,0}; MotorCommand current_motor_cmd = {0,0};
_GPSData gps_data; _GPSData gps_data;
@@ -74,13 +78,22 @@ TX_QUEUE ble_tx_queue;
__attribute__((aligned(4))) __attribute__((aligned(4)))
ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN * ((BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG))]; ULONG ble_tx_queue_buffer[BLE_TX_QUEUE_LEN * ((BLE_TX_MSG_LEN + sizeof(ULONG) - 1) / sizeof(ULONG))];
// // imu
TX_THREAD imu_angle_thread;
UCHAR imu_angle_stack[IMU_ANGLE_THREAD_STACK_SIZE];
#define IM948_RX_QUEUE_SIZE 64
ULONG im948_rx_queue_buffer[IM948_RX_QUEUE_SIZE];
TX_QUEUE im948_uart_rx_queue;
/* USER CODE END PV */ /* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN PFP */ /* 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 */
/* USER CODE END 1 */ /* USER CODE END 1 */
@@ -134,7 +147,41 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
return status; return status;
} }
status = tx_thread_create(&imu_angle_thread, "IMU Angle Thread",
imu_angle_ble_task_entry, 0,
imu_angle_stack, IMU_ANGLE_THREAD_STACK_SIZE,
IMU_ANGLE_THREAD_PRIORITY, IMU_ANGLE_THREAD_PRIORITY,
TX_NO_TIME_SLICE, TX_AUTO_START);
if (status != TX_SUCCESS) {
return status;
}
status = tx_queue_create(&im948_uart_rx_queue, "IM948_RX_QUEUE",
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"); HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
return TX_SUCCESS; return TX_SUCCESS;
@@ -151,7 +198,6 @@ void MX_ThreadX_Init(void)
/* USER CODE BEGIN Before_Kernel_Start */ /* USER CODE BEGIN Before_Kernel_Start */
HCBle_InitEventFlags(); // 这必须在任何使用前调用一次 HCBle_InitEventFlags(); // 这必须在任何使用前调用一次
/* USER CODE END Before_Kernel_Start */ /* USER CODE END Before_Kernel_Start */
tx_kernel_enter(); tx_kernel_enter();
/* USER CODE BEGIN Kernel_Start_Error */ /* USER CODE BEGIN Kernel_Start_Error */
@@ -160,45 +206,6 @@ void MX_ThreadX_Init(void)
} }
/* USER CODE BEGIN 1 */ /* USER CODE BEGIN 1 */
#ifdef TEST //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>
/* 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();
}
// 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);
}
}
}
#endif
/* USER CODE END 1 */ /* USER CODE END 1 */

5
Core/Src/main.c
View File

@@ -48,7 +48,7 @@
/* Private variables ---------------------------------------------------------*/ /* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */ /* USER CODE BEGIN PV */
uint8_t rx_byte; // imu_<75><5F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/* USER CODE END PV */ /* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/ /* Private function prototypes -----------------------------------------------*/
@@ -101,6 +101,9 @@ int main(void)
MX_TIM1_Init(); MX_TIM1_Init();
MX_TIM8_Init(); MX_TIM8_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
imu600_init();
GPS_Init();
// HCBle_InitDMAReception(); // HCBle_InitDMAReception();
// HAL_Delay(200); // HAL_Delay(200);
// GPS_Init(); // GPS_Init();

8
Core/Src/tim.c
View File

@@ -133,9 +133,9 @@ void MX_TIM3_Init(void)
/* USER CODE END TIM3_Init 1 */ /* USER CODE END TIM3_Init 1 */
htim3.Instance = TIM3; htim3.Instance = TIM3;
htim3.Init.Prescaler = 250 - 1; htim3.Init.Prescaler = 48;
htim3.Init.CounterMode = TIM_COUNTERMODE_UP; htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
htim3.Init.Period = 65535; htim3.Init.Period = 255;
htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim3) != HAL_OK) if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
@@ -199,9 +199,9 @@ void MX_TIM4_Init(void)
/* USER CODE END TIM4_Init 1 */ /* USER CODE END TIM4_Init 1 */
htim4.Instance = TIM4; htim4.Instance = TIM4;
htim4.Init.Prescaler = 0; htim4.Init.Prescaler = 48;
htim4.Init.CounterMode = TIM_COUNTERMODE_UP; htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
htim4.Init.Period = 65535; htim4.Init.Period = 255;
htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1; htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE; htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
if (HAL_TIM_Base_Init(&htim4) != HAL_OK) if (HAL_TIM_Base_Init(&htim4) != HAL_OK)

20
Core/Src/usart.c
View File

@@ -135,7 +135,7 @@ void MX_USART3_UART_Init(void)
/* USER CODE END USART3_Init 1 */ /* USER CODE END USART3_Init 1 */
huart3.Instance = USART3; huart3.Instance = USART3;
huart3.Init.BaudRate = 9600; huart3.Init.BaudRate = 115200;
huart3.Init.WordLength = UART_WORDLENGTH_8B; huart3.Init.WordLength = UART_WORDLENGTH_8B;
huart3.Init.StopBits = UART_STOPBITS_1; huart3.Init.StopBits = UART_STOPBITS_1;
huart3.Init.Parity = UART_PARITY_NONE; huart3.Init.Parity = UART_PARITY_NONE;
@@ -404,12 +404,20 @@ void HAL_UART_MspInit(UART_HandleTypeDef* uartHandle)
/* USART3 clock enable */ /* USART3 clock enable */
__HAL_RCC_USART3_CLK_ENABLE(); __HAL_RCC_USART3_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE(); __HAL_RCC_GPIOC_CLK_ENABLE();
/**USART3 GPIO Configuration /**USART3 GPIO Configuration
PC10 ------> USART3_TX PB10 ------> USART3_TX
PC11 ------> USART3_RX PC11 ------> USART3_RX
*/ */
GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_11; GPIO_InitStruct.Pin = GPIO_PIN_10;
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(GPIOB, &GPIO_InitStruct);
GPIO_InitStruct.Pin = GPIO_PIN_11;
GPIO_InitStruct.Mode = GPIO_MODE_AF_PP; GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL; GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW; GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
@@ -484,10 +492,12 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* uartHandle)
__HAL_RCC_USART3_CLK_DISABLE(); __HAL_RCC_USART3_CLK_DISABLE();
/**USART3 GPIO Configuration /**USART3 GPIO Configuration
PC10 ------> USART3_TX PB10 ------> USART3_TX
PC11 ------> USART3_RX PC11 ------> USART3_RX
*/ */
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_11); HAL_GPIO_DeInit(GPIOB, GPIO_PIN_10);
HAL_GPIO_DeInit(GPIOC, GPIO_PIN_11);
/* USART3 interrupt Deinit */ /* USART3 interrupt Deinit */
HAL_NVIC_DisableIRQ(USART3_IRQn); HAL_NVIC_DisableIRQ(USART3_IRQn);

265
MDK-ARM/AutoGuideStick.uvguix.madao
View File

File diff suppressed because one or more lines are too long

129
MDK-ARM/AutoGuideStick.uvoptx
View File

@@ -148,24 +148,7 @@
<Name>-U004200403132511238363431 -O2254 -SF10000 -C0 -A1 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(6BA02477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32H5xx_2M_0800.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32H563ZITx$CMSIS\Flash\STM32H5xx_2M_0800.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0</Name> <Name>-U004200403132511238363431 -O2254 -SF10000 -C0 -A1 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(6BA02477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32H5xx_2M_0800.FLM -FS08000000 -FL0200000 -FP0($$Device:STM32H563ZITx$CMSIS\Flash\STM32H5xx_2M_0800.FLM) -WA0 -WE0 -WVCE4 -WS2710 -WM0 -WP2 -WK0</Name>
</SetRegEntry> </SetRegEntry>
</TargetDriverDllRegistry> </TargetDriverDllRegistry>
<Breakpoint> <Breakpoint/>
<Bp>
<Number>0</Number>
<Type>0</Type>
<LineNumber>162</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134296028</Address>
<ByteObject>0</ByteObject>
<HtxType>0</HtxType>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
<Filename>..\fun\HCBle.c</Filename>
<ExecCommand></ExecCommand>
<Expression>\\AutoGuideStick\../fun/HCBle.c\162</Expression>
</Bp>
</Breakpoint>
<WatchWindow1> <WatchWindow1>
<Ww> <Ww>
<count>0</count> <count>0</count>
@@ -227,6 +210,26 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>status</ItemText> <ItemText>status</ItemText>
</Ww> </Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>UartFifo</ItemText>
</Ww>
<Ww>
<count>13</count>
<WinNumber>1</WinNumber>
<ItemText>temp</ItemText>
</Ww>
<Ww>
<count>14</count>
<WinNumber>1</WinNumber>
<ItemText>isNewData</ItemText>
</Ww>
<Ww>
<count>15</count>
<WinNumber>1</WinNumber>
<ItemText>current_location</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<WatchWindow2> <WatchWindow2>
<Ww> <Ww>
@@ -234,6 +237,36 @@
<WinNumber>2</WinNumber> <WinNumber>2</WinNumber>
<ItemText>json_buf[128]</ItemText> <ItemText>json_buf[128]</ItemText>
</Ww> </Ww>
<Ww>
<count>1</count>
<WinNumber>2</WinNumber>
<ItemText>x</ItemText>
</Ww>
<Ww>
<count>2</count>
<WinNumber>2</WinNumber>
<ItemText>rx_byte</ItemText>
</Ww>
<Ww>
<count>3</count>
<WinNumber>2</WinNumber>
<ItemText>buf[5+CmdPacketMaxDatSizeRx]</ItemText>
</Ww>
<Ww>
<count>4</count>
<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> </WatchWindow2>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
@@ -2837,6 +2870,66 @@
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>
<bShared>0</bShared> <bShared>0</bShared>
</File> </File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>209</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\fun\Motor.c</PathWithFileName>
<FilenameWithoutPath>Motor.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>210</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\fun\Motor.h</PathWithFileName>
<FilenameWithoutPath>Motor.h</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>211</FileNumber>
<FileType>1</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\fun\imu948.c</PathWithFileName>
<FilenameWithoutPath>imu948.c</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>212</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\fun\imu948.h</PathWithFileName>
<FilenameWithoutPath>imu948.h</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
<File>
<GroupNumber>7</GroupNumber>
<FileNumber>213</FileNumber>
<FileType>5</FileType>
<tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\fun\value.h</PathWithFileName>
<FilenameWithoutPath>value.h</FilenameWithoutPath>
<RteFlg>0</RteFlg>
<bShared>0</bShared>
</File>
</Group> </Group>
<Group> <Group>

27
MDK-ARM/AutoGuideStick.uvprojx
View File

@@ -190,7 +190,7 @@
<hadIRAM2>0</hadIRAM2> <hadIRAM2>0</hadIRAM2>
<hadIROM2>0</hadIROM2> <hadIROM2>0</hadIROM2>
<StupSel>8</StupSel> <StupSel>8</StupSel>
<useUlib>0</useUlib> <useUlib>1</useUlib>
<EndSel>0</EndSel> <EndSel>0</EndSel>
<uLtcg>0</uLtcg> <uLtcg>0</uLtcg>
<nSecure>0</nSecure> <nSecure>0</nSecure>
@@ -1709,6 +1709,31 @@
<FileType>5</FileType> <FileType>5</FileType>
<FilePath>..\fun\IMU.h</FilePath> <FilePath>..\fun\IMU.h</FilePath>
</File> </File>
<File>
<FileName>Motor.c</FileName>
<FileType>1</FileType>
<FilePath>..\fun\Motor.c</FilePath>
</File>
<File>
<FileName>Motor.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\Motor.h</FilePath>
</File>
<File>
<FileName>imu948.c</FileName>
<FileType>1</FileType>
<FilePath>..\fun\imu948.c</FilePath>
</File>
<File>
<FileName>imu948.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\imu948.h</FilePath>
</File>
<File>
<FileName>value.h</FileName>
<FileType>5</FileType>
<FilePath>..\fun\value.h</FilePath>
</File>
</Files> </Files>
</Group> </Group>
<Group> <Group>

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

Binary file not shown.

11
MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm
View File

@@ -22,18 +22,19 @@ Dialog DLL: TCM.DLL V1.56.4.0
<h2>Project:</h2> <h2>Project:</h2>
D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
Project File Date: 06/26/2025 Project File Date: 07/01/2025
<h2>Output:</h2> <h2>Output:</h2>
*** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin' *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
Build target 'AutoGuideStick' Build target 'AutoGuideStick'
../fun/HCBle.c(124): warning: illegal character encoding in string literal [-Winvalid-source-encoding] compiling imu948.c...
124 | HCBle_SendData("? <BD><E2><CE><F6>ʧ<B0><DC>: %s\r\n", frame); ../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. 1 warning generated.
compiling HCBle.c... compiling HCBle.c...
linking... linking...
Program Size: Code=83284 RO-data=1592 RW-data=16 ZI-data=11480 Program Size: Code=83396 RO-data=1364 RW-data=20 ZI-data=15268
FromELF: creating hex file... FromELF: creating hex file...
"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 1 Warning(s). "AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 1 Warning(s).
@@ -59,7 +60,7 @@ Package Vendor: Keil
* Component: ARM::CMSIS:CORE@5.6.0 * Component: ARM::CMSIS:CORE@5.6.0
Include file: CMSIS/Core/Include/tz_context.h Include file: CMSIS/Core/Include/tz_context.h
Build Time Elapsed: 00:00:02 Build Time Elapsed: 00:00:01
</pre> </pre>
</body> </body>
</html> </html>

10603
MDK-ARM/AutoGuideStick/AutoGuideStick.hex
View File

File diff suppressed because it is too large Load Diff

3285
MDK-ARM/AutoGuideStick/AutoGuideStick.htm
View File

File diff suppressed because it is too large Load Diff

4
MDK-ARM/AutoGuideStick/AutoGuideStick.lnp
View File

@@ -200,7 +200,9 @@
"autoguidestick\shake_motor.o" "autoguidestick\shake_motor.o"
"autoguidestick\ultrasound.o" "autoguidestick\ultrasound.o"
"autoguidestick\imu.o" "autoguidestick\imu.o"
--strict --scatter "AutoGuideStick\AutoGuideStick.sct" "autoguidestick\motor.o"
"autoguidestick\imu948.o"
--library_type=microlib --strict --scatter "AutoGuideStick\AutoGuideStick.sct"
--summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
--info sizes --info totals --info unused --info veneers --info sizes --info totals --info unused --info veneers
--list "AutoGuideStick.map" -o AutoGuideStick\AutoGuideStick.axf --list "AutoGuideStick.map" -o AutoGuideStick\AutoGuideStick.axf

4772
MDK-ARM/AutoGuideStick/AutoGuideStick.map
View File

File diff suppressed because it is too large Load Diff

516
MDK-ARM/AutoGuideStick/AutoGuideStick_AutoGuideStick.dep
View File

File diff suppressed because it is too large Load Diff

1
MDK-ARM/AutoGuideStick/app_azure_rtos.d
View File

@@ -40,4 +40,5 @@ autoguidestick/app_azure_rtos.o: ..\AZURE_RTOS\App\app_azure_rtos.c \
D:\keil5\ARM\ARMCLANG\include\stdio.h \ D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \ D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \ ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h \
..\AZURE_RTOS\App\app_azure_rtos_config.h ..\AZURE_RTOS\App\app_azure_rtos_config.h

3
MDK-ARM/AutoGuideStick/app_threadx.d
View File

@@ -39,4 +39,5 @@ autoguidestick/app_threadx.o: ..\Core\Src\app_threadx.c \
..\Core\Inc\gpdma.h ..\Core\Inc\tim.h \ ..\Core\Inc\gpdma.h ..\Core\Inc\tim.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \ D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \ D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h

BIN
MDK-ARM/AutoGuideStick/app_threadx.o
View File

Binary file not shown.

3
MDK-ARM/AutoGuideStick/buzzer.d
View File

@@ -39,4 +39,5 @@ autoguidestick/buzzer.o: ..\fun\Buzzer.c ..\fun\Buzzer.h \
D:\keil5\ARM\ARMCLANG\include\string.h \ D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \ D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \ D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Motor.h ..\fun\IMU.h \
..\fun\imu948.h ..\fun\value.h

3
MDK-ARM/AutoGuideStick/gps.d
View File

@@ -38,4 +38,5 @@ autoguidestick/gps.o: ..\fun\gps.c ..\fun\gps.h ..\fun\headfile.h \
D:\keil5\ARM\ARMCLANG\include\string.h \ D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \ D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h \ D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h

BIN
MDK-ARM/AutoGuideStick/gps.o
View File

Binary file not shown.

3
MDK-ARM/AutoGuideStick/hcble.d
View File

@@ -38,4 +38,5 @@ autoguidestick/hcble.o: ..\fun\HCBle.c ..\fun\HCBle.h ..\fun\headfile.h \
D:\keil5\ARM\ARMCLANG\include\string.h \ D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \ D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\gps.h \ D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h

BIN
MDK-ARM/AutoGuideStick/hcble.o
View File

Binary file not shown.

3
MDK-ARM/AutoGuideStick/imu.d
View File

@@ -38,4 +38,5 @@ autoguidestick/imu.o: ..\fun\IMU.c ..\fun\IMU.h ..\fun\headfile.h \
D:\keil5\ARM\ARMCLANG\include\string.h \ D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \ D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \ D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
..\fun\Motor.h ..\fun\imu948.h ..\fun\value.h

BIN
MDK-ARM/AutoGuideStick/imu.o
View File

Binary file not shown.

43
MDK-ARM/AutoGuideStick/imu948.d Normal file
View File

@@ -0,0 +1,43 @@
autoguidestick/imu948.o: ..\fun\imu948.c ..\fun\imu948.h \
..\fun\headfile.h ..\Core\Inc\main.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
D:\keil5\ARM\ARMCLANG\include\math.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
..\Drivers\CMSIS\Include\core_cm33.h \
D:\keil5\ARM\ARMCLANG\include\stdint.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\keil5\ARM\ARMCLANG\include\stddef.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h \
..\Core\Inc\memorymap.h ..\Core\Inc\usart.h ..\Core\Inc\gpio.h \
..\Core\Inc\gpdma.h ..\Core\Inc\tim.h ..\Core\Inc\app_threadx.h \
..\Middlewares\ST\threadx\common\inc\tx_api.h \
..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h \
..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
..\fun\Motor.h ..\fun\IMU.h ..\fun\value.h

BIN
MDK-ARM/AutoGuideStick/imu948.o Normal file
View File

Binary file not shown.

3
MDK-ARM/AutoGuideStick/main.d
View File

@@ -38,4 +38,5 @@ autoguidestick/main.o: ..\Core\Src\main.c ..\Core\Inc\app_threadx.h \
..\Core\Inc\gpdma.h ..\Core\Inc\tim.h \ ..\Core\Inc\gpdma.h ..\Core\Inc\tim.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \ D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \ D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h

BIN
MDK-ARM/AutoGuideStick/main.o
View File

Binary file not shown.

42
MDK-ARM/AutoGuideStick/motor.d Normal file
View File

@@ -0,0 +1,42 @@
autoguidestick/motor.o: ..\fun\Motor.c ..\fun\Motor.h ..\fun\headfile.h \
..\Core\Inc\main.h ..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal.h \
..\Core\Inc\stm32h5xx_hal_conf.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_def.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h5xx.h \
D:\keil5\ARM\ARMCLANG\include\math.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\stm32h563xx.h \
..\Drivers\CMSIS\Include\core_cm33.h \
D:\keil5\ARM\ARMCLANG\include\stdint.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_version.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_compiler.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\cmsis_armclang.h \
D:\advance_stick\AutoGuideStick\Drivers\CMSIS\Include\mpu_armv8.h \
..\Drivers\CMSIS\Device\ST\STM32H5xx\Include\system_stm32h5xx.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
D:\keil5\ARM\ARMCLANG\include\stddef.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_rcc_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_gpio_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_dma_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_cortex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_flash_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_pwr_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_tim_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_uart_ex.h \
..\Drivers\STM32H5xx_HAL_Driver\Inc\stm32h5xx_hal_exti.h \
..\Core\Inc\memorymap.h ..\Core\Inc\usart.h ..\Core\Inc\gpio.h \
..\Core\Inc\gpdma.h ..\Core\Inc\tim.h ..\Core\Inc\app_threadx.h \
..\Middlewares\ST\threadx\common\inc\tx_api.h \
..\Middlewares\ST\threadx\ports\cortex_m33\ac6\inc\tx_port.h \
..\Core\Inc\tx_user.h D:\keil5\ARM\ARMCLANG\include\stdlib.h \
D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\IMU.h \
..\fun\imu948.h ..\fun\value.h

BIN
MDK-ARM/AutoGuideStick/motor.o Normal file
View File

Binary file not shown.

3
MDK-ARM/AutoGuideStick/shake_motor.d
View File

@@ -39,4 +39,5 @@ autoguidestick/shake_motor.o: ..\fun\Shake_Motor.c ..\fun\Shake_Motor.h \
D:\keil5\ARM\ARMCLANG\include\string.h \ D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \ D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \ D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\Motor.h ..\fun\IMU.h \
..\fun\imu948.h ..\fun\value.h

BIN
MDK-ARM/AutoGuideStick/startup_stm32h563xx.o
View File

Binary file not shown.

3
MDK-ARM/AutoGuideStick/stm32h5xx_it.d
View File

@@ -39,4 +39,5 @@ autoguidestick/stm32h5xx_it.o: ..\Core\Src\stm32h5xx_it.c \
D:\keil5\ARM\ARMCLANG\include\string.h \ D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \ D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \ D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\value.h

BIN
MDK-ARM/AutoGuideStick/tim.o
View File

Binary file not shown.

3
MDK-ARM/AutoGuideStick/ultrasound.d
View File

@@ -39,4 +39,5 @@ autoguidestick/ultrasound.o: ..\fun\Ultrasound.c ..\fun\Ultrasound.h \
D:\keil5\ARM\ARMCLANG\include\string.h \ D:\keil5\ARM\ARMCLANG\include\string.h \
D:\keil5\ARM\ARMCLANG\include\stdio.h \ D:\keil5\ARM\ARMCLANG\include\stdio.h \
D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \ D:\keil5\ARM\ARMCLANG\include\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
..\fun\Shake_Motor.h ..\fun\Buzzer.h ..\fun\Shake_Motor.h ..\fun\Buzzer.h ..\fun\Motor.h ..\fun\IMU.h \
..\fun\imu948.h ..\fun\value.h

BIN
MDK-ARM/AutoGuideStick/usart.o
View File

Binary file not shown.

37
fun/HCBle.c
View File

@@ -41,7 +41,10 @@ TX_EVENT_FLAGS_GROUP ble_event_flags;
void HCBle_InitEventFlags(void) void HCBle_InitEventFlags(void)
{ tx_event_flags_create(&ble_event_flags, "BLE Events");} { 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");
}
//<2F><>ʼ<EFBFBD><CABC>DMA<4D><41><EFBFBD>պ<EFBFBD><D5BA><EFBFBD> //<2F><>ʼ<EFBFBD><CABC>DMA<4D><41><EFBFBD>պ<EFBFBD><D5BA><EFBFBD>
void HCBle_InitDMAReception(void) void HCBle_InitDMAReception(void)
@@ -97,6 +100,21 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size)
tx_event_flags_set(&ble_event_flags, BLE_EVENT_DATA_READY, TX_OR); tx_event_flags_set(&ble_event_flags, BLE_EVENT_DATA_READY, TX_OR);
HAL_UARTEx_ReceiveToIdle_IT(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_SIZE); HAL_UARTEx_ReceiveToIdle_IT(&huart4, uart_dma_rx_buf, UART_DMA_RX_BUF_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);
}
} }
@@ -110,16 +128,12 @@ void HCBle_ParseAndHandleFrame(const char *frame)
if (sscanf(frame, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}$", &left, &right) == 2) { if (sscanf(frame, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}$", &left, &right) == 2) {
cmd.LeftSpeed = left; cmd.LeftSpeed = left;
cmd.RightSpeed = right; cmd.RightSpeed = right;
HCBle_SendData("left=%d, right=%d\r\n", left, right); HCBle_SendData("left=%d, right=%d\r\n", cmd.LeftSpeed, cmd.RightSpeed);
// HCBle_SendData("left=%d, right=%d\r\n", left, right);
return; 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); HCBle_SendData("? <20><><EFBFBD><EFBFBD>ʧ<EFBFBD><CAA7>: %s\r\n", frame);
} }
@@ -178,14 +192,15 @@ void ble_rx_task_entry(ULONG thread_input)
// HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n", // HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.2f}\n",
// current_location.lat, current_location.lon, current_location.angle); // current_location.lat, current_location.lon, current_location.angle);
void ble_tx_task_entry(ULONG thread_input) { void ble_tx_task_entry(ULONG thread_input) {
char recv_msg[128]; BleMessage msg;
while(1) { 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,&recv_msg,TX_WAIT_FOREVER) == TX_SUCCESS) if(tx_queue_receive(&ble_tx_queue,&msg,TX_WAIT_FOREVER) == TX_SUCCESS)
{ {
HCBle_SendData("%s",recv_msg); HCBle_SendData("#{\"lat\":%.6f,\"lon\":%.6f,\"angle\":%.1f}\n",
msg.lat, msg.lon,0);
} }
} }
} }

1347
fun/IMU.c
View File

File diff suppressed because it is too large Load Diff

255
fun/IMU.h
View File

@@ -1,7 +1,258 @@
/******************************************************************************
<20>豸<EFBFBD><E8B1B8>IM948ģ<38><C4A3>֮<EFBFBD><D6AE><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>ͨ<EFBFBD>ſ<EFBFBD>
<EFBFBD>汾: V1.05
<EFBFBD><EFBFBD>¼: 1<><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>ټƺ<D9BC><C6BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̿<EFBFBD><CCBF><EFBFBD><EFBFBD><EFBFBD>
2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20>ų<EFBFBD>У׼<D0A3><D7BC>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>
3<><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD>ʶ<EFBFBD><CAB6><EFBFBD><EFBFBD>
4<><34><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>þ<EFBFBD>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>ģʽ<C4A3>Ĵ<EFBFBD><C4B4><EFBFBD>ʱ<EFBFBD><CAB1>
5<><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ϴ<EFBFBD>Ȧ<EFBFBD><C8A6><EFBFBD><EFBFBD>֧<EFBFBD><D6A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>͸<EFBFBD><CDB8>
6<><36><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>z<EFBFBD>Ƕ<EFBFBD>Ϊָ<CEAA><D6B8>ֵ
*******************************************************************************/
#ifndef __IMU_H__ #ifndef __IMU_H__
#define __IMU_H__ #define __IMU_H__
#include "headfile.h" #include "headfile.h"
void imu_thread_entry(ULONG thread_input); typedef signed char S8;
#endif typedef unsigned char U8;
typedef signed short S16;
typedef unsigned short U16;
typedef signed long S32;
typedef unsigned long U32;
typedef float F32;
#define pow2(x) ((x)*(x)) // <20><>ƽ<EFBFBD><C6BD>
// <20><><EFBFBD><EFBFBD>ʱת<CAB1><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>--------------
#define scaleAccel 0.00478515625f // <20><><EFBFBD>ٶ<EFBFBD> [-16g~+16g] 9.8*16/32768
#define scaleQuat 0.000030517578125f // <20><>Ԫ<EFBFBD><D4AA> [-1~+1] 1/32768
#define scaleAngle 0.0054931640625f // <20>Ƕ<EFBFBD> [-180~+180] 180/32768
#define scaleAngleSpeed 0.06103515625f // <20><><EFBFBD>ٶ<EFBFBD> [-2000~+2000] 2000/32768
#define scaleMag 0.15106201171875f // <20>ų<EFBFBD> [-4950~+4950] 4950/32768
#define scaleTemperature 0.01f // <20><EFBFBD>
#define scaleAirPressure 0.0002384185791f // <20><>ѹ [-2000~+2000] 2000/8388608
#define scaleHeight 0.0010728836f // <20>߶<EFBFBD> [-9000~+9000] 9000/8388608
#define CmdPacket_Begin 0x49 // <20><>ʼ<EFBFBD><CABC>
#define CmdPacket_End 0x4D // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#define CmdPacketMaxDatSizeRx 73 // ģ<>鷢<EFBFBD><E9B7A2><EFBFBD><EFBFBD> <20><><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>󳤶<EFBFBD>
#define CmdPacketMaxDatSizeTx 31 // <20><><EFBFBD>͸<EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD> <20><><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>󳤶<EFBFBD>
#define FifoSize 200 // <20><><EFBFBD><EFBFBD>3<EFBFBD><33>fifo<66><6F>С <20>ֽ<EFBFBD><D6BD><EFBFBD>
typedef struct // <20><><EFBFBD><EFBFBD> Fifo<66><6F><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
{
U8 RxBuf[FifoSize];
volatile U8 In;
volatile U8 Out;
volatile U8 Cnt;
}struct_UartFifo;
extern struct_UartFifo UartFifo;
// <20><><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><D0B6><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȼ<EFBFBD><C8BB>浽fifo<66><6F>, Ȼ<><C8BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD>
#define Fifo_in(RxByte) if (FifoSize > UartFifo.Cnt)\
{\
UartFifo.RxBuf[UartFifo.In] = (RxByte);\
if(++UartFifo.In >= FifoSize)\
{\
UartFifo.In = 0;\
}\
++UartFifo.Cnt;\
}
// ===============================<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>====================================
// #define __Debug // ʹ<>õ<EFBFBD><C3B5>Կ<EFBFBD><D4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ,<2C><>ʹ<EFBFBD>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD>α<EFBFBD><CEB1>伴<EFBFBD><E4BCB4>
#ifdef __Debug
#define Dbp(fmt, args...) printf(fmt, ##args) // <20><><EFBFBD><EFBFBD>Ҫʹ<D2AA>õ<EFBFBD><C3B5><EFBFBD><EFBFBD><EFBFBD>Ϣ, <20>û<EFBFBD><C3BB>Խ<EFBFBD>Dbp<62><70><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void Dbp_U8_buf(char *sBeginInfo, char *sEndInfo, char *sFormat, const U8 *Buf, U32 Len);
#else
#define Dbp(fmt, args...)
#define Dbp_U8_buf(sBeginInfo, sEndInfo, sFormat, Buf, Len)
#endif
// =================================<3D><>ֲ<EFBFBD>ӿ<EFBFBD>======================================
/**
* <20><><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>, <20>û<EFBFBD>ֻ<EFBFBD><D6BB><EFBFBD>ѽ<EFBFBD><D1BD>յ<EFBFBD><D5B5><EFBFBD>ÿ<EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD>ݴ<EFBFBD><DDB4><EFBFBD><EFBFBD>ú<EFBFBD><C3BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param byte <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD>ÿ<EFBFBD>ֽ<EFBFBD><D6BD><EFBFBD><EFBFBD><EFBFBD>
* @return U8 1=<3D><><EFBFBD>յ<EFBFBD><D5B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>, 0δ<30><CEB4>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݰ<EFBFBD>
*/
extern U8 Cmd_GetPkt(U8 byte);
// <20><><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD>Ч<EFBFBD><D0A7><EFBFBD>ݰ<EFBFBD><DDB0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><D8B5><EFBFBD><EFBFBD>뵽 Cmd_RxUnpack(U8 *buf, U8 DLen) <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><C3BB>ڸú<DAB8><C3BA><EFBFBD><EFBFBD>ﴦ<EFBFBD><EFB4A6><EFBFBD><EFBFBD><EFBFBD>ݼ<EFBFBD><DDBC>ɣ<EFBFBD><C9A3><EFBFBD><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD>Ǹ<EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>һ<EFBFBD>е<EFBFBD>ȫ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD>
extern F32 AngleX,AngleY,AngleZ;// <20><>Cmd_RxUnpack<63>л<EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><DDB8>µ<EFBFBD>ȫ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>û<EFBFBD><C3BB>Լ<EFBFBD><D4BC><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD>߼<EFBFBD>ʹ<EFBFBD><CAB9>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3>ɲο<C9B2><CEBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӽ<EFBFBD><D3BC><EFBFBD>
extern U8 isNewData;// 1=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD><C2B5><EFBFBD><EFBFBD>ݵ<EFBFBD>ȫ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void im948_test(void); // <20><><EFBFBD><EFBFBD>ʾ<EFBFBD><CABE> <20><><EFBFBD><EFBFBD><EFBFBD>Ǽ<EFBFBD><C7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ<EFBFBD><D4B4>ڷ<EFBFBD><DAB7><EFBFBD><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD>ָ<EFBFBD>Ȼ<EEA3AC><C8BB><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD>в<EFBFBD><D0B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD>Ｔ<EFBFBD><EFBCB4>
// ================================ģ<><C4A3><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD>ָ<EFBFBD><D6B8>=================================
extern U8 targetDeviceAddress; // ͨ<>ŵ<EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD>Ϊ0-254ָ<34><D6B8><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD>Ϊ255<35><35><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD>豸(<28><><EFBFBD>㲥), <20><><EFBFBD><EFBFBD>Ҫʹ<D2AA><CAB9>485<38><35><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽͨ<CABD><CDA8>ʱͨ<CAB1><CDA8><EFBFBD>ò<EFBFBD><C3B2><EFBFBD>ѡ<EFBFBD><D1A1>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǵ<EFBFBD><C7B4><EFBFBD>1<EFBFBD><31>1ͨ<31><CDA8><EFBFBD><EFBFBD>Ϊ<EFBFBD>㲥<EFBFBD><E3B2A5>ַ255<35><35><EFBFBD><EFBFBD>
extern void Cmd_02(void);// ˯<>ߴ<EFBFBD><DFB4><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_03(void);// <20><><EFBFBD>Ѵ<EFBFBD><D1B4><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_18(void);// <20>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>
extern void Cmd_19(void);// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>
extern void Cmd_11(void);// <20><>ȡ1<C8A1>ζ<EFBFBD><CEB6>ĵĹ<C4B5><C4B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_10(void);// <20><>ȡ<EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD>Ժ<EFBFBD>״̬
/**
* <20><><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
* @param accStill <20>ߵ<EFBFBD>-<2D><>ֹ״̬<D7B4><CCAC><EFBFBD>ٶȷ<D9B6>ֵ <20><>λdm/s?
* @param stillToZero <20>ߵ<EFBFBD>-<2D><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(<28><>λcm/s) 0:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 255:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param moveToZero <20>ߵ<EFBFBD>-<2D><>̬<EFBFBD><CCAC><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(<28><>λcm/s) 0:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param isCompassOn 1=<3D><><EFBFBD>ںϴų<CFB4> 0=<3D><><EFBFBD>ںϴų<CFB4>
* @param barometerFilter <20><>ѹ<EFBFBD>Ƶ<EFBFBD><C6B5>˲<EFBFBD><CBB2>ȼ<EFBFBD>[ȡֵ0-3],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param reportHz <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD><CFB1>Ĵ<EFBFBD><C4B4><EFBFBD>֡<EFBFBD><D6A1>[ȡֵ0-250HZ], 0<><30>ʾ0.5HZ
* @param gyroFilter <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>ϵ<EFBFBD><CFB5>[ȡֵ0-2],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param accFilter <20><><EFBFBD>ټ<EFBFBD><D9BC>˲<EFBFBD>ϵ<EFBFBD><CFB5>[ȡֵ0-4],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param compassFilter <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>ϵ<EFBFBD><CFB5>[ȡֵ0-9],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param Cmd_ReportTag <20><><EFBFBD>ܶ<EFBFBD><DCB6>ı<EFBFBD>ʶ
*/
extern void Cmd_12(U8 accStill, U8 stillToZero, U8 moveToZero, U8 isCompassOn, U8 barometerFilter, U8 reportHz, U8 gyroFilter, U8 accFilter, U8 compassFilter, U16 Cmd_ReportTag);
extern void Cmd_13(void);// <20>ߵ<EFBFBD><DFB5><EFBFBD>ά<EFBFBD>ռ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_16(void);// <20>Ʋ<EFBFBD><C6B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_14(void);// <20>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD>У׼<D0A3><D7BC><EFBFBD><EFBFBD>
extern void Cmd_15(void);// <20><><EFBFBD>浱ǰУ׼<D0A3><D7BC><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>У׼<D0A3><D7BC><EFBFBD><EFBFBD>
extern void Cmd_07(void);// <20><><EFBFBD>ټƼ<D9BC><C6BC><EFBFBD>У׼ ģ<>龲ֹ<E9BEB2><D6B9>ˮƽ<CBAE><C6BD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD>͸<EFBFBD>ָ<EFBFBD><EFBFBD>յ<EFBFBD><D5B5>ظ<EFBFBD><D8B8><EFBFBD><EFBFBD>ȴ<EFBFBD>5<EFBFBD>뼴<EFBFBD><EBBCB4>
/**
* <20><><EFBFBD>ټƸ߾<C6B8><DFBE><EFBFBD>У׼
* @param flag <20><>ģ<EFBFBD><C4A3>δ<EFBFBD><CEB4><EFBFBD><EFBFBD>У׼״̬ʱ<CCAC><CAB1>
* ֵ0 <20><>ʾ<EFBFBD><CABE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼһ<CABC><D2BB>У׼<D0A3><D7BC><EFBFBD>ɼ<EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* ֵ255 <20><>ʾѯ<CABE><D1AF><EFBFBD>豸<EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD><EFBFBD>У׼
* <20><>ģ<EFBFBD><C4A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У׼<D0A3><D7BC>:
* ֵ1 <20><>ʾҪ<CABE>ɼ<EFBFBD><C9BC><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* ֵ255 <20><>ʾҪ<CABE>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD>ݲ<EFBFBD><DDB2><EFBFBD><EFBFBD><EFBFBD>
*/
extern void Cmd_17(U8 flag);
extern void Cmd_32(void);// <20><>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У׼
extern void Cmd_04(void);// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У׼
extern void Cmd_05(void);// z<><7A><EFBFBD>ǹ<EFBFBD><C7B9><EFBFBD>
/**
* <20><><EFBFBD><EFBFBD> Z<><5A><EFBFBD>Ƕ<EFBFBD>Ϊָ<CEAA><D6B8>ֵ
* @param val Ҫ<><D2AA><EFBFBD>õĽǶ<C4BD>ֵ(<28><>λ0.001<EFBFBD><EFBFBD>)<29>з<EFBFBD><D0B7><EFBFBD>32λ<32><CEBB>
*/
extern void Cmd_28(S32 val);
extern void Cmd_06(void);// xyz<79><7A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD>
extern void Cmd_08(void);// <20>ָ<EFBFBD>Ĭ<EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵZ<CFB5><5A>ָ<EFBFBD>򼰻ָ<F2BCB0BB>Ĭ<EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ
/**
* <20><><EFBFBD><EFBFBD>PCB<43><42>װ<EFBFBD><D7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param accMatrix <20><><EFBFBD>ټƷ<D9BC><C6B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param comMatrix <20><><EFBFBD><EFBFBD><EFBFBD>Ʒ<EFBFBD><C6B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*/
extern void Cmd_20(S8 *accMatrix, S8 *comMatrix);
extern void Cmd_21(void);// <20><>ȡPCB<43><42>װ<EFBFBD><D7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/**
* <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㲥<EFBFBD><E3B2A5><EFBFBD><EFBFBD>
*
* @param bleName <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD>֧<EFBFBD><D6A7>15<31><35><EFBFBD>ַ<EFBFBD><D6B7><EFBFBD><EFBFBD><EFBFBD>,<2C><>֧<EFBFBD><D6A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>)
*/
extern void Cmd_22(U8 *bleName);
extern void Cmd_23(void);// <20><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>㲥<EFBFBD><E3B2A5><EFBFBD><EFBFBD>
/**
* <20><><EFBFBD>ùػ<C3B9><D8BB><EFBFBD>ѹ<EFBFBD>ͳ<EFBFBD><CDB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param PowerDownVoltageFlag <20>ػ<EFBFBD><D8BB><EFBFBD>ѹѡ<D1B9><D1A1> 0=3.4V(﮵<><EFAEB5><EFBFBD><EFBFBD><EFBFBD>) 1=2.7V(<28><><EFBFBD><EFBFBD><EFBFBD>ɵ<EFBFBD><C9B5><EFBFBD><EFBFBD><EFBFBD>)
* @param charge_full_mV <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹ<EFBFBD><D6B9>ѹ 0:3962mv 1:4002mv 2:4044mv 3:4086mv 4:4130mv 5:4175mv 6:4222mv 7:4270mv 8:4308mv 9:4349mv 10:4391mv
* @param charge_full_mA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD> 0:2ma 1:5ma 2:7ma 3:10ma 4:15ma 5:20ma 6:25ma 7:30ma
* @param charge_mA <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0:20ma 1:30ma 2:40ma 3:50ma 4:60ma 5:70ma 6:80ma 7:90ma 8:100ma 9:110ma 10:120ma 11:140ma 12:160ma 13:180ma 14:200ma 15:220ma
*/
extern void Cmd_24(U8 PowerDownVoltageFlag, U8 charge_full_mV, U8 charge_full_mA, U8 charge_mA);
extern void Cmd_25(void);// <20><>ȡ <20>ػ<EFBFBD><D8BB><EFBFBD>ѹ<EFBFBD>ͳ<EFBFBD><CDB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_26(void);// <20>Ͽ<EFBFBD><CFBF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/**
* <20><><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><C3BB><EFBFBD>GPIO<49><4F><EFBFBD><EFBFBD>
*
* @param M 0=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 1=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 2=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 3=<3D><><EFBFBD><EFBFBD>0, 4=<3D><><EFBFBD><EFBFBD>1
*/
extern void Cmd_27(U8 M);
extern void Cmd_2A(void);// <20>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
extern void Cmd_2B(void);// <20>豸<EFBFBD>ػ<EFBFBD>
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD>йػ<D0B9>ʱ<EFBFBD><CAB1>
*
* @param idleToPowerOffTime <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD><C3BB>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڹ㲥<DAB9>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ﵽ<EFBFBD><EFB5BD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD>10<31><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ػ<EFBFBD> 0=<3D><><EFBFBD>ػ<EFBFBD>
*/
extern void Cmd_2C(U8 idleToPowerOffTime);
extern void Cmd_2D(void);// <20><>ȡ <20><><EFBFBD>йػ<D0B9>ʱ<EFBFBD><CAB1>
/**
* <20><><EFBFBD><EFBFBD> <20><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƺͳ<C6BA><CDB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʶ
*
* @param DisableBleSetNameAndCahrge 1=<3D><>ֹͨ<D6B9><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƽ<EFBFBD><C6BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0=<3D><><EFBFBD><EFBFBD>(Ĭ<><C4AC>) <20><><EFBFBD>ܿͻ<DCBF><CDBB>IJ<EFBFBD>Ʒ<EFBFBD><C6B7><EFBFBD><EFBFBD><EFBFBD>ñ<EFBFBD><C3B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģ<EFBFBD><C4A3><EFBFBD>Ϊ1<CEAA><31><EFBFBD><EFBFBD>
*/
extern void Cmd_2E(U8 DisableBleSetNameAndCahrge);
extern void Cmd_2F(void);// <20><>ȡ <20><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ<EFBFBD><CABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƺͳ<C6BA><CDB3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><>ʶ
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>ͨ<EFBFBD>ŵ<EFBFBD>ַ
*
* @param address <20>豸<EFBFBD><E8B1B8>ַֻ<D6B7><D6BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0-254
*/
extern void Cmd_30(U8 address);
extern void Cmd_31(void);// <20><>ȡ <20><><EFBFBD><EFBFBD>ͨ<EFBFBD>ŵ<EFBFBD>ַ
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD>ټƺ<D9BC><C6BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @param AccRange Ŀ<><C4BF><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD><D9B6><EFBFBD><EFBFBD><EFBFBD> 0=2g 1=4g 2=8g 3=16g
* @param GyroRange Ŀ<><C4BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 0=256 1=512 2=1024 3=2048
*/
extern void Cmd_33(U8 AccRange, U8 GyroRange);
extern void Cmd_34(void);// <20><>ȡ <20><><EFBFBD>ټƺ<D9BC><C6BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD>ʶ
*
* @param GyroAutoFlag 1=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȿ<EFBFBD> 0=<3D><>
*/
extern void Cmd_35(U8 GyroAutoFlag);
extern void Cmd_36(void);// <20><>ȡ <20><><EFBFBD>ټƺ<D9BC><C6BA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
/**
* <20><><EFBFBD><EFBFBD> <20><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>ģʽ<C4A3>Ĵ<EFBFBD><C4B4><EFBFBD>ʱ<EFBFBD><CAB1>
*
* @param EcoTime_10s <20><>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>ģʽ(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˯<EFBFBD>ߺ<EFBFBD><DFBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD><CFB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹEcoTime_10s<30><73>10<31><30><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3><CABD><EFBFBD><EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>) 0=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD>
*/
extern void Cmd_37(U8 EcoTime_10s);
extern void Cmd_38(void);// <20><>ȡ <20><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD>ģʽ<C4A3>Ĵ<EFBFBD><C4B4><EFBFBD>ʱ<EFBFBD><CAB1>
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
*
* @param Flag ȡֵ2=<3D><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD><CFB1><EFBFBD>1=<3D><><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><C3B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>, 0=<3D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҵ<EFBFBD><D2B4>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>
*/
extern void Cmd_40(U8 Flag);
// <20><>ȡ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
extern void Cmd_41(void);
/**
* <20><><EFBFBD><EFBFBD> <20><>ǰ<EFBFBD>߶<EFBFBD>Ϊָ<CEAA><D6B8>ֵ
*
* @param val Ҫ<><D2AA><EFBFBD>õĸ߶<C4B8>ֵ <20><>λΪmm
*/
extern void Cmd_42(S32 val);
/**
* <20><><EFBFBD><EFBFBD> <20>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߶ȱ<DFB6>ʶ
*
* @param OnOff 0=<3D>ر<EFBFBD> 1=<3D><><EFBFBD><EFBFBD>
*/
extern void Cmd_43(U8 OnOff);
// <20><>ȡ <20>Զ<EFBFBD><D4B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߶ȱ<DFB6>ʶ
extern void Cmd_44(void);
/**
* <20><><EFBFBD><EFBFBD> <20><><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
*
* @param BaudRate Ŀ<>겨<EFBFBD><EAB2A8><EFBFBD><EFBFBD> 0=9600 1=115200 2=230400 3=460800
*/
extern void Cmd_47(U8 BaudRate);
// <20><>ȡ <20><><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>
extern void Cmd_48(void);
// <20><>˸<EFBFBD><CBB8><EFBFBD><EFBFBD>ledָʾ<D6B8><CABE>
extern void Cmd_49(void);
/**
* <20><><EFBFBD><EFBFBD>͸<EFBFBD><CDB8>
*
* @param TxBuf Ҫ͸<D2AA><CDB8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param TxLen <20>ֽ<EFBFBD><D6BD><EFBFBD> <20><><EFBFBD><EFBFBD>С<EFBFBD><D0A1>CmdPacketMaxDatSizeTx
*/
extern void Cmd_50(U8 *TxBuf, U8 TxLen);
/**
* <20><><EFBFBD><EFBFBD> <20>Ƿ<EFBFBD><C7B7>ϴ<EFBFBD><CFB4><EFBFBD>Ȧ<EFBFBD><C8A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
*
* @param isReportCycle 0=<3D><><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, 1=<3D><><EFBFBD><EFBFBD>Ȧ<EFBFBD><C8A6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD>Ǵ<EFBFBD><C7B4><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȧ<EFBFBD><C8A6>
*/
extern void Cmd_51(U8 isReportCycle);
#endif

86
fun/Motor.c Normal file
View File

@@ -0,0 +1,86 @@
#include "Motor.h"
extern TIM_HandleTypeDef htim3;
extern TIM_HandleTypeDef htim4;
/*******
PWMA --- TIM4_CHANNEL4
PMWB --- TIM3_CHANNEL4
STBY --- 5V Ĭ<><C4AC>5V <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><CABC>
*******/
void PWM_GPIO_TIM_Init(void)
{
HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_4);
HAL_TIM_PWM_Start(&htim4,TIM_CHANNEL_4);
}
void MotorA_Dir(uint8_t dir)
{
if(0 == dir) // ǰ<><C7B0>
{
HAL_GPIO_WritePin(AIN1_GPIO_Port,AIN1_Pin,GPIO_PIN_SET);
HAL_GPIO_WritePin(AIN2_GPIO_Port,AIN2_Pin,GPIO_PIN_RESET);
}
else // <20><>ת
{
HAL_GPIO_WritePin(AIN1_GPIO_Port,AIN1_Pin,GPIO_PIN_RESET);
HAL_GPIO_WritePin(AIN2_GPIO_Port,AIN2_Pin,GPIO_PIN_SET);
}
}
void MotorB_Dir(uint8_t dir)
{
if(0 == dir) // ǰ<><C7B0>
{
HAL_GPIO_WritePin(BIN1_GPIO_Port,BIN1_Pin,GPIO_PIN_SET);
HAL_GPIO_WritePin(BIN2_GPIO_Port,BIN2_Pin,GPIO_PIN_RESET);
}
else // <20><>ת
{
HAL_GPIO_WritePin(BIN1_GPIO_Port,BIN1_Pin,GPIO_PIN_RESET);
HAL_GPIO_WritePin(BIN2_GPIO_Port,BIN2_Pin,GPIO_PIN_SET);
}
}
// <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>A<EFBFBD><41><EFBFBD>ٶ<EFBFBD>
void MotorA_Speed(uint8_t speed)
{
__HAL_TIM_SET_COMPARE(&htim4,TIM_CHANNEL_4,speed);
}
// <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>B<EFBFBD><42><EFBFBD>ٶ<EFBFBD>
void MotorB_Speed(uint8_t speed)
{
__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_4,speed);
}
// ʾ<><CABE> ͬʱ<CDAC><CAB1><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>A/B
// <20><>ʾ <20><><EFBFBD><EFBFBD> Dir 0 ---- ǰ<><C7B0> go forward
// <20><><EFBFBD><EFBFBD> Dir 1 ---- <20><><EFBFBD><EFBFBD> go forward
void DriveBOTH(int16_t speedA,int16_t speedB)
{
// <20><><EFBFBD><EFBFBD> A
if (speedA >= 0) MotorA_Dir(0);
else
{
MotorA_Dir(1);
speedA = -speedA;
}
MotorA_Speed(speedA);
// <20><><EFBFBD><EFBFBD> B
if (speedB >= 0) MotorA_Dir(0);
else
{
MotorB_Dir(1);
speedB = -speedB;
}
MotorA_Speed(speedB);
}

27
fun/Motor.h Normal file
View File

@@ -0,0 +1,27 @@
#ifndef __MOTOR_H__
#define __MOTOR_H__
#include "headfile.h"
void PWM_GPIO_TIM_Init(void);
void MotorA_Dir(uint8_t dir);
void MotorB_Dir(uint8_t dir);
// <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>A<EFBFBD><41><EFBFBD>ٶ<EFBFBD>
void MotorA_Speed(uint8_t speed);
// <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>B<EFBFBD><42><EFBFBD>ٶ<EFBFBD>
void MotorB_Speed(uint8_t speed);
// ʾ<><CABE> ͬʱ<CDAC><CAB1><EFBFBD>Ƶ<EFBFBD><C6B5><EFBFBD>A/B
// <20><>ʾ <20><><EFBFBD><EFBFBD> Dir 0 ---- ǰ<><C7B0> go forward
// <20><><EFBFBD><EFBFBD> Dir 1 ---- <20><><EFBFBD><EFBFBD> go forward
void DriveBOTH(int16_t speedA,int16_t speedB);
#endif

278
fun/gps.c
View File

@@ -26,68 +26,215 @@ _GPSData GPS;
void GPS_Init(void) void GPS_Init(void)
{ {
HAL_UARTEx_ReceiveToIdle_IT(&huart2, GPS_DMA_RX_BUF, GPS_DMA_RX_BUF_LEN); 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 #ifdef parse
// GPS<50><53><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD> // GPS<50><53><EFBFBD>ݽ<EFBFBD><DDBD><EFBFBD>
void parseGpsBuffer() //void parseGpsBuffer()
//{
// char *subString;
// char *subStringNext;
// 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;
// }
//
//}
//void parseGpsBuffer(void)
//{
// if (!GPS.isGetData) return;
// GPS.isGetData = 0;
// /* ----------- <20><><EFBFBD><EFBFBD><EFBFBD>б<EFBFBD> ------------ */
// 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,
// "$%*[^,],%15[^,],%2[^,],%15[^,],%2[^,],%*[^,],%c",
// lat, ns, lon, ew, &status) == 5)
// {
// if (status == 'A')
// {
// strcpy(GPS.latitude, lat);
// strcpy(GPS.N_S, ns);
// strcpy(GPS.longitude, lon);
// strcpy(GPS.E_W, ew);
// GPS.isParseData = 1;
// GPS.isUsefull = 1;
// }
// }
// }
//}
/* === <20><> <20>л<EFBFBD><D0BB><EFBFBD><EFBFBD><EFBFBD> & <20><><EFBFBD>ͺ<EFBFBD><CDBA><EFBFBD> === */
static char line_buf[GPS_Buffer_Length];
static uint16_t line_w = 0;
void GPS_LinePush(uint8_t ch)
{ {
char *subString; if (ch == '\n') { /* <20><><EFBFBD><EFBFBD><EFBFBD>н<EFBFBD><D0BD><EFBFBD> */
char *subStringNext; line_buf[line_w] = '\0';
char i = 0;
if(GPS.isGetData) /* A. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> '$' <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] != '$' && GPS.isGetData == 0 && GPS.GPS_Buffer[0] == '$')
GPS.isGetData = 0; // <20>ѱ<EFBFBD>־λ<D6BE><CEBB>Ϊ1 {
strncat(GPS.GPS_Buffer, line_buf, GPS_Buffer_Length - strlen(GPS.GPS_Buffer) - 1);
char usefullBuffer[2] = {0}; }
for(i = 0; i <= 6; i++) else /* B. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¾<EFBFBD> */
{ {
if(i == 0) strncpy(GPS.GPS_Buffer, line_buf, GPS_Buffer_Length);
{ }
subString = strstr(GPS.GPS_Buffer,","); line_w = 0;
if(!subString)return; GPS.isGetData = 1;
} tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
else return;
{ }
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;
}
} }
/* === <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;
}
}
}
#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> #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() void parseGpsBuffer()
{ {
@@ -172,7 +319,7 @@ void GPS_Data_CLR(void)
// //
// tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR); // tx_event_flags_set(&system_events, EVENT_GPS_DATA_READY, TX_OR);
// //<2F><><EFBFBD>¿<EFBFBD><C2BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> // //<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(); GPS_Init();
static int gps_first_fix_sent = 0; static int gps_first_fix_sent = 0;
BleMessage msg;
while (1) while (1)
{ {
ULONG events; ULONG events;
tx_event_flags_get(&system_events, EVENT_GPS_DATA_READY, TX_OR_CLEAR, &events, TX_WAIT_FOREVER); tx_event_flags_get(&system_events, EVENT_GPS_DATA_READY, TX_OR_CLEAR, &events, TX_WAIT_FOREVER);
parseGpsBuffer(); 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) if (GPS.isParseData && GPS.isUsefull)
{ {
current_location.lat = Convert_to_degrees(GPS.latitude); current_location.lat = Convert_to_degrees(GPS.latitude);
current_location.lon = Convert_to_degrees(GPS.longitude); current_location.lon = Convert_to_degrees(GPS.longitude);
tx_event_flags_set(&system_events, EVENT_LOCATION_UPDATED, TX_OR); 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); tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
} }

8
fun/gps.h
View File

@@ -6,11 +6,11 @@
#define USART_REC_LEN 200 #define USART_REC_LEN 200
#define EN_USART2_RX 1 //ʹ<>ܽ<EFBFBD><DCBD><EFBFBD> --- 1 <20><>֮ 0 #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> // <20><><EFBFBD><EFBFBD>gps<70>ṹ<EFBFBD><E1B9B9>
#define GPS_Buffer_Length 80 #define GPS_Buffer_Length 256
#define UTCTime_Length 11 #define UTCTime_Length 11
#define latitude_Length 11 #define latitude_Length 11
#define N_S_Length 2 #define N_S_Length 2
@@ -32,8 +32,10 @@ typedef struct GPSData
extern _GPSData GPS; extern _GPSData GPS;
extern uint8_t GPS_DMA_RX_BUF[GPS_DMA_RX_BUF_LEN]; extern uint8_t GPS_DMA_RX_BUF[GPS_DMA_RX_BUF_LEN];
double Convert_to_degrees(char *data);
void parseGpsBuffer();
void gps_thread_entry(ULONG thread_input); void gps_thread_entry(ULONG thread_input);
void GPS_Init(void); void GPS_Init(void);
void GPS_LinePush(uint8_t ch);
#endif #endif

6
fun/headfile.h
View File

@@ -13,11 +13,17 @@
#include "stdlib.h" #include "stdlib.h"
#include "stdarg.h" #include "stdarg.h"
#include "string.h" #include "string.h"
#include "math.h"
#include "HCBle.h" #include "HCBle.h"
#include "gps.h" #include "gps.h"
#include "Shake_Motor.h" #include "Shake_Motor.h"
#include "Ultrasound.h" #include "Ultrasound.h"
#include "Buzzer.h" #include "Buzzer.h"
#include "Motor.h"
#include "IMU.h"
#include "imu948.h"
#include "value.h" // ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
#endif #endif

111
fun/imu948.c Normal file
View File

@@ -0,0 +1,111 @@
#include "imu948.h"
extern _GPSData gps_data;
extern TX_QUEUE ble_tx_queue;
extern uint8_t rx_byte;
extern TX_EVENT_FLAGS_GROUP sensor_events;
void imu600_init(void)
{
HAL_UART_Receive_IT(&huart3,&rx_byte,1);
HAL_Delay(6000);
//------- <20><><EFBFBD>Ѵ<EFBFBD><D1B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>úô<C3BA><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ȼ<EFBFBD><C8BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>-----
Cmd_03(); //<2F><><EFBFBD>Ѵ<EFBFBD><D1B4><EFBFBD><EFBFBD><EFBFBD>
HAL_Delay(500);
/**
* <20><><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
* @param accStill <20>ߵ<EFBFBD>-<2D><>ֹ״̬<D7B4><CCAC><EFBFBD>ٶȷ<D9B6>ֵ <20><>λdm/s?
* @param stillToZero <20>ߵ<EFBFBD>-<2D><>ֹ<EFBFBD><D6B9><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(<28><>λcm/s) 0:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 255:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param moveToZero <20>ߵ<EFBFBD>-<2D><>̬<EFBFBD><CCAC><EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>(<28><>λcm/s) 0:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
* @param isCompassOn 1=<3D>迪<EFBFBD><E8BFAA><EFBFBD>ų<EFBFBD> 0=<3D><><EFBFBD>رմų<D5B4>
* @param barometerFilter <20><>ѹ<EFBFBD>Ƶ<EFBFBD><C6B5>˲<EFBFBD><CBB2>ȼ<EFBFBD>[ȡֵ0-3],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param reportHz <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD><CFB1>Ĵ<EFBFBD><C4B4><EFBFBD>֡<EFBFBD><D6A1>[ȡֵ0-250HZ], 0<><30>ʾ0.5HZ
* @param gyroFilter <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>ϵ<EFBFBD><CFB5>[ȡֵ0-2],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param accFilter <20><><EFBFBD>ټ<EFBFBD><D9BC>˲<EFBFBD>ϵ<EFBFBD><CFB5>[ȡֵ0-4],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param compassFilter <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>ϵ<EFBFBD><CFB5>[ȡֵ0-9],<2C><>ֵԽ<D6B5><D4BD>Խƽ<D4BD>ȵ<EFBFBD>ʵʱ<CAB5><CAB1>Խ<EFBFBD><D4BD>
* @param Cmd_ReportTag <20><><EFBFBD>ܶ<EFBFBD><DCB6>ı<EFBFBD>ʶ
*/
Cmd_12(5, 255, 0, 0, 3, 2, 2, 4, 9, 0xFFF);// 2 <20><><EFBFBD><EFBFBD><EFBFBD>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD>1) ֻ<><D6BB><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD><EFBFBD>
HAL_Delay(500);
Cmd_19();// 3 <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>ҾͲ<D2BE><CDB2><EFBFBD><EFBFBD>и<EFBFBD><D0B8><EFBFBD><EFBFBD><EFBFBD>
}
//void IM948_Init(void)
//{
// HAL_UART_Receive_IT(&huart3, &rx_byte, 1);
// // <20><>ģ<EFBFBD><C4A3><EFBFBD>ϵ<EFBFBD>
// tx_thread_sleep( TX_TIMER_TICKS_PER_SECOND * 5 );
// Cmd_03(); // <20><><EFBFBD><EFBFBD>
// tx_thread_sleep( TX_TIMER_TICKS_PER_SECOND / 10 );
// // ֻ<><D6BB><EFBFBD><EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD><EFBFBD>
// Cmd_12(
// 5, 255, 0,
// 0, 3, 5,
// 2, 2, 4,
// 0x0040 // ֻҪŷ<D2AA><C5B7><EFBFBD><EFBFBD>
// );
// tx_thread_sleep( TX_TIMER_TICKS_PER_SECOND / 10 );
// Cmd_19(); // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD>
//}
extern TX_QUEUE im948_uart_rx_queue;
/***
<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD> <20><>IMU.c<><63>Ϊ<EFBFBD>ײ<EFBFBD><D7B2><EFBFBD><EFBFBD><EFBFBD> Base
<EFBFBD><EFBFBD><EFBFBD>ڱ<EFBFBD>дӦ<EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
***/
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");
while(1)
{
// <20><><EFBFBD><EFBFBD><EFBFBD>ȶ<EFBFBD><C8B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4>ڽ<EFBFBD><DABD><EFBFBD>
if (tx_queue_receive(&im948_uart_rx_queue, &rx_data, TX_WAIT_FOREVER) == TX_SUCCESS)
{
Cmd_GetPkt( (uint8_t)rx_data );
}
// <20><><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>°<EFBFBD>
if (isNewData)
{
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><EFBFBD>úý<C3BA><C3BD>պ<EFBFBD><D5BA><EFBFBD>
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
if(huart->Instance == USART3)
{
// HCBle_SendData("RX USART3: 0x%02X (%c)\r\n", rx_byte, rx_byte);
// Fifo_in(rx_byte);
ULONG rx_data = rx_byte;
tx_queue_send(&im948_uart_rx_queue, &rx_data, TX_NO_WAIT);
// tx_event_flags_set(&sensor_events, EVENT_IMU_DATA_READY, TX_OR);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>жϣ<D0B6><CFA3>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
HAL_UART_Receive_IT(huart,&rx_byte,1);
}
}

9
fun/imu948.h Normal file
View File

@@ -0,0 +1,9 @@
#ifndef __IMU948_H__
#define __IMU948_H__
#include "headfile.h"
void imu_angle_ble_task_entry(ULONG thread_input);
void imu600_init(void);
#endif

15
fun/value.h Normal file
View File

@@ -0,0 +1,15 @@
#ifndef __VALUE_H__
#define __VALUE_H__
typedef struct
{
float lat;
float lon;
float angle;
}BleMessage;
#define EVENT_GPS_DATA_READY (1U << 0)
#define EVENT_IMU_DATA_READY (1U << 1)
#endif