Final

AutoGuideStick.ioc

@@ -34,10 +34,11 @@ Mcu.IP10=TIM1
 Mcu.IP11=TIM2
 Mcu.IP12=TIM3
 Mcu.IP13=TIM4
-Mcu.IP14=TIM8
+Mcu.IP14=TIM5
-Mcu.IP15=UART4
+Mcu.IP15=TIM8
-Mcu.IP16=USART2
+Mcu.IP16=UART4
-Mcu.IP17=USART3
+Mcu.IP17=USART2
+Mcu.IP18=USART3
 Mcu.IP2=DEBUG
 Mcu.IP3=GPDMA1
 Mcu.IP4=MEMORYMAP
@@ -46,18 +47,18 @@ Mcu.IP6=PWR
 Mcu.IP7=RCC
 Mcu.IP8=SYS
 Mcu.IP9=THREADX
-Mcu.IPNb=18
+Mcu.IPNb=19
 Mcu.Name=STM32H563ZITx
 Mcu.Package=LQFP144
 Mcu.Pin0=PH0-OSC_IN(PH0)
 Mcu.Pin1=PH1-OSC_OUT(PH1)
-Mcu.Pin10=PC6
+Mcu.Pin10=PG2
-Mcu.Pin11=PC7
+Mcu.Pin11=PG3
-Mcu.Pin12=PC8
+Mcu.Pin12=PC6
-Mcu.Pin13=PC9
+Mcu.Pin13=PC7
-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.Pin18=PC12
 Mcu.Pin19=PD2
@@ -72,21 +73,22 @@ Mcu.Pin26=VP_GPDMA1_VS_GPDMACH4
 Mcu.Pin27=VP_GPDMA1_VS_GPDMACH5
 Mcu.Pin28=VP_PWR_VS_SECSignals
 Mcu.Pin29=VP_PWR_VS_LPOM
-Mcu.Pin3=PB1
+Mcu.Pin3=PA0
 Mcu.Pin30=VP_SYS_VS_tim6
 Mcu.Pin31=VP_THREADX_VS_RTOSJjThreadXJjCoreJjDefault
 Mcu.Pin32=VP_TIM2_VS_ClockSourceINT
 Mcu.Pin33=VP_TIM3_VS_ClockSourceINT
 Mcu.Pin34=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin35=VP_BOOTPATH_VS_BOOTPATH
+Mcu.Pin35=VP_TIM5_VS_ClockSourceINT
-Mcu.Pin36=VP_MEMORYMAP_VS_MEMORYMAP
+Mcu.Pin36=VP_BOOTPATH_VS_BOOTPATH
-Mcu.Pin4=PG0
+Mcu.Pin37=VP_MEMORYMAP_VS_MEMORYMAP
-Mcu.Pin5=PG1
+Mcu.Pin4=PB1
-Mcu.Pin6=PE9
+Mcu.Pin5=PG0
-Mcu.Pin7=PE11
+Mcu.Pin6=PG1
-Mcu.Pin8=PG2
+Mcu.Pin7=PE9
-Mcu.Pin9=PG3
+Mcu.Pin8=PE11
-Mcu.PinsNb=37
+Mcu.Pin9=PB10
+Mcu.PinsNb=38
 Mcu.ThirdPartyNb=0
 Mcu.UserConstants=
 Mcu.UserName=STM32H563ZITx
@@ -110,6 +112,7 @@ NVIC.SavedSystickIrqHandlerGenerated=true
 NVIC.SysTick_IRQn=true\:14\:0\:false\:false\:false\:false\:false\:true\:false
 NVIC.TIM2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.TIM3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
+NVIC.TIM5_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.TIM6_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
 NVIC.TimeBase=TIM6_IRQn
 NVIC.TimeBaseIP=TIM6
@@ -117,6 +120,9 @@ NVIC.UART4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.USART2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
+PA0.GPIOParameters=GPIO_Label
+PA0.GPIO_Label=HC_Echo
+PA0.Signal=S_TIM5_CH1
 PA13(JTMS/SWDIO).Mode=Serial_Wire
 PA13(JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO
 PA14(JTCK/SWCLK).Mode=Serial_Wire
@@ -125,15 +131,15 @@ PB1.GPIOParameters=GPIO_Label
 PB1.GPIO_Label=PWMB
 PB1.Locked=true
 PB1.Signal=S_TIM3_CH4
+PB10.Locked=true
+PB10.Mode=Asynchronous
+PB10.Signal=USART3_TX
 PB8.Locked=true
 PB8.Mode=Asynchronous
 PB8.Signal=UART4_RX
 PB9.Locked=true
 PB9.Mode=Asynchronous
 PB9.Signal=UART4_TX
-PC10.Locked=true
-PC10.Mode=Asynchronous
-PC10.Signal=USART3_TX
 PC11.Locked=true
 PC11.Mode=Asynchronous
 PC11.Signal=USART3_RX
@@ -146,18 +152,16 @@ PC2.GPIOParameters=GPIO_Label
 PC2.GPIO_Label=PWMA
 PC2.Locked=true
 PC2.Signal=S_TIM4_CH4
-PC6.GPIOParameters=GPIO_Label
+PC6.GPIOParameters=GPIO_PuPd,GPIO_Label
 PC6.GPIO_Label=E2A
+PC6.GPIO_PuPd=GPIO_PULLUP
 PC6.Locked=true
 PC6.Signal=S_TIM8_CH1
-PC7.GPIOParameters=GPIO_Label
+PC7.GPIOParameters=GPIO_PuPd,GPIO_Label
 PC7.GPIO_Label=E2B
+PC7.GPIO_PuPd=GPIO_PULLUP
 PC7.Locked=true
 PC7.Signal=S_TIM8_CH2
-PC8.GPIOParameters=GPIO_Label
-PC8.GPIO_Label=HC_Echo
-PC8.Locked=true
-PC8.Signal=S_TIM3_CH3
 PC9.GPIOParameters=GPIO_PuPd,GPIO_Label
 PC9.GPIO_Label=HC_Trig
 PC9.GPIO_PuPd=GPIO_NOPULL
@@ -174,12 +178,14 @@ PD5.Signal=USART2_TX
 PD6.Locked=true
 PD6.Mode=Asynchronous
 PD6.Signal=USART2_RX
-PE11.GPIOParameters=GPIO_Label
+PE11.GPIOParameters=GPIO_PuPd,GPIO_Label
 PE11.GPIO_Label=E1B
+PE11.GPIO_PuPd=GPIO_PULLUP
 PE11.Locked=true
 PE11.Signal=S_TIM1_CH2
-PE9.GPIOParameters=GPIO_Label
+PE9.GPIOParameters=GPIO_PuPd,GPIO_Label
 PE9.GPIO_Label=E1A
+PE9.GPIO_PuPd=GPIO_PULLUP
 PE9.Locked=true
 PE9.Signal=S_TIM1_CH1
 PG0.GPIOParameters=GPIO_Label
@@ -324,12 +330,12 @@ SH.S_TIM1_CH1.0=TIM1_CH1,Encoder_Interface
 SH.S_TIM1_CH1.ConfNb=1
 SH.S_TIM1_CH2.0=TIM1_CH2,Encoder_Interface
 SH.S_TIM1_CH2.ConfNb=1
-SH.S_TIM3_CH3.0=TIM3_CH3,Input_Capture3_from_TI3
-SH.S_TIM3_CH3.ConfNb=1
 SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
 SH.S_TIM3_CH4.ConfNb=1
 SH.S_TIM4_CH4.0=TIM4_CH4,PWM Generation4 CH4
 SH.S_TIM4_CH4.ConfNb=1
+SH.S_TIM5_CH1.0=TIM5_CH1,Input_Capture1_from_TI1
+SH.S_TIM5_CH1.ConfNb=1
 SH.S_TIM8_CH1.0=TIM8_CH1,Encoder_Interface
 SH.S_TIM8_CH1.ConfNb=1
 SH.S_TIM8_CH2.0=TIM8_CH2,Encoder_Interface
@@ -337,20 +343,29 @@ SH.S_TIM8_CH2.ConfNb=1
 THREADX.IPParameters=TX_APP_GENERATE_INIT_CODE,TX_MINIMUM_STACK
 THREADX.TX_APP_GENERATE_INIT_CODE=false
 THREADX.TX_MINIMUM_STACK=400
+TIM1.EncoderMode=TIM_ENCODERMODE_TI12
+TIM1.IPParameters=EncoderMode
 TIM2.IPParameters=Prescaler
 TIM2.Prescaler=250 - 1
-TIM3.Channel-Input_Capture3_from_TI3=TIM_CHANNEL_3
 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,PeriodNoDither
-TIM3.Prescaler=250 - 1
+TIM3.PeriodNoDither=255
+TIM3.Prescaler=48
 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
+TIM5.Channel-Input_Capture1_from_TI1=TIM_CHANNEL_1
+TIM5.IPParameters=Channel-Input_Capture1_from_TI1,Prescaler
+TIM5.Prescaler=250-1
+TIM8.EncoderMode=TIM_ENCODERMODE_TI12
+TIM8.IPParameters=EncoderMode
 UART4.BaudRate=9600
 UART4.IPParameters=BaudRate
 USART2.BaudRate=9600
 USART2.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART2.VirtualMode-Asynchronous=VM_ASYNC
-USART3.BaudRate=9600
+USART3.BaudRate=115200
 USART3.IPParameters=VirtualMode-Asynchronous,BaudRate
 USART3.VirtualMode-Asynchronous=VM_ASYNC
 VP_BOOTPATH_VS_BOOTPATH.Mode=BP_Activate
@@ -379,4 +394,6 @@ VP_TIM3_VS_ClockSourceINT.Mode=Internal
 VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
 VP_TIM4_VS_ClockSourceINT.Mode=Internal
 VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
+VP_TIM5_VS_ClockSourceINT.Mode=Internal
+VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
 board=custom

Core/Inc/app_threadx.h

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

Core/Inc/main.h

@@ -59,6 +59,8 @@ void Error_Handler(void);
 /* Private defines -----------------------------------------------------------*/
 #define PWMA_Pin GPIO_PIN_2
 #define PWMA_GPIO_Port GPIOC
+#define HC_Echo_Pin GPIO_PIN_0
+#define HC_Echo_GPIO_Port GPIOA
 #define PWMB_Pin GPIO_PIN_1
 #define PWMB_GPIO_Port GPIOB
 #define AIN1_Pin GPIO_PIN_0
@@ -77,8 +79,6 @@ void Error_Handler(void);
 #define E2A_GPIO_Port GPIOC
 #define E2B_Pin GPIO_PIN_7
 #define E2B_GPIO_Port GPIOC
-#define HC_Echo_Pin GPIO_PIN_8
-#define HC_Echo_GPIO_Port GPIOC
 #define HC_Trig_Pin GPIO_PIN_9
 #define HC_Trig_GPIO_Port GPIOC
 #define Shake_Motor_Pin GPIO_PIN_12

Core/Inc/stm32h5xx_it.h

@@ -57,6 +57,7 @@ void GPDMA1_Channel4_IRQHandler(void);
 void GPDMA1_Channel5_IRQHandler(void);
 void TIM2_IRQHandler(void);
 void TIM3_IRQHandler(void);
+void TIM5_IRQHandler(void);
 void TIM6_IRQHandler(void);
 void USART2_IRQHandler(void);
 void USART3_IRQHandler(void);

Core/Inc/tim.h

@@ -40,6 +40,8 @@ extern TIM_HandleTypeDef htim3;
 
 extern TIM_HandleTypeDef htim4;
 
+extern TIM_HandleTypeDef htim5;
+
 extern TIM_HandleTypeDef htim8;
 
 /* USER CODE BEGIN Private defines */
@@ -50,6 +52,7 @@ void MX_TIM1_Init(void);
 void MX_TIM2_Init(void);
 void MX_TIM3_Init(void);
 void MX_TIM4_Init(void);
+void MX_TIM5_Init(void);
 void MX_TIM8_Init(void);
 
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef *htim);

Core/Src/app_threadx.c

@@ -36,10 +36,13 @@
 
 // BLE define 
 #define BLE_RX_THREAD_STACK_SIZE 2048
-#define BLE_RX_THREAD_PRIORITY    10
+#define BLE_RX_THREAD_PRIORITY    9
 #define BLE_TX_THREAD_STACK_SIZE 2048
 #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 +58,9 @@
 /* ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> */
 
 TX_EVENT_FLAGS_GROUP system_events;
+TX_EVENT_FLAGS_GROUP sensor_events;
+TX_EVENT_FLAGS_GROUP response_events; // 用于避障事件实现
+
 MotorCommand current_motor_cmd = {0,0};
 _GPSData gps_data;
 
@@ -74,13 +80,29 @@ TX_QUEUE ble_tx_queue;
 __attribute__((aligned(4)))
 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 */
 
 /* 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)];
+
+static TX_THREAD obstacle_thread;
+static UCHAR obstacle_stack[512];
+//超声波
+static UCHAR ultrasonic_stack[512];
+static void obstacle_thread_entry(ULONG);
+TX_THREAD ultrasonic_task_thread;
 
 /* USER CODE END 1 */
 /* USER CODE END 1 */
@@ -134,8 +156,81 @@ UINT App_ThreadX_Init(VOID *memory_ptr)
         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);
 
-    HCBle_SendData("✅ BLE RX/TX 线程和队列初始化完成\r\n");
+	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;
+	}
+	
+	// obstacle_thread create
+	status = tx_thread_create(&obstacle_thread,
+							"obstacle",
+							obstacle_thread_entry,
+							0,obstacle_stack,sizeof(obstacle_stack),8,8,TX_NO_TIME_SLICE,TX_AUTO_START);
+	
+	if(status != TX_SUCCESS)
+	{
+		return status;
+	}
+	
+	 status = tx_thread_create(&ultrasonic_task_thread,
+                     "Ultrasonic",
+                     ultrasonic_task_entry,
+                     0,
+                     ultrasonic_stack,
+                     sizeof(ultrasonic_stack),
+                     7, 7,    // 这里的优先级
+                     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");
+					 
+//	status = ControlThreadCreate();
+//	if(status != TX_SUCCESS)
+//	{
+//		return status;
+//	}			 
+//	status = Encoder_ThreadCreate();	
+//	if(status != TX_SUCCESS)
+//	{
+//		return status;
+//	}	
 	
     return TX_SUCCESS;
 }
@@ -151,7 +246,6 @@ void MX_ThreadX_Init(void)
   /* USER CODE BEGIN Before_Kernel_Start */
 	HCBle_InitEventFlags();  // 这必须在任何使用前调用一次
   /* USER CODE END Before_Kernel_Start */
-
   tx_kernel_enter();
 
   /* USER CODE BEGIN Kernel_Start_Error */
@@ -160,45 +254,48 @@ void MX_ThreadX_Init(void)
 }
 
 /* USER CODE BEGIN 1 */
-#ifdef TEST  //Ŀǰ<C4BF><C7B0><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD>
+//新加入的 obstacle 
-
+static void obstacle_thread_entry(ULONG arg)
-
-/* USER CODE BEGIN 1 */
-void main_control_thread_entry(ULONG thread_input)
 {
-    ULONG events;
+	while(1)
-    MotorCommand motor_cmd = {0, 0};
+	{
+		ULONG evt; // 这个应该是用来接收数据的
+		tx_event_flags_get(&response_events,EVENT_OBSTACLE_DETECTED,TX_OR_CLEAR,&evt,TX_WAIT_FOREVER);
 		
-    while(1)
+		switch(obstacle_level)
-    {
+		{
-        // 等待事件发生
+			case 1: // 远
-        tx_event_flags_get(&system_events, 
+				Buzzer_Open();
-                          EVENT_OBSTACLE_DETECTED | EVENT_BLE_COMMAND_RECEIVED,
+				Shake_Motor_Open();
-                          TX_OR_CLEAR, &events, TX_WAIT_FOREVER);
+				tx_thread_sleep(30);
+				Buzzer_Close();
+				Shake_Motor_Close();
+				break;
 			
-        // 处理障碍物事件
+			case 2:
-        if(events & EVENT_OBSTACLE_DETECTED)
+				for(int i = 0; i < 2;i++)
-        {
+				{
-            // 触发蜂鸣器和振动提示
+					Buzzer_Open();
-            Buzzer_Open();
+					Shake_Motor_Open();
-            Shake_Motor_Open();
+					tx_thread_sleep(50);
-            tx_thread_sleep(100); // 振动100ms
+					Buzzer_Close();
-            Buzzer_Close();
+                    Shake_Motor_Close();
-            Shake_Motor_Close();
+                    tx_thread_sleep(30);
+				}
+				break;
 				
-
+			case 3: // 近
-        }
+				Buzzer_Open();
-        
+				Shake_Motor_Open();
-        // 处理蓝牙控制指令
+				tx_thread_sleep(150);
-        if(events & EVENT_BLE_COMMAND_RECEIVED)
+				Buzzer_Close();
-        {
+				Shake_Motor_Close();
-            // 从队列获取电机命令
+				break;
-//            tx_queue_receive(&ble_rx_queue, &motor_cmd, TX_WAIT_FOREVER);
+			default:
-            
+				break;
-            // 实际控制电机 (伪代码)
+		}
-            // set_motor_speed(motor_cmd.leftSpeed, motor_cmd.rightSpeed);
+		tx_thread_sleep(20);
-        }
+	}
-    }
 }
-#endif
+
 /* USER CODE END 1 */

Core/Src/gpio.c

@@ -46,10 +46,10 @@ void MX_GPIO_Init(void)
   /* GPIO Ports Clock Enable */
   __HAL_RCC_GPIOH_CLK_ENABLE();
   __HAL_RCC_GPIOC_CLK_ENABLE();
+  __HAL_RCC_GPIOA_CLK_ENABLE();
   __HAL_RCC_GPIOB_CLK_ENABLE();
   __HAL_RCC_GPIOG_CLK_ENABLE();
   __HAL_RCC_GPIOE_CLK_ENABLE();
-  __HAL_RCC_GPIOA_CLK_ENABLE();
   __HAL_RCC_GPIOD_CLK_ENABLE();
 
   /*Configure GPIO pin Output Level */

Core/Src/main.c

@@ -48,7 +48,7 @@
 /* Private variables ---------------------------------------------------------*/
 
 /* USER CODE BEGIN PV */
-
+uint8_t rx_byte; // imu_<75><5F><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -100,7 +100,15 @@ int main(void)
   MX_UART4_Init();
   MX_TIM1_Init();
   MX_TIM8_Init();
+  MX_TIM5_Init();
   /* USER CODE BEGIN 2 */
+
+   imu600_init();
+   GPS_Init();
+   DWT_Init();
+   PWM_GPIO_TIM_Init();
+   HAL_TIM_IC_Start_IT(&htim5,TIM_CHANNEL_1);
+//   				Buzzer_Open();
 //	HCBle_InitDMAReception();
 //	HAL_Delay(200);
 //	GPS_Init();

Core/Src/stm32h5xx_it.c

@@ -58,6 +58,7 @@
 /* External variables --------------------------------------------------------*/
 extern TIM_HandleTypeDef htim2;
 extern TIM_HandleTypeDef htim3;
+extern TIM_HandleTypeDef htim5;
 extern DMA_NodeTypeDef Node_GPDMA1_Channel5;
 extern DMA_QListTypeDef List_GPDMA1_Channel5;
 extern DMA_HandleTypeDef handle_GPDMA1_Channel5;
@@ -242,6 +243,20 @@ void TIM3_IRQHandler(void)
   /* USER CODE END TIM3_IRQn 1 */
 }
 
+/**
+  * @brief This function handles TIM5 global interrupt.
+  */
+void TIM5_IRQHandler(void)
+{
+  /* USER CODE BEGIN TIM5_IRQn 0 */
+
+  /* USER CODE END TIM5_IRQn 0 */
+  HAL_TIM_IRQHandler(&htim5);
+  /* USER CODE BEGIN TIM5_IRQn 1 */
+
+  /* USER CODE END TIM5_IRQn 1 */
+}
+
 /**
   * @brief This function handles TIM6 global interrupt.
   */

Core/Src/tim.c

@@ -28,6 +28,7 @@ TIM_HandleTypeDef htim1;
 TIM_HandleTypeDef htim2;
 TIM_HandleTypeDef htim3;
 TIM_HandleTypeDef htim4;
+TIM_HandleTypeDef htim5;
 TIM_HandleTypeDef htim8;
 
 /* TIM1 init function */
@@ -51,7 +52,7 @@ void MX_TIM1_Init(void)
   htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim1.Init.RepetitionCounter = 0;
   htim1.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
   sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
@@ -126,16 +127,15 @@ void MX_TIM3_Init(void)
 
   TIM_ClockConfigTypeDef sClockSourceConfig = {0};
   TIM_MasterConfigTypeDef sMasterConfig = {0};
-  TIM_IC_InitTypeDef sConfigIC = {0};
   TIM_OC_InitTypeDef sConfigOC = {0};
 
   /* USER CODE BEGIN TIM3_Init 1 */
 
   /* USER CODE END TIM3_Init 1 */
   htim3.Instance = TIM3;
-  htim3.Init.Prescaler = 250 - 1;
+  htim3.Init.Prescaler = 48;
   htim3.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim3.Init.Period = 65535;
+  htim3.Init.Period = 255;
   htim3.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim3.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim3) != HAL_OK)
@@ -147,10 +147,6 @@ void MX_TIM3_Init(void)
   {
     Error_Handler();
   }
-  if (HAL_TIM_IC_Init(&htim3) != HAL_OK)
-  {
-    Error_Handler();
-  }
   if (HAL_TIM_PWM_Init(&htim3) != HAL_OK)
   {
     Error_Handler();
@@ -161,14 +157,6 @@ void MX_TIM3_Init(void)
   {
     Error_Handler();
   }
-  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
-  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
-  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
-  sConfigIC.ICFilter = 0;
-  if (HAL_TIM_IC_ConfigChannel(&htim3, &sConfigIC, TIM_CHANNEL_3) != HAL_OK)
-  {
-    Error_Handler();
-  }
   sConfigOC.OCMode = TIM_OCMODE_PWM1;
   sConfigOC.Pulse = 0;
   sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
@@ -199,9 +187,9 @@ void MX_TIM4_Init(void)
 
   /* USER CODE END TIM4_Init 1 */
   htim4.Instance = TIM4;
-  htim4.Init.Prescaler = 0;
+  htim4.Init.Prescaler = 48;
   htim4.Init.CounterMode = TIM_COUNTERMODE_UP;
-  htim4.Init.Period = 65535;
+  htim4.Init.Period = 255;
   htim4.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim4.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
   if (HAL_TIM_Base_Init(&htim4) != HAL_OK)
@@ -236,6 +224,59 @@ void MX_TIM4_Init(void)
   /* USER CODE END TIM4_Init 2 */
   HAL_TIM_MspPostInit(&htim4);
 
+}
+/* TIM5 init function */
+void MX_TIM5_Init(void)
+{
+
+  /* USER CODE BEGIN TIM5_Init 0 */
+
+  /* USER CODE END TIM5_Init 0 */
+
+  TIM_ClockConfigTypeDef sClockSourceConfig = {0};
+  TIM_MasterConfigTypeDef sMasterConfig = {0};
+  TIM_IC_InitTypeDef sConfigIC = {0};
+
+  /* USER CODE BEGIN TIM5_Init 1 */
+
+  /* USER CODE END TIM5_Init 1 */
+  htim5.Instance = TIM5;
+  htim5.Init.Prescaler = 250-1;
+  htim5.Init.CounterMode = TIM_COUNTERMODE_UP;
+  htim5.Init.Period = 4294967295;
+  htim5.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
+  htim5.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
+  if (HAL_TIM_Base_Init(&htim5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sClockSourceConfig.ClockSource = TIM_CLOCKSOURCE_INTERNAL;
+  if (HAL_TIM_ConfigClockSource(&htim5, &sClockSourceConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  if (HAL_TIM_IC_Init(&htim5) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sMasterConfig.MasterOutputTrigger = TIM_TRGO_RESET;
+  sMasterConfig.MasterSlaveMode = TIM_MASTERSLAVEMODE_DISABLE;
+  if (HAL_TIMEx_MasterConfigSynchronization(&htim5, &sMasterConfig) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  sConfigIC.ICPolarity = TIM_INPUTCHANNELPOLARITY_RISING;
+  sConfigIC.ICSelection = TIM_ICSELECTION_DIRECTTI;
+  sConfigIC.ICPrescaler = TIM_ICPSC_DIV1;
+  sConfigIC.ICFilter = 0;
+  if (HAL_TIM_IC_ConfigChannel(&htim5, &sConfigIC, TIM_CHANNEL_1) != HAL_OK)
+  {
+    Error_Handler();
+  }
+  /* USER CODE BEGIN TIM5_Init 2 */
+
+  /* USER CODE END TIM5_Init 2 */
+
 }
 /* TIM8 init function */
 void MX_TIM8_Init(void)
@@ -258,7 +299,7 @@ void MX_TIM8_Init(void)
   htim8.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
   htim8.Init.RepetitionCounter = 0;
   htim8.Init.AutoReloadPreload = TIM_AUTORELOAD_PRELOAD_DISABLE;
-  sConfig.EncoderMode = TIM_ENCODERMODE_TI1;
+  sConfig.EncoderMode = TIM_ENCODERMODE_TI12;
   sConfig.IC1Polarity = TIM_ICPOLARITY_RISING;
   sConfig.IC1Selection = TIM_ICSELECTION_DIRECTTI;
   sConfig.IC1Prescaler = TIM_ICPSC_DIV1;
@@ -303,7 +344,7 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
     */
     GPIO_InitStruct.Pin = E1A_Pin|E1B_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF1_TIM1;
     HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);
@@ -327,7 +368,7 @@ void HAL_TIM_Encoder_MspInit(TIM_HandleTypeDef* tim_encoderHandle)
     */
     GPIO_InitStruct.Pin = E2A_Pin|E2B_Pin;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Pull = GPIO_PULLUP;
     GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
     GPIO_InitStruct.Alternate = GPIO_AF3_TIM8;
     HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
@@ -365,17 +406,6 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
     /* TIM3 clock enable */
     __HAL_RCC_TIM3_CLK_ENABLE();
 
-    __HAL_RCC_GPIOC_CLK_ENABLE();
-    /**TIM3 GPIO Configuration
-    PC8     ------> TIM3_CH3
-    */
-    GPIO_InitStruct.Pin = HC_Echo_Pin;
-    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
-    GPIO_InitStruct.Pull = GPIO_NOPULL;
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-    GPIO_InitStruct.Alternate = GPIO_AF2_TIM3;
-    HAL_GPIO_Init(HC_Echo_GPIO_Port, &GPIO_InitStruct);
-
     /* TIM3 interrupt Init */
     HAL_NVIC_SetPriority(TIM3_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(TIM3_IRQn);
@@ -394,6 +424,32 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM4_MspInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspInit 0 */
+
+  /* USER CODE END TIM5_MspInit 0 */
+    /* TIM5 clock enable */
+    __HAL_RCC_TIM5_CLK_ENABLE();
+
+    __HAL_RCC_GPIOA_CLK_ENABLE();
+    /**TIM5 GPIO Configuration
+    PA0     ------> TIM5_CH1
+    */
+    GPIO_InitStruct.Pin = HC_Echo_Pin;
+    GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
+    GPIO_InitStruct.Pull = GPIO_NOPULL;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
+    GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
+    HAL_GPIO_Init(HC_Echo_GPIO_Port, &GPIO_InitStruct);
+
+    /* TIM5 interrupt Init */
+    HAL_NVIC_SetPriority(TIM5_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(TIM5_IRQn);
+  /* USER CODE BEGIN TIM5_MspInit 1 */
+
+  /* USER CODE END TIM5_MspInit 1 */
+  }
 }
 void HAL_TIM_MspPostInit(TIM_HandleTypeDef* timHandle)
 {
@@ -509,14 +565,6 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
     /* Peripheral clock disable */
     __HAL_RCC_TIM3_CLK_DISABLE();
 
-    /**TIM3 GPIO Configuration
-    PB1     ------> TIM3_CH4
-    PC8     ------> TIM3_CH3
-    */
-    HAL_GPIO_DeInit(PWMB_GPIO_Port, PWMB_Pin);
-
-    HAL_GPIO_DeInit(HC_Echo_GPIO_Port, HC_Echo_Pin);
-
     /* TIM3 interrupt Deinit */
     HAL_NVIC_DisableIRQ(TIM3_IRQn);
   /* USER CODE BEGIN TIM3_MspDeInit 1 */
@@ -534,6 +582,25 @@ void HAL_TIM_Base_MspDeInit(TIM_HandleTypeDef* tim_baseHandle)
 
   /* USER CODE END TIM4_MspDeInit 1 */
   }
+  else if(tim_baseHandle->Instance==TIM5)
+  {
+  /* USER CODE BEGIN TIM5_MspDeInit 0 */
+
+  /* USER CODE END TIM5_MspDeInit 0 */
+    /* Peripheral clock disable */
+    __HAL_RCC_TIM5_CLK_DISABLE();
+
+    /**TIM5 GPIO Configuration
+    PA0     ------> TIM5_CH1
+    */
+    HAL_GPIO_DeInit(HC_Echo_GPIO_Port, HC_Echo_Pin);
+
+    /* TIM5 interrupt Deinit */
+    HAL_NVIC_DisableIRQ(TIM5_IRQn);
+  /* USER CODE BEGIN TIM5_MspDeInit 1 */
+
+  /* USER CODE END TIM5_MspDeInit 1 */
+  }
 }
 
 /* USER CODE BEGIN 1 */

Core/Src/usart.c

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

MDK-ARM/AutoGuideStick.uvoptx

@@ -152,18 +152,18 @@
         <Bp>
           <Number>0</Number>
           <Type>0</Type>
-          <LineNumber>162</LineNumber>
+          <LineNumber>110</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>134296028</Address>
+          <Address>134265834</Address>
           <ByteObject>0</ByteObject>
           <HtxType>0</HtxType>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
           <BreakByAccess>0</BreakByAccess>
           <BreakIfRCount>1</BreakIfRCount>
-          <Filename>..\fun\HCBle.c</Filename>
+          <Filename>..\fun\Ultrasound.c</Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\AutoGuideStick\../fun/HCBle.c\162</Expression>
+          <Expression>\\AutoGuideStick\../fun/Ultrasound.c\110</Expression>
         </Bp>
       </Breakpoint>
       <WatchWindow1>
@@ -227,6 +227,26 @@
           <WinNumber>1</WinNumber>
           <ItemText>status</ItemText>
         </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>
       <WatchWindow2>
         <Ww>
@@ -234,6 +254,46 @@
           <WinNumber>2</WinNumber>
           <ItemText>json_buf[128]</ItemText>
         </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>
+        <Ww>
+          <count>7</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>status</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>distance_cm</ItemText>
+        </Ww>
       </WatchWindow2>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -2837,6 +2897,90 @@
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </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>
+    <File>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>214</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\fun\encoder.c</PathWithFileName>
+      <FilenameWithoutPath>encoder.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>215</FileNumber>
+      <FileType>5</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\fun\encoder.h</PathWithFileName>
+      <FilenameWithoutPath>encoder.h</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
   </Group>
 
   <Group>

MDK-ARM/AutoGuideStick.uvprojx

@@ -190,7 +190,7 @@
             <hadIRAM2>0</hadIRAM2>
             <hadIROM2>0</hadIROM2>
             <StupSel>8</StupSel>
-            <useUlib>0</useUlib>
+            <useUlib>1</useUlib>
             <EndSel>0</EndSel>
             <uLtcg>0</uLtcg>
             <nSecure>0</nSecure>
@@ -1709,6 +1709,41 @@
               <FileType>5</FileType>
               <FilePath>..\fun\IMU.h</FilePath>
             </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>
+            <File>
+              <FileName>encoder.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\fun\encoder.c</FilePath>
+            </File>
+            <File>
+              <FileName>encoder.h</FileName>
+              <FileType>5</FileType>
+              <FilePath>..\fun\encoder.h</FilePath>
+            </File>
           </Files>
         </Group>
         <Group>

MDK-ARM/AutoGuideStick/AutoGuideStick.build_log.htm

@@ -22,20 +22,12 @@ Dialog DLL:      TCM.DLL V1.56.4.0
  
 <h2>Project:</h2>
 D:\advance_stick\AutoGuideStick\MDK-ARM\AutoGuideStick.uvprojx
-Project File Date:  06/26/2025
+Project File Date:  07/02/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.21', folder: 'D:\keil5\ARM\ARMCLANG\Bin'
 Build target 'AutoGuideStick'
-../fun/HCBle.c(124): warning: illegal character encoding in string literal [-Winvalid-source-encoding]
+"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 0 Warning(s).
-  124 |     HCBle_SendData("? <BD><E2><CE><F6>ʧ<B0><DC>: %s\r\n", frame);
-      |                       ^~~~~~~~~~~~~~~~ ~~~~~~~~
-1 warning generated.
-compiling HCBle.c...
-linking...
-Program Size: Code=83284 RO-data=1592 RW-data=16 ZI-data=11480  
-FromELF: creating hex file...
-"AutoGuideStick\AutoGuideStick.axf" - 0 Error(s), 1 Warning(s).
 
 <h2>Software Packages used:</h2>
 

MDK-ARM/AutoGuideStick/AutoGuideStick.lnp

@@ -200,7 +200,10 @@
 "autoguidestick\shake_motor.o"
 "autoguidestick\ultrasound.o"
 "autoguidestick\imu.o"
---strict --scatter "AutoGuideStick\AutoGuideStick.sct"
+"autoguidestick\motor.o"
+"autoguidestick\imu948.o"
+"autoguidestick\encoder.o"
+--library_type=microlib --strict --scatter "AutoGuideStick\AutoGuideStick.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers
 --list "AutoGuideStick.map" -o AutoGuideStick\AutoGuideStick.axf

MDK-ARM/AutoGuideStick/app_azure_rtos.d

@@ -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\stdarg.h ..\fun\HCBle.h ..\fun\gps.h \
   ..\fun\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
-  ..\AZURE_RTOS\App\app_azure_rtos_config.h
+  ..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\encoder.h \
+  ..\fun\value.h ..\AZURE_RTOS\App\app_azure_rtos_config.h

MDK-ARM/AutoGuideStick/app_threadx.d

@@ -39,4 +39,6 @@ autoguidestick/app_threadx.o: ..\Core\Src\app_threadx.c \
   ..\Core\Inc\gpdma.h ..\Core\Inc\tim.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\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
+  ..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\encoder.h \
+  ..\fun\value.h

MDK-ARM/AutoGuideStick/buzzer.d

@@ -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\stdio.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\encoder.h ..\fun\value.h

MDK-ARM/AutoGuideStick/encoder.d

@@ -0,0 +1,43 @@
+autoguidestick/encoder.o: ..\fun\encoder.c ..\fun\encoder.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\imu948.h ..\fun\value.h

MDK-ARM/AutoGuideStick/gps.d

@@ -38,4 +38,6 @@ autoguidestick/gps.o: ..\fun\gps.c ..\fun\gps.h ..\fun\headfile.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\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\encoder.h \
+  ..\fun\value.h

MDK-ARM/AutoGuideStick/hcble.d

@@ -38,4 +38,6 @@ autoguidestick/hcble.o: ..\fun\HCBle.c ..\fun\HCBle.h ..\fun\headfile.h \
   D:\keil5\ARM\ARMCLANG\include\string.h \
   D:\keil5\ARM\ARMCLANG\include\stdio.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\encoder.h \
+  ..\fun\value.h

MDK-ARM/AutoGuideStick/imu.d

@@ -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\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\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
+  ..\fun\Motor.h ..\fun\imu948.h ..\fun\encoder.h ..\fun\value.h

MDK-ARM/AutoGuideStick/imu948.d

@@ -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\encoder.h ..\fun\value.h

MDK-ARM/AutoGuideStick/main.d

@@ -38,4 +38,6 @@ autoguidestick/main.o: ..\Core\Src\main.c ..\Core\Inc\app_threadx.h \
   ..\Core\Inc\gpdma.h ..\Core\Inc\tim.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\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
+  ..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\encoder.h \
+  ..\fun\value.h

MDK-ARM/AutoGuideStick/motor.d

@@ -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\encoder.h ..\fun\value.h

MDK-ARM/AutoGuideStick/shake_motor.d

@@ -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\stdio.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\encoder.h ..\fun\value.h

MDK-ARM/AutoGuideStick/stm32h5xx_it.d

@@ -39,4 +39,6 @@ autoguidestick/stm32h5xx_it.o: ..\Core\Src\stm32h5xx_it.c \
   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\Shake_Motor.h ..\fun\Ultrasound.h ..\fun\Buzzer.h \
+  ..\fun\Motor.h ..\fun\IMU.h ..\fun\imu948.h ..\fun\encoder.h \
+  ..\fun\value.h

MDK-ARM/AutoGuideStick/ultrasound.d

@@ -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\stdio.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\encoder.h ..\fun\value.h

fun/HCBle.c

@@ -33,7 +33,7 @@ uint8_t  rx_data;    //
 uint8_t uart_dma_rx_buf[UART_DMA_RX_BUF_SIZE];
 RingBuffer ble_rx_ring = {0}; //<2F><>ʼ<EFBFBD><CABC>
 MotorCommand cmd;
-LocationData current_location = {0};
+BleMessage current_location = {0};
 float imu_angle = 0.0f;
 
 TX_EVENT_FLAGS_GROUP ble_event_flags;
@@ -41,7 +41,10 @@ TX_EVENT_FLAGS_GROUP ble_event_flags;
 
 
 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>
 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);
         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 +128,19 @@ void HCBle_ParseAndHandleFrame(const char *frame)
     if (sscanf(frame, "#{\"leftSpeed\":%d,\"rightSpeed\":%d}$", &left, &right) == 2) {
         cmd.LeftSpeed = left;
         cmd.RightSpeed = right;
-        HCBle_SendData("left=%d, right=%d\r\n", left, right);
+		
+		// <20><><EFBFBD><EFBFBD><EFBFBD>ȼ<EFBFBD><C8BC><EFBFBD>
+		target_rpm_L = map_speed_to_rpm(cmd.LeftSpeed);
+		target_rpm_R = map_speed_to_rpm(cmd.RightSpeed);
+
+        HCBle_SendData("left=%d, right=%d\r\n", cmd.LeftSpeed, cmd.RightSpeed);
+//		HCBle_SendData("left=%d, right=%d\r\n", left, right);
+		DriveBOTH(cmd.LeftSpeed,cmd.RightSpeed); //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//		DriveBOTH(cmd.LeftSpeed,cmd.RightSpeed);
         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);
 }
@@ -178,15 +199,18 @@ 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);
 //        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,msg.angle);
+			
 		}
+		tx_thread_sleep(100);
     }
 }
 

fun/HCBle.h

@@ -30,12 +30,17 @@ typedef struct
 }RingBuffer;
 
 
-
+typedef struct
+{
+	float lat;
+	float lon;
+	float angle;	
+}BleMessage;
 
 extern uint8_t  rx_data;  
 extern RingBuffer ble_rx_ring; //<2F><>ʼ<EFBFBD><CABC>
 extern uint8_t uart_dma_rx_buf[UART_DMA_RX_BUF_SIZE];
-extern LocationData current_location;
+extern BleMessage current_location;
 
 extern uint8_t flag;
 

fun/IMU.h

@@ -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__
 #define __IMU_H__
 
 #include "headfile.h"
 
-void imu_thread_entry(ULONG thread_input);
+typedef signed char            S8;
+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
+

fun/Motor.c

@@ -0,0 +1,131 @@
+#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) MotorB_Dir(0);
+//	else
+//	{
+//		MotorB_Dir(1);
+//		speedB = -speedB;
+//	}
+//	MotorB_Speed(speedB);
+//}
+
+
+// Motor.c   <20><><EFBFBD>Ͻ<EFBFBD><CFBD>д<EFBFBD><D0B4><EFBFBD>
+void DriveBOTH(int16_t speedA, int16_t speedB)
+{
+    // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>A
+    if(speedA == 0) {
+        // <20>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>͵<EFBFBD>ƽ
+        HAL_GPIO_WritePin(AIN1_GPIO_Port, AIN1_Pin, GPIO_PIN_RESET);
+        HAL_GPIO_WritePin(AIN2_GPIO_Port, AIN2_Pin, GPIO_PIN_RESET);
+    } 
+    else if(speedA > 0) {
+        HAL_GPIO_WritePin(AIN1_GPIO_Port, AIN1_Pin, GPIO_PIN_SET);
+        HAL_GPIO_WritePin(AIN2_GPIO_Port, AIN2_Pin, GPIO_PIN_RESET);
+        speedA = abs(speedA); // ȡ<><C8A1><EFBFBD><EFBFBD>ֵ
+    }
+    else {
+        HAL_GPIO_WritePin(AIN1_GPIO_Port, AIN1_Pin, GPIO_PIN_RESET);
+        HAL_GPIO_WritePin(AIN2_GPIO_Port, AIN2_Pin, GPIO_PIN_SET);
+        speedA = abs(speedA); // ȡ<><C8A1><EFBFBD><EFBFBD>ֵ
+    }
+    
+	
+	if(speedB == 0) {
+        // <20>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>͵<EFBFBD>ƽ
+        HAL_GPIO_WritePin(BIN1_GPIO_Port, BIN1_Pin, GPIO_PIN_RESET);
+        HAL_GPIO_WritePin(BIN2_GPIO_Port, BIN2_Pin, GPIO_PIN_RESET);
+    } 
+    else if(speedB > 0) {
+        HAL_GPIO_WritePin(BIN1_GPIO_Port, BIN1_Pin, GPIO_PIN_SET);
+        HAL_GPIO_WritePin(BIN2_GPIO_Port, BIN2_Pin, GPIO_PIN_RESET);
+        speedB = abs(speedB); // ȡ<><C8A1><EFBFBD><EFBFBD>ֵ
+    }
+    else {
+        HAL_GPIO_WritePin(BIN1_GPIO_Port, BIN1_Pin, GPIO_PIN_RESET);
+        HAL_GPIO_WritePin(BIN2_GPIO_Port, BIN2_Pin, GPIO_PIN_SET);
+        speedB = abs(speedB); // ȡ<><C8A1><EFBFBD><EFBFBD>ֵ
+    }
+    // ͬ<><CDAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>B...
+    
+	
+    // <20><><EFBFBD><EFBFBD>PWM
+    __HAL_TIM_SET_COMPARE(&htim4, TIM_CHANNEL_4, speedA);
+    __HAL_TIM_SET_COMPARE(&htim3, TIM_CHANNEL_4, speedB);
+}

fun/Motor.h

@@ -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
+

fun/Ultrasound.c

@@ -9,7 +9,7 @@ volatile uint32_t ic_val1 = 0; //
 volatile uint32_t ic_val2 = 0; // <20><><EFBFBD><EFBFBD>ֵ2
 volatile uint8_t  is_first_capture = 0; // <20>Ƿ<EFBFBD>Ϊ<EFBFBD><CEAA>һ<EFBFBD>β<EFBFBD><CEB2><EFBFBD>
 volatile uint32_t distance_cm = 0;  // <20><><EFBFBD>밴<EFBFBD><EBB0B4> cm<63><6D><EFBFBD><EFBFBD>
-
+volatile uint8_t obstacle_level = 0; // 0 - <20><><EFBFBD>ϰ<EFBFBD> , 1 = Զ ,2 = <20><> , 3 = <20><>
 /*******
 <EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 Psc: 250 - 1  <20>Դﵽ   1tick = 1us<75><73>Ч<EFBFBD><D0A7>
@@ -64,7 +64,7 @@ void HCSR04_Trigger(void)
 
 #ifdef TEST
 void ultrasonic_task_entry(ULONG thread_input) {
-    HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
+    HAL_TIM_IC_Start_IT(&htim5, TIM_CHANNEL_1);
 	DWT_Init();
 	
     while (1) {
@@ -74,9 +74,22 @@ void ultrasonic_task_entry(ULONG thread_input) {
         if (tx_event_flags_get(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR_CLEAR,
                                &events, TX_WAIT_FOREVER) == TX_SUCCESS) {
             if (distance_cm < 30) {
-                tx_event_flags_set(&system_events,EVENT_OBSTACLE_DETECTED,TX_OR);// ִ<EFBFBD>б<EFBFBD><EFBFBD>ϴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>񶯡<EFBFBD>ͣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD>
+                obstacle_level = 3; // <20>ܽ<EFBFBD>
+            }else if(distance_cm > 30 && distance_cm < 50)
+			{
+				obstacle_level = 2; // <20><>
+			}else if(distance_cm > 50 && distance_cm < 80)
+			{
+				obstacle_level = 1;
+			}else 
+			{
+				obstacle_level = 0; // <20><><EFBFBD>ϰ<EFBFBD>
+			}
 			
-            }
+			if(obstacle_level > 0)
+			{
+				tx_event_flags_set(&response_events,EVENT_OBSTACLE_DETECTED,TX_OR); // <20><><EFBFBD><EFBFBD><EFBFBD>¼<EFBFBD>
+			}
         }
 
         tx_thread_sleep(50);  // ÿ<>β<EFBFBD><CEB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> 50 ticks  20Hz <20><><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>
@@ -94,14 +107,14 @@ Echo
 
 ******/
 void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
-    if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2) {
+    if (htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1) {
         if (is_first_capture == 0) {
-            ic_val1 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
+            ic_val1 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
-            __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_FALLING);
+            __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_FALLING);
             is_first_capture = 1;
         } else {
-            ic_val2 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
+            ic_val2 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
-            __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_2, TIM_INPUTCHANNELPOLARITY_RISING);
+            __HAL_TIM_SET_CAPTUREPOLARITY(htim, TIM_CHANNEL_1, TIM_INPUTCHANNELPOLARITY_RISING);
             is_first_capture = 0;
 
             uint32_t delta = (ic_val2 > ic_val1) ? (ic_val2 - ic_val1) : (0xFFFF - ic_val1 + ic_val2);
@@ -110,6 +123,7 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
             // ֪ͨ<CDA8><D6AA><EFBFBD><EFBFBD> ȡ<><C8A1>ע<EFBFBD><D7A2><EFBFBD>Ի<EFBFBD><D4BB>Ѳ<EFBFBD><D1B2><EFBFBD><EFBFBD>߳<EFBFBD>
             tx_event_flags_set(&ultrasonic_event, EVENT_ECHO_DONE, TX_OR);
         }
+		   HAL_TIM_IC_Start_IT(&htim5,TIM_CHANNEL_1);
     }
 }
 

fun/Ultrasound.h

@@ -6,7 +6,8 @@
 #define HCSR_TEST 1
 #define EVENT_ECHO_DONE		0x01
 
-
+extern volatile uint8_t obstacle_level;
+extern volatile uint32_t distance_cm;
 void DWT_Init(void);
 /********
 delay_us() <20><><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5> (ʹ<><CAB9>DWT)  <20><>ȷ<EFBFBD><C8B7>

fun/encoder.c

@@ -0,0 +1,135 @@
+#include "encoder.h"
+
+volatile int32_t tick_L = 0,tick_R = 0;
+volatile int16_t rpm_L = 0,rpm_R = 0;
+
+extern TIM_HandleTypeDef htim1;
+extern TIM_HandleTypeDef htim8;
+
+static TX_THREAD enc_thread;
+static UCHAR enc_stack[512]; 
+
+static void enc_thread_entry(ULONG);
+
+UINT Encoder_ThreadCreate(void)
+{
+	UINT status;
+	
+	HAL_TIM_Encoder_Start(&htim1,TIM_CHANNEL_ALL);
+	HAL_TIM_Encoder_Start(&htim8,TIM_CHANNEL_ALL);
+	
+	__HAL_TIM_SET_COUNTER(&htim1,0);
+	__HAL_TIM_SET_COUNTER(&htim8,0);
+	
+    status = tx_thread_create(&enc_thread, "Encoder", enc_thread_entry, 0,
+                     enc_stack, sizeof(enc_stack),
+                     6, 6, TX_NO_TIME_SLICE, TX_AUTO_START);
+					 
+	return status;
+}
+
+
+static void enc_thread_entry(ULONG arg)
+{
+	const float msPerMin = 6000.0f;
+	const float ticksPerRev = 1024.0f; // <20><><EFBFBD><EFBFBD>  * 4
+	uint16_t lastL = 0, lastR = 0;
+	
+    while (1)
+    {
+        uint16_t cntL = __HAL_TIM_GET_COUNTER(&htim1);
+        uint16_t cntR = __HAL_TIM_GET_COUNTER(&htim8);
+
+        int16_t dL = (int16_t)(cntL - lastL);
+        int16_t dR = (int16_t)(cntR - lastR);
+
+        lastL = cntL;
+        lastR = cntR;
+
+        tick_L += dL;
+        tick_R += dR;
+
+        rpm_L = (int16_t)(dL * msPerMin / (ticksPerRev * 10));
+        rpm_R = (int16_t)(dR * msPerMin / (ticksPerRev * 10));
+
+        tx_thread_sleep(10);
+    }
+	
+}
+
+
+//
+
+//ControlThread
+//
+
+static TX_THREAD control_thread;
+static UCHAR control_stack[512];
+
+volatile int16_t target_rpm_L = 0;
+volatile int16_t target_rpm_R = 0;
+
+static void control_thread_entry(ULONG arg);
+
+
+UINT ControlThreadCreate(void)
+{
+	UINT status;
+    status = tx_thread_create(&control_thread, "Control", control_thread_entry, 0,
+                     control_stack, sizeof(control_stack),
+                     7, 7, TX_NO_TIME_SLICE, TX_AUTO_START);
+					 
+	return status;
+}
+
+
+static void control_thread_entry(ULONG arg)
+{
+    static int16_t pwmL = 0, pwmR = 0;
+    static float integralL = 0, integralR = 0;
+    float Kp = 1.0f, Ki = 0.1f;
+
+    while (1)
+    {
+        int16_t errorL = target_rpm_L - rpm_L;
+        int16_t errorR = target_rpm_R - rpm_R;
+
+        integralL += errorL;
+        integralR += errorR;
+		
+		// <20>ڻ<EFBFBD><DABB><EFBFBD><EFBFBD>ۼӺ<DBBC><D3BA><EFBFBD><EFBFBD>ӿ<EFBFBD><D3BF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߼<EFBFBD>
+		if (errorL == 0) integralL = 0;
+		if (errorR == 0) integralR = 0;
+
+		const float max_integral = 1000.0f;
+        if(integralL > max_integral) integralL = max_integral;
+        if(integralL < -max_integral) integralL = -max_integral;
+		
+		if(integralR > max_integral) integralR = max_integral;
+        if(integralR < -max_integral) integralR = -max_integral;
+        // ͬ<><CDAC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>integralR...
+		
+        pwmL += (int16_t)(Kp * errorL + Ki * integralL);
+        pwmR += (int16_t)(Kp * errorR + Ki * integralR);
+
+        if (pwmL < 0) pwmL = 0;
+        if (pwmL > 255) pwmL = 255;
+        if (pwmR < 0) pwmR = 0;
+        if (pwmR > 255) pwmR = 255;
+
+        DriveBOTH(pwmL, pwmR);
+
+        tx_thread_sleep(10);
+    }
+}
+
+
+
+
+
+int16_t map_speed_to_rpm(int speed)
+{
+    if (abs(speed) < 30) return 0;
+    return (speed - 60) * 1.5;  // <20><><EFBFBD><EFBFBD>
+}
+

fun/encoder.h

@@ -0,0 +1,12 @@
+#ifndef __ENCODER_H__
+#define __ENCODER_H__
+
+#include "headfile.h"
+
+extern volatile int16_t target_rpm_L;
+extern volatile int16_t target_rpm_R;
+int16_t map_speed_to_rpm(int speed);
+UINT ControlThreadCreate(void);
+UINT Encoder_ThreadCreate(void);
+
+#endif 

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 *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)
-	{
-		GPS.isGetData = 0; // <20>ѱ<EFBFBD>־λ<D6BE><CEBB>Ϊ1
 
-		char usefullBuffer[2] = {0};
+        /* A. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> '$' <20><>ͷ<EFBFBD><CDB7>˵<EFBFBD><CBB5><EFBFBD><EFBFBD>ֻ<EFBFBD><D6BB><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ĺ<EFBFBD><C4BA><EFBFBD><EFBFBD><EFBFBD> <20><> ֱ<><D6B1>ƴ<EFBFBD><C6B4> */
-		for(i = 0; i <= 6; i++)
+        if (line_buf[0] != '$' && GPS.isGetData == 0 && GPS.GPS_Buffer[0] == '$')
-		{
+        {
-			if(i == 0)
+            strncat(GPS.GPS_Buffer, line_buf, GPS_Buffer_Length - strlen(GPS.GPS_Buffer) - 1);
-			{
+        }
-				
+        else        /* B. <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¾<EFBFBD> */
-				subString = strstr(GPS.GPS_Buffer,",");
+        {
-				if(!subString)return;
+            strncpy(GPS.GPS_Buffer, line_buf, GPS_Buffer_Length);
-			}
+        }
-			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;
-	}
 
+        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;
+        }
+    }
+}
+
+
 #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);
 //	}
 //	
 //}
@@ -186,26 +333,30 @@ 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,
-            tx_queue_send(&ble_tx_queue, &msg, TX_WAIT_FOREVER);
+//                     current_location.lon,
+//                     current_location.angle);
+			BleMessage msg = current_location;
+			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
@@ -32,8 +32,10 @@ typedef struct GPSData
 
 extern _GPSData GPS;
 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_Init(void);
+void GPS_LinePush(uint8_t ch);
 
 #endif

fun/headfile.h

@@ -13,11 +13,19 @@
 #include "stdlib.h"
 #include "stdarg.h"
 #include "string.h"
+#include "math.h"
 
 #include "HCBle.h"
 #include "gps.h"
 #include "Shake_Motor.h"
 #include "Ultrasound.h"
 #include "Buzzer.h"
+#include "Motor.h"
+#include "IMU.h"
+#include "imu948.h"
+#include "encoder.h"
+
+
+#include "value.h" // ȫ<>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
 
 #endif

fun/imu948.c

@@ -0,0 +1,130 @@
+#include "imu948.h"
+
+#define DECLINATION_DEG  -3.0
+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;
+	static uint8_t filtInit = 0;
+	static float   heading_filt = 0;
+	const  float   alpha = 0.20f;               // 20% һ<>׵<EFBFBD>ͨ
+    // <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;
+
+
+            // <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>angle<6C><65>ä<EFBFBD>ȳ<EFBFBD><C8B3><EFBFBD><EFBFBD>ж<EFBFBD>
+			        /* <20><><EFBFBD><EFBFBD> <20><> IMU <20>Ĵ<EFBFBD><C4B4><EFBFBD>/<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD>ں<EFBFBD>ŷ<EFBFBD><C5B7><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> */
+			float angleRaw = AngleZ;                   /* <20><><EFBFBD>Ƕ<EFBFBD><C7B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ű<EFBFBD><C5B1><EFBFBD>׼ */
+
+        /* ת<>汱    <20><>ݸ<EFBFBD><DDB8><EFBFBD><EFBFBD><EFBFBD>ڡ<EFBFBD><DAA1><EFBFBD><EFBFBD>ݴ<EFBFBD>ƫ<EFBFBD><C6AB>Ϊ-3.0<EFBFBD><EFBFBD>*/
+			float heading = angleRaw + DECLINATION_DEG;
+			if (heading > 180)  heading -= 360;
+			if (heading < -180) heading += 360;
+
+        /* <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB> IIR */
+			const float alpha = 0.2f;
+			heading_filt += alpha * (heading - heading_filt);
+
+			current_location.angle = heading_filt;
+//			current_location.angle = AngleZ * 0.0054931640625f;
+			if(current_location.lat != 0 && current_location.lon != 0)
+			{
+				BleMessage msg = current_location; // <20>ṹ<EFBFBD><E1B9B9>ֱ<EFBFBD>ӿ<EFBFBD><D3BF><EFBFBD>
+				tx_queue_send(&ble_tx_queue,&msg,TX_NO_WAIT);
+			}
+			tx_thread_sleep(10);
+        }
+    }
+}
+
+
+
+// <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);
+	}
+}

fun/imu948.h

@@ -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

fun/value.h

@@ -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