gps小车程序

基于stm32芯片的两轮差分驱动的移动机器人gps自动导航技术

/*
*********************************************************************************************************
QQ: 9191274
21IC用户名：sun68
论坛：http://OurStm.5d6d.com
淘宝店铺：
旺旺：sun68
编译器版本：MDK3.5  基于STM32 STD3.0库
uCOS版本： 2.86
uCgui版本：2.90
硬件平台：奋斗版STM32开发板
*/



/*
*********************************************************************************************************
*                                             INCLUDE FILES
*********************************************************************************************************
*/


#include “includes.h“
#include “gps.h“

OS_EVENT* NMEA_MBOX;

volatile  unsigned long  SoftTimer;
#define   TimerCnt    SysTick->VAL                            
unsigned  char page;
extern unsigned char flash_led;

void GPRMC_DAT（void）;
void GPGSV_DAT（void）;
void GPGSA_DAT（void）;
void GPGGA_DAT（void）;
/*
*********************************************************************************************************
*                                            LOCAL DEFINES
*********************************************************************************************************
*/



/*
*********************************************************************************************************
*                                       LOCAL GLOBAL VARIABLES
*********************************************************************************************************
*/

static  OS_STK App_TaskStartStk[APP_TASK_START_STK_SIZE];
static  OS_STK AppTaskUserIFStk[APP_TASK_USER_IF_STK_SIZE];
static  OS_STK AppTaskKbdStk[APP_TASK_KBD_STK_SIZE];
static  OS_STK Task_NMEAStk[Task_NMEA_STK_SIZE];
		
//static  OS_STK App_TaskLCDStk[APP_TASK_LCD_STK_SIZE];
//static  OS_STK App_TaskKbdStk[APP_TASK_KBD_STK_SIZE];
//static  OS_STK App_TaskJoystickStk[APP_TASK_Joystick_STK_SIZE];

//static  OS_EVENT* InfoSem;                      
//static  OS_EVENT* Disp_Box;                  
//static  char* dp;
/*
*********************************************************************************************************
*                                      LOCAL FUNCTION PROTOTYPES
*********************************************************************************************************
*/
static  void App_TaskCreate（void）;

static  void App_TaskStart（void* p_arg）;
static  void  AppTaskUserIF （void *p_arg）;

static  void AppTaskKbd（void* p_arg）;
static  void Task_NMEA（void* p_arg）;
//
//static  void App_TaskJoystick（void* p_arg）;
 #define LED_LED1_ON（）   GPIO_SetBits（GPIOB GPIO_Pin_5 ）;  	   //LED1 
#define LED_LED1_OFF（）  GPIO_ResetBits（GPIOB GPIO_Pin_5 ）; 	   //LED2
/*
*********************************************************************************************************
*                                                main（）
*
* Description : This is the standard entry point for C code.  It is assumed that your code will call
*               main（） once you have performed all nece

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2010-08-30 11:14  STM32奋斗版 GPS-ucgui\
     目录           0  2010-08-30 11:14  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\
     目录           0  2017-04-24 17:05  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\
     文件       20842  2010-09-02 15:48  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\app.c
     文件        3600  2010-08-31 09:17  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\app_cfg.h
     文件        6517  2009-08-02 15:07  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\BinType.h
     文件        3660  2009-11-27 09:33  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\config.h
     文件       16249  2009-04-06 10:30  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\core_cm3.c
     文件       42077  2009-04-06 10:30  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\core_cm3.h
     文件       16220  2010-09-06 13:01  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\FM.c
     文件        3374  2011-01-01 00:26  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\fsmc_sram.c
     文件        1608  2009-11-16 13:45  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\fsmc_sram.h
     文件         601  2010-09-02 15:46  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\gps.h
     文件        9922  2009-12-02 17:39  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\i2c_ee.c
     文件        2288  2009-04-06 10:30  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\i2c_ee.h
     文件        2178  2010-08-30 14:26  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\includes.h
     文件      615681  2010-09-02 17:12  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\JlinkLog.txt
     文件       15122  2010-04-21 14:18  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\lcd_dis24.c
     文件       10437  2009-11-03 13:03  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\os_cfg.h
     文件      803883  2010-04-22 16:53  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\pic.c
     文件        2397  2009-04-06 10:30  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\platform_config.h
     文件        1257  2009-06-29 16:13  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\RAM.ini
     文件          63  2010-04-22 16:52  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\readme.txt
     文件        8141  2010-04-23 12:56  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\SPI_Flash.c
     文件        1275  2010-04-23 12:40  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\SPI_Flash.h
     文件       71764  2017-04-24 17:05  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\STM32-FD-ucgui.uvguix.lenovo-1
     文件       54887  2017-04-23 12:52  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\STM32-FD-ucgui.uvopt
     文件       55768  2017-04-24 10:19  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\STM32-FD-ucgui.uvoptx
     文件       55254  2017-04-23 13:20  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\STM32-FD-ucgui.uvprojx
     文件      143471  2010-09-07 10:20  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\STM32-FD-ucgui_Flash.dep
     文件       24642  2010-09-07 08:54  STM32奋斗版 GPS-ucgui\STM32奋斗版ucOS II V2.86 uCGUI 3.9 DEMO\APP\STM32-FD-ucgui_Opt.Bak
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