Overview
- STM32H743 (FreeRTOS) firmware for an autonomous lawnmower. Mix of CubeMX HAL, platform glue (HIDO_*), FML functional modules, and APL tasks.
What to read first
- Entry: STM32H743/Core/Src/main.c (MX_* init, app_main(), osKernelStart)
- App: STM32H743/APL/app.c (app_task() initializes modules and polls with a binary semaphore)
- Modules: STM32H743/FML/* (GPS, SBUS, Motion, Internet, UDP/TCP)
- Utilities: STM32H743/HIDOLibrary/Include/ (HIDO_* helpers)
Core rules and patterns
- Do not change CubeMX generated code outside /* USER CODE BEGIN/END */ blocks. If you must regenerate, move logic to FML//APL/.
- Init & Poll pattern: implement Module_Init() and Module_Poll(); call Init in app_task() and Poll during app loop.
- UARTs: register HAL handles with Uart_Register(UART_ID_*, &huartX) after MX_USARTX_UART_Init(); Uart_Init() config may require DMA buffers.
- ISR wake: signal app_task using app_trigger_from_isr(); avoid direct task notification unless you match existing pattern.
- Naming & API: follow HIDO_* typedefs and HIDO_OK/HIDO_ERR return conventions; use HIDO_* timers, queues, and helpers.
Build & debug
- Two build modes: CubeMX + STM32CubeIDE (edit .ioc) or Keil MDK-uVision (MDK-ARM/STM32H743.uvprojx).
- Use J-Link to flash; default debug UART: USART1 (921600). Python telemetry/telemetry tool uses UART5 (921600).
- DMA/coherency: avoid enabling D-cache while using DMA unless buffer cache maintenance is implemented.
Safe changes and examples
- Add a new UART-based sensor:
1) Configure UART in CubeMX / MX_USARTX_UART_Init() in main.c (USER CODE blocks)
2) Uart_Register(UART_ID_NEW, &huartX) in main.c after init
3) Add FML/NewModule_Init() and FML/NewModule_Poll() and call from app_task()
- Tuning: adjust motion PID and constants in STM32H743/FML/motion_config.h and APL/global_param.h. Persist via save_com_map_to_flash().
Notes for AI agents
- Only change generated code inside USER blocks. Prefer to add files in FML//APL/ and follow HIDO_ conventions.
- Minimize blocking work in MotionControl_Task and app_task(); keep real-time paths deterministic.
- For deeper module rules and examples, consult STM32H743/.github/copilot-instructions.md and docs/.
If any section should include deeper examples (UART template, module skeletons, or unit test patterns), tell me which piece to expand.
