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| | | #include "HIDO_ATLite.h" |
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| | | #include "UDPClient.h" |
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| | | #include "bluetooth.h" |
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| | | |
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| | | #include "TCPClient.h" |
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| | | #include "SBUS.h" |
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| | | #include "pwm_ctrol.h" |
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| | | #include "PythonLink.h" |
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| | | static osSemaphoreId_t g_semaphoreHandle = NULL; |
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| | | extern uint8_t restart_num; |
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| | | void IdleTask(void) |
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| | |
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| | | { |
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| | | // printf("%s URTRestart",__debug_info__); |
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| | | HAL_NVIC_SystemReset(); |
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| | | // SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader |
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| | | // SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //����λ�ص�bootloader |
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| | | } |
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| | | |
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| | | } |
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| | | void app_task(void *pvParameters) |
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| | | { |
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| | | g_com_map[IP_0] =103; |
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| | | g_com_map[IP_1] =155; |
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| | | g_com_map[IP_2] =76; |
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| | | g_com_map[IP_3] =198; |
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| | | g_com_map[UDP_PORT] =6666; |
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| | | Shell_Init(); |
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| | | GPS_Init(); |
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| | | Internet_Init(); |
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| | | UDPClient_Init(); |
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| | | |
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| | | TCPClient_Init(); |
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| | | BT_Init(); |
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| | | SBUS_Init(); |
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| | | PythonLink_Init(); |
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| | | while (1) |
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| | | { |
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| | | //HIDO_UINT32 timeout = HIDO_TimerGetNearestTimeout(1000); |
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| | | HIDO_UINT32 timeout = 100; |
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| | | HIDO_UINT32 timeout = 5; |
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| | | if (xSemaphoreTake(g_semaphoreHandle, timeout / portTICK_PERIOD_MS) == pdTRUE) |
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| | | { |
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| | | |
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| | | } |
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| | | DBG_Poll(); |
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| | | BT_Poll(); |
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| | | SBUS_Poll(); |
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| | | PythonLink_Poll(); |
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| | | HIDO_ATLitePoll(); |
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| | | Internet_Poll(); |
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| | | GPS_Poll(); |
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| | | UDPClient_Poll(); |
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| | | TCPClient_Poll(); |
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| | | IdleTask(); |
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| | | HIDO_TimerPoll(); |
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| | | } |
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| | |
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| | | { |
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| | | MCUFlash_Init(); |
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| | | parameter_init(); |
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| | | printf("demo run!\r\n"); |
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| | | |
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| | | { |
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| | | uint16_t dev_id = g_com_map[DEV_ID]; |
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| | | uint16_t udp_port = g_com_map[UDP_PORT]; |
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| | | uint16_t tcp_port = g_com_map[TCP_PORT]; |
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| | | uint16_t ip0 = g_com_map[IP_0]; |
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| | | uint16_t ip1 = g_com_map[IP_1]; |
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| | | uint16_t ip2 = g_com_map[IP_2]; |
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| | | uint16_t ip3 = g_com_map[IP_3]; |
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| | | uint16_t tip0 = g_com_map[TCP_IP_0]; |
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| | | uint16_t tip1 = g_com_map[TCP_IP_1]; |
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| | | uint16_t tip2 = g_com_map[TCP_IP_2]; |
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| | | uint16_t tip3 = g_com_map[TCP_IP_3]; |
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| | | |
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| | | |
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| | | uint16_t version = g_com_map[VERSION]; |
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| | | |
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| | | HIDO_Debug2("[BOOT] Version: %u\r\n", version); |
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| | | HIDO_Debug2("[BOOT] DeviceID: %u\r\n", dev_id); |
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| | | HIDO_Debug2("[BOOT] UDP Server: %u.%u.%u.%u:%u\r\n", ip0, ip1, ip2, ip3, udp_port); |
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| | | HIDO_Debug2("[BOOT] TCP Server: %u.%u.%u.%u:%u\r\n", tip0, tip1, tip2, tip3, tcp_port); |
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| | | } |
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| | | TaskHandle_t xTaskHandle = NULL; |
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| | | |
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| | | osSemaphoreAttr_t semaphore_attr = { |
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| | |
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| | | .cb_mem = NULL, |
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| | | .cb_size = 0}; |
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| | | |
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| | | // 创建二进制信号量（初始计数为0，最大计数为1） |
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| | | // |
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| | | g_semaphoreHandle = osSemaphoreNew(1, 0, &semaphore_attr); |
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| | | |
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| | | xTaskCreate( |
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