Lawnmower_STM32H7.git

			@@ -13,7 +13,14 @@
			#include "UDPClient.h"
			#include "bluetooth.h"
			#include "TCPClient.h"
			static osSemaphoreId_t g_semaphoreHandle = NULL;
			#include "SBUS.h"
			#include "pwm_ctrol.h"
			#include "PythonLink.h"
			#include "motion_control_task.h"
			#include "motion_calibration_task.h"
			osSemaphoreId_t g_semaphoreHandle = NULL;
			TaskHandle_t g_app_task_handle = NULL;

			extern uint8_t restart_num;
			void IdleTask(void)
			{
			@@ -39,16 +46,22 @@
			UDPClient_Init();
			TCPClient_Init();
			BT_Init();
			SBUS_Init();
			PythonLink_Init();
			MotionControl_TaskInit();
			MotionCalibration_TaskInit();
			while (1)
			{
			//HIDO_UINT32 timeout = HIDO_TimerGetNearestTimeout(1000);
			HIDO_UINT32 timeout = 100;
			HIDO_UINT32 timeout = 5;
			if (xSemaphoreTake(g_semaphoreHandle, timeout / portTICK_PERIOD_MS) == pdTRUE)
			{

			}
			DBG_Poll();
			BT_Poll();
			SBUS_Poll();
			PythonLink_Poll();
			HIDO_ATLitePoll();
			Internet_Poll();
			GPS_Poll();
			@@ -103,13 +116,11 @@

			uint16_t version = g_com_map[VERSION];

			// printf("[BOOT] Version: %u\r\n", version);
			// printf("[BOOT] DeviceID: %u\r\n", dev_id);
			// printf("[BOOT] UDP Server: %u.%u.%u.%u:%u\r\n", ip0, ip1, ip2, ip3, udp_port);
			// printf("[BOOT] TCP Server: %u.%u.%u.%u:%u\r\n", tip0, tip1, tip2, tip3, tcp_port);
			HIDO_Debug2("[BOOT] Version: %u\r\n", version);
			HIDO_Debug2("[BOOT] DeviceID: %u\r\n", dev_id);
			HIDO_Debug2("[BOOT] UDP Server: %u.%u.%u.%u:%u\r\n", ip0, ip1, ip2, ip3, udp_port);
			HIDO_Debug2("[BOOT] TCP Server: %u.%u.%u.%u:%u\r\n", tip0, tip1, tip2, tip3, tcp_port);
			}
			TaskHandle_t xTaskHandle = NULL;

			osSemaphoreAttr_t semaphore_attr = {
			.name = "MySemaphore",
			.attr_bits = 0,
			@@ -125,5 +136,5 @@
			2048,
			NULL,
			tskIDLE_PRIORITY + 1,
			&xTaskHandle);
			&g_app_task_handle);
			}