割草机单片机工程
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yincheng.zhong
2025-12-13 3c2021441490ae9b93f7a2ef0f379909b589edd9 
 STM32H743/APL/app.c


@@ -19,6 +19,8 @@


#include "motion_mode.h"


#include "motion_control_task.h"


#include "motion_calibration_task.h"


#include "MQTTClient.h"




osSemaphoreId_t g_semaphoreHandle = NULL;


TaskHandle_t g_app_task_handle = NULL;




@@ -44,8 +46,9 @@


    Shell_Init();


    GPS_Init();


    Internet_Init();


    UDPClient_Init();


    TCPClient_Init();


    //TODO UDPClient_Init();


    //TODO TCPClient_Init();


    MQTTClient_Init();


   BT_Init();


    SBUS_Init();


    PythonLink_Init();


@@ -79,6 +82,7 @@


        HIDO_ATLitePoll();


        Internet_Poll();


        GPS_Poll();


        MQTTClient_Poll();


        


        /* 定时上传GGA报文到4G（每秒一次） */


        if (++gps_upload_counter >= GPS_UPLOAD_INTERVAL)


@@ -110,8 +114,8 @@


        }


#endif


        


        UDPClient_Poll();


        TCPClient_Poll();


        //TODO UDPClient_Poll();


        //TODO TCPClient_Poll();


        IdleTask();


        HIDO_TimerPoll();


    }