Lawnmower_STM32H7.git

			@@ -16,7 +16,15 @@
			#include "SBUS.h"
			#include "pwm_ctrol.h"
			#include "PythonLink.h"
			#include "motion_mode.h"
			#include "motion_control_task.h"
			#include "motion_calibration_task.h"
			#include "MQTTClient.h"
			#include "HIDO_Json.h"
			#include "PathStorage.h"
			#include "PathTest.h"
			#include "HTTPClient.h"

			osSemaphoreId_t g_semaphoreHandle = NULL;
			TaskHandle_t g_app_task_handle = NULL;

			@@ -39,15 +47,35 @@
			}
			void app_task(void *pvParameters)
			{
			HIDO_JsonInit();
			Shell_Init();
			GPS_Init();
			Internet_Init();
			UDPClient_Init();
			TCPClient_Init();
			MQTTClient_Init();
			BT_Init();
			SBUS_Init();
			PythonLink_Init();
			HTTPClient_Init();
			FileDownload_Init();
			PathStorage_Init();
			PathTest_Init();
			#if (MOTION_ACTIVE_MODE == MOTION_MODE_CONTROL)
			MotionControl_TaskInit();
			#elif (MOTION_ACTIVE_MODE == MOTION_MODE_CALIBRATION)
			MotionCalibration_TaskInit();
			#else
			#error "Unsupported MOTION_ACTIVE_MODE"
			#endif
			/* ENU调试打印（非校准模式） */
			static HIDO_UINT32 debug_print_counter = 0;
			const HIDO_UINT32 DEBUG_PRINT_INTERVAL = 100; /* 每100次循环打印一次 (约500ms) */

			/* GPS GGA上传定时器 */
			static HIDO_UINT32 gps_upload_counter = 0;
			const HIDO_UINT32 GPS_UPLOAD_INTERVAL = 200; /* 每200次循环上传一次 (约1000ms) */

			while (1)
			{
			//HIDO_UINT32 timeout = HIDO_TimerGetNearestTimeout(1000);
			@@ -63,6 +91,39 @@
			HIDO_ATLitePoll();
			Internet_Poll();
			GPS_Poll();
			HTTPClient_Poll();
			MQTTClient_Poll();
			PathTest_Poll();
			/* 定时上传GGA报文到4G（每秒一次） */
			if (++gps_upload_counter >= GPS_UPLOAD_INTERVAL)
			{
			gps_upload_counter = 0;
			GPS_UploadGGA();
			}

			/* 周期性打印ENU坐标和IMU数据（用于调试GPS解析） */
			#if (MOTION_ACTIVE_MODE != MOTION_MODE_CALIBRATION)
			if (++debug_print_counter >= DEBUG_PRINT_INTERVAL)
			{
			debug_print_counter = 0;

			ST_GPRMI gprmi;
			ST_GPIMU gpimu;
			float enu[3];

			if (GPS_GetGPRMI(&gprmi) == HIDO_OK &&
			GPS_GetGPIMU(&gpimu) == HIDO_OK &&
			GPS_GetCurrentENU(enu) == HIDO_OK)
			{
			HIDO_Debug2("$DEBUG,ENU,%.2f,%.2f,%.2f,HDG,%.2f,ACC,%.3f,%.3f,%.3f,GYRO,%.3f,%.3f,%.3f\r\n",
			enu[0], enu[1], enu[2], /* ENU坐标 (m) */
			gprmi.m_fHeadingAngle, /* 航向角 (度) */
			gpimu.m_fAccelX, gpimu.m_fAccelY, gpimu.m_fAccelZ, /* 加速度 (m/s²) */
			gpimu.m_fGyroX, gpimu.m_fGyroY, gpimu.m_fGyroZ); /* 角速度 (rad/s) */
			}
			}
			#endif

			UDPClient_Poll();
			TCPClient_Poll();
			IdleTask();
			@@ -99,6 +160,7 @@
			parameter_init();

			{
			g_com_map[VERSION] = (1<<8)\|(1);
			uint16_t dev_id = g_com_map[DEV_ID];
			uint16_t udp_port = g_com_map[UDP_PORT];
			uint16_t tcp_port = g_com_map[TCP_PORT];
			@@ -110,14 +172,25 @@
			uint16_t tip1 = g_com_map[TCP_IP_1];
			uint16_t tip2 = g_com_map[TCP_IP_2];
			uint16_t tip3 = g_com_map[TCP_IP_3];
			g_com_map[MQTT_IP_0] = 39;
			g_com_map[MQTT_IP_1] = 99;
			g_com_map[MQTT_IP_2] = 43;
			g_com_map[MQTT_IP_3] = 227;
			g_com_map[MQTT_PORT] = 1883;
			uint16_t mip0 = g_com_map[MQTT_IP_0];
			uint16_t mip1 = g_com_map[MQTT_IP_1];
			uint16_t mip2 = g_com_map[MQTT_IP_2];
			uint16_t mip3 = g_com_map[MQTT_IP_3];
			uint16_t mqtt_port = g_com_map[MQTT_PORT];


			uint16_t version = g_com_map[VERSION];

			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);
			HIDO_Debug("[BOOT] Version: %u\r\n", version);
			HIDO_Debug("[BOOT] DeviceID: %u\r\n", dev_id);
			HIDO_Debug("[BOOT] UDP Server: %u.%u.%u.%u:%u\r\n", ip0, ip1, ip2, ip3, udp_port);
			HIDO_Debug("[BOOT] TCP Server: %u.%u.%u.%u:%u\r\n", tip0, tip1, tip2, tip3, tcp_port);
			HIDO_Debug("[BOOT] MQTT Server: %u.%u.%u.%u:%u\r\n", mip0, mip1, mip2, mip3, mqtt_port);
			}
			osSemaphoreAttr_t semaphore_attr = {
			.name = "MySemaphore",