From 212ccb49d3e7c7fa138c5f9d335d0b8c5a08d2a3 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期日, 23 十一月 2025 22:21:39 +0800
Subject: [PATCH] GUI和LOG初步调通，进行下一阶段，验证仿真的数据准确性，GPS的
---
STM32H743/APL/app.c | 10 ++++++----
1 files changed, 6 insertions(+), 4 deletions(-)
diff --git a/STM32H743/APL/app.c b/STM32H743/APL/app.c
index 2b55a48..f05e42a 100644
--- a/STM32H743/APL/app.c
+++ b/STM32H743/APL/app.c
@@ -16,7 +16,10 @@
#include "SBUS.h"
#include "pwm_ctrol.h"
#include "PythonLink.h"
-static osSemaphoreId_t g_semaphoreHandle = NULL;
+#include "motion_control_task.h"
+osSemaphoreId_t g_semaphoreHandle = NULL;
+TaskHandle_t g_app_task_handle = NULL;
+
extern uint8_t restart_num;
void IdleTask(void)
{
@@ -44,6 +47,7 @@
BT_Init();
SBUS_Init();
PythonLink_Init();
+ MotionControl_TaskInit();
while (1)
{
//HIDO_UINT32 timeout = HIDO_TimerGetNearestTimeout(1000);
@@ -115,8 +119,6 @@
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,
@@ -132,5 +134,5 @@
2048,
NULL,
tskIDLE_PRIORITY + 1,
- &xTaskHandle);
+ &g_app_task_handle);
}
--
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