From 4adc78553c8d48ff122506195fa33641134bd7b1 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 13 十二月 2025 18:55:14 +0800
Subject: [PATCH] 路径点不重复的控制算法测试通了，但是好像不如之前路径点重复的版本好。增加了蓝牙接口部分。准备移植外包的MQTT。
---
STM32H743/APL/app.c | 112 ++++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 104 insertions(+), 8 deletions(-)
diff --git a/STM32H743/APL/app.c b/STM32H743/APL/app.c
index 401f89f..6af073b 100644
--- a/STM32H743/APL/app.c
+++ b/STM32H743/APL/app.c
@@ -12,30 +12,107 @@
#include "HIDO_ATLite.h"
#include "UDPClient.h"
#include "bluetooth.h"
+#include "TCPClient.h"
+#include "SBUS.h"
+#include "pwm_ctrol.h"
+#include "PythonLink.h"
+#include "motion_mode.h"
+#include "motion_control_task.h"
+#include "motion_calibration_task.h"
+osSemaphoreId_t g_semaphoreHandle = NULL;
+TaskHandle_t g_app_task_handle = NULL;
-static osSemaphoreId_t g_semaphoreHandle = NULL;
+extern uint8_t restart_num;
+void IdleTask(void)
+{
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+// printf("%s URTRestart",__debug_info__);
+ HAL_NVIC_SystemReset();
+ }
+ if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
+ {
+// printf("%s URTRestart",__debug_info__);
+ HAL_NVIC_SystemReset();
+ // SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //锟斤拷锟斤拷位锟截碉拷bootloader
+ }
+ }
void app_task(void *pvParameters)
{
+ Shell_Init();
GPS_Init();
Internet_Init();
UDPClient_Init();
-
+ TCPClient_Init();
+ BT_Init();
+ SBUS_Init();
+ PythonLink_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璋冭瘯鎵撳嵃锛堥潪鏍″噯妯″紡锛� */
+ static HIDO_UINT32 debug_print_counter = 0;
+ const HIDO_UINT32 DEBUG_PRINT_INTERVAL = 100; /* 姣�100娆″惊鐜墦鍗颁竴娆� (绾�500ms) */
+
+ /* GPS GGA涓婁紶瀹氭椂鍣� */
+ static HIDO_UINT32 gps_upload_counter = 0;
+ const HIDO_UINT32 GPS_UPLOAD_INTERVAL = 200; /* 姣�200娆″惊鐜笂浼犱竴娆� (绾�1000ms) */
+
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();
+
+ /* 瀹氭椂涓婁紶GGA鎶ユ枃鍒�4G锛堟瘡绉掍竴娆★級 */
+ if (++gps_upload_counter >= GPS_UPLOAD_INTERVAL)
+ {
+ gps_upload_counter = 0;
+ GPS_UploadGGA();
+ }
+
+ /* 鍛ㄦ湡鎬ф墦鍗癊NU鍧愭爣鍜孖MU鏁版嵁锛堢敤浜庤皟璇旼PS瑙ｆ瀽锛� */
+#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鍧愭爣 (m) */
+ gprmi.m_fHeadingAngle, /* 鑸悜瑙� (搴�) */
+ gpimu.m_fAccelX, gpimu.m_fAccelY, gpimu.m_fAccelZ, /* 鍔犻�熷害 (m/s虏) */
+ gpimu.m_fGyroX, gpimu.m_fGyroY, gpimu.m_fGyroZ); /* 瑙掗�熷害 (rad/s) */
+ }
+ }
+#endif
+
UDPClient_Poll();
-
+ // TCPClient_Poll();
+ IdleTask();
HIDO_TimerPoll();
}
}
@@ -67,16 +144,35 @@
{
MCUFlash_Init();
parameter_init();
- printf("demo run!\r\n");
- TaskHandle_t xTaskHandle = NULL;
+
+ {
+ 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];
+ uint16_t ip0 = g_com_map[IP_0];
+ uint16_t ip1 = g_com_map[IP_1];
+ uint16_t ip2 = g_com_map[IP_2];
+ uint16_t ip3 = g_com_map[IP_3];
+ uint16_t tip0 = g_com_map[TCP_IP_0];
+ 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];
+
+ 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);
+ }
osSemaphoreAttr_t semaphore_attr = {
.name = "MySemaphore",
.attr_bits = 0,
.cb_mem = NULL,
.cb_size = 0};
- // 创建二进制信号量（初始计数为0，最大计数为1）
+ //
g_semaphoreHandle = osSemaphoreNew(1, 0, &semaphore_attr);
xTaskCreate(
@@ -85,5 +181,5 @@
2048,
NULL,
tskIDLE_PRIORITY + 1,
- &xTaskHandle);
+ &g_app_task_handle);
}
--
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