From 68c43c5adef03f00836d83b37cb83a294d8b0354 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 13 十一月 2025 17:04:28 +0800
Subject: [PATCH] 晚上SBUS信号解析，成功控制车走
---
STM32H743/APL/app.c | 78 +++++++++++++++++++++++++++++++++------
1 files changed, 66 insertions(+), 12 deletions(-)
diff --git a/STM32H743/APL/app.c b/STM32H743/APL/app.c
index 4ca81fd..6f440d6 100644
--- a/STM32H743/APL/app.c
+++ b/STM32H743/APL/app.c
@@ -12,28 +12,53 @@
#include "HIDO_ATLite.h"
#include "UDPClient.h"
#include "bluetooth.h"
-
+#include "TCPClient.h"
+#include "SBUS.h"
+#include "pwm_ctrol.h"
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();
while (1)
{
- HIDO_UINT32 timeout = HIDO_TimerGetNearestTimeout(1000);
+ //HIDO_UINT32 timeout = HIDO_TimerGetNearestTimeout(1000);
+ HIDO_UINT32 timeout = 100;
if (xSemaphoreTake(g_semaphoreHandle, timeout / portTICK_PERIOD_MS) == pdTRUE)
{
- DBG_Poll();
- BT_Poll();
- HIDO_ATLitePoll();
- Internet_Poll();
- GPS_Poll();
- UDPClient_Poll();
- }
+ }
+ DBG_Poll();
+ BT_Poll();
+ SBUS_Poll();
+ HIDO_ATLitePoll();
+ Internet_Poll();
+ GPS_Poll();
+ UDPClient_Poll();
+ TCPClient_Poll();
+ IdleTask();
HIDO_TimerPoll();
}
}
@@ -53,11 +78,40 @@
}
}
+void app_trigger(void)
+{
+ if (g_semaphoreHandle != NULL)
+ {
+ xSemaphoreGive(g_semaphoreHandle);
+ }
+}
+
void app_main(void)
{
MCUFlash_Init();
parameter_init();
- printf("demo run!\r\n");
+
+ {
+ 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);
+ }
TaskHandle_t xTaskHandle = NULL;
osSemaphoreAttr_t semaphore_attr = {
@@ -66,7 +120,7 @@
.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(
--
Gitblit v1.9.3