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 | 21 ++++++++++++---------
1 files changed, 12 insertions(+), 9 deletions(-)
diff --git a/STM32H743/APL/app.c b/STM32H743/APL/app.c
index bda2343..6f440d6 100644
--- a/STM32H743/APL/app.c
+++ b/STM32H743/APL/app.c
@@ -13,6 +13,8 @@
#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)
@@ -38,6 +40,8 @@
Internet_Init();
UDPClient_Init();
TCPClient_Init();
+ BT_Init();
+ SBUS_Init();
while (1)
{
//HIDO_UINT32 timeout = HIDO_TimerGetNearestTimeout(1000);
@@ -48,6 +52,7 @@
}
DBG_Poll();
BT_Poll();
+ SBUS_Poll();
HIDO_ATLitePoll();
Internet_Poll();
GPS_Poll();
@@ -85,9 +90,7 @@
{
MCUFlash_Init();
parameter_init();
- printf("demo run!\r\n");
-
- /* 寮�鏈轰俊鎭緭鍑猴細鐗堟湰鍙枫�佽澶嘔D銆両P銆佺鍙ｏ紙UDP/TCP锛� */
+
{
uint16_t dev_id = g_com_map[DEV_ID];
uint16_t udp_port = g_com_map[UDP_PORT];
@@ -101,13 +104,13 @@
uint16_t tip2 = g_com_map[TCP_IP_2];
uint16_t tip3 = g_com_map[TCP_IP_3];
- /* VERSION 绱㈠紩鍦� global_param.h 涓负 0x1锛屽鏋滈渶瑕佹墦鍗扮増鏈彿瀛楃涓诧紝鍙槧灏勫埌鍏跺畠瀛樺偍锛涚洰鍓嶄粎鎵撳嵃鏁存暟 */
+
uint16_t version = g_com_map[VERSION];
- printf("[BOOT] Version: %u\r\n", version);
- printf("[BOOT] DeviceID: %u\r\n", dev_id);
- printf("[BOOT] UDP Server: %u.%u.%u.%u:%u\r\n", ip0, ip1, ip2, ip3, udp_port);
- printf("[BOOT] TCP Server: %u.%u.%u.%u:%u\r\n", tip0, tip1, tip2, tip3, tcp_port);
+ 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;
@@ -117,7 +120,7 @@
.cb_mem = NULL,
.cb_size = 0};
- // 锟斤拷锟斤拷锟斤拷锟斤拷锟斤拷锟脚猴拷锟斤拷锟斤拷锟斤拷始锟斤拷锟斤拷为0锟斤拷锟斤拷锟斤拷锟斤拷为1锟斤拷
+ //
g_semaphoreHandle = osSemaphoreNew(1, 0, &semaphore_attr);
xTaskCreate(
--
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