From d487f58c6be4ed22f735d12861b59b85c3a924b9 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 20 十二月 2025 21:53:25 +0800
Subject: [PATCH] HTTP下载路径文件成功，解析路径文件成功,CRC用的软件，硬件解析不对。准备改BOOT
---
STM32H743/APL/app.c | 160 ++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 146 insertions(+), 14 deletions(-)
diff --git a/STM32H743/APL/app.c b/STM32H743/APL/app.c
index 4ca81fd..223c605 100644
--- a/STM32H743/APL/app.c
+++ b/STM32H743/APL/app.c
@@ -12,28 +12,121 @@
#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"
+#include "MQTTClient.h"
+#include "HIDO_Json.h"
+#include "PathStorage.h"
+#include "PathTest.h"
+#include "HTTPClient.h"
-static osSemaphoreId_t g_semaphoreHandle = NULL;
+osSemaphoreId_t g_semaphoreHandle = NULL;
+TaskHandle_t g_app_task_handle = 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)
{
+ 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 = HIDO_TimerGetNearestTimeout(1000);
+ HIDO_UINT32 timeout = 5;
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();
+ PythonLink_Poll();
+ HIDO_ATLitePoll();
+ Internet_Poll();
+ GPS_Poll();
+ HTTPClient_Poll();
+ MQTTClient_Poll();
+ PathTest_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();
}
}
@@ -53,20 +146,59 @@
}
}
+void app_trigger(void)
+{
+ if (g_semaphoreHandle != NULL)
+ {
+ xSemaphoreGive(g_semaphoreHandle);
+ }
+}
+
void app_main(void)
{
MCUFlash_Init();
parameter_init();
- printf("demo run!\r\n");
- TaskHandle_t xTaskHandle = NULL;
+
+ {
+ 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];
+ 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];
+ 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_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",
.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(
@@ -75,5 +207,5 @@
2048,
NULL,
tskIDLE_PRIORITY + 1,
- &xTaskHandle);
+ &g_app_task_handle);
}
--
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