cf934cf6b7
- Add callback_task with ISR-based UART command parser (@command\n protocol) - Add log_printf with mutex protection to prevent printf interleaving - Add per-motor enable/disable (motor enable yaw|pitch) - Add PID tuning via UART (pid roll kp 15) - Add cmd_parser module (registration + tokenize + dispatch) - Add UART layer architecture (interface → HAL → BSP) - Add filter modules (lowpass, moving_average, notch, rate_limiter) - Rewrite I2C bus and UART bus modules - Rewrite PID controller and MF4010V2 motor driver - Fix soft I2C driver Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
68 lines
1.7 KiB
C
68 lines
1.7 KiB
C
#include "app.h"
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#include "cmsis_os2.h"
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#include <string.h>
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#include <stdarg.h>
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static led_t led0, led1, led2;
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/* IMU 数据队列句柄 — sensor_task 和 control_task 共享 */
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osMessageQueueId_t g_imu_queue = NULL;
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/* UART 命令队列 — ISR → callback_task */
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osMessageQueueId_t g_cmd_queue = NULL;
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/* UART 发送互斥锁 — 防止多任务 printf 交叉 */
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osMutexId_t g_uart_mutex = NULL;
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void app_init(void)
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{
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// 初始化硬件抽象层
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hal_i2c_init_all();
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hal_led_init_all();
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hal_can_init_all();
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hal_gpio_init_all();
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hal_soft_i2c_init_all();
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hal_uart_init_all();
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// 初始化外设
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led_init(&led0, 0);
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led_init(&led1, 1);
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led_init(&led2, 2);
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led_on(&led0);
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led_on(&led1);
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led_on(&led2);
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led_off(&led0);
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// 创建 IMU 数据队列（sensor_task → control_task）
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// 深度 4，每消息 3×float×3 = 36 bytes
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g_imu_queue = osMessageQueueNew(1, sizeof(imu_data_t), NULL);
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g_cmd_queue = osMessageQueueNew(5, MAX_CMD_LEN, NULL);
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// 创建 UART 互斥锁（保护 printf 不被多任务交叉打断）
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g_uart_mutex = osMutexNew(NULL);
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if (g_cmd_queue == NULL) {
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printf("[app_init] ERROR: Failed to create command queue\r\n");
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}
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if (g_imu_queue == NULL) {
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printf("[app_init] ERROR: Failed to create IMU queue\r\n");
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}
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printf("[app_init] Hardware initialized\r\n");
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}
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void log_printf(const char *fmt, ...)
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{
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va_list args;
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if (g_uart_mutex != NULL) {
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osMutexAcquire(g_uart_mutex, osWaitForever);
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}
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va_start(args, fmt);
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vprintf(fmt, args);
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va_end(args);
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if (g_uart_mutex != NULL) {
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osMutexRelease(g_uart_mutex);
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}
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}
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