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1423 @@ -1862,11 +1862,11 @@ 0 100 - 2 + 7 ../Core/Src/app_threadx.c 0 - 10 + 39 61 1 @@ -1883,9 +1883,9 @@ ..\fun\gps.c - 25 - 201 - 203 + 0 + 208 + 1 1 0 @@ -1919,18 +1919,18 @@ ..\fun\Ultrasound.c - 15 - 64 - 70 + 23 + 88 + 110 1 0 ..\fun\IMU.c - 40 + 0 1 - 15 + 5 1 0 diff --git a/README.md b/README.md index eae047c..a12aa08 100644 --- a/README.md +++ b/README.md @@ -4,4 +4,91 @@ ## 日志 2025.6.4 -添加了Thread X 操作系统 \ No newline at end of file +添加了Thread X 操作系统 + +2025.6.25 +# README: STM32H563 ThreadX Embedded AI System + +## ✅ 当前已实现功能 + +本系统基于 STM32H563ZIT6 和 ThreadX 实时操作系统，模块化地实现了以下核心功能： + +### 1. BLE 通信模块（HCBle.c） + +* 支持 DMA + 空闲中断模式接收 +* 支持 JSON 指令解析与封装（如：`{"leftSpeed":X,"rightSpeed":Y}`） +* 支持 BLE 指令转事件 + 数据发送任务队列 + +### 2. GPS 定位模块（gps.c） + +* 支持 DMA + 固定长度接收 +* 提供位置数据 `lat/lon` 解析与格式转换 +* 冷启动支持（首次 GPS fix 时发送提示） + +### 3. IMU 模块（imu.c） + +* 模拟读取 X 轴角度（后续替换为实际驱动） 暂时还未完成 +* 结合 GPS 信息生成完整的 Location JSON 包发送至 APP + +### 4. 超声波避障模块（Ultrasound.c） + +* 支持 DWT 微秒延迟与定时捕获 +* 检测障碍 <30cm 自动触发蜂鸣器、震动器 + +### 5. 控制逻辑线程（Main\_Control） + +* 管理 BLE 控制与避障响应行为 +* 控制蜂鸣器与振动提示器 + +### 6. 多线程调度（ThreadX） + +* 所有任务通过 ThreadX 线程调度与事件中转完成解耦 +* BLE/GPS/IMU/Ultrasound 主从线程结构分离清晰 + +## 🚧 尚未实现或测试模块 + +| 模块 | 当前状态 | 说明 | +| ---------------- | ----- | ----------------------------------- | +| IMU 实际驱动 | ❌未实现 | 当前为模拟值 95°，需替换为传感器读取 | +| OpenMV 视觉模块 | ❌未接入 | 后续可通过 UART/USB 接口处理红绿灯识别 | +| 电机控制接口 | ❌未实现 | BLE 指令接收后尚未真正调用 `set_motor_speed()` | +| UI 显示 / APP 交互测试 | 🔄进行中 | JSON 包格式统一，需手机APP实际验证 | + +## 🗺️ 系统拓扑图参考 + +请参考：`ThreadX 系统结构图.png` +ThreadX 系统结构图 + +## 📋 开发环境配置说明 + +### 软件工具 + +* **IDE**：STM32CubeIDE / Keil MDK +* **RTOS**：ThreadX (via STM32CubeMX Middleware) +* **串口调试**：串口助手、BLE调试助手 + +### 编译配置 + +* 使用 `-O2` 优化选项 +* 启用 STM32CubeMX 中的 ThreadX 中间件 +* 打开 UART DMA + IDLE、定时器中断等相关配置 + +### 推荐硬件连接 + +* **GPS模块**：连接 USART2 (DMA + TC 中断) +* **BLE模块**：连接 USART1 (DMA + IDLE) +* **超声波模块**：使用 TIM2 输入捕获 +* **IMU模块**：I2C / SPI 接口（待扩展） +* **蜂鸣器与震动马达**：普通 GPIO 控制 + +## 🛠️ 接下来建议的开发步骤 + +1. **完成 IMU 驱动集成**：读取 MPU6050 / ICM20948 等传感器 +2. **实现电机控制接口**：将 BLE 指令转换为 PWM 或电机驱动调用 +3. **集成 OpenMV 模块**：红绿灯识别后通过事件机制上报 +4. **完善 APP 端联调**：调试 BLE 接收逻辑，验证 JSON 包格式 +5. **加入 Watchdog 与线程看门狗**：防止任务异常卡死 +6. **优化能耗管理**：使用 ThreadX 的 tickless 模式管理低功耗 + +--- + diff --git a/TuoPu.png b/TuoPu.png new file mode 100644 index 0000000..bdb3161 Binary files /dev/null and b/TuoPu.png differ