From 183eb7a86fae3c89ea98ce9c646b8c0fc6e9f42e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E8=B5=B5=E5=A4=A9=E6=B5=A9?= Date: Thu, 14 May 2026 16:02:53 +0800 Subject: [PATCH] vault backup: 2026-05-14 16:02:53 --- .obsidian/workspace.json | 9 ++- README 1.md | 163 +++++++++++++++++++++++++++++++++++++++ 2 files changed, 168 insertions(+), 4 deletions(-) create mode 100644 README 1.md diff --git a/.obsidian/workspace.json b/.obsidian/workspace.json index 98ce109..3481217 100644 --- a/.obsidian/workspace.json +++ b/.obsidian/workspace.json @@ -13,12 +13,12 @@ "state": { "type": "markdown", "state": { - "file": "README.md", + "file": "README 1.md", "mode": "source", "source": false }, "icon": "lucide-file", - "title": "README" + "title": "README 1" } } ] @@ -156,13 +156,13 @@ "state": { "type": "outline", "state": { - "file": "README.md", + "file": "README 1.md", "followCursor": false, "showSearch": false, "searchQuery": "" }, "icon": "lucide-list", - "title": "README 的大纲" + "title": "README 1 的大纲" } }, { @@ -212,6 +212,7 @@ "active": "bb64507ee1b83492", "lastOpenFiles": [ "README.md", + "README 1.md", "conflict-files-obsidian-git.md", "未命名.canvas", "诀别书钢琴谱.pdf", diff --git a/README 1.md b/README 1.md new file mode 100644 index 0000000..87b99bd --- /dev/null +++ b/README 1.md @@ -0,0 +1,163 @@ +## 项目名称 + +### 姿态传感器 + +## 运行条件 + +> 列出运行该项目所必须的条件和相关依赖 + +* Python==3.14 +* OpenOCD +* CLion +* Arm-none-eabi-gcc + +## 运行说明 + +> 说明如何运行和使用你的项目，建议给出具体的步骤说明 + +* 操作一 `python -m venv .venv` +* 操作二 `.venv\Scripts\activate` +* 操作三 `pip install -r .\requirements.txt` + +## 测试说明 + +> 如果有测试相关内容需要说明，请填写在这里 + +## 技术架构 + +## 项目名称 + +### 姿态传感器 + +## 运行条件 + +> 列出运行该项目所必须的条件和相关依赖 + +* Python==3.14 +* OpenOCD +* CLion +* Arm-none-eabi-gcc + +## 运行说明 + +> 说明如何运行和使用你的项目，建议给出具体的步骤说明 + +1. 下载所有运行条件中提到的文件 +2. + +## 测试说明 + +> 如果有测试相关内容需要说明，请填写在这里 + +## 技术架构 + +```mermaid +flowchart TB + subgraph App["用户程序层 src/"] + direction LR + CM7["CM7 导航应用\nmain.c"] + CM4["CM4 采集应用\nmain_CM4.c"] + AppSupport["应用支撑\nshell / banner / time_base / elog_port"] + end + + subgraph Service["业务功能层"] + direction LR + LCFSM["组合导航状态机\nlc_fsm"] + SensorTask["传感器采集任务\nIMU / GNSS"] + ProtoApp["消息协议适配\nproto"] + LogApp["日志与命令行适配"] + end + + subgraph Domain["功能模块层"] + direction LR + + subgraph Nav["loosely_coupled_navigation"] + direction TB + LC["LooselyCoupled"] + Align["Alignment / Attitude"] + INS["INS / Mechanization"] + EKF["EKF"] + EarthMath["Earth / Math"] + end + + subgraph Sensors["sensors"] + direction TB + IMU["IMU 统一接口"] + IMUDriver["ADIS16488 / STIM300 / SCH1633"] + GNSS["GNSS 统一接口"] + GNSSDriver["K922 / libnmea"] + end + + subgraph Proto["proto"] + direction TB + ProtoFile["V0_0_1.proto"] + NanoPB["nanopb 生成代码"] + end + end + + subgraph BSP["BSP 模块 bsp/"] + direction TB + + subgraph BspService["BSP 服务接口层"] + direction LR + OpenAMP["OpenAMP"] + Stream["STREAM"] + SPI["SPI"] + Timer["TIMER"] + Exti["EXTI"] + Enter["ENTER"] + end + + subgraph BspBase["BSP 基础抽象层"] + direction LR + IO["IO"] + RCC["RCC"] + DMA["DMA"] + Resource["OpenAMP Resource"] + end + + subgraph BspPort["STM32H7xx Port 层"] + direction LR + StreamPort["stream_port / stream_uart_port"] + IOPort["io_port"] + SPIPort["spi_port"] + TimerPort["timer_port / time_base_port"] + ExtiPort["exti_port"] + OpenAMPPort["openamp_port"] + RCCPort["rcc_port"] + DMAPort["dma_port"] + end + + subgraph Chip["芯片启动与片上资源层"] + direction LR + ChipInit["init_CM4 / init_CM7"] + IT["stm32h7xx_it"] + Memory["MPU / SDRAM / sysmem / syscalls"] + HAL["STM32H7xx HAL / CMSIS"] + end + end + + subgraph Lib["第三方与公共库"] + direction LR + ThreadX["ThreadX"] + CMSISDSP["CMSIS-DSP"] + Metal["libmetal / open_amp"] + LwRB["lwrb"] + ShellLib["microshell"] + EasyLogger["easylogger"] + QF["qf-fsm"] + end + + App --- Service + Service --- Domain + Domain --- BSP + BSP --- Lib +``` + +## 协作者 + +> 高效的协作会激发无尽的创造力，将他们的名字记录在这里吧 + +## 协作者 + +> 高效的协作会激发无尽的创造力，将他们的名字记录在这里吧