vault backup: 2026-05-21 18:18:26

2026-05-21 18:18:26 +08:00
parent 2a99dd1cf7
commit 7b5f09e135
11 changed files with 2654 additions and 71 deletions
--- a/README.md
+++ b/README.md
@@ -0,0 +1,138 @@
+# 姿态传感器
+
+## 开发环境
+
+* Python
+* [OpenOCD](https://pan.7iwind.cn/directlink/pan/工具/xpack-openocd-0.12.0-7-win32-x64.zip)
+* [CLion](https://www.jetbrains.com/clion/download/?section=windows)
+* [arm-none-eabi-gcc](https://developer.arm.com/-/media/Files/downloads/gnu/15.2.rel1/binrel/arm-gnu-toolchain-15.2.rel1-mingw-w64-x86_64-arm-none-eabi.msi)
+* [protoc-nanopb](https://pan.7iwind.cn/directlink/pan/工具/protoc-nanopb.zip)
+
+## 环境配置说明
+
+1. 下载所有运行条件中提到的文件
+2. 解压OpenOCD至可找到的文件夹
+3. 解压protoc-nanopb并解压至可找到的文件夹，添加其内的bin路径到环境变量
+4. 安装CLion
+5. 安装arm-none-eabi-gcc，一路下一步即可，可自定义安装路径，安装成功后将bin目录添加至环境变量
+6. 打开powershell，执行`pip install uv`
+
+## CLion烧录及调试配置
+1. 用CLion打开项目路径
+2. 在弹出的窗口勾选CM4与CM7的启用预设![[step1.gif|447]]
+3. 点击确定，开始生成CMake构建缓存![[gif20260514054158.gif|513]]
+4. 配置CLion的openocd路径为解压openocd路径下bin文件夹里openocd.exe可执行文件的路径![[gif20260514054645.gif|613]]
+5. 添加CLion的openocd烧录目标![[gif20260514055249.gif]]
+6. 点击上方绿色三角箭头即可烧录固件到目标板
+## 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