vault backup: 2026-05-14 15:53:50

.obsidian/workspace.json

@@ -4,21 +4,21 @@
     "type": "split",
     "children": [
       {
-        "id": "f445e7e4c04b6d6c",
+        "id": "997f7686f1af758d",
         "type": "tabs",
         "children": [
           {
-            "id": "b0ba3684f585064f",
+            "id": "bb64507ee1b83492",
             "type": "leaf",
             "state": {
-              "type": "split-diff-view",
+              "type": "markdown",
               "state": {
-                "aFile": ".obsidian/community-plugins.json",
+                "file": "README.md",
-                "bFile": ".obsidian/community-plugins.json",
+                "mode": "source",
-                "aRef": ""
+                "source": false
               },
-              "icon": "diff",
+              "icon": "lucide-file",
-              "title": "Diff: community-plugins.json  (Working Tree)"
+              "title": "README"
             }
           }
         ]
@@ -156,13 +156,13 @@
             "state": {
               "type": "outline",
               "state": {
-                "file": "conflict-files-obsidian-git.md",
+                "file": "README.md",
                 "followCursor": false,
                 "showSearch": false,
                 "searchQuery": ""
               },
               "icon": "lucide-list",
-              "title": "conflict-files-obsidian-git 的大纲"
+              "title": "README 的大纲"
             }
           },
           {
@@ -209,10 +209,10 @@
       "pdf-plus:PDF++: Toggle auto-paste": false
     }
   },
-  "active": "2076822cdefbb8a3",
+  "active": "bb64507ee1b83492",
   "lastOpenFiles": [
-    "conflict-files-obsidian-git.md",
     "README.md",
+    "conflict-files-obsidian-git.md",
     "未命名.canvas",
     "诀别书钢琴谱.pdf",
     "动画.gif",

README.md

@@ -15,6 +15,33 @@
 
 > 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.
 
@@ -28,40 +55,90 @@
 
 ```mermaid
 flowchart TB
+    Root["CMakeLists.txt\n生成 polaris_${CORE}"]
 
-A["Eclipse ThreadX API"]
+    subgraph App["应用层 src/"]
+        direction TB
+        CM4Main["CM4: main_CM4.c\nIMU/GNSS 采集任务"]
+        CM7Main["CM7: main.c\n导航事件调度任务"]
+        LCFSM["lc_fsm.c\n组合导航状态机"]
+        Shell["shell.c / banner.c / time_base.c / elog_port.c"]
+    end
 
-subgraph M["ThreadX Services"]
+    subgraph Sensors["传感器层 sensors/"]
-direction LR
+        direction TB
+        IMU["imu\n统一 IMU 接口"]
+        IMUDrv["ADIS16488 / STIM300 / SCH1633 驱动"]
+        GNSS["gnss\nK922 + NMEA 解析"]
+        NMEA["libnmea"]
+    end
 
-subgraph L[" "]
+    subgraph Nav["组合导航库 loosely_coupled_navigation/"]
-direction TB
+        direction TB
-T1["Thread Services"]
+        LC["LooselyCoupled"]
-T2["Counting Semaphores"]
+        Align["Attitude / Alignment"]
-T3["Event Flags"]
+        INS["ins"]
-T4["Byte Memory Pools"]
+        EKF["ekf"]
-end
+        EarthMath["Earth / Math"]
+    end
 
-subgraph R[" "]
+    subgraph Comm["核间通信与数据格式"]
-direction TB
+        direction TB
-T5["Messaging Queues"]
+        OpenAMP["OpenAMP / RPMsg\nimu_ready, gnss_data"]
-T6["Mutexes"]
+        Proto["proto + nanopb\nV0_0_1.proto"]
-T7["Block Memory Pools"]
+    end
-T8["Application Timers"]
-end
 
-end
+    subgraph BSP["BSP 与平台层 bsp/"]
+        direction TB
+        Board["target/chip: STM32H747 / STM32H7xx"]
+        Drivers["GPIO / UART / SPI / DMA / EXTI / Timer"]
+        RTOS["ThreadX"]
+        Metal["libmetal + open_amp"]
+        CMSIS["CMSIS / CMSIS-DSP"]
+        Utils["lwrb / microshell / easylogger"]
+    end
 
-B["Eclipse ThreadX Core Scheduler"]
+    subgraph Lib["公共库 lib/"]
+        direction TB
+        QF["qf-fsm"]
+        Log["easylogger"]
+    end
 
-A --> M
+    Root --> CM4Main
-M --> B
+    Root --> CM7Main
+    Root --> Shell
+    Root --> QF
+
+    CM4Main --> IMU
+    IMU --> IMUDrv
+    CM4Main --> GNSS
+    GNSS --> NMEA
+    CM4Main --> OpenAMP
+
+    OpenAMP --> CM7Main
+    CM7Main --> LCFSM
+    LCFSM --> LC
+    LC --> Align
+    LC --> INS
+    LC --> EKF
+    LC --> EarthMath
+
+    CM7Main --> Proto
+    CM4Main --> Log
+    CM7Main --> Log
+    Shell --> BSP
+
+    IMU --> BSP
+    GNSS --> BSP
+    Nav --> BSP
+    Comm --> BSP
+    Lib --> BSP
 ```
 
-
+## 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