164 lines
3.8 KiB
Markdown
164 lines
3.8 KiB
Markdown
## 项目名称
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### 姿态传感器
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## 运行条件
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> 列出运行该项目所必须的条件和相关依赖
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* Python==3.14
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* OpenOCD
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* CLion
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* Arm-none-eabi-gcc
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## 运行说明
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> 说明如何运行和使用你的项目，建议给出具体的步骤说明
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* 操作一 `python -m venv .venv`
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* 操作二 `.venv\Scripts\activate`
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* 操作三 `pip install -r .\requirements.txt`
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## 测试说明
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> 如果有测试相关内容需要说明，请填写在这里
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## 技术架构
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## 项目名称
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### 姿态传感器
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## 运行条件
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> 列出运行该项目所必须的条件和相关依赖
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* Python==3.14
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* OpenOCD
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* CLion
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* Arm-none-eabi-gcc
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## 运行说明
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> 说明如何运行和使用你的项目，建议给出具体的步骤说明
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1. 下载所有运行条件中提到的文件
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2.
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## 测试说明
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> 如果有测试相关内容需要说明，请填写在这里
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## 技术架构
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```mermaid
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flowchart TB
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subgraph App["用户程序层 src/"]
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direction LR
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CM7["CM7 导航应用\nmain.c"]
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CM4["CM4 采集应用\nmain_CM4.c"]
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AppSupport["应用支撑\nshell / banner / time_base / elog_port"]
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end
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subgraph Service["业务功能层"]
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direction LR
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LCFSM["组合导航状态机\nlc_fsm"]
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SensorTask["传感器采集任务\nIMU / GNSS"]
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ProtoApp["消息协议适配\nproto"]
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LogApp["日志与命令行适配"]
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end
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subgraph Domain["功能模块层"]
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direction LR
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subgraph Nav["loosely_coupled_navigation"]
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direction TB
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LC["LooselyCoupled"]
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Align["Alignment / Attitude"]
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INS["INS / Mechanization"]
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EKF["EKF"]
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EarthMath["Earth / Math"]
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end
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subgraph Sensors["sensors"]
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direction TB
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IMU["IMU 统一接口"]
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IMUDriver["ADIS16488 / STIM300 / SCH1633"]
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GNSS["GNSS 统一接口"]
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GNSSDriver["K922 / libnmea"]
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end
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subgraph Proto["proto"]
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direction TB
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ProtoFile["V0_0_1.proto"]
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NanoPB["nanopb 生成代码"]
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end
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end
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subgraph BSP["BSP 模块 bsp/"]
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direction TB
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subgraph BspService["BSP 服务接口层"]
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direction LR
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OpenAMP["OpenAMP"]
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Stream["STREAM"]
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SPI["SPI"]
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Timer["TIMER"]
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Exti["EXTI"]
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Enter["ENTER"]
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end
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subgraph BspBase["BSP 基础抽象层"]
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direction LR
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IO["IO"]
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RCC["RCC"]
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DMA["DMA"]
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Resource["OpenAMP Resource"]
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end
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subgraph BspPort["STM32H7xx Port 层"]
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direction LR
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StreamPort["stream_port / stream_uart_port"]
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IOPort["io_port"]
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SPIPort["spi_port"]
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TimerPort["timer_port / time_base_port"]
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ExtiPort["exti_port"]
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OpenAMPPort["openamp_port"]
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RCCPort["rcc_port"]
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DMAPort["dma_port"]
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end
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subgraph Chip["芯片启动与片上资源层"]
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direction LR
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ChipInit["init_CM4 / init_CM7"]
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IT["stm32h7xx_it"]
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Memory["MPU / SDRAM / sysmem / syscalls"]
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HAL["STM32H7xx HAL / CMSIS"]
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end
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end
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subgraph Lib["第三方与公共库"]
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direction LR
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ThreadX["ThreadX"]
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CMSISDSP["CMSIS-DSP"]
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Metal["libmetal / open_amp"]
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LwRB["lwrb"]
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ShellLib["microshell"]
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EasyLogger["easylogger"]
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QF["qf-fsm"]
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end
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App --- Service
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Service --- Domain
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Domain --- BSP
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BSP --- Lib
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```
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## 协作者
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> 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
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## 协作者
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> 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
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