139 lines
4.2 KiB
Markdown
139 lines
4.2 KiB
Markdown
# 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
|