pNexus
0979866a7c
- 删除 protocol.h，帧定义和标定命令码统一迁入 comm_protocol.h - 新增 comm_protocol.c：上行组包(CoP/标定响应)、下行解析+msgq 分发 - ble_transport 剥离所有协议解析和参数 getter，仅保留字节收发+rx 回调注册 - main.c 初始化顺序：ble_transport → comm_protocol → adv_start → cal_init - 更新 README 架构图和项目结构表，补充标定流程章节 - 更新 BALANCE_BOARD_PROTOCOL.md 增加标定命令/响应帧格式文档
54 lines
1.2 KiB
C
54 lines
1.2 KiB
C
/*
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* GML670 Balance Board — CoP Binary Protocol
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* Features:
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* - 4-channel ADS1256 with averaging filter.
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* - Board-side CoP (Center of Pressure) computation.
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* - Binary protocol over BLE NUS (17-byte CoP frame, 50 Hz).
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* - Downlink: resistance params, spotter mode, heartbeat.
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*/
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#include "ble_transport.h"
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#include "button.h"
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#include "calibration.h"
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#include "comm_protocol.h"
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#include "sensor.h"
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#include <zephyr/kernel.h>
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#include <zephyr/logging/log.h>
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LOG_MODULE_REGISTER(main, LOG_LEVEL_INF);
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/**
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* @brief 初始化系统各模块并进入主线程驻留状态。
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*
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* @retval 0 理论上的正常返回值；当前实现进入永久休眠后不会主动返回。
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* @retval -1 按键模块或传感器模块初始化失败。
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*/
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int main(void) {
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k_msleep(2000);
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LOG_INF("--- GML670 System (CoP Binary Protocol) ---");
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ble_transport_init();
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comm_protocol_init();
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ble_transport_adv_start();
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if (cal_init()) {
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LOG_ERR("Failed to initialize calibration");
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return -1;
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}
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if (button_init()) {
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LOG_ERR("Failed to initialize buttons");
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return -1;
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}
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if (sensor_init()) {
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LOG_ERR("Failed to initialize sensor");
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return -1;
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}
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k_sleep(K_FOREVER);
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return 0;
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}
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