Merge ae519e3 into 56f9b14

CMakeLists.txt

@@ -44,6 +44,7 @@ elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
   set(CMAKE_ASM_FLAGS_RELEASE "-O3 -g")
   set(CMAKE_EXE_LINKER_FLAGS_RELEASE "")
   add_compile_definitions(MCU_DEBUG_BUILD USE_FULL_ASSERT)
+  add_compile_options(-Werror -gdwarf-4)
 
 elseif(CMAKE_BUILD_TYPE STREQUAL "Release")
   set(CMAKE_C_FLAGS_RELEASE "-O3")

hw/bsp/raspi_4b_with_ch348/drivers/bsp_uart.c

@@ -30,8 +30,8 @@ void bsp_uart_init() {
     tty_cfg.c_cflag &= ~CSTOPB;
     tty_cfg.c_cflag &= ~CRTSCTS;
 
-    cfsetispeed(&tty_cfg, B3500000);
-    cfsetospeed(&tty_cfg, B3500000);
+    cfsetispeed(&tty_cfg, B2000000);
+    cfsetospeed(&tty_cfg, B2000000);
 
     // 一般必设置的标志
     tty_cfg.c_cflag |= (CLOCAL | CREAD);

hw/mcu/linux/add_exec_path.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+sudo ln -s build/xrobot.elf /usr/bin/xrobot

hw/mcu/linux/add_systemd_service.sh

@@ -0,0 +1,14 @@
+#!/bin/bash
+sudo echo "[Unit]
+Description=XRobot Service
+After=network.target
+
+[Service]
+Type=simple
+Restart=always
+RestartSec=5s
+ExecStart=bash -c \"export HOME=${HOME} && nohup /usr/bin/xrobot > null\"
+ExecReload=bash -c \"export HOME=${HOME} && nohup /usr/bin/xrobot > null\"
+
+[Install]
+WantedBy=multi-user.target" > /etc/systemd/system/xrobot.service

src/module/uart_udp/mod_uart_udp.hpp

@@ -19,6 +19,10 @@ class UartToUDP {
   } Param;
 
   UartToUDP(Param& param) {
+    for (int i = 0; i < BSP_UART_NUM; i++) {
+      udp_rx_sem_[i] = new System::Semaphore(false);
+    }
+
     bsp_udp_server_init(&udp_server_, param.port);
 
     auto udp_rx_cb = [](void* arg, void* buff, uint32_t size) {
@@ -107,8 +111,6 @@ class UartToUDP {
     };
 
     for (int i = 0; i < BSP_UART_NUM; i++) {
-      udp_rx_sem_[i] = new System::Semaphore(false);
-
       uart_tx_thread_[i].Create(
           uart_tx_thread_fn, this,
           (std::string("uart_to_udp_tx_") + std::to_string(i)).c_str(), 512,