{"id":927,"date":"2025-08-12T08:27:09","date_gmt":"2025-08-12T00:27:09","guid":{"rendered":"https:\/\/aimc.skyate.com\/?p=927"},"modified":"2025-08-12T08:27:09","modified_gmt":"2025-08-12T00:27:09","slug":"%e3%80%90aimc%e5%ba%93%e3%80%91%e3%80%90esp32%e3%80%91sys_udl-%e5%ba%93%e6%8a%80%e6%9c%af%e6%96%87%e6%a1%a3","status":"publish","type":"post","link":"https:\/\/aimc.skyate.com\/index.php\/2025\/08\/12\/%e3%80%90aimc%e5%ba%93%e3%80%91%e3%80%90esp32%e3%80%91sys_udl-%e5%ba%93%e6%8a%80%e6%9c%af%e6%96%87%e6%a1%a3\/","title":{"rendered":"\u3010AIMC\u5e93\u3011\u3010ESP32\u3011Sys_UDL \u5e93\u6280\u672f\u6587\u6863"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">\u4e00\u3001\u5e93\u603b\u4f53\u529f\u80fd\u4e0e\u76ee\u7684<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">1.1 \u6838\u5fc3\u529f\u80fd<\/h3>\n\n\n\n<p>Sys_UDL\uff08System Universal Data Link\uff09\u662f\u4e00\u4e2a\u57fa\u4e8e\u53d1\u5e03 &#8211; \u8ba2\u9605\u6a21\u5f0f\u7684\u8de8\u7ebf\u7a0b\u5b89\u5168\u6570\u636e\u5206\u53d1\u5e93\uff0c\u4e13\u4e3a ESP32 Arduino \u5e73\u53f0\u8bbe\u8ba1\u3002\u5176\u6838\u5fc3\u529f\u80fd\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u652f\u6301\u591a\u6570\u636e\u6e90\uff08\u670d\u52a1\uff09\u7684\u6ce8\u518c\u4e0e\u7ba1\u7406\uff0c\u6bcf\u4e2a\u670d\u52a1\u5bf9\u5e94\u4e00\u4e2a\u53d1\u5e03\u65b9\u548c\u591a\u4e2a\u8ba2\u9605\u65b9\uff1b<\/li>\n\n\n\n<li>\u63d0\u4f9b\u7ebf\u7a0b\u5b89\u5168\u7684\u6570\u636e\u5206\u53d1\u673a\u5236\uff0c\u53d1\u5e03\u65b9\u63a8\u9001\u6570\u636e\u65f6\u65e0\u963b\u585e\uff0c\u901a\u8fc7\u72ec\u7acb\u7ebf\u7a0b\u5f02\u6b65\u5904\u7406\u5206\u53d1\uff1b<\/li>\n\n\n\n<li>\u4e3a\u6bcf\u4e2a\u8ba2\u9605\u65b9\u7ef4\u62a4\u72ec\u7acb\u7684\u7f13\u51b2\u961f\u5217\uff0c\u652f\u6301\u6570\u636e\u7684\u6709\u5e8f\u5b58\u50a8\u4e0e\u83b7\u53d6\uff1b<\/li>\n\n\n\n<li>\u5185\u7f6e\u591a\u79cd\u6ee4\u6ce2\u7b97\u6cd5\uff08\u5747\u503c\u6ee4\u6ce2\u3001\u9ad8\u901a \/ \u4f4e\u901a \/ \u5e26\u901a\u6ee4\u6ce2\u3001\u5361\u5c14\u66fc\u6ee4\u6ce2\uff09\uff0c\u53ef\u5728\u6570\u636e\u5206\u53d1\u8fc7\u7a0b\u4e2d\u81ea\u52a8\u5904\u7406\u566a\u58f0\uff1b<\/li>\n\n\n\n<li>\u91c7\u7528\u5185\u5b58\u9884\u5206\u914d\u673a\u5236\uff0c\u6240\u6709\u5185\u5b58\u5f00\u9500\u5728\u521d\u59cb\u5316\u65f6\u8ba1\u7b97\u5e76\u7533\u8bf7\uff0c\u907f\u514d\u8fd0\u884c\u65f6\u52a8\u6001\u5185\u5b58\u5206\u914d\u5bfc\u81f4\u7684\u788e\u7247\u95ee\u9898\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">1.2 \u8bbe\u8ba1\u76ee\u7684<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8de8\u7ebf\u7a0b\u6570\u636e\u5b89\u5168\u4ea4\u4e92<\/strong>\uff1a\u89e3\u51b3 ESP32 \u591a\u4efb\u52a1\uff08FreeRTOS \u4efb\u52a1\uff09\u95f4\u6570\u636e\u5171\u4eab\u7684\u7ebf\u7a0b\u5b89\u5168\u95ee\u9898\uff0c\u907f\u514d\u7ade\u6001\u6761\u4ef6\uff1b<\/li>\n\n\n\n<li><strong>\u4f4e\u8d44\u6e90\u5360\u7528<\/strong>\uff1a\u9002\u914d ESP32 \u5d4c\u5165\u5f0f\u5e73\u53f0\u7684\u8d44\u6e90\u9650\u5236\uff08\u5185\u5b58\u3001CPU\uff09\uff0c\u901a\u8fc7\u8f7b\u91cf\u7ea7\u8bbe\u8ba1\u5b9e\u73b0\u9ad8\u6548\u6570\u636e\u5206\u53d1\uff1b<\/li>\n\n\n\n<li><strong>\u7075\u6d3b\u7684\u6ee4\u6ce2\u652f\u6301<\/strong>\uff1a\u9488\u5bf9\u4f20\u611f\u5668\u6570\u636e\uff08\u5982 ECG \u5fc3\u7535\u4fe1\u53f7\u3001\u6e29\u5ea6\u3001\u52a0\u901f\u5ea6\u7b49\uff09\u7684\u566a\u58f0\u95ee\u9898\uff0c\u63d0\u4f9b\u53ef\u914d\u7f6e\u7684\u6ee4\u6ce2\u529f\u80fd\uff1b<\/li>\n\n\n\n<li><strong>\u89e3\u8026\u53d1\u5e03\u4e0e\u8ba2\u9605<\/strong>\uff1a\u901a\u8fc7\u53d1\u5e03 &#8211; \u8ba2\u9605\u6a21\u5f0f\u5206\u79bb\u6570\u636e\u751f\u4ea7\u8005\uff08\u53d1\u5e03\u65b9\uff09\u548c\u6d88\u8d39\u8005\uff08\u8ba2\u9605\u65b9\uff09\uff0c\u964d\u4f4e\u6a21\u5757\u95f4\u8026\u5408\u5ea6\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">1.3 \u9002\u7528\u573a\u666f<\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u591a\u4f20\u611f\u5668\u6570\u636e\u91c7\u96c6\u4e0e\u5206\u53d1\uff08\u5982\u73af\u5883\u76d1\u6d4b\u3001\u751f\u7406\u4fe1\u53f7\u76d1\u6d4b\uff09\uff1b<\/li>\n\n\n\n<li>ESP32 \u591a\u4efb\u52a1\u95f4\u7684\u6570\u636e\u901a\u4fe1\uff08\u5982\u91c7\u96c6\u4efb\u52a1\u4e0e\u5904\u7406 \/ \u663e\u793a\u4efb\u52a1\u7684\u4ea4\u4e92\uff09\uff1b<\/li>\n\n\n\n<li>\u9700\u8981\u566a\u58f0\u6291\u5236\u7684\u6570\u636e\u9884\u5904\u7406\u573a\u666f\uff08\u5982 ECG \u4fe1\u53f7\u6ee4\u6ce2\u3001\u632f\u52a8\u4fe1\u53f7\u5206\u6790\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e8c\u3001\u6838\u5fc3\u6570\u636e\u7ed3\u6784<\/h2>\n\n\n\n<p>\u5e93\u7684\u6838\u5fc3\u529f\u80fd\u4f9d\u8d56\u4ee5\u4e0b\u6570\u636e\u7ed3\u6784\u5b9e\u73b0\uff0c\u9700\u5728\u4f7f\u7528\u524d\u4e86\u89e3\u5176\u4f5c\u7528\uff1a<\/p>\n\n\n\n<figure class=\"wp-block-table\"><table class=\"has-fixed-layout\"><thead><tr><th>\u7ed3\u6784\u4f53\u540d<\/th><th>\u4f5c\u7528\u63cf\u8ff0<\/th><\/tr><\/thead><tbody><tr><td><code>SysUdl_State<\/code><\/td><td>\u5e93\u5168\u5c40\u72b6\u6001\u7ed3\u6784\u4f53\uff0c\u5b58\u50a8\u6240\u6709\u670d\u52a1\u3001\u53d1\u5e03\u961f\u5217\u3001\u7ebf\u7a0b\u540c\u6b65\u5bf9\u8c61\u7b49\u6838\u5fc3\u6570\u636e<\/td><\/tr><tr><td><code>SysUdl_Service<\/code><\/td><td>\u670d\u52a1\u7ed3\u6784\u4f53\uff0c\u5bf9\u5e94\u4e00\u4e2a\u6570\u636e\u6e90\uff0c\u5305\u542b\u670d\u52a1\u540d\u79f0\u3001\u8ba2\u9605\u8005\u5217\u8868\u3001\u6ee4\u6ce2\u914d\u7f6e\u7b49<\/td><\/tr><tr><td><code>SysUdl_Subscriber<\/code><\/td><td>\u8ba2\u9605\u8005\u7ed3\u6784\u4f53\uff0c\u5305\u542b\u8ba2\u9605\u8005 ID\u3001\u6570\u636e\u7f13\u51b2\u961f\u5217\u3001\u961f\u5217\u540c\u6b65\u9501\u7b49<\/td><\/tr><tr><td><code>SysUdl_Data<\/code><\/td><td>\u6570\u636e\u7ed3\u6784\u4f53\uff0c\u5b58\u50a8\u5b9e\u9645\u6570\u636e\uff08\u6574\u578b \/ \u6d6e\u70b9\u578b\uff09\u3001\u6570\u636e\u7c7b\u578b\u53ca\u65f6\u95f4\u6233<\/td><\/tr><tr><td><code>SysUdl_FilterParams<\/code><\/td><td>\u6ee4\u6ce2\u53c2\u6570\u7ed3\u6784\u4f53\uff0c\u5b58\u50a8\u5404\u7c7b\u6ee4\u6ce2\u5668\u7684\u914d\u7f6e\uff08\u5982\u622a\u6b62\u9891\u7387\u3001\u7a97\u53e3\u5927\u5c0f\u3001\u566a\u58f0\u534f\u65b9\u5dee\uff09<\/td><\/tr><tr><td><code>SysUdl_FilterState<\/code><\/td><td>\u6ee4\u6ce2\u72b6\u6001\u7ed3\u6784\u4f53\uff0c\u5b58\u50a8\u6ee4\u6ce2\u5668\u7684\u8fd0\u884c\u65f6\u72b6\u6001\uff08\u5982\u5386\u53f2\u6570\u636e\u3001\u4e2d\u95f4\u8ba1\u7b97\u7ed3\u679c\uff09<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e09\u3001\u5e93\u63a5\u53e3\u51fd\u6570\u529f\u80fd<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">3.1 \u521d\u59cb\u5316\u4e0e\u9500\u6bc1<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><code>size_t SysUdl_CalculateMemorySize(uint16_t publish_queue_size)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u8ba1\u7b97\u5e93\u521d\u59cb\u5316\u6240\u9700\u7684\u5185\u5b58\u5927\u5c0f\uff08\u5b57\u8282\uff09\uff0c\u7528\u4e8e\u9884\u5206\u914d\u5185\u5b58\u6c60\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a<code>publish_queue_size<\/code>\u00a0&#8211; \u53d1\u5e03\u4efb\u52a1\u961f\u5217\u7684\u6700\u5927\u957f\u5ea6\uff08\u9700\u6839\u636e\u53d1\u5e03\u9891\u7387\u914d\u7f6e\uff09\u3002<\/li>\n\n\n\n<li><strong>\u8fd4\u56de\u503c<\/strong>\uff1a\u6240\u9700\u5185\u5b58\u603b\u5927\u5c0f\uff08\u5b57\u8282\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_Init(SysUdl_State* state, void* memory_pool, uint16_t publish_queue_size)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u521d\u59cb\u5316\u5e93\uff0c\u521b\u5efa\u5206\u53d1\u7ebf\u7a0b\u3001\u4fe1\u53f7\u91cf\u53ca\u6570\u636e\u7ed3\u6784\uff0c\u7ed1\u5b9a\u9884\u5206\u914d\u7684\u5185\u5b58\u6c60\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><code>state<\/code>\u00a0&#8211; \u5e93\u72b6\u6001\u7ed3\u6784\u4f53\u6307\u9488\uff08\u9700\u7528\u6237\u5b9a\u4e49\u5e76\u4f20\u5165\uff09\uff1b<\/li>\n\n\n\n<li><code>memory_pool<\/code>\u00a0&#8211; \u9884\u5206\u914d\u7684\u5185\u5b58\u6c60\u6307\u9488\uff08\u5927\u5c0f\u7531\u00a0<code>SysUdl_CalculateMemorySize<\/code>\u00a0\u8ba1\u7b97\uff09\uff1b<\/li>\n\n\n\n<li><code>publish_queue_size<\/code>\u00a0&#8211; \u53d1\u5e03\u4efb\u52a1\u961f\u5217\u7684\u6700\u5927\u957f\u5ea6\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u8fd4\u56de\u503c<\/strong>\uff1a<code>true<\/code>\u00a0\u8868\u793a\u521d\u59cb\u5316\u6210\u529f\uff0c<code>false<\/code>\u00a0\u8868\u793a\u5931\u8d25\uff08\u5982\u5185\u5b58\u4e0d\u8db3\u3001\u7ebf\u7a0b\u521b\u5efa\u5931\u8d25\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>void SysUdl_Deinit(SysUdl_State* state)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u9500\u6bc1\u5e93\uff0c\u91ca\u653e\u7ebf\u7a0b\u3001\u4fe1\u53f7\u91cf\u53ca\u8d44\u6e90\uff0c\u91cd\u7f6e\u72b6\u6001\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a<code>state<\/code>\u00a0&#8211; \u5e93\u72b6\u6001\u7ed3\u6784\u4f53\u6307\u9488\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">3.2 \u670d\u52a1\u7ba1\u7406<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_RegisterService(SysUdl_State* state, const char* service_name, SysUdl_FilterType filter_type)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u6ce8\u518c\u4e00\u4e2a\u6570\u636e\u670d\u52a1\uff08\u6570\u636e\u6e90\uff09\uff0c\u6307\u5b9a\u670d\u52a1\u540d\u79f0\u548c\u9ed8\u8ba4\u6ee4\u6ce2\u7c7b\u578b\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><code>state<\/code>\u00a0&#8211; \u5e93\u72b6\u6001\u7ed3\u6784\u4f53\u6307\u9488\uff1b<\/li>\n\n\n\n<li><code>service_name<\/code>\u00a0&#8211; \u670d\u52a1\u540d\u79f0\uff08\u552f\u4e00\u6807\u8bc6\uff0c\u5982 &#8220;ecg_signal&#8221;\u3001&#8221;temperature&#8221;\uff09\uff1b<\/li>\n\n\n\n<li><code>filter_type<\/code>\u00a0&#8211; \u6ee4\u6ce2\u7c7b\u578b\uff08\u679a\u4e3e\u503c\uff0c\u5982\u00a0<code>SYSUDL_FILTER_LOW_PASS<\/code>\u3001<code>SYSUDL_FILTER_KALMAN<\/code>\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u8fd4\u56de\u503c<\/strong>\uff1a<code>true<\/code>\u00a0\u8868\u793a\u6ce8\u518c\u6210\u529f\uff0c<code>false<\/code>\u00a0\u8868\u793a\u5931\u8d25\uff08\u5982\u670d\u52a1\u5df2\u5b58\u5728\u3001\u8d85\u8fc7\u6700\u5927\u670d\u52a1\u6570\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>void SysUdl_UnregisterService(SysUdl_State* state, const char* service_name)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u6ce8\u9500\u6307\u5b9a\u670d\u52a1\uff0c\u91ca\u653e\u5176\u5173\u8054\u7684\u8ba2\u9605\u8005\u548c\u8d44\u6e90\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a<code>state<\/code>\u00a0&#8211; \u5e93\u72b6\u6001\u7ed3\u6784\u4f53\u6307\u9488\uff1b<code>service_name<\/code>\u00a0&#8211; \u670d\u52a1\u540d\u79f0\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">3.3 \u8ba2\u9605\u7ba1\u7406<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_Subscribe(SysUdl_State* state, const char* service_name, const char* subscriber_id)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u8ba2\u9605\u6307\u5b9a\u670d\u52a1\uff0c\u4e3a\u8ba2\u9605\u8005\u521b\u5efa\u72ec\u7acb\u7684\u6570\u636e\u7f13\u51b2\u961f\u5217\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><code>state<\/code>\u00a0&#8211; \u5e93\u72b6\u6001\u7ed3\u6784\u4f53\u6307\u9488\uff1b<\/li>\n\n\n\n<li><code>service_name<\/code>\u00a0&#8211; \u670d\u52a1\u540d\u79f0\uff1b<\/li>\n\n\n\n<li><code>subscriber_id<\/code>\u00a0&#8211; \u8ba2\u9605\u8005\u552f\u4e00\u6807\u8bc6\uff08\u5982 &#8220;display_task&#8221;\u3001&#8221;analysis_module&#8221;\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u8fd4\u56de\u503c<\/strong>\uff1a<code>true<\/code>\u00a0\u8868\u793a\u8ba2\u9605\u6210\u529f\uff0c<code>false<\/code>\u00a0\u8868\u793a\u5931\u8d25\uff08\u5982\u670d\u52a1\u4e0d\u5b58\u5728\u3001\u8ba2\u9605\u8005\u5df2\u5b58\u5728\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>void SysUdl_Unsubscribe(SysUdl_State* state, const char* service_name, const char* subscriber_id)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u53d6\u6d88\u8ba2\u9605\u6307\u5b9a\u670d\u52a1\uff0c\u6e05\u9664\u8ba2\u9605\u8005\u7684\u7f13\u51b2\u961f\u5217\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a<code>state<\/code>\u00a0&#8211; \u5e93\u72b6\u6001\u7ed3\u6784\u4f53\u6307\u9488\uff1b<code>service_name<\/code>\u00a0&#8211; \u670d\u52a1\u540d\u79f0\uff1b<code>subscriber_id<\/code>\u00a0&#8211; \u8ba2\u9605\u8005 ID\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">3.4 \u6570\u636e\u53d1\u5e03<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_PushInt(SysUdl_State* state, const char* service_name, int32_t data)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u53d1\u5e03\u6574\u578b\u6570\u636e\u5230\u6307\u5b9a\u670d\u52a1\uff0c\u6570\u636e\u4f1a\u88ab\u52a0\u5165\u53d1\u5e03\u961f\u5217\uff0c\u7531\u5206\u53d1\u7ebf\u7a0b\u5f02\u6b65\u5904\u7406\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><code>state<\/code>\u00a0&#8211; \u5e93\u72b6\u6001\u7ed3\u6784\u4f53\u6307\u9488\uff1b<\/li>\n\n\n\n<li><code>service_name<\/code>\u00a0&#8211; \u670d\u52a1\u540d\u79f0\uff1b<\/li>\n\n\n\n<li><code>data<\/code>\u00a0&#8211; \u5f85\u53d1\u5e03\u7684\u6574\u578b\u6570\u636e\uff08\u5982\u4f20\u611f\u5668\u539f\u59cb\u503c\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u8fd4\u56de\u503c<\/strong>\uff1a<code>true<\/code>\u00a0\u8868\u793a\u53d1\u5e03\u6210\u529f\uff0c<code>false<\/code>\u00a0\u8868\u793a\u5931\u8d25\uff08\u5982\u670d\u52a1\u4e0d\u5b58\u5728\u3001\u53d1\u5e03\u961f\u5217\u6ee1\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_PushFloat(SysUdl_State* state, const char* service_name, float data)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u53d1\u5e03\u6d6e\u70b9\u578b\u6570\u636e\u5230\u6307\u5b9a\u670d\u52a1\uff0c\u903b\u8f91\u540c\u00a0<code>SysUdl_PushInt<\/code>\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a<code>state<\/code>\u00a0&#8211; \u5e93\u72b6\u6001\u7ed3\u6784\u4f53\u6307\u9488\uff1b<code>service_name<\/code>\u00a0&#8211; \u670d\u52a1\u540d\u79f0\uff1b<code>data<\/code>\u00a0&#8211; \u5f85\u53d1\u5e03\u7684\u6d6e\u70b9\u578b\u6570\u636e\u3002<\/li>\n\n\n\n<li><strong>\u8fd4\u56de\u503c<\/strong>\uff1a<code>true<\/code>\u00a0\u8868\u793a\u53d1\u5e03\u6210\u529f\uff0c<code>false<\/code>\u00a0\u8868\u793a\u5931\u8d25\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">3.5 \u6570\u636e\u83b7\u53d6<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_Get(SysUdl_State* state, const char* service_name, const char* subscriber_id, SysUdl_Data* out_data)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u4ece\u8ba2\u9605\u8005\u7684\u7f13\u51b2\u961f\u5217\u4e2d\u83b7\u53d6\u6700\u65e7\u6570\u636e\uff08FIFO \u987a\u5e8f\uff09\uff0c\u5e76\u79fb\u9664\u8be5\u6570\u636e\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li><code>state<\/code>\u00a0&#8211; \u5e93\u72b6\u6001\u7ed3\u6784\u4f53\u6307\u9488\uff1b<\/li>\n\n\n\n<li><code>service_name<\/code>\u00a0&#8211; \u670d\u52a1\u540d\u79f0\uff1b<\/li>\n\n\n\n<li><code>subscriber_id<\/code>\u00a0&#8211; \u8ba2\u9605\u8005 ID\uff1b<\/li>\n\n\n\n<li><code>out_data<\/code>\u00a0&#8211; \u8f93\u51fa\u53c2\u6570\uff0c\u5b58\u50a8\u83b7\u53d6\u5230\u7684\u6570\u636e\uff08\u542b\u7c7b\u578b\u3001\u503c\u3001\u65f6\u95f4\u6233\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u8fd4\u56de\u503c<\/strong>\uff1a<code>true<\/code>\u00a0\u8868\u793a\u83b7\u53d6\u6210\u529f\uff08\u6570\u636e\u5b58\u5728\uff09\uff0c<code>false<\/code>\u00a0\u8868\u793a\u5931\u8d25\uff08\u961f\u5217\u4e3a\u7a7a\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_GetNew(SysUdl_State* state, const char* service_name, const char* subscriber_id, SysUdl_Data* out_data)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u83b7\u53d6\u8ba2\u9605\u8005\u961f\u5217\u4e2d\u6700\u65b0\u7684\u6570\u636e\uff0c\u5e76\u6e05\u7a7a\u961f\u5217\uff08\u4ec5\u4fdd\u7559\u6700\u65b0\u503c\uff09\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a\u540c\u00a0<code>SysUdl_Get<\/code>\u3002<\/li>\n\n\n\n<li><strong>\u8fd4\u56de\u503c<\/strong>\uff1a<code>true<\/code>\u00a0\u8868\u793a\u83b7\u53d6\u6210\u529f\uff0c<code>false<\/code>\u00a0\u8868\u793a\u5931\u8d25\uff08\u961f\u5217\u4e3a\u7a7a\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\">3.6 \u6ee4\u6ce2\u53c2\u6570\u8bbe\u7f6e<\/h3>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_SetAverageFilterParams(...)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u4e3a\u5747\u503c\u6ee4\u6ce2\u670d\u52a1\u8bbe\u7f6e\u53c2\u6570\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a<code>window_size<\/code>\u00a0&#8211; \u6ed1\u52a8\u7a97\u53e3\u5927\u5c0f\uff08\u5982 5\u300110\uff0c\u9700 \u22652\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_SetHighPassFilterParams(...)<\/code>&nbsp;\/&nbsp;<code>SysUdl_SetLowPassFilterParams(...)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u4e3a\u9ad8\u901a \/ \u4f4e\u901a\u6ee4\u6ce2\u670d\u52a1\u8bbe\u7f6e\u53c2\u6570\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a<code>cutoff_freq<\/code>\u00a0&#8211; \u622a\u6b62\u9891\u7387\uff08Hz\uff09\uff1b<code>sample_freq<\/code>\u00a0&#8211; \u91c7\u6837\u9891\u7387\uff08Hz\uff0c\u9700 > 2\u00d7 \u622a\u6b62\u9891\u7387\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_SetBandPassFilterParams(...)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u4e3a\u5e26\u901a\u6ee4\u6ce2\u670d\u52a1\u8bbe\u7f6e\u53c2\u6570\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a<code>low_cutoff<\/code>\u00a0&#8211; \u4f4e\u622a\u6b62\u9891\u7387\uff1b<code>high_cutoff<\/code>\u00a0&#8211; \u9ad8\u622a\u6b62\u9891\u7387\uff1b<code>sample_freq<\/code>\u00a0&#8211; \u91c7\u6837\u9891\u7387\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_SetKalmanFilterParams(...)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1a\u4e3a\u5361\u5c14\u66fc\u6ee4\u6ce2\u670d\u52a1\u8bbe\u7f6e\u53c2\u6570\uff08\u9002\u7528\u4e8e\u52a8\u6001\u4fe1\u53f7\u5982 ECG\uff09\u3002<\/li>\n\n\n\n<li><strong>\u53c2\u6570<\/strong>\uff1a<code>process_noise<\/code>\uff08Q\uff09- \u8fc7\u7a0b\u566a\u58f0\u534f\u65b9\u5dee\uff1b<code>measure_noise<\/code>\uff08R\uff09- \u6d4b\u91cf\u566a\u58f0\u534f\u65b9\u5dee\uff1b<code>error_estimate<\/code>\uff08P\u2080\uff09- \u521d\u59cb\u4f30\u8ba1\u8bef\u5dee\u3002<\/li>\n<\/ul>\n\n\n\n<h4 class=\"wp-block-heading\"><code>bool SysUdl_InitEcgKalmanFilter(...)<\/code><\/h4>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u529f\u80fd<\/strong>\uff1aECG \u4fe1\u53f7\u4e13\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u521d\u59cb\u5316\uff08\u5185\u7f6e\u4f18\u5316\u53c2\u6570\uff1aQ=0.08\u3001R=0.2\u3001P\u2080=5.0\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u56db\u3001\u4ee3\u7801\u6838\u5fc3\u903b\u8f91\u8bb2\u89e3<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">4.1 \u7ebf\u7a0b\u6a21\u578b\u4e0e\u6570\u636e\u5206\u53d1\u6d41\u7a0b<\/h3>\n\n\n\n<p>\u5e93\u91c7\u7528 \u201c\u53d1\u5e03\u961f\u5217 + \u72ec\u7acb\u5206\u53d1\u7ebf\u7a0b\u201d \u7684\u5f02\u6b65\u67b6\u6784\uff0c\u907f\u514d\u53d1\u5e03\u65b9\u963b\u585e\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u53d1\u5e03\u9636\u6bb5<\/strong>\uff1a\u53d1\u5e03\u65b9\u8c03\u7528\u00a0<code>SysUdl_PushInt<\/code>\/<code>SysUdl_PushFloat<\/code>\u00a0\u65f6\uff0c\u6570\u636e\u88ab\u5c01\u88c5\u4e3a\u00a0<code>SysUdl_PublishTask<\/code>\u00a0\u52a0\u5165\u5168\u5c40\u53d1\u5e03\u961f\u5217\uff0c\u540c\u65f6\u901a\u8fc7\u4fe1\u53f7\u91cf\uff08<code>publish_semaphore<\/code>\uff09\u901a\u77e5\u5206\u53d1\u7ebf\u7a0b\u3002\u6b64\u8fc7\u7a0b\u4ec5\u6d89\u53ca\u961f\u5217\u64cd\u4f5c\uff0c\u8017\u65f6\u6781\u77ed\uff08\u5fae\u79d2\u7ea7\uff09\uff0c\u4e0d\u4f1a\u963b\u585e\u53d1\u5e03\u65b9\u4efb\u52a1\u3002<\/li>\n\n\n\n<li><strong>\u5206\u53d1\u9636\u6bb5<\/strong>\uff1a\u72ec\u7acb\u7684\u5206\u53d1\u7ebf\u7a0b\uff08<code>SysUdl_DispatchTask<\/code>\uff09\u5faa\u73af\u7b49\u5f85\u53d1\u5e03\u961f\u5217\u4fe1\u53f7\uff0c\u53d6\u51fa\u4efb\u52a1\u540e\u6839\u636e\u670d\u52a1\u540d\u79f0\u67e5\u627e\u5bf9\u5e94\u7684\u670d\u52a1\uff0c\u5bf9\u6570\u636e\u5e94\u7528\u914d\u7f6e\u7684\u6ee4\u6ce2\u7b97\u6cd5\uff0c\u6700\u540e\u5c06\u6ee4\u6ce2\u540e\u7684\u6570\u636e\u5206\u53d1\u5230\u8be5\u670d\u52a1\u6240\u6709\u8ba2\u9605\u8005\u7684\u7f13\u51b2\u961f\u5217\u4e2d\u3002<\/li>\n\n\n\n<li><strong>\u8ba2\u9605\u9636\u6bb5<\/strong>\uff1a\u8ba2\u9605\u65b9\u901a\u8fc7\u00a0<code>SysUdl_Get<\/code>\/<code>SysUdl_GetNew<\/code>\u00a0\u4ece\u81ea\u5df1\u7684\u7f13\u51b2\u961f\u5217\u4e2d\u83b7\u53d6\u6570\u636e\uff0c\u961f\u5217\u64cd\u4f5c\u901a\u8fc7\u4e92\u65a5\u9501\uff08<code>queue_mutex<\/code>\uff09\u4fdd\u8bc1\u7ebf\u7a0b\u5b89\u5168\u3002<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">4.2 \u5185\u5b58\u7ba1\u7406\u673a\u5236<\/h3>\n\n\n\n<p>\u4e3a\u907f\u514d ESP32 \u5185\u5b58\u788e\u7247\u95ee\u9898\uff0c\u5e93\u91c7\u7528 \u201c\u9884\u5206\u914d + \u9759\u6001\u7ba1\u7406\u201d \u7b56\u7565\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u5185\u5b58\u8ba1\u7b97<\/strong>\uff1a<code>SysUdl_CalculateMemorySize<\/code>\u00a0\u51fd\u6570\u6839\u636e\u53d1\u5e03\u961f\u5217\u5927\u5c0f\u3001\u6700\u5927\u670d\u52a1\u6570\u3001\u6700\u5927\u8ba2\u9605\u8005\u6570\u7b49\u53c2\u6570\uff0c\u9884\u5148\u8ba1\u7b97\u6240\u9700\u603b\u5185\u5b58\uff08\u5305\u62ec\u53d1\u5e03\u961f\u5217\u3001\u4fe1\u53f7\u91cf\u3001\u6ee4\u6ce2\u7f13\u51b2\u533a\u7b49\uff09\u3002<\/li>\n\n\n\n<li><strong>\u5185\u5b58\u7ed1\u5b9a<\/strong>\uff1a\u7528\u6237\u9700\u6839\u636e\u8ba1\u7b97\u7ed3\u679c\u5206\u914d\u5185\u5b58\u6c60\uff08\u5982\u901a\u8fc7\u00a0<code>malloc<\/code>\u00a0\u6216\u9759\u6001\u6570\u7ec4\uff09\uff0c\u5e76\u5728\u00a0<code>SysUdl_Init<\/code>\u00a0\u65f6\u4f20\u5165\uff0c\u5e93\u5185\u90e8\u6240\u6709\u6570\u636e\u7ed3\u6784\u5747\u4ece\u8be5\u5185\u5b58\u6c60\u5206\u914d\uff0c\u65e0\u8fd0\u884c\u65f6\u52a8\u6001\u5185\u5b58\u64cd\u4f5c\u3002<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\">4.3 \u6ee4\u6ce2\u673a\u5236\u5b9e\u73b0<\/h3>\n\n\n\n<p>\u6ee4\u6ce2\u903b\u8f91\u5728\u6570\u636e\u5206\u53d1\u9636\u6bb5\u81ea\u52a8\u6267\u884c\uff0c\u6838\u5fc3\u6d41\u7a0b\u4e3a\uff1a<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5206\u53d1\u7ebf\u7a0b\u53d6\u51fa\u539f\u59cb\u6570\u636e\u540e\uff0c\u6839\u636e\u670d\u52a1\u914d\u7f6e\u7684\u00a0<code>filter_type<\/code>\u00a0\u8c03\u7528\u5bf9\u5e94\u6ee4\u6ce2\u51fd\u6570\uff08\u5982\u00a0<code>SysUdl_LowPassFilter<\/code>\u3001<code>SysUdl_KalmanFilter<\/code>\uff09\uff1b<\/li>\n\n\n\n<li>\u6ee4\u6ce2\u51fd\u6570\u4f7f\u7528\u00a0<code>SysUdl_FilterParams<\/code>\u00a0\u4e2d\u7684\u914d\u7f6e\u53c2\u6570\u548c\u00a0<code>SysUdl_FilterState<\/code>\u00a0\u4e2d\u7684\u5386\u53f2\u72b6\u6001\u8ba1\u7b97\u6ee4\u6ce2\u540e\u7684\u503c\uff1b<\/li>\n\n\n\n<li>\u6ee4\u6ce2\u540e\u7684\u6570\u636e\u88ab\u5c01\u88c5\u4e3a\u00a0<code>SysUdl_Data<\/code>\uff08\u542b\u65f6\u95f4\u6233\uff09\uff0c\u5b58\u5165\u8ba2\u9605\u8005\u961f\u5217\u3002<\/li>\n<\/ol>\n\n\n\n<p><strong>\u4ee5\u5361\u5c14\u66fc\u6ee4\u6ce2\u4e3a\u4f8b<\/strong>\uff1a\u9488\u5bf9 ECG \u4fe1\u53f7\u7684\u975e\u5e73\u7a33\u7279\u6027\uff0c\u4f18\u5316\u540e\u7684\u5b9e\u73b0\u589e\u52a0\u4e86\u81ea\u9002\u5e94\u57fa\u7ebf\u8ddf\u8e2a\uff0c\u5728 QRS \u6ce2\uff08\u4fe1\u53f7\u7a81\u53d8\uff09\u671f\u95f4\u6682\u505c\u57fa\u7ebf\u66f4\u65b0\uff0c\u907f\u514d\u6ce2\u5f62\u5931\u771f\uff0c\u540c\u65f6\u901a\u8fc7\u7b80\u5316\u6807\u91cf\u8fd0\u7b97\uff08\u66ff\u4ee3\u77e9\u9635\u64cd\u4f5c\uff09\u964d\u4f4e\u8ba1\u7b97\u5f00\u9500\uff0c\u9002\u914d ESP32 \u6027\u80fd\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\">4.4 \u7ebf\u7a0b\u5b89\u5168\u4fdd\u969c<\/h3>\n\n\n\n<p>\u5e93\u901a\u8fc7 FreeRTOS \u4fe1\u53f7\u91cf\uff08<code>SemaphoreHandle_t<\/code>\uff09\u66ff\u4ee3\u6807\u51c6\u5e93&nbsp;<code>mutex<\/code>\uff0c\u786e\u4fdd\u591a\u4efb\u52a1\u8bbf\u95ee\u5b89\u5168\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u670d\u52a1\u5217\u8868\u3001\u8ba2\u9605\u8005\u5217\u8868\u7684\u4fee\u6539\u901a\u8fc7\u00a0<code>service_mutex<\/code>\u00a0\u4fdd\u62a4\uff1b<\/li>\n\n\n\n<li>\u53d1\u5e03\u961f\u5217\u7684\u8bfb\u5199\u901a\u8fc7\u00a0<code>publish_mutex<\/code>\u00a0\u548c\u00a0<code>publish_semaphore<\/code>\u00a0\u540c\u6b65\uff1b<\/li>\n\n\n\n<li>\u8ba2\u9605\u8005\u7f13\u51b2\u961f\u5217\u7684\u64cd\u4f5c\u901a\u8fc7\u00a0<code>queue_mutex<\/code>\u00a0\u9694\u79bb\uff1b<\/li>\n\n\n\n<li>\u6ee4\u6ce2\u72b6\u6001\u7684\u66f4\u65b0\u901a\u8fc7\u00a0<code>filter_mutex<\/code>\u00a0\u4fdd\u62a4\uff0c\u907f\u514d\u591a\u7ebf\u7a0b\u540c\u65f6\u4fee\u6539\u6ee4\u6ce2\u53c2\u6570\u6216\u72b6\u6001\u3002<\/li>\n<\/ul>\n\n\n\n<h2 class=\"wp-block-heading\">\u4e94\u3001\u4f7f\u7528\u793a\u4f8b<\/h2>\n\n\n\n<h3 class=\"wp-block-heading\">5.1 \u57fa\u7840\u6d41\u7a0b\uff08\u521d\u59cb\u5316 + \u53d1\u5e03 + \u8ba2\u9605\uff09<\/h3>\n\n\n\n<pre class=\"EnlighterJSRAW\" data-enlighter-language=\"cpp\" data-enlighter-theme=\"\" data-enlighter-highlight=\"\" data-enlighter-linenumbers=\"\" data-enlighter-lineoffset=\"\" data-enlighter-title=\"\" data-enlighter-group=\"\">#include &lt;Sys_UDL.h>\n\n\/\/ \u914d\u7f6e\u53c2\u6570\n#define PUBLISH_QUEUE_SIZE 50  \/\/ \u53d1\u5e03\u961f\u5217\u5927\u5c0f\n#define SYSUDL_QUEUE_SIZE 20   \/\/ \u8ba2\u9605\u8005\u961f\u5217\u5927\u5c0f\uff08\u5728\u5934\u6587\u4ef6\u4e2d\u5b9a\u4e49\uff09\n\n\/\/ \u5168\u5c40\u53d8\u91cf\nstatic SysUdl_State udl_state;\nstatic uint8_t* udl_memory_pool;\n\n\/\/ \u53d1\u5e03\u4efb\u52a1\uff1a\u6a21\u62df ECG \u4fe1\u53f7\u53d1\u5e03\nvoid publish_task(void* param) {\n  while (1) {\n    float ecg_data = \/* \u4ece\u4f20\u611f\u5668\u8bfb\u53d6\u7684\u539f\u59cb ECG \u6570\u636e *\/;\n    SysUdl_PushFloat(&amp;udl_state, \"ecg_signal\", ecg_data);  \/\/ \u53d1\u5e03\u6d6e\u70b9\u6570\u636e\n    vTaskDelay(pdMS_TO_TICKS(10));  \/\/ 100Hz \u91c7\u6837\n  }\n}\n\n\/\/ \u8ba2\u9605\u4efb\u52a1\uff1a\u83b7\u53d6\u6ee4\u6ce2\u540e\u7684 ECG \u6570\u636e\u5e76\u5904\u7406\nvoid subscribe_task(void* param) {\n  SysUdl_Data data;\n  while (1) {\n    if (SysUdl_Get(&amp;udl_state, \"ecg_signal\", \"display\", &amp;data)) {  \/\/ \u83b7\u53d6\u6700\u65e7\u6570\u636e\n      Serial.printf(\"ECG: %.2f, \u65f6\u95f4\u6233: %llu\\n\", data.data.float_val, data.timestamp);\n    }\n    vTaskDelay(pdMS_TO_TICKS(5));\n  }\n}\n\nvoid setup() {\n  Serial.begin(115200);\n\n  \/\/ 1. \u8ba1\u7b97\u5e76\u5206\u914d\u5185\u5b58\u6c60\n  size_t required_mem = SysUdl_CalculateMemorySize(PUBLISH_QUEUE_SIZE);\n  udl_memory_pool = (uint8_t*)malloc(required_mem);\n  if (!udl_memory_pool) {\n    Serial.println(\"\u5185\u5b58\u5206\u914d\u5931\u8d25\uff01\");\n    while (1);\n  }\n\n  \/\/ 2. \u521d\u59cb\u5316\u5e93\n  if (!SysUdl_Init(&amp;udl_state, udl_memory_pool, PUBLISH_QUEUE_SIZE)) {\n    Serial.println(\"\u5e93\u521d\u59cb\u5316\u5931\u8d25\uff01\");\n    while (1);\n  }\n\n  \/\/ 3. \u6ce8\u518c\u670d\u52a1\uff08ECG \u4fe1\u53f7 + \u5361\u5c14\u66fc\u6ee4\u6ce2\uff09\n  SysUdl_RegisterService(&amp;udl_state, \"ecg_signal\", SYSUDL_FILTER_KALMAN);\n  SysUdl_InitEcgKalmanFilter(&amp;udl_state, \"ecg_signal\");  \/\/ \u5e94\u7528 ECG \u4f18\u5316\u53c2\u6570\n\n  \/\/ 4. \u8ba2\u9605\u670d\u52a1\n  SysUdl_Subscribe(&amp;udl_state, \"ecg_signal\", \"display\");\n\n  \/\/ 5. \u521b\u5efa\u53d1\u5e03\u548c\u8ba2\u9605\u4efb\u52a1\n  xTaskCreatePinnedToCore(publish_task, \"Publish\", 2048, NULL, 5, NULL, 1);\n  xTaskCreatePinnedToCore(subscribe_task, \"Subscribe\", 2048, NULL, 5, NULL, 0);\n}\n\nvoid loop() {\n  vTaskDelay(pdMS_TO_TICKS(1000));  \/\/ \u4e3b\u4efb\u52a1\u7a7a\u8f6c\n}<\/pre>\n\n\n\n<h2 class=\"wp-block-heading\">\u516d\u3001\u603b\u7ed3<\/h2>\n\n\n\n<p>Sys_UDL \u5e93\u901a\u8fc7\u8f7b\u91cf\u7ea7\u8bbe\u8ba1\u5b9e\u73b0\u4e86 ESP32 \u5e73\u53f0\u7684\u8de8\u7ebf\u7a0b\u5b89\u5168\u6570\u636e\u5206\u53d1\uff0c\u6838\u5fc3\u4f18\u52bf\u5305\u62ec\uff1a<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f02\u6b65\u5206\u53d1\u673a\u5236\u786e\u4fdd\u53d1\u5e03\u65b9\u65e0\u963b\u585e\uff0c\u9002\u5408\u9ad8\u9891\u7387\u6570\u636e\u91c7\u96c6\u573a\u666f\uff1b<\/li>\n\n\n\n<li>\u5185\u5b58\u9884\u5206\u914d\u673a\u5236\u964d\u4f4e\u5d4c\u5165\u5f0f\u5e73\u53f0\u7684\u5185\u5b58\u98ce\u9669\uff1b<\/li>\n\n\n\n<li>\u7075\u6d3b\u7684\u6ee4\u6ce2\u652f\u6301\u6ee1\u8db3\u4f20\u611f\u5668\u6570\u636e\u9884\u5904\u7406\u9700\u6c42\uff1b<\/li>\n\n\n\n<li>\u57fa\u4e8e FreeRTOS \u7684\u7ebf\u7a0b\u5b89\u5168\u8bbe\u8ba1\u9002\u914d\u591a\u4efb\u52a1\u73af\u5883\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u901a\u8fc7\u5408\u7406\u914d\u7f6e\u670d\u52a1\u3001\u6ee4\u6ce2\u53c2\u6570\u548c\u961f\u5217\u5927\u5c0f\uff0c\u53ef\u5e7f\u6cdb\u5e94\u7528\u4e8e\u7269\u8054\u7f51\u3001\u533b\u7597\u76d1\u6d4b\u3001\u5de5\u4e1a\u63a7\u5236\u7b49\u5d4c\u5165\u5f0f\u6570\u636e\u4ea4\u4e92\u573a\u666f\u3002<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001\u5e93\u603b\u4f53\u529f\u80fd\u4e0e\u76ee\u7684 1.1 \u6838\u5fc3\u529f\u80fd Sys_UDL\uff08System Universal Data Link\uff09 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":928,"comment_status":"open","ping_status":"","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[37,5],"tags":[92,46],"class_list":["post-927","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-esp32_arduino","category-ai_hardware","tag-aimc","tag-esp32"],"_links":{"self":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/927","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/comments?post=927"}],"version-history":[{"count":1,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/927\/revisions"}],"predecessor-version":[{"id":929,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/posts\/927\/revisions\/929"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/media\/928"}],"wp:attachment":[{"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/media?parent=927"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/categories?post=927"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/aimc.skyate.com\/index.php\/wp-json\/wp\/v2\/tags?post=927"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}