Apollo2 MCU:超低功耗电池设备的创新解决方案

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Apollo2 MCU是一款专为电池供电设备设计的超低功耗、高度集成的微控制器,由Ambiq Micro公司开发。这款微控制器针对的是诸如可穿戴电子设备、活动与健康监测器以及无线传感器等应用,其核心特点是将超低功耗的传感器转换电路与高性能ARM Cortex-M4处理器(带浮点单元)相结合。这样的设计使得在极低的功耗下,能够实现复杂传感器处理任务,如语音关键词检测、高级情境识别、手势识别和活动监控,从而显著提升设备的电池寿命,可达数周、数月甚至数年。 Apollo2 MCU采用Ambiq Micro的专利Subthreshold Power Optimized Technology (SPOT) 平台,该平台在低功耗设计方面树立了全新的行业标准。其主要特性包括: 1. **极低功耗**: - 在3.3V电压下执行时,从闪存运行的电流低于10 µA/MHz,从RAM运行时更低至10 µA/MHz。 - 在深度睡眠模式下,配合RTC(实时时钟),功耗低至3 µA,显著节省能源。 2. **高性能处理器**: - 基于ARM Cortex-M4,最高工作频率可达48 MHz。 - 内置浮点单元,支持更复杂的计算任务。 - 配备内存保护单元,确保代码和数据的安全性。 - 包含一个带有32个中断的唤醒中断控制器,提高系统响应速度。 3. **内存配置**: - 提供最多1 MB的闪存用于存储代码和数据,满足大容量需求。 - 拥有256 KB的低泄漏RAM,进一步降低功耗。 - 内置16 kB的双路关联性缓存,提升数据访问效率。 4. **传感器接口**: - 支持14位ADC,采样率高达1.2 MS/s,最多可选15个输入通道,适应多样化的传感器连接。 - 提供电压比较器功能,便于传感器信号的精确处理。 5. **附加功能**: - 包括SPI/I2C从站接口,方便与外部设备通信。 - 内置SPI/I2C主控和UART,增强扩展能力。 - 集成了磁力计和陀螺仪,带有数字输出,支持位置和运动数据测量。 - 加速度计同样带有数字输出,提供设备运动状态的精确检测。 Apollo2 MCU凭借其出色的低功耗性能和丰富的功能集,成为电池供电设备中的理想选择,尤其适合对续航时间和能效要求极高的应用领域。通过灵活的接口和强大的处理能力,它极大地简化了系统设计,提高了电池寿命和用户体验。

帮我修改下面的代码。要求建立一次weboscket链接,链接到wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840,当订阅到感知话题调用perceptionCallback时,通过wss发送serialized_data:#include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" #include <iostream> #include <websocketpp/config/asio_client.hpp> #include <websocketpp/client.hpp> #include <websocketpp/common/thread.hpp> apollo::perception::PerceptionObstacles perception_obstacles_; typedef websocketpp::clientwebsocketpp::config::asio_tls_client client; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; }

2023-06-09 上传

帮我修改代码,实现用wss发送serialized_data到wss://autopilot-test.t3go.cn:443/api/v1/vehicle/push/message/LFB1FV696M2L43840。 main.cpp: #include "ros/ros.h" #include "std_msgs/String.h" #include <boost/thread/locks.hpp> #include <boost/thread/shared_mutex.hpp> #include "third_party/apollo/proto/perception/perception_obstacle.pb.h" #include "t3_perception.pb.h" apollo::perception::PerceptionObstacles perception_obstacles_; void perceptionCallback(const std_msgs::String& msg) { ROS_WARN("t3 perceptionCallback parse"); if (perception_obstacles_.ParseFromString(msg.data)) { double timestamp = perception_obstacles_.header().timestamp_sec(); ROS_INFO("t3 perceptionCallback timestamp %f count:%d", timestamp, perception_obstacles_.perception_obstacle().size()); std::string data; perception_obstacles_.SerializeToString(&data); VehData veh_data; veh_data.set_messagetype(5); veh_data.set_messagedes("PerceptionObstacles"); veh_data.set_contents(data); std::string serialized_data; veh_data.SerializeToString(&serialized_data); } else { ROS_ERROR("t3 perceptionCallback parse fail!"); } } int main(int argc, char **argv) { ros::init(argc, argv, "listener"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("/perception_node/perception_objects", 1000, perceptionCallback); ros::spin(); return 0; } t3_perception.proto: syntax = "proto3"; option java_package = "com.t3.ts.dt.ad.web.protobuf"; option java_outer_classname = "VehDTO"; option java_multiple_files = false; message VehData { /** messageType: 1:客户端心跳 2:云端心跳响应 3:连接成功 4:连接失败 5:客户端发送消息 6:云端发送消息 7:消息处理成功 8:消息处理失败 9:此客户端未注册 10:未知消息类型 */ int32 messageType = 1; string messageDes = 2; bytes contents = 3; // 发送内容 }

2023-06-09 上传

In file included from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/apollo_app.h:46:0, from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/src/apollo_app.cc:33: /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/log.h:40:10: fatal error: glog/logging.h: No such file or directory #include <glog/logging.h> ^~~~~~~~~~~~~~~~ compilation terminated. apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/build.make:62: recipe for target 'apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/apollo_app.cc.o' failed make[2]: *** [apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/apollo_app.cc.o] Error 1 make[2]: *** Waiting for unfinished jobs.... In file included from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/adapters/adapter_manager.h:48:0, from /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/src/adapters/adapter_manager.cc:33: /home/acceler/code/apollo_ros/apollo_ros/src/apollo.ros-1.0.0-master/apollo_common/include/apollo_common/adapters/adapter.h:49:10: fatal error: glog/logging.h: No such file or directory #include <glog/logging.h> ^~~~~~~~~~~~~~~~ compilation terminated. apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/build.make:110: recipe for target 'apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/adapters/adapter_manager.cc.o' failed make[2]: *** [apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/src/adapters/adapter_manager.cc.o] Error 1 CMakeFiles/Makefile2:3894: recipe for target 'apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/all' failed make[1]: *** [apollo.ros-1.0.0-master/apollo_common/CMakeFiles/apollo_common.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... [ 54%] Linking CXX executable /home/acceler/code/apollo_ros/apollo_ros/devel/lib/IntegratedNavigation/IntegratedNavigation_node [ 54%] Built target IntegratedNavigation_node [ 55%] Linking CXX executable /home/acceler/code/apollo_ros/apollo_ros/devel/lib/TimeSynchronierProcess/timeSynchronierProcess_node [ 55%] Built target timeSynchronierProcess_node Makefile:140: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j4 -l4" failed

2023-07-23 上传

root@in_dev_docker:/apollo# bash scripts/msf_create_lossless_map.sh /apollo/hdmap/pcd_apollo/ 50 /apollo/hdmap/ /apollo/bazel-bin WARNING: Logging before InitGoogleLogging() is written to STDERR E0715 22:08:35.399576 6436 lossless_map_creator.cc:162] num_trials = 1 Pcd folders are as follows: /apollo/hdmap/pcd_apollo/ Resolution: 0.125 Dataset: /apollo/hdmap/pcd_apollo Dataset: /apollo/hdmap/pcd_apollo/ Loaded the map configuration from: /apollo/hdmap//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap//lossless_map/config.xml. Saved the map configuration to: /apollo/hdmap//lossless_map/config.xml. E0715 22:08:35.767315 6436 lossless_map_creator.cc:264] ieout_poses = 1706 Failed to find match for field 'intensity'. Failed to find match for field 'timestamp'. E0715 22:08:35.769896 6436 velodyne_utility.cc:46] Un-organized-point-cloud E0715 22:08:35.781770 6436 lossless_map_creator.cc:275] Loaded 245443D Points at Trial: 0 Frame: 0. F0715 22:08:35.781791 6436 base_map_node_index.cc:101] Check failed: false *** Check failure stack trace: *** scripts/msf_create_lossless_map.sh: line 11: 6436 Aborted (core dumped) $APOLLO_BIN_PREFIX/modules/localization/msf/local_tool/map_creation/lossless_map_creator --use_plane_inliers_only true --pcd_folders $1 --pose_files $2 --map_folder $IN_FOLDER --zone_id $ZONE_ID --coordinate_type UTM --map_resolution_type single root@in_dev_docker:/apollo# bash scripts/msf_create_lossless_map.sh /apollo/hdmap/pcd_apollo/ 50 /apollo/hdmap/

2023-07-16 上传