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        "取件码短信通道。",
        "设备层：上位机采用RK3566+嵌入式Linux+LVGL触摸屏，负责人机交互与业务接入；下位机采用STM32F103+ESP",
        "8266，接收12路开关控制指令，当前使用LED亮灭模拟柜锁执行结果。",
        "负责内容",
        "一、自定义TCP定长报文协议",
        "使用#pragmapack（1)定义上下行结构体，字段采用定长字符数组，统一三端字段布局；接收端按照固定帧长循环读满",
        "完整报文后再解析，处理TCP粘包与半包。设计op0～op4五类操作码，分别对应用户包、寄件、错误/超时、统一关",
        "柜和取件，并通过REQ/ACK/DONE区分业务请求、开门应答和关柜完成事件。",
        "二、双服务器与柜门数据模型",
        "业务服务器通过op0按柜门向开关门服务器下发完整记录，后者保存本地副本并据此验码；开关门服务器仅返回处理结",
        "果、完成事件及异常信息，不反向修改订单。柜门记录以柜门号为主键，一柜一条、整条覆盖；同一手机号对应多个包裹",
        "时下发多条不同柜门记录，避免用户数据互相覆盖。寄件码和取件码全局唯一，用于反查柜门，手机号作为寄件时的第二",
        "重校验。",
        "三、寄件业务闭环",
        "小程序下单后，业务服务器分配柜门并下发opO；终端以“手机号+寄件码”发起op1REQ，开关门服务器通过寄件码",
        "反查柜门并核对手机号，验证成功后发送on和op1ACK。用户放入包裹并按关柜按钮后，终端发送携带柜门号的op",
        "3，服务器执行off并上报op1DONE；业务服务器随后作废寄件码、生成8位取件码、更新柜门记录，并通知小程序及",
        "收件人，确保取件码在关柜完成后才生成。",
        "四、取件业务闭环",
        "终端输入8位取件码并发送op4REQ，开关门服务器反查柜门，验证成功后执行on并返回op4ACK；用户取件后仍通",
        "过统一的op3关柜，服务器根据当前柜门的等待上下文区分寄件与取件，执行off并上报op4DONE。业务服务器收到",
        "完成事件后删除取件码、释放柜门，下发空闲op0并同步小程序，避免取件码重复使用及柜门资源未释放。",
        "五、异常回退与一致性保障",
        "开门后最多等待五分钟关柜；未收到op3时，开关门服务器发送off进行保底处理，通过op2上报超时，并将终端退回",
        "对应的寄件或取件输入界面。业务服务器根据业务类型释放预占或恢复订单，防止柜门被长期占用。由于LED仅用于模",
        "拟柜锁，巴法云主题只表示最后一条执行指令，业务流转以服务器记录及REQ/ACK/DONE事件为依据，不将云端指",
        "令状态等同于真实门态。",
        "六、RK3566嵌入式终端与LVGL界面",
        "完成终端业务接入、LVGL界面移植与资源适配，接入framebuffer和触摸事件设备；图片采用SJPG格式，避免分配整",
        "帧JPEG解码缓冲区，降低内存占用并提升页面切换流畅度。终端与服务端通信设置5秒超时，超时后提示网络异常并返",
        "回对应操作界面。",
        "技术栈：RK3566、嵌入式Linux、STM32F103、ESP8266、TCPSocket、巴法云TCP、互亿无线短信、LVGL、SJPG、",
        "微信小程序。",
        "2026/09-2026/10",
        "毕业设计",
        "四轴飞行器",
        "项目背景：本人毕业设计课题，围绕飞行器姿态稳定控制展开；基于开源飞控工程完成软件移植、裁剪与调试，实现IM",
        "U驱动与四元数姿态解算、串级PID控制、气压计定高与自动缓降、分时任务调度与飞行安全保护等核心模块；完成06",
        "03元件焊接，经多轮试飞验证，课题按计划完成全部开发与测试工作。",
        "项目架构：系统电初始化、主循环接收数据包、1ms定时飞控计算、异常兜底组成（附有架构图）",
        "工作内容：",
        "姿态采集与四元数解算：完成QMI8658六轴IMU的IIC驱动调试、原始数据采集、零偏校准及坐标转换；采用陀螺仪",
        "积分更新四元数，并利用加速度计进行互补修正，避免欧拉角奇异问题：在±70°倾角保护范围内转换为欧拉角，为姿态",
        "控制提供角度反馈。",
        "串级PID控制：搭建角度外环+角速度内环的串级控制结构，外环输出限幅并作为内环目标，内环直接使用陀螺仪角速",
        "度反馈并加入前馈补偿：结合多轮试飞响应迭代整定参数，实现飞行器姿态稳定控制。",
        "任务调度与安全保护：基于TIM1的1ms定时中断进行计数分时调度，每2ms执行传感器读取与角速度内环，每4ms",
        "执行姿态解算与角度外环；设计STOP/READY/RUNNING状态机，实现±70°倾角停机、遥控失联3秒后油门固定",
        "为30且水平目标角归零、欠压LED报警及落地自停等保护机制。",
        "无线通信与在线调试：完成NRF24L01遥控链路联调，以及CH9141蓝牙姿态数据上传，支持在线查看姿态波形，辅助"
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