更新

目的，无线串口发送需要数据
最终了，不大改了，改改参数就这样了
2025-04-14 21:11:43 +08:00 · 2025-04-13 14:55:49 +08:00 · 2025-04-07 19:58:25 +08:00 · 2025-04-05 01:59:17 +08:00 · 2025-04-02 17:07:58 +08:00 · 2025-03-31 16:17:10 +08:00
46 changed files with 9171 additions and 373 deletions
--- a/AUTO_CHASSIS.ioc
+++ b/AUTO_CHASSIS.ioc
@ -273,11 +273,14 @@ PD14.GPIOParameters=GPIO_Label
 PD14.GPIO_Label=Buzzer
 PD14.Locked=true
 PD14.Signal=S_TIM4_CH3
+PE11.GPIOParameters=PinState,GPIO_PuPd
+PE11.GPIO_PuPd=GPIO_PULLDOWN
 PE11.Locked=true
+PE11.PinState=GPIO_PIN_SET
 PE11.Signal=GPIO_Output
 PE9.GPIOParameters=PinState,GPIO_PuPd,GPIO_Label
 PE9.GPIO_Label=FlagForUpper
-PE9.GPIO_PuPd=GPIO_PULLUP
+PE9.GPIO_PuPd=GPIO_PULLDOWN
 PE9.Locked=true
 PE9.PinState=GPIO_PIN_SET
 PE9.Signal=GPIO_Output
--- a/Core/Src/gpio.c
+++ b/Core/Src/gpio.c
@ -61,10 +61,7 @@ void MX_GPIO_Init(void)
  HAL_GPIO_WritePin(ACCL_CS_GPIO_Port, ACCL_CS_Pin, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(FlagForUpper_GPIO_Port, FlagForUpper_Pin, GPIO_PIN_SET);
-
-  /*Configure GPIO pin Output Level */
-  HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, GPIO_PIN_RESET);
+  HAL_GPIO_WritePin(GPIOE, FlagForUpper_Pin|GPIO_PIN_11, GPIO_PIN_SET);

  /*Configure GPIO pin Output Level */
  HAL_GPIO_WritePin(GYRO_CS_GPIO_Port, GYRO_CS_Pin, GPIO_PIN_SET);
@ -95,17 +92,10 @@ void MX_GPIO_Init(void)
  GPIO_InitStruct.Pull = GPIO_PULLUP;
  HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);

-  /*Configure GPIO pin : PtPin */
-  GPIO_InitStruct.Pin = FlagForUpper_Pin;
+  /*Configure GPIO pins : PEPin PE11 */
+  GPIO_InitStruct.Pin = FlagForUpper_Pin|GPIO_PIN_11;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_PULLUP;
-  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
-  HAL_GPIO_Init(FlagForUpper_GPIO_Port, &GPIO_InitStruct);
-
-  /*Configure GPIO pin : PE11 */
-  GPIO_InitStruct.Pin = GPIO_PIN_11;
-  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
-  GPIO_InitStruct.Pull = GPIO_NOPULL;
+  GPIO_InitStruct.Pull = GPIO_PULLDOWN;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(GPIOE, &GPIO_InitStruct);

--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@ -80,7 +80,6 @@ int main(void)
  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
-
  HAL_Init();

  /* USER CODE BEGIN Init */
--- a/MDK-ARM/.vscode/keil-assistant.log
+++ b/MDK-ARM/.vscode/keil-assistant.log
@ -475,3 +475,5 @@ Log at : 2025/2/23|14:39:36|GMT+0800

 [info] Log at : 2025/3/11|21:09:29|GMT+0800

+[info] Log at : 2025/3/28|21:47:12|GMT+0800
+
--- a/MDK-ARM/AUTO_CHASSIS.uvoptx
+++ b/MDK-ARM/AUTO_CHASSIS.uvoptx
@ -12,7 +12,7 @@
    <lExt>*.lib</lExt>
    <tExt>*.txt; *.h; *.inc; *.md</tExt>
    <pExt>*.plm</pExt>
-    <CppX>*.cpp; *.cc; *.cxx</CppX>
+    <CppX>*.cpp</CppX>
    <nMigrate>0</nMigrate>
  </Extensions>

@ -22,11 +22,11 @@
  </DaveTm>

  <Target>
-    <TargetName>R2_UP</TargetName>
+    <TargetName>AUTO_CHASSIS</TargetName>
    <ToolsetNumber>0x4</ToolsetNumber>
    <ToolsetName>ARM-ADS</ToolsetName>
    <TargetOption>
-      <CLKADS>25000000</CLKADS>
+      <CLKADS>12000000</CLKADS>
      <OPTTT>
        <gFlags>1</gFlags>
        <BeepAtEnd>1</BeepAtEnd>
@ -103,7 +103,7 @@
        <bEvRecOn>1</bEvRecOn>
        <bSchkAxf>0</bSchkAxf>
        <bTchkAxf>0</bTchkAxf>
-        <nTsel>6</nTsel>
+        <nTsel>3</nTsel>
        <sDll></sDll>
        <sDllPa></sDllPa>
        <sDlgDll></sDlgDll>
@ -114,9 +114,14 @@
        <tDlgDll></tDlgDll>
        <tDlgPa></tDlgPa>
        <tIfile></tIfile>
-        <pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
+        <pMon>BIN\CMSIS_AGDI.dll</pMon>
      </DebugOpt>
      <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U00260035480000034E575152 -O206 -SF5000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO131091 -TC12000000 -TT12000000 -TP21 -TDS8005 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
          <Key>ARMRTXEVENTFLAGS</Key>
@ -134,13 +139,13 @@
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
-          <Key>ST-LINKIII-KEIL_SWO</Key>
-          <Name>-U-O206 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Key>CMSIS_AGDI</Key>
+          <Name>-X"Horco CMSIS-DAP" -U4626385832 -O206 -S0 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC168000000 -TT168000000 -TP20 -TDS8010 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
          <Key>DLGUARM</Key>
-          <Name>(105=-1,-1,-1,-1,0)</Name>
+          <Name></Name>
        </SetRegEntry>
        <SetRegEntry>
          <Number>0</Number>
@ -153,20 +158,47 @@
        <Ww>
          <count>0</count>
          <WinNumber>1</WinNumber>
-          <ItemText>aaa,0x0A</ItemText>
+          <ItemText>UP,0x0A</ItemText>
        </Ww>
        <Ww>
          <count>1</count>
          <WinNumber>1</WinNumber>
-          <ItemText>bbb,0x0A</ItemText>
+          <ItemText>GO_motor_info</ItemText>
+        </Ww>
+        <Ww>
+          <count>2</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>dr16,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>3</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>4</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>rc_ctrl,0x0A</ItemText>
+        </Ww>
+        <Ww>
+          <count>5</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>aaa</ItemText>
        </Ww>
      </WatchWindow1>
+      <WatchWindow2>
+        <Ww>
+          <count>0</count>
+          <WinNumber>2</WinNumber>
+          <ItemText>a</ItemText>
+        </Ww>
+      </WatchWindow2>
      <Tracepoint>
        <THDelay>0</THDelay>
      </Tracepoint>
      <DebugFlag>
        <trace>0</trace>
-        <periodic>0</periodic>
+        <periodic>1</periodic>
        <aLwin>1</aLwin>
        <aCover>0</aCover>
        <aSer1>0</aSer1>
@ -204,18 +236,18 @@
      <pSingCmdsp></pSingCmdsp>
      <pMultCmdsp></pMultCmdsp>
      <DebugDescription>
-        <Enable>1</Enable>
+        <Enable>0</Enable>
        <EnableFlashSeq>0</EnableFlashSeq>
        <EnableLog>0</EnableLog>
        <Protocol>2</Protocol>
-        <DbgClock>10000000</DbgClock>
+        <DbgClock>5000000</DbgClock>
      </DebugDescription>
    </TargetOption>
  </Target>

  <Group>
    <GroupName>Application/MDK-ARM</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@ -247,7 +279,7 @@

  <Group>
    <GroupName>Application/User/Core</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@ -387,7 +419,7 @@

  <Group>
    <GroupName>Drivers/STM32F4xx_HAL_Driver</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@ -659,7 +691,7 @@

  <Group>
    <GroupName>Drivers/CMSIS</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@ -679,7 +711,7 @@

  <Group>
    <GroupName>Middlewares/FreeRTOS</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@ -886,6 +918,30 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\bsp\gpio.c</PathWithFileName>
+      <FilenameWithoutPath>gpio.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>53</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\bsp\spi.c</PathWithFileName>
+      <FilenameWithoutPath>spi.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>7</GroupNumber>
+      <FileNumber>54</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
      <PathWithFileName>..\User\bsp\pwm.c</PathWithFileName>
      <FilenameWithoutPath>pwm.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
@ -893,7 +949,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>53</FileNumber>
+      <FileNumber>55</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -905,7 +961,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>54</FileNumber>
+      <FileNumber>56</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -917,7 +973,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>55</FileNumber>
+      <FileNumber>57</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -929,7 +985,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>56</FileNumber>
+      <FileNumber>58</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -941,7 +997,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>57</FileNumber>
+      <FileNumber>59</FileNumber>
      <FileType>5</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -953,7 +1009,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>58</FileNumber>
+      <FileNumber>60</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -965,7 +1021,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>59</FileNumber>
+      <FileNumber>61</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -977,7 +1033,7 @@
    </File>
    <File>
      <GroupNumber>7</GroupNumber>
-      <FileNumber>60</FileNumber>
+      <FileNumber>62</FileNumber>
      <FileType>1</FileType>
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
@ -987,30 +1043,6 @@
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
-    <File>
-      <GroupNumber>7</GroupNumber>
-      <FileNumber>61</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\bsp\bsp_spi.c</PathWithFileName>
-      <FilenameWithoutPath>bsp_spi.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>7</GroupNumber>
-      <FileNumber>62</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\bsp\bsp_gpio.c</PathWithFileName>
-      <FilenameWithoutPath>bsp_gpio.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
  </Group>

  <Group>
@ -1074,8 +1106,8 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\nuc_task.c</PathWithFileName>
-      <FilenameWithoutPath>nuc_task.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\task\error_detect_task.c</PathWithFileName>
+      <FilenameWithoutPath>error_detect_task.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
@ -1086,8 +1118,8 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\error_detect_task.c</PathWithFileName>
-      <FilenameWithoutPath>error_detect_task.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\task\dr16_task.c</PathWithFileName>
+      <FilenameWithoutPath>dr16_task.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
@ -1122,8 +1154,8 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\dr16_task.c</PathWithFileName>
-      <FilenameWithoutPath>dr16_task.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\task\nuc_task.c</PathWithFileName>
+      <FilenameWithoutPath>nuc_task.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
@ -1282,8 +1314,8 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\device\GO_M8010_6_Driver.c</PathWithFileName>
-      <FilenameWithoutPath>GO_M8010_6_Driver.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\device\dr16.c</PathWithFileName>
+      <FilenameWithoutPath>dr16.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
@ -1294,8 +1326,8 @@
      <tvExp>0</tvExp>
      <tvExpOptDlg>0</tvExpOptDlg>
      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\device\dr16.c</PathWithFileName>
-      <FilenameWithoutPath>dr16.c</FilenameWithoutPath>
+      <PathWithFileName>..\User\device\GO_M8010_6_Driver.c</PathWithFileName>
+      <FilenameWithoutPath>GO_M8010_6_Driver.c</FilenameWithoutPath>
      <RteFlg>0</RteFlg>
      <bShared>0</bShared>
    </File>
@ -1347,7 +1379,7 @@

  <Group>
    <GroupName>Application/User/USB_DEVICE/Target</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
@ -1367,7 +1399,7 @@

  <Group>
    <GroupName>Middlewares/USB_Device_Library</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
    <tvExpOptDlg>0</tvExpOptDlg>
    <cbSel>0</cbSel>
    <RteFlg>0</RteFlg>
--- a/MDK-ARM/AUTO_CHASSIS.uvprojx
+++ b/MDK-ARM/AUTO_CHASSIS.uvprojx
@ -7,7 +7,7 @@

  <Targets>
    <Target>
-      <TargetName>R2_UP</TargetName>
+      <TargetName>AUTO_CHASSIS</TargetName>
      <ToolsetNumber>0x4</ToolsetNumber>
      <ToolsetName>ARM-ADS</ToolsetName>
      <pArmCC>5060960::V5.06 update 7 (build 960)::.\ARMCC</pArmCC>
@ -49,8 +49,8 @@
            <NotGenerated>0</NotGenerated>
            <InvalidFlash>1</InvalidFlash>
          </TargetStatus>
-          <OutputDirectory>.\R2_UP\</OutputDirectory>
-          <OutputName>R2_UP</OutputName>
+          <OutputDirectory>ELE_CHASSIS\</OutputDirectory>
+          <OutputName>AUTO_CHASSIS</OutputName>
          <CreateExecutable>1</CreateExecutable>
          <CreateLib>0</CreateLib>
          <CreateHexFile>0</CreateHexFile>
@ -82,7 +82,7 @@
          </BeforeMake>
          <AfterMake>
            <RunUserProg1>0</RunUserProg1>
-            <RunUserProg2>0</RunUserProg2>
+            <RunUserProg2>1</RunUserProg2>
            <UserProg1Name></UserProg1Name>
            <UserProg2Name></UserProg2Name>
            <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
@ -1128,6 +1128,16 @@
              <FileType>1</FileType>
              <FilePath>..\User\bsp\delay.c</FilePath>
            </File>
+            <File>
+              <FileName>gpio.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\bsp\gpio.c</FilePath>
+            </File>
+            <File>
+              <FileName>spi.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\bsp\spi.c</FilePath>
+            </File>
            <File>
              <FileName>pwm.c</FileName>
              <FileType>1</FileType>
@ -1173,16 +1183,6 @@
              <FileType>1</FileType>
              <FilePath>..\User\bsp\bsp_buzzer.c</FilePath>
            </File>
-            <File>
-              <FileName>bsp_spi.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\bsp\bsp_spi.c</FilePath>
-            </File>
-            <File>
-              <FileName>bsp_gpio.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\bsp\bsp_gpio.c</FilePath>
-            </File>
          </Files>
        </Group>
        <Group>
@ -1208,16 +1208,16 @@
              <FileType>1</FileType>
              <FilePath>..\User\task\can_task.c</FilePath>
            </File>
-            <File>
-              <FileName>nuc_task.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\task\nuc_task.c</FilePath>
-            </File>
            <File>
              <FileName>error_detect_task.c</FileName>
              <FileType>1</FileType>
              <FilePath>..\User\task\error_detect_task.c</FilePath>
            </File>
+            <File>
+              <FileName>dr16_task.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\dr16_task.c</FilePath>
+            </File>
            <File>
              <FileName>up_task.c</FileName>
              <FileType>1</FileType>
@ -1280,9 +1280,9 @@
              </FileOption>
            </File>
            <File>
-              <FileName>dr16_task.c</FileName>
+              <FileName>nuc_task.c</FileName>
              <FileType>1</FileType>
-              <FilePath>..\User\task\dr16_task.c</FilePath>
+              <FilePath>..\User\task\nuc_task.c</FilePath>
            </File>
          </Files>
        </Group>
@ -1349,16 +1349,16 @@
              <FileType>1</FileType>
              <FilePath>..\User\device\vofa.c</FilePath>
            </File>
-            <File>
-              <FileName>GO_M8010_6_Driver.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\device\GO_M8010_6_Driver.c</FilePath>
-            </File>
            <File>
              <FileName>dr16.c</FileName>
              <FileType>1</FileType>
              <FilePath>..\User\device\dr16.c</FilePath>
            </File>
+            <File>
+              <FileName>GO_M8010_6_Driver.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\device\GO_M8010_6_Driver.c</FilePath>
+            </File>
          </Files>
        </Group>
        <Group>
@ -2044,7 +2044,7 @@
      <component Cclass="CMSIS" Cgroup="CORE" Cvendor="ARM" Cversion="5.3.0" condition="ARMv6_7_8-M Device">
        <package name="CMSIS" schemaVersion="1.3" url="http://www.keil.com/pack/" vendor="ARM" version="5.6.0"/>
        <targetInfos>
-          <targetInfo name="R2_UP"/>
+          <targetInfo name="AUTO_CHASSIS"/>
        </targetInfos>
      </component>
    </components>
--- a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
+++ b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.axf
--- a/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex
+++ b/MDK-ARM/ELE_CHASSIS/AUTO_CHASSIS.hex
--- a/MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex
+++ b/MDK-ARM/ELE_CHASSIS/ELE_CHASSIS.hex
--- a/README.md
+++ b/README.md
@ -9,4 +9,3 @@ r2上层代码
 3.16 up.c里3508需增加位置环，id1，2分别为2006，3508位置环，适应升降机构。
     go电机需换rs485模块测试，目前存在可控但收不到反馈数据的情况

-3.26 遥控器控制修改
--- a/User/Algorithm/navi.c
+++ b/User/Algorithm/navi.c
@ -0,0 +1,216 @@
+#include "navi.h"
+
+
+//导航初始化一系列参数
+int8_t Action_init(ops_t *o , const ops_param_t *param , Action_POS_t *pos)
+{
+	if(o ==NULL)  return DEVICE_ERR;
+	if(param == NULL) return DEVICE_ERR;
+//	while(!Action_ready)
+//	{		
+//     TIM4->CCR3 = 9999;//等待全场定位初始化
+//	}
+	
+//    TIM4->CCR3 = 0;
+//	HAL_GPIO_WritePin(LED_G_GPIO_Port,LED_G_Pin,GPIO_PIN_SET);//接收到码盘数据后亮灯指示
+//	
+	
+//			osDelay(5);
+
+	o->param = param;
+	/*全场定位pid初始化*/ 
+	//全场定位跑路径的xy方向速度环pid
+	PID_init(&o->pid_PosSpeed_x, PID_POSITION,(&o->param->ops_pid.pid_PosSpeed_x_param));
+	PID_init(&o->pid_PosSpeed_y, PID_POSITION,(&o->param->ops_pid.pid_PosSpeed_y_param));
+	 /* 初始化角度纠正PID */
+	PID_init(&o->pid_OutAngle,PID_POSITION,(&o->param->ops_pid.pid_OutAngle_param));//外环
+	PID_init(&o->pid_InnerAngle,PID_POSITION,(&o->param->ops_pid.pid_InnerAngle_param));//内环
+	//底盘xy方向位置环pid初始化
+	//内环
+	PID_init(&o->pid_pos_x_inner,PID_POSITION,(&o->param->ops_pid.pid_pos_x_inner_param));
+	PID_init(&o->pid_pos_y_inner,PID_POSITION,(&o->param->ops_pid.pid_pos_y_inner_param));
+	//外环
+	PID_init(&o->pid_pos_x_out,PID_POSITION,(&o->param->ops_pid.pid_pos_x_out_param));
+	PID_init(&o->pid_pos_y_out,PID_POSITION,(&o->param->ops_pid.pid_pos_y_out_param));
+
+
+	
+	//底盘路径速度pid初始化
+	PID_init(&o->path_speed_pid,PID_POSITION,(&o->param->ops_pid.path_speed_pid_param));
+	//全场定位底盘坐标初始化
+	o->chassis_pos->pos_x=0;
+	o->chassis_pos->pos_y=0;	
+	o->chassis_pos->pos_lastX=0;
+	o->chassis_pos->pos_lastY=0;
+	o->chassis_map =param->path ;	
+	o->chassis_pos = pos;
+	
+	
+	//设置全场定位允许的误差范围
+	o->state.mistake = POS_ALLOW_MISTAKE;
+	o->state .angle_mistake =POS_ALLOW_ANGLE_MISTAKE ;
+	o->state.moveState = START;
+	o->state.points_num = param->path_num;
+	//标志位初始化
+	o->POS_IS_CPT = NO;
+  
+
+
+
+	return DEVICE_OK;
+}
+//利用C板imu纠正角度
+fp32 ops9_AngleCorr(ops_t *o,fp32 hope_angle)
+{
+	fp32 delta_angle,delta_w;
+	//外环角度纠正
+	delta_angle = PID_calc(&o->pid_OutAngle,o->ops_imu_pos.yaw,hope_angle);
+	//内环速度纠正
+	delta_w = -PID_calc(&o->pid_InnerAngle,o->ops_gyro.z,delta_angle);
+	return delta_w;
+}
+
+//底盘xy速度计算(全场定位)
+void POS_chassis_set(ops_t *o,fp32 vx_set, fp32 vy_set, fp32 yaw_angle_set){
+		o->final_out.vx = (PID_calc(&o->pid_PosSpeed_x, o->chassis_pos->pos_Vx,vx_set));//根据遥控器的方向选择正负
+		o->final_out.vy = PID_calc(&o->pid_PosSpeed_y, o->chassis_pos->pos_Vy,vy_set);
+	  o->final_out.yaw_angle = ops9_AngleCorr(o,yaw_angle_set);
+}
+
+
+//定点控制
+void hold_point(ops_t *o,point_t p,fp32 yaw_angle_set)
+{
+	fp32 delta_x,delta_y;
+	fp32 delta_vx,delta_vy;
+	fp32 vx_set,vy_set;//x,y,w目标速度
+	
+	//x
+	delta_x = PID_calc(&o->pid_pos_x_out,o->chassis_pos->pos_x,p.x);
+	delta_vx = PID_calc(&o->pid_pos_x_inner,o->chassis_pos->pos_Vx,delta_x);
+	
+	//y
+	delta_y = PID_calc(&o->pid_pos_y_out,o->chassis_pos->pos_y,p.y);
+	delta_vy = PID_calc(&o->pid_pos_y_inner,o->chassis_pos->pos_Vy,delta_y);
+	
+
+	
+	
+	vx_set = delta_vx;
+	vy_set = delta_vy;
+	
+	POS_chassis_set(o,vx_set,vy_set,yaw_angle_set);
+}
+
+
+  
+
+//判断是否到达函数(全场定位)，最最后判断
+bool isArrive(point_t p,ops_t *o)
+{
+		uint16_t xArrive = 0, yArrive = 0, zArrive=0;
+
+	xArrive = abs_float_double(p.x,o->chassis_pos->pos_x) < o->state.mistake ? 1:0;
+	yArrive = abs_float_double(p.y,o->chassis_pos->pos_y) < o->state.mistake ? 1:0;
+	
+	if(xArrive && yArrive) return true;
+	else return false;
+}
+
+
+
+
+//寻迹，跑点函数
+int8_t go_path(ops_t *o,CMD_ACTION_t *ops_out)
+{
+   static  fp32 distance;//两点之间的距离差
+   static fp32 chassis_speed_set;//底盘速度设置
+   static fp32 SIN,COS;//方向解算
+   static fp32 world_vx,world_vy;//x,y方向分解速度
+   static fp32 chassis_vx,chassis_vy;//底盘xy分速度
+   static int cnt =0 ;//计数标志位
+
+	 static int flag_update_num;//记录flag更新，防止cnt一直变化
+
+	/*数据同步*/
+	o->current_x =o->chassis_pos ->pos_x ;
+	o->current_y =o->chassis_pos ->pos_y ;	
+	o->next_mapx = o->chassis_map[cnt].x;
+	o->next_mapy =o->chassis_map[cnt].y;	
+  o->Navi_Mode .Trig_flag = ops_out ->flag ;	
+	
+	if(o == NULL) return DEVICE_ERR;
+	if (ops_out == NULL) return DEVICE_ERR;
+  
+// static fp32 yaw_angle_set = 0;	
+	if(o->POS_IS_CPT == NO)//路径未跑完
+	{
+		if(o->state.moveState ==START)
+		{
+			//更新路径状态
+			o->state.moveState =MOVING;			
+		}
+		
+		
+		distance = sqrt((o->chassis_map[cnt].x - o->chassis_pos->pos_x)*(o->chassis_map[cnt].x - o->chassis_pos->pos_x)
+										+(o->chassis_map[cnt].y - o->chassis_pos->pos_y)*(o->chassis_map[cnt].y - o->chassis_pos->pos_y));
+		
+		chassis_speed_set = PID_calc(&o->path_speed_pid,-distance,0);//此处由pid计算距离得出相应的速度
+		//速度分解
+		SIN = (o->chassis_map[cnt].y - o->chassis_pos->pos_y)/distance;
+		COS = (o->chassis_map[cnt].x - o->chassis_pos->pos_x)/distance;
+		
+		world_vx = chassis_speed_set * COS;
+		world_vy = chassis_speed_set * SIN;
+		
+//		chassis_vx = world_vx;
+//		chassis_vy = world_vy;
+		//世界坐标转机器坐标系转换
+		
+		chassis_vx = -world_vy*sin(o->ops_imu_pos.yaw) + world_vx*cos(o->ops_imu_pos.yaw);
+		chassis_vy = world_vy*cos(o->ops_imu_pos.yaw) + world_vx*sin(o->ops_imu_pos.yaw);
+	
+	}
+	
+/*下面的逻辑按需更改，根据cnt计数器自动跑点，遥控器触发跑点等等*/	
+	
+    		
+	  if(isArrive(o->chassis_map[cnt],o))			//判断是否到达(全场定位)，只涉及xy的判断
+	{ 	
+         /*到达点后，这里应该增加cnt增加或减小的触发方式*/
+          
+	         if (o->Navi_Mode .Trig_flag != flag_update_num) { // 只有flag发生变化时才更新cnt
+
+              if (o->Navi_Mode .Trig_flag==1){
+				cnt++;	
+		       }           
+		    }        
+            else if (o->Navi_Mode .Trig_flag == -1) {
+			cnt--;
+		     }          
+           flag_update_num = o->Navi_Mode .Trig_flag; // 更新prev_flag为当前的flag状态
+	}	
+    else
+	{
+		 o->POS_IS_CPT = NO;
+        hold_point(o,o->chassis_map[cnt],o->chassis_map[cnt].angle);	//调用该函数使临近误差值快速响应			
+	}					
+		if(cnt>3)//根据点数更改
+		{
+		  o->POS_IS_CPT =YES;
+			  //到达目的地
+	      o->final_out .vx =0;
+	      o->final_out .vy =0;
+	      o->final_out.yaw_angle=0;	
+		}	
+    
+
+    
+	  
+
+	ops_out->out.Vx= o->final_out .vx ;
+	ops_out->out.Vy = o->final_out .vy ;
+	ops_out->out.Vw = o->final_out.yaw_angle;
+
+	return DEVICE_OK;
+}
--- a/User/Algorithm/navi.h
+++ b/User/Algorithm/navi.h
@ -0,0 +1,108 @@
+#ifndef NAVI_H
+#define NAVI_H
+
+
+#include "Action.h"
+#include "pid.h"
+#include "ahrs.h"
+#include "bmi088.h"
+#include "map.h"
+
+typedef enum {
+    AUTO_MODE, // 自动跑点模式
+    MANUAL_MODE ,  // 控制模式
+	  NO_MODE
+} Navi_Mode_t;
+
+typedef struct {
+	
+   Navi_Mode_t mode; 
+		 
+	 int Trig_flag;//触发沿，初始值为零，两种控制模式下，这个值变为1，会使cnt+1，为-1，使cnt-1
+	
+} Navi_COT_MODE_t;
+
+
+typedef struct{
+	float pos_x;
+	float pos_y;
+	float last_pos_x;
+  float	last_pos_y;
+}chassis_position_t;
+
+typedef enum{
+	YES,
+	NO,
+	NEXT1,
+	NEXT2
+}is_cpt_e;
+typedef struct{
+   pid_param_t pid_PosSpeed_x_param;                 
+   pid_param_t pid_PosSpeed_y_param;                
+   pid_param_t pid_pos_x_out_param;                   
+   pid_param_t pid_pos_x_inner_param;                 
+   pid_param_t pid_pos_y_out_param;                   
+   pid_param_t pid_pos_y_inner_param;                 
+   pid_param_t pid_OutAngle_param;                    
+   pid_param_t pid_InnerAngle_param;                   
+   pid_param_t path_speed_pid_param;                  
+
+}ops_pid_param_t;
+
+typedef struct {
+	ops_pid_param_t ops_pid;
+	const  point_t *path;
+	int8_t path_num;
+}ops_param_t;
+
+/**
+ * @brief 
+ *
+*/
+typedef struct {
+	Action_POS_t *chassis_pos;          
+	fp32 current_x;														 	
+	fp32 current_y;														
+
+	fp32 next_mapx;
+	fp32 next_mapy;
+  const point_t *chassis_map;		
+  const ops_param_t *param;	
+	PathState_t state;
+	Navi_COT_MODE_t Navi_Mode; 
+	
+	 AHRS_Eulr_t ops_imu_pos;
+   AHRS_Gyro_t ops_gyro;
+
+
+	
+	pid_type_def pid_PosSpeed_x;              
+	pid_type_def pid_PosSpeed_y;	         
+	pid_type_def pid_pos_x_out;
+	pid_type_def pid_pos_x_inner;
+	pid_type_def pid_pos_y_out;
+	pid_type_def pid_pos_y_inner;
+	pid_type_def pid_OutAngle;
+	pid_type_def pid_InnerAngle;
+	pid_type_def path_speed_pid;
+
+
+	is_cpt_e POS_IS_CPT;                     
+   
+		 struct 
+	 {
+		fp32 vx;
+		fp32 vy;
+		fp32 yaw_angle;
+	 }final_out;
+	 
+}ops_t;
+
+
+
+
+int8_t Action_init(ops_t *o,const ops_param_t *param,Action_POS_t *pos);
+
+int8_t go_path(ops_t *o,CMD_ACTION_t *ops_out);
+#endif
+
--- a/User/Algorithm/user_math.c
+++ b/User/Algorithm/user_math.c
@ -214,6 +214,14 @@ void abs_limit_fp(fp32 *num, fp32 Limit)
    }
 }

+void limit(double *a, double b, double c) {
+    if (*a < b) {
+        *a = b; // 如果 a 小于下限 b，将 a 设置为 b
+    } else if (*a > c) {
+        *a = c; // 如果 a 大于上限 c，将 a 设置为 c
+    }
+    // 如果 a 在范围 [b, c] 内，不做任何修改
+}

 /* 移动向量 */
 MoveVector_t *mv;
@ -309,3 +317,16 @@ uint8_t average(uint8_t arr[], uint8_t n) {
    }
    return (float) sum / n;
 }
+
+
+bool is_arrived(float target, float current, float mistake) {
+    // 计算当前值与目标值的差值的绝对值
+    float diff = fabs(target - current);
+    
+    // 判断是否在误差范围内
+    if (diff <= mistake) {
+        return true; // 在误差范围内
+    } else {
+        return false; // 不在误差范围内
+    }
+}
--- a/User/Algorithm/user_math.h
+++ b/User/Algorithm/user_math.h
@ -157,4 +157,8 @@ PolarCoordinate_t addPolarVectors(PolarCoordinate_t v1, PolarCoordinate_t v2);
 /// @param n 元素数
 /// @return 平均值
 uint8_t average(uint8_t arr[], uint8_t n);
+/*判断是否在误差内*/
+bool is_arrived(float target, float current, float mistake) ;
+void limit(double *a, double b, double c) ;
+
 #endif
--- a/User/Module/config.c
+++ b/User/Module/config.c
@ -7,18 +7,6 @@

 #define DEG_TO_RAD(x) ((x) * (3.141592653 / 180.0)) //角度转弧度

-//#ifdef DEBUG
-
-//ConfigParam_t param_up ={
-
-//#else	
-//static const ConfigParam_t param_up ={
-//#endif
-//	
-//	
-//	
-//	
-//};

 #ifdef DEBUG

@ -31,7 +19,9 @@ static const ConfigParam_t param_chassis ={

 #endif
 	.up={
-
+		
+		
+		/*上层pid参数*/
 .M2006_angle_param = {  
    .p = 25.0f,        
    .i = 0.0f,         
@ -47,19 +37,20 @@ static const ConfigParam_t param_chassis ={
    .out_limit = 3000.0f,
 },
 .M3508_angle_param = {  
-    .p = 30.0f,        
-    .i = 0.0f,         
-    .d = 1.5f,         
+    .p = 10.0f,        
+    .i = 0.5f,         
+    .d = 0.0f,         
    .i_limit = 1000.0f,
    .out_limit = 3000.0f,
 },
-.M3508_speed_param = {  
-    .p = 5.0f,         
-    .i = 0.3f,         
-    .d = 0.0f,         
-    .i_limit = 2000.0f,
-    .out_limit = 3000.0f,
+.M3508_speed_param={
+		 .p = 6.0f,
+		 .i = 0.0f,
+		 .d = 3.2f,
+		 .i_limit = 200.0f,
+		 .out_limit =6000.0f,
 },
+
 .UP_GM6020_angle_param={
 			.p = 30.0f,
 			.i = 20.0f,
@ -74,25 +65,51 @@ static const ConfigParam_t param_chassis ={
 			.i_limit = 200.0f,
 			.out_limit = 3000.0f  			
 },
-.M3508_speed_param={
-		 .p = 15.1f,
-		 .i = 0.02f,
-		 .d = 3.2f,
-		 .i_limit = 200.0f,
-		 .out_limit =6000.0f,
-},
-.go_param={
+
+.go_param[0]={
    .rev = 0,
-	  .T=0.1,
+	  .T=0.79,
 	  .W=0.1,
 	  .K_P=0.2,
-	  .K_W=0.05,
-}
+	  .K_W=0.1,
+},
+.go_param[1]={
+    .rev = 0,
+	  .T=0,
+	  .W=0,
+	  .K_P=1.0f,
+	  .K_W=0.1,
+},
+.go1_position_param={
+      .p =0.1f,
+			.i =0.1f,
+			.d =0.0f,
+			.i_limit = 2.0f,
+			.out_limit = 10.0f  			
+
+
+},
+/*上层其他参数*/
+    /*运球*/
+    .DribbleConfig_Config = {
+    .m3508_init_angle = 50,
+    .m3508_high_angle = 1200,
+    .go2_init_angle =  0,
+    .go2_flip_angle = -250,
+    .flip_timing = 200,
+    .go2_release_threshold = -550.0f,
+},
+    /*投球*/
+    .PitchConfig_Config = {
+    .m2006_init_angle =-150,    
+	  .m2006_trigger_angle =0,
+    .go1_init_position = -500,   
+	  .go1_release_threshold =-1900,
+		.m2006_Screw_init=0	
+},
 	
 	
 	},
-
-
 	 
   .can = {
 		   .pitch6020 =  BSP_CAN_1,
--- a/User/Module/config.h
+++ b/User/Module/config.h
@ -25,6 +25,8 @@ void Config_Get(Config_t *cfg);

 void Config_Set(Config_t *cfg);

+//void set_ops_path(ConfigParam_t *config, const point_t *path, int8_t path_num) ;
+
 extern const ConfigParam_t *Config_ChassisGet(void);


--- a/User/Module/up.c
+++ b/User/Module/up.c
@ -12,6 +12,10 @@
 #define MOTOR3508_ECD_TO_ANGLE  (360.0 / 8191.0 / (GEAR_RATIO_3508))   //3508编码值转轴角度


+// 定义继电器控制
+#define RELAY1_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, GPIO_PIN_9, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET)
+#define RELAY2_TOGGLE(state) HAL_GPIO_WritePin(GPIOE, GPIO_PIN_11, (state) ? GPIO_PIN_SET : GPIO_PIN_RESET)
+
 int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
 {
 	u->param = param; 	/*初始化参数 */
@ -30,14 +34,26 @@ int8_t up_init(UP_t *u,const UP_Param_t *param,float target_freq)
 	PID_init (&u->pid .GM6020_speed,PID_POSITION ,&(u->param ->UP_GM6020_speed_param ));
 	PID_init (&u->pid .GM6020_angle,PID_POSITION ,&(u->param ->UP_GM6020_angle_param ));
 		
+  PID_init (&u->pid .GO1_position ,PID_POSITION,&(u->param->go1_position_param ));
+//	for(int i=0;i<2;i++){		 //go初始位置设置为0 
+//	    GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), i,u->param->go_param[i] .rev ,u->param->go_param[i] .T ,u->param->go_param[i] .W ,0,u->param->go_param [i].K_P ,u->param->go_param[i] .K_W );		
+//	}
+
+	
+	// 初始化上层状态机
+	if (!u->DribbleContext .is_initialized) { //检查是否为第一次运行状态机，运球
+		  u->DribbleContext .DribbleConfig = u->param ->DribbleConfig_Config ;//赋值
+      u->DribbleContext .DribbleState  = Dribble_PREPARE;  
+      u->DribbleContext .is_initialized = 1;
+		
+    }
+
+	if (!u->PitchContext  .is_initialized) { 
+		  u->PitchContext .PitchConfig  = u->param ->PitchConfig_Config  ;//赋值
+      u->PitchContext .PitchState   = PITCH_PREPARE;  //状态更新,开始夹球
+      u->PitchContext .is_initialized = 1;
+    }

-	for(int i=0;i<2;i++){		 //go初始位置设置为0 
-	    GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), i,u->param->go_param .rev ,u->param->go_param .T ,u->param->go_param .W ,0,u->param->go_param .K_P ,u->param->go_param .K_W );		
-	}
-	/**/
-	u->state .Dribble_flag =Not_started_dri;
-	u->state. Pitch_flag=Not_started_Pit;
-	u->state .last_state = Not_started_dri;

 }

@ -67,12 +83,13 @@ int8_t UP_UpdateFeedback(UP_t *u, const CAN_t *can, CMD_t *c) {
 }


-	 int8_t cnt=0;

-/*上层电机控制,使用can1的id1和2*/
+/*上层大疆电机角度控制,使用can1的id1和2*/
 int8_t UP_angle_control(UP_t *u, fp32 target_angle,MotorType_t motor) {
    // 获取当前编码器角度
+	int8_t cnt=0;
 	fp32 angle ,delta;
+
 	switch(motor)
 	{
 		case M2006 :  			
@ -158,7 +175,8 @@ int8_t VESC_M5065_Control(UP_t *u,fp32 speed)
 	u->final_out .final_VESC_5065_M1out =-u->motor_target .VESC_5065_M1_rpm;
  u->final_out .final_VESC_5065_M2out =u->motor_target .VESC_5065_M2_rpm;
 	
-	
+	return 0;
+
 }


@ -172,82 +190,316 @@ int8_t GM6020_control(UP_t *u,fp32 angle)
 	u->final_out .final_pitchout =
 	PID_calc (&(u->pid .GM6020_speed  ),u->motorfeedback.rotor_pit6020rpm ,delat_speed);
 	u->motor_target .rotor_pit6020angle =angle ;
+	return 0;
+
 }

 /*go电机控制*/
 int8_t GO_SendData(UP_t *u,int id,float pos)
 {
-	
-	 GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), id,u->param->go_param .rev ,u->param->go_param .T ,u->param->go_param .W ,AngleChange(RADIAN,pos),u->param->go_param .K_P ,u->param->go_param .K_W );
+	 fp32 deal_pos;
+	 
+//	 deal_pos = PID_calc (&u->pid .GO1_position ,u->motorfeedback .GO_motor_info [0]->Pos ,pos);
+	 GO_M8010_send_data(BSP_UART_GetHandle(BSP_UART_RS485), id,u->param->go_param[id] .rev ,u->param->go_param[id].T  ,u->param->go_param[id] .W ,pos,u->param->go_param [id].K_P ,u->param->go_param[id] .K_W );
+   return 0;

 }



-
-
 int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out)
 {
 	//电机控制	，传进can
 	
+	UP_angle_control(u,u->motor_target .M2006_angle ,M2006);
+	UP_angle_control(u,u->motor_target .M3508_angle ,M3508 );
+	
+	
+
+	GO_SendData(u,0 ,u->motor_target .go_shoot );
+
+	
 	for(int i=0;i<4;i++){
 	out ->motor3508 .as_array[i]=u->final_out.final_3508out [i] ;
 	}
 	
 	out ->chassis5065 .erpm [0]=  u->final_out .final_VESC_5065_M1out ;
 	out ->chassis5065 .erpm [1]=  -u->final_out .final_VESC_5065_M2out ;
-	
-	
-
 	out ->chassis6020 .as_array [2]=u->final_out .final_pitchout ;
 	
+	return 0;
+
+	
 }


-int8_t UP_control(UP_t *u,CAN_Output_t *out)
+
+
+
+int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c)
 {
 	
 	if(u ==NULL)  return 0;
-	if(u ==NULL)  return 0;
-	
- 
+	static int is_pitch=1;
+    switch (c->CMD_CtrlType  )
+	{
+	case UP_RCcontrol:  //在手动模式下
+		
+   switch (c-> CMD_UP_mode ) 
+			{
+				
+		case Normal :
+         /*投篮*/
+		if(is_pitch){
+		u->motor_target .go_shoot =u->PitchContext .PitchConfig .go1_init_position ;
+		is_pitch=0;	
+		}
+		u->motor_target .M2006_angle =u->PitchContext .PitchConfig .m2006_init_angle ;
+		u->PitchContext .PitchState   = PITCH_PREPARE;  //状态更新,开始夹球
+
+//		    /*运球*/
+//		u->motor_target .go_spin = u->DribbleContext.DribbleConfig .go2_init_angle ;
+//		u->motor_target .M3508_angle =u->DribbleContext .DribbleConfig .m3508_init_angle ;
+//	  u->DribbleContext .DribbleState  = Dribble_PREPARE; //重置最初状态
+
+
+//      	RELAY1_TOGGLE (1);//夹球，0夹1开
+//      	RELAY2_TOGGLE (0);//球，0接1收
+//    				
+				
+				break;
+				
+		case Pitch :
+				if (u->PitchContext .PitchState  ==PITCH_PREPARE) //首次启动
+				{
+		      u->PitchContext .PitchState=PITCH_START;//置标志位用于启动投篮
+				}
+
+			 Pitch_Process(u,out,c);
+
+				 break ;
+		 
+		case Dribble:
+		{
+			/*夹球 -> 3508 升起 ，同时go2翻转 -> 到位置后，继电器开，放球，同时3508降，go2翻回->接球，收		*/
+
+			if(u->DribbleContext.DribbleState== Dribble_PREPARE){
+				
+				u->DribbleContext .DribbleState =STATE_GRAB_BALL;
+			}
+			 Dribble_Process(u,out);
+
+
+		}break ;
+		case Dribbl_transfer:
 			
-//  switch(u->flag ){
-//		case 0 :   
-//			GO_SendData(u, 0,0);
-//			UP_angle_control(u, 0,M2006 );
+        Dribbl_transfer_a(u,out);
+			}
+			break;
+						
+	
+	default:
+		break;
+	}

-//		
-//		/*发射过程*/
-//		case 1 : 
-//			UP_angle_control(u, -130,M2006 );
-//			
-//			GO_SendData(u, 0,-1950);
-
-
-
-//		break ;  
-//			case 2 : 
-//			UP_angle_control(u, 0,M2006 );  
-//			
-//			if((u->motorfeedback .M2006 .total_angle )<10)
-//			
-//			GO_SendData(u, 0,0);
-
-
-
-//		break ;  
-//	
 			
-	
-//	
-//	}
-	
-	
-	
+			
+return 0;
+
 	
 }




+
+
+
+
+
+
+
+
+
+
+int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c)
+{
+	static fp32 go1_position,M2006_Screw_position ;
+	static int is_initialize=1;
+	if(is_initialize)
+	{
+		go1_position=u->PitchContext .PitchConfig .go1_init_position ;
+		M2006_Screw_position=u->PitchContext .PitchConfig .m2006_Screw_init;
+		is_initialize=0;
+	}
+
+	switch(u->PitchContext .PitchState){
+	
+		case PITCH_START:
+			u->motor_target .go_shoot = u->PitchContext .PitchConfig .go1_release_threshold;
+		
+		if(u->motorfeedback .GO_motor_info[0]->Pos < -32.40){ //检测go位置到达最上面，这里的检测条件可以更改
+			u->motor_target .M2006_angle = u->PitchContext .PitchConfig .m2006_trigger_angle ;//设置2006角度，0
+		
+				  u->PitchContext .PitchState=PITCH_PULL_TRIGGER;
+}//更改标志位
+
+			break ;
+		case PITCH_PULL_TRIGGER:
+			
+		
+			if(u->motorfeedback .M2006 .total_angle >-1)    //当2006的总角度小于1，可以认为已经勾上,误差为1
+			{
+				u->motor_target .go_shoot = go1_position;//go下拉
+		    u->motor_target .M3508_angle = M2006_Screw_position;//丝杠上的2006
+				go1_position = go1_position + c->Vx ;
+		    M2006_Screw_position=M2006_Screw_position+ c->Vy;
+		
+				
+			}
+		
+			break ;
+
+		
+	
+	
+	}
+		
+return 0;
+	
+}
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+int8_t Dribble_Process(UP_t *u, CAN_Output_t *out)
+{
+    
+    switch (u->DribbleContext.DribbleState) {
+    case STATE_GRAB_BALL://开始
+			
+			RELAY1_TOGGLE (0);//夹球
+		
+			u->motor_target.M3508_angle =u->DribbleContext .DribbleConfig .m3508_high_angle;//3508升起
+			u->motor_target.go_spin     =u->DribbleContext .DribbleConfig .go2_flip_angle;
+
+		
+		if((u->motorfeedback .M3508 .total_angle >400)) {
+				RELAY2_TOGGLE (1); 
+		
+
+		if(((u->motorfeedback.GO_motor_info[1]->Pos ) <-1.1)&&(u->motorfeedback.M3508 .total_angle >1190)){
+			
+				u->DribbleContext .DribbleState  = STATE_RELEASE_BALL;  //当go2到标准位置，标志位改变		
+			}
+		
+		}
+      break;
+
+
+    case STATE_RELEASE_BALL:
+				RELAY1_TOGGLE (1);//松球
+
+		
+		
+		
+		if((u->motorfeedback.GO_motor_info[1]->Pos ) <-1.3){
+				u->motor_target.go_spin     =-40; //恢复go2位置	
+      	u->DribbleContext .DribbleState  = STATE_CATCH_PREP;  //当go2到标准位置，标志位改变		
+
+			}
+
+        break;
+
+    case STATE_CATCH_PREP:
+			if((u->motorfeedback.GO_motor_info[1]->Pos )> -0.4){
+				u->motor_target.M3508_angle =0 ;  //当go2到初始位置，3508降       
+		
+			  RELAY2_TOGGLE (0);//接球
+			}
+			if(u->motorfeedback .M3508 .total_angle <51.0f){
+				      	RELAY1_TOGGLE (0);//夹球，0夹1开		
+
+			  u->DribbleContext .DribbleState  = STATE_TRANSFER;
+			}
+			
+        break;
+			
+
+		
+			
+		break ;
+
+
+
+    default:
+        break;
+    }
+
+    return 0;
+}
+
+void Dribbl_transfer_a(UP_t *u, CAN_Output_t *out)
+{
+    switch (u->DribbleContext.DribbleState) {
+			
+			
+			
+			case STATE_TRANSFER:
+			if((u->motorfeedback.M3508 .total_angle <52.0f )) //满足这个状态时认为go和3508到达初始位置，再夹上球
+			{
+				
+        u->motor_target .go_spin =u->DribbleContext .DribbleConfig .go2_release_threshold ;			
+			}
+			
+			if(u->motorfeedback .GO_motor_info [1]->Pos < -4.9) 
+			{
+	      	RELAY1_TOGGLE (1);//夹球，0夹1开		
+				
+				if(u->motorfeedback .GO_motor_info [1]->Pos > -4.8)
+				{
+	      	u->DribbleContext .DribbleState  = STATE_CATCH_DONE;  //当go2到标准位置，标志位改变		
+				}
+			}
+		
+			
+		break ;
+
+    case STATE_CATCH_DONE:
+			
+		    RELAY1_TOGGLE (1);//夹球，0夹1开
+      	RELAY2_TOGGLE (0);//夹球，0接1收
+
+		    	u->motor_target.go_spin=u->DribbleContext .DribbleConfig.go2_init_angle ;
+
+        break;
+
+        break;
+
+		}	
+}
--- a/User/Module/up.h
+++ b/User/Module/up.h
@ -14,38 +14,96 @@
 #include "GO_M8010_6_Driver.h"
 #include "bsp_usart.h"

-	
+/*
+ 状态机

-typedef enum
-{
-	 	  Not_started_Pit=0,//未开始
-	    Launch_Ready=1, //准备发射
-	    Launch_complete=2,//发射完成
-		  Done_Pit=3       //已完成
+状态结构体，触发标志位结构体

-}Pitch_flag_t;
+配置层，-->config.c
+  |
+中间层，-->up.h,统一UP_t
+  |
+运行函数，switch(状态) 运行相应函数

-typedef	enum{
-	  
-	  Not_started_dri=0,//未开始
-	  No_ball =1,  //抓上无球    
-    Have_ball_F=2,  //刚开始有球
-    Have_ball_S=3,  //中途有球
-	  Done_dri =4         //已完成
-	
-}Dribble_flag_t;

-/*运行控制中的控制*/
-typedef struct{
-	
-	/*投球过程*/	
-	Pitch_flag_t Pitch_flag;
-	/*运球过程*/
-	Dribble_flag_t Dribble_flag;
- 
-	int last_state;
-	
-} Oper_control_state_t;
+
+
+
+
+
+
+
+
+
+*/
+
+
+
+
+/* 投球状态定义 */
+typedef enum {
+    PITCH_PREPARE,          // 准备阶段
+	  PITCH_START,            //启动，拉扳机
+    PITCH_PULL_TRIGGER,  
+    PITCH_LAUNCHING,        // 发射中
+    PITCH_COMPLETE          // 完成
+} PitchState_t;
+
+/* 投球参数配置 */
+typedef struct {
+    fp32 m2006_init_angle;      // M2006初始角度-140
+	  fp32 m2006_trigger_angle;   // M2006触发角度0,用来合并扳机
+    fp32 go1_init_position;     // GO电机触发位置,0,初始位置
+	  fp32 go1_release_threshold; // go上升去合并扳机，扳机位置
+	  fp32 m2006_Screw_init;
+} PitchConfig_t;
+
+/* 投球控制上下文 */
+typedef struct {
+    PitchState_t PitchState;
+	  PitchConfig_t PitchConfig;
+
+    uint8_t is_initialized ;
+} PitchContext_t;
+
+
+
+
+
+
+
+
+/*运球*/
+typedef enum {
+	  Dribble_PREPARE,
+    STATE_GRAB_BALL,        // 夹球升起阶段
+    STATE_RELEASE_BALL,     // 释放球体
+    STATE_CATCH_PREP,       // 接球准备
+    STATE_CATCH_BALL,       // 接球动作
+	  STATE_TRANSFER,         //转移球
+	  STATE_CATCH_DONE        //完成
+} DribbleState_t;
+
+/* 参数配置结构体 */
+typedef struct {
+    fp32 m3508_init_angle;     // 3508初始角度
+    fp32 m3508_high_angle;     // 3508升起角度
+    fp32 go2_init_angle;       // GO2初始角度
+    fp32 go2_flip_angle;       // GO2翻转角度
+    fp32 flip_timing;       // 翻转触发时机
+//	  fp32 
+    fp32 go2_release_threshold;    // 释放球
+} DribbleConfig_t;
+
+/* 状态机上下文 */
+typedef struct {
+    DribbleState_t DribbleState;
+	  DribbleConfig_t DribbleConfig;
+	   
+    uint8_t is_initialized;
+
+} DribbleContext_t;
+

 typedef struct {

@ -76,8 +134,7 @@ typedef struct {
 /*角度环控制电机类型*/
 typedef enum {
    M2006 = 1,
-    M3508
-	
+    M3508	
 } MotorType_t;


@ -97,8 +154,11 @@ typedef struct
 	pid_param_t M3508_speed_param;	
 	pid_param_t M3508_angle_param;	
 	
-	GO_param_t go_param;
-	
+	GO_param_t go_param[2];
+	pid_param_t go1_position_param;
+
+	DribbleConfig_t DribbleConfig_Config;
+	PitchConfig_t  PitchConfig_Config;
 }UP_Param_t;

 typedef struct
@ -119,11 +179,21 @@ typedef struct{
   uint8_t up_task_run; 
   const	UP_Param_t *param;  
 	
+	 int state;
+	
+	
+	
+		/*运球过程*/
+  DribbleContext_t DribbleContext;
+    /*投篮过程*/
+	PitchContext_t PitchContext;
+	
+	
+	
+	
 	 UP_Imu_t pos088; 
 	  
-	/*控制及状态*/
 	 CMD_t *cmd;	
-	 Oper_control_state_t state;//上层机构的运行状态

 	 struct{					
 	  fp32 rotor_pit6020ecd;
@ -172,8 +242,10 @@ typedef struct{
 		 pid_type_def M2006_angle;
 		 pid_type_def M2006_speed;
 		 
-		  pid_type_def M3508_angle;
-		  pid_type_def M3508_speed;
+		 pid_type_def M3508_angle;
+		 pid_type_def M3508_speed;
+		 
+		 pid_type_def GO1_position;
 				
 	}pid;
 
@ -192,7 +264,7 @@ typedef struct{
 	
 	 LowPassFilter2p_t filled[6]; /* 输出滤波器滤波器数组 */
 	
-	   fp32 vofa_send[8];
+	fp32 vofa_send[8];
 	

 	
@ -206,11 +278,14 @@ int8_t GM6020_control(UP_t *u,fp32 angle);
 int8_t VESC_M5065_Control(UP_t *u,fp32 speed);
 int8_t GO_SendData(UP_t *u,int id,float pos);
 int8_t UP_angle_control(UP_t *u, fp32 target_angle,MotorType_t motor);
-int8_t UP_control(UP_t *u,CAN_Output_t *out);
+int8_t UP_control(UP_t *u,CAN_Output_t *out,CMD_t *c);
 int8_t ALL_Motor_Control(UP_t *u,CAN_Output_t *out);
 int8_t UP_M2006_angle(UP_t *u,fp32 target_angle);
 int8_t UP_M3508_speed(UP_t *u,fp32 speed);
+int8_t Pitch_Process(UP_t *u, CAN_Output_t *out,CMD_t *c);

+int8_t Dribble_Process(UP_t *u, CAN_Output_t *out);

+void Dribbl_transfer_a(UP_t *u, CAN_Output_t *out);

 #endif
--- a/User/bsp/bsp_usart.c
+++ b/User/bsp/bsp_usart.c
@ -8,8 +8,8 @@ static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);
 static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
  if (huart->Instance == USART3)
    return BSP_UART_REMOTE;
-//  else if (huart->Instance == USART1)
-//    return BSP_UART_RS485;
+  else if (huart->Instance == USART1)
+    return BSP_UART_NUC;
  else if (huart->Instance == USART6)
    return BSP_UART_RS485;
  /*
--- a/User/bsp/bsp_gpio.c
+++ b/User/bsp/bsp_gpio.c
@ -1,5 +1,5 @@
 /* Includes ----------------------------------------------------------------- */
-#include "bsp\bsp_gpio.h"
+#include "bsp\gpio.h"

 #include <gpio.h>
 #include <main.h>
--- a/User/bsp/bsp_gpio.h
+++ b/User/bsp/bsp_gpio.h
--- a/User/bsp/protocol.h
+++ b/User/bsp/protocol.h
@ -28,7 +28,7 @@ typedef struct __attribute__((packed)) {
   
 	int remain;
 } Protocol_UpDataMCU_t;
-/* 视觉 -> 电控  数据结构体*/
+/* 视觉 -> 电控  底盘数据结构体*/
 typedef struct __attribute__((packed)) {

  Protocol_ID_t recv_id;//作为帧头使用确认通信ID正确
--- a/User/bsp/bsp_spi.c
+++ b/User/bsp/bsp_spi.c
@ -1,5 +1,5 @@
 /* Includes ----------------------------------------------------------------- */
-#include "bsp\bsp_spi.h"
+#include "bsp\spi.h"

 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
--- a/User/bsp/bsp_spi.h
+++ b/User/bsp/bsp_spi.h
--- a/User/device/GO_M8010_6_Driver.c
+++ b/User/device/GO_M8010_6_Driver.c
@ -18,7 +18,7 @@ void GO_M8010_init (void){
    for (uint8_t id= 0; id <GO_NUM ;id++)
    {
        GO_motor_info[id].id        = id;
-        GO_motor_info[id].mode      = 1; //位置模式
+        GO_motor_info[id].mode      = 1; //foc闭环
        GO_motor_info[id].correct   = 1;
        GO_motor_info[id].MError    = 0;
        GO_motor_info[id].Temp      = 0;
@ -38,13 +38,21 @@ void GO_M8010_init (void){


 //暂存接收数据
-static uint8_t Temp_buffer[16];
+uint8_t Temp_buffer[16];

 void USART6_RxCompleteCallback(void ) 
 {
 	 UART_HandleTypeDef *huart6 = BSP_UART_GetHandle(BSP_UART_RS485);
 	
    uint16_t crc = CRC16_Calc(Temp_buffer,sizeof(Temp_buffer)-2,0x0000);
+    if ((Temp_buffer[14] != (crc&0xFF)) || (Temp_buffer[15] != ((crc>>8) & 0xFF)))
+    { 
+//        HAL_GPIO_WritePin(LED_B_GPIO_Port, LED_B_Pin, GPIO_PIN_SET);    //蓝色灯亮      
+//        HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET);      //红色灯灭
+        return;
+    }
+//    HAL_GPIO_WritePin(GPIOH, GPIO_PIN_11, GPIO_PIN_SET);                 // indicate CRC correct
+//    HAL_GPIO_WritePin(LED_R_GPIO_Port, LED_R_Pin, GPIO_PIN_RESET);      //红色灯灭
    GO_M8010_recv_data(Temp_buffer);

 }
@ -150,9 +158,12 @@ void GO_M8010_recv_data(uint8_t* Temp_buffer)
    int16_t W = Temp_buffer[6]<<8 | Temp_buffer[5];
    motor->W = W;
    motor->W = (motor->W * 6.28319f )/(256*6.33f);
-    int32_t Pos = Temp_buffer[10]<<24 | Temp_buffer[9]<<16 | Temp_buffer[8]<<8 | Temp_buffer[7];
-    motor->Pos = Pos;
-    motor->Pos = (motor->Pos * 6.28319f )/(32768*6.33f);
+    int32_t Pos = (Temp_buffer[7] << 0)  | 
+                 (Temp_buffer[8] << 8)  |
+                 (Temp_buffer[9] << 16) |
+                 (Temp_buffer[10] << 24);
+    if(Pos > 0x7FFFFFFF) Pos -= 0xFFFFFFFF; // 溢出修正
+    motor->Pos = ((float)Pos / 32768.0f) * (6.28319f / 6.33f);
    int8_t Temp = Temp_buffer[11] & 0xFF;
    motor->Temp = Temp;
    motor->MError = Temp_buffer[12] & 0x7;
--- a/User/device/GO_M8010_6_Driver.h
+++ b/User/device/GO_M8010_6_Driver.h
@ -8,6 +8,7 @@ extern "C"{
 #include "usart.h"
 #include "string.h"
 #include <math.h>
+#include "user_math.h"
 #define GO_NUM 2
 /**
 * @brief
@ -62,11 +63,14 @@ typedef struct {
        float tar_w;                    
        float T;                       
        float W;                       
-        float Pos;                     
+        float Pos; 
+        float angle;
+	
        int footForce;                  
        uint8_t buffer[17];
        uint8_t Rec_buffer[16];
        ControlData_t  motor_send_data;  
+	
 }GO_Motorfield;


--- a/User/device/LD_remote.c
+++ b/User/device/LD_remote.c
@ -0,0 +1,176 @@
+/*
+
+ 乐迪遥控器
+
+*/
+/* Includes ----------------------------------------------------------------- */
+#include "LD_remote.h"
+
+#include <string.h>
+
+#include "bsp_usart.h"
+#include "error_detect.h"
+#include "LD_remote.h"
+
+
+
+
+
+
+
+//static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
+
+//RC_ctrl_t rc_ctrl;
+//static uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
+//uint8_t remote_ready = 0;//Ò£¿ØÆ÷×¼±¸Íê³É 
+
+//void remote_control_init(void)
+//{
+//	RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH);
+//}
+
+// int map_int(int x, int in_min, int in_max, int out_min, int out_max)		
+//{
+//	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+//}
+////´®¿ÚÖÐ¶Ï
+//void USART3_IRQHandler(void)
+//{
+//	//have received data  ???
+//	if(huart3.Instance->SR & UART_FLAG_RXNE)
+//	{
+//		__HAL_UART_CLEAR_FEFLAG(&huart3);
+//	}
+//	else if(USART3->SR & UART_FLAG_IDLE)
+//	{
+//	
+//    static uint16_t this_time_rx_len = 0;
+//		__HAL_UART_CLEAR_PEFLAG(&huart3);
+//		
+//		if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
+//		{
+//			//current memory buffer used is memory0
+//			
+//			//disable dma to change dma register
+//			__HAL_DMA_DISABLE(&hdma_usart3_rx);
+//			
+//			//get received data length, length = set_data_length - remain_length 
+//			this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
+
+//			//reset set_data_length
+//			hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
+//			
+//			//change memory0 to memory1
+//			hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
+//			
+//			//enable dma
+//			__HAL_DMA_ENABLE(&hdma_usart3_rx);
+//			
+//			//1 frame length is correct data
+//			if(this_time_rx_len == RC_FRAME_LENGTH)
+//			{
+//				sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
+//			}
+//		}
+//			else
+//			{
+//				__HAL_DMA_DISABLE(&hdma_usart3_rx);
+//				
+//				this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
+//				
+//				hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
+//				
+//				//change memory1 to memory0
+//				DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
+//				
+//				__HAL_DMA_ENABLE(&hdma_usart3_rx);
+//				
+//				if(this_time_rx_len == RC_FRAME_LENGTH)
+//				{
+//					sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
+//				}
+//			}
+//	}
+//}
+
+//static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
+//{
+//    if (sbus_buf == NULL || rc_ctrl == NULL)
+//    {
+//        return;
+//    }
+//		
+//		rc_ctrl->ch[0] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff;        //!< Channel 0
+//    rc_ctrl->ch[1] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //!< Channel 1
+//    rc_ctrl->ch[2] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) |          //!< Channel 2
+//                         (sbus_buf[5] << 10)) &0x07ff;
+//    rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //!< Channel 3
+//    
+//		rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF;                  //!< Switch left
+//    rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF;                       //!< Switch right
+//    rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;;                    //!< Mouse X axis
+//    rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF;                    //!< Mouse Y axis
+//    rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF;                  //!< Mouse Z axis
+//    rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF;                                  //!< Mouse Left Is Press ?
+//    rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF;                                  //!< Mouse Right Is Press ?
+//    rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF;                    //!< KeyBoard value
+
+//		rc_ctrl->ch[0] -= RC_CH_VALUE_OFFSET;
+//    rc_ctrl->ch[1] -= RC_CH_VALUE_OFFSET;
+//    rc_ctrl->ch[2] -= RC_CH_VALUE_OFFSET;
+//    rc_ctrl->ch[3] -= RC_CH_VALUE_OFFSET;
+//    
+//		//µ÷ÕûÒ¡¸ËÖÐÖµÊ¹Ò£¿ØÆ÷Î¢µ÷Á¿Îª0Ê±Ò¡¸ËÖÐÖµ½Ó½ü0£¬ÓÍÃÅ³ýÍâ
+//		//µÚÒ»´Îµ÷³µÇ°ÏÈÈ·ÈÏÍ¨µÀÖµÊÇ·ñÕýÈ·£¡£¡Èç²»·ûºÏ¸ù¾ÝÊµ¼ÊÍ¨µÀÖµ½øÐÐÐÞ¸Ä
+//		//ÐÞ¸Ä´Ë´¦¼°omni_chassis.cÖÐÍ¨µÀÖµ²¿·Ö
+//		rc_ctrl->ch[0] += 24;	//y(-694,693)×óÓÒ
+//		rc_ctrl->ch[1] = -rc_ctrl->ch[1]-24;	//x(-693,694)Ç°ºó
+//		rc_ctrl->ch[2] = -rc_ctrl->ch[2]+764;		//m(95,1482)ÓÍÃÅ
+//		rc_ctrl->ch[3] += 24;	//w(-694,693)Ðý×ª
+//		
+//		rc_ctrl->ch[1] = map_int(rc_ctrl->ch[1],-693,694,-700,700);		//xÓ³Éäµ½(-700,700)
+//		rc_ctrl->ch[0] = map_int(rc_ctrl->ch[0],-694,693,-700,700);		//yÓ³Éäµ½(-700,700)
+//		rc_ctrl->ch[3] = 0.5*(rc_ctrl->ch[3]);		//w
+//		
+//		//ËÀÇø(-30,30)
+//		if(rc_ctrl->ch[0]>-30&&rc_ctrl->ch[0]<30) rc_ctrl->ch[0]=0;
+//		if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<30) rc_ctrl->ch[1]=0;
+//		if(rc_ctrl->ch[2]>-30&&rc_ctrl->ch[2]<30) rc_ctrl->ch[2]=0;
+//		if(rc_ctrl->ch[3]>-30&&rc_ctrl->ch[3]<30) rc_ctrl->ch[3]=0;
+//    remote_ready = 1;
+//}                                                                            																																					
+
+
+
+//int map(int x, int in_min, int in_max, int out_min, int out_max)		//Ó³Éäº¯Êý
+//{
+//	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+//}
+
+
+///*
+
+
+
+//  																																	
+//306																							  					  	  306
+// sw[]																						 	 					  		sw[7]
+//1694																							 					  		1694
+// 
+//306																														    	306
+//sw[6]                                                              sw[4]
+//1694                                                               1694
+
+//306         306                                        306        306   
+//sw[0]      sw[2]    sw[1]:306-1694   sw[5]:306-1694  sw[]1000   sw[3] 
+//1694       1694                                         1694       1694
+//                                      710
+//               688                   1425
+//                |                      |
+//                |                      |
+//   54    -616------ch[3]770   -354---------ch[0] 339  0
+//                |                      |
+//                |                      |
+//	             ch[2]                 ch[1]
+//               _699                   38   
+//*/
--- a/User/device/LD_remote.h
+++ b/User/device/LD_remote.h
@ -0,0 +1,31 @@
+#ifndef LD_H
+#define LD_H
+#include "user_math.h"
+
+#define SBUS_RX_BUF_NUM 50u
+
+#define RC_FRAME_LENGTH 25u
+
+#define RC_CH_VALUE_OFFSET  ((uint16_t)1024)
+
+typedef  struct
+{
+	int16_t ch[4];
+  int16_t sw[8]; 
+
+}__attribute__((packed)) RC_ctrl_t;
+
+
+int map_int(int x, int in_min, int in_max, int out_min, int out_max)	;	
+
+void remote_control_init(void);
+static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
+int map(int x, int in_min, int in_max, int out_min, int out_max);		
+
+
+
+
+
+
+#endif
+
--- a/User/device/bmi088.c
+++ b/User/device/bmi088.c
@ -12,8 +12,8 @@
 #include <string.h>
 #include "user_math.h"
 #include "bsp\delay.h"
-#include "bsp\bsp_gpio.h"
-#include "bsp\bsp_spi.h"
+#include "bsp\gpio.h"
+#include "bsp\spi.h"
 #include "device\device.h"
 #include "bsp\pwm.h"
 #include "pid.h"
--- a/User/device/can_use.c
+++ b/User/device/can_use.c
@ -378,8 +378,7 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
 //    case CAN_VSEC5065_M4_MSG1:
 //      // 存储消息到对应的电机结构体中
 //      CAN_VescMotor_Decode_1(&(can->motor.chassis5065.as_array[3]), can_rx->rx_data);
-
-																											break;
+      break;



--- a/User/device/cmd.c
+++ b/User/device/cmd.c
@ -43,35 +43,62 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n){

 /*遥控器，上下层通用，按键控制，统一到cmd*/
 int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) {
+	

 if(cmd == NULL) return -1;
+  const  CMD_CtrlType_t  prev_CtrlType = cmd->CMD_CtrlType ;
+	const  CMD_UP_mode_t   prev_mode     = cmd->CMD_UP_mode ;//保存旧状态
+	
+	cmd->Vx = rc->ch_r_x;  
+  cmd->Vy = rc->ch_r_y;  
+  cmd->Vw = rc->ch_l_x;

+  cmd->poscamear = rc->ch_l_y;
+
+  cmd->key_ctrl_l = rc->sw_l;
+  cmd->key_ctrl_r = rc->sw_r ;
+	
  if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
     cmd->CMD_CtrlType =RELAXED;
  }	
 	else if(rc->sw_l==CMD_SW_UP)
 	{
 		cmd ->CMD_CtrlType =UP_RCcontrol;
-		if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左上，右上，投篮
+		if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左上，右上，投篮，设置好的
 		if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左上，右中，无模式
-	  if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Dribble; //左上，右上，投篮
+	  if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Pitch_HAND; //左上，右上，手动调整
 	}
 	
 	else if(rc->sw_l==CMD_SW_MID)
 	{
-				cmd ->CMD_CtrlType =MID_NAVI;
-
+				
+		if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_CtrlType =MID_NAVI;; //左中，右上，雷达
+		if(rc->sw_r ==CMD_SW_MID) 
+		{
+		  cmd ->CMD_CtrlType =UP_RCcontrol;
+      cmd ->CMD_UP_mode =Normal; //左中，右中，无模式	
+		}
+	  if(rc->sw_r ==CMD_SW_DOWN) 
+		{
+		cmd ->CMD_UP_mode =Normal; //左中，右下，无模式
+	  cmd ->CMD_CtrlType =UP_RCcontrol;
+		}
 	}
 	else if(rc->sw_l==CMD_SW_DOWN)
 	{
-		cmd ->CMD_CtrlType =PICK_t;
-		if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Pitch; //左下，右上，投篮
+		cmd ->CMD_CtrlType =UP_RCcontrol;
+		if(rc->sw_r ==CMD_SW_UP) cmd ->CMD_UP_mode =Normal; //左下，右上，投篮
 		if(rc->sw_r ==CMD_SW_MID) cmd ->CMD_UP_mode =Normal; //左下，右中，无模式
-	  if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Dribble; //左下，右上，投篮
+	  if(rc->sw_r ==CMD_SW_DOWN) cmd ->CMD_UP_mode =Normal; //左下，右上，无模式
 	}	
-	
-	
+    
+   if (prev_CtrlType!= cmd->CMD_CtrlType ) cmd ->last_CMD_CtrlType = prev_CtrlType;
+	 if (prev_mode!=cmd->CMD_UP_mode  ) cmd ->last_CMD_UP_mode  =prev_mode;
+
+
 	return 0;
 }


+
+
--- a/User/device/cmd.h
+++ b/User/device/cmd.h
@ -22,8 +22,12 @@ typedef  enum{

 		Normal,    //无模式
    Dribble ,  //运球
-	  Pitch  ,    //投篮
-
+	  Pitch,     //投篮
+	
+	  /*视觉辅助下的投篮*/
+    Pitch_HAND,
+	
+   Dribbl_transfer
  }CMD_UP_mode_t;
 typedef struct {
 uint8_t  status_fromnuc;
@ -77,7 +81,11 @@ typedef struct {

   fp32 key_ctrl_l;
   fp32 key_ctrl_r;
-	
+	  fp32 Vx;
+   fp32 Vy;
+   fp32 Vw;
+   fp32 poscamear;
+
 /*视觉*/		
 	struct {
   uint8_t cmd_status;
@ -95,7 +103,8 @@ typedef struct {
 
   CMD_UP_mode_t CMD_UP_mode;
   CMD_CtrlType_t CMD_CtrlType;
-	 
+   CMD_CtrlType_t last_CMD_CtrlType;
+	 CMD_UP_mode_t last_CMD_UP_mode;
 	
 } CMD_t;

@ -105,5 +114,7 @@ int8_t CMD_ParseNuc(CMD_t *cmd,CMD_NUC_t *n);

 int8_t CMD_ParseRC(CMD_t *cmd,const CMD_RC_t *rc) ;

+static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd) ;
+
 #endif 

--- a/User/device/nuc.c
+++ b/User/device/nuc.c
@ -45,13 +45,13 @@ bool_t NUC_WaitDmaCplt(void) {
 int8_t NUC_RawParse(CMD_NUC_t *n){
 	if(n ==NULL) return DEVICE_ERR_NULL;

-  if(nucbuf[0]!=HEAD) goto error;  
-  else{
+//  if(nucbuf[0]!=HEAD) goto error;  
+//  else{
    n->status_fromnuc =nucbuf[1];
 		n->ctrl_status =nucbuf[2];
-    switch (n->status_fromnuc)
-    {
-		case MID://控制帧0x09
+//    switch (n->status_fromnuc)
+//    {
+//		case MID://控制帧0x09
 				/* 协议格式 
 		   0xFF  HEAD
 		   0x0X  控制帧
@ -62,7 +62,7 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
 		   0xFE  TAIL
 	使用的是串口1
 		  */
-		if(nucbuf[15]!=TAIL)goto error;
+//		if(nucbuf[15]!=TAIL)goto error;
       instance.data[3] = nucbuf[6];
       instance.data[2] = nucbuf[5];
       instance.data[1] = nucbuf[4];
@ -78,42 +78,59 @@ int8_t NUC_RawParse(CMD_NUC_t *n){
       instance.data[9] = nucbuf[12];
       instance.data[8] = nucbuf[11];
      n->navi.wz = instance.x[2];//
-      break;
-    case PICK:
-			/* 协议格式 
-		   0xFF  HEAD
-		   0x06  控制帧
-		   0x01  相机帧
-		   cmd   8位
-		   dis   相机深度值
-		   posx  相机yaw轴值
-		   posy  相机pitch轴值
-		   0xFE  TAIL
-		  */
-		  if(nucbuf[15]!=TAIL)goto error;
-       instance.data[3] = nucbuf[6];
-       instance.data[2] = nucbuf[5];
-       instance.data[1] = nucbuf[4];
-       instance.data[0] = nucbuf[3];
-      n->pick.posx = instance.x[0]; //距离球中心的角度值
-       instance.data[7] = nucbuf[10];
-       instance.data[6] = nucbuf[9];
-       instance.data[5] = nucbuf[8];
-       instance.data[4] = nucbuf[7];
-		 n->pick.posy = instance.x[1];// 相机yaw轴
-		   instance.data[11]  = nucbuf[14];
-		   instance.data[10]  = nucbuf[13];
-		   instance.data[9]  = nucbuf[12];
-		   instance.data[8]  = nucbuf[11];
-		 n->pick.posw= instance.x[2];// 暂未用到
-       break;
-
-    }
-     return DEVICE_OK;
-  }
-    error:
-    drop_message++;
-    return DEVICE_ERR;
+//      break;
+//    case PICK:
+//			/* 协议格式 
+//		   0xFF  HEAD
+//		   0x0X  控制帧
+//		   0x01  相机帧
+//		   cmd   8位
+//		   dis   相机深度值
+//		   posx  相机yaw轴值
+//		   posy  相机pitch轴值
+//		   0xFE  TAIL
+//		  */
+//		  if(nucbuf[15]!=TAIL)goto error;
+//       instance.data[3] = nucbuf[6];
+//       instance.data[2] = nucbuf[5];
+//       instance.data[1] = nucbuf[4];
+//       instance.data[0] = nucbuf[3];
+//      n->pick.posx = instance.x[0]; //距离球中心的角度值
+//       instance.data[7] = nucbuf[10];
+//       instance.data[6] = nucbuf[9];
+//       instance.data[5] = nucbuf[8];
+//       instance.data[4] = nucbuf[7];
+//		 n->pick.posy = instance.x[1];// 相机yaw轴
+//		   instance.data[11]  = nucbuf[14];
+//		   instance.data[10]  = nucbuf[13];
+//		   instance.data[9]  = nucbuf[12];
+//		   instance.data[8]  = nucbuf[11];
+//		 n->pick.posw= instance.x[2];// 暂未用到
+//       break;
+//		case SICK_CAIL:
+//			if(nucbuf[15]!=TAIL)goto error;
+//       instance.data[3] = nucbuf[14];
+//       instance.data[2] = nucbuf[13];
+//       instance.data[1] = nucbuf[12];
+//       instance.data[0] = nucbuf[11];
+//      n->sick_cali.angle = instance.x[0]; //
+//       instance.data[7] = nucbuf[10];
+//       instance.data[6] = nucbuf[9];
+//       instance.data[5] = nucbuf[8];
+//       instance.data[4] = nucbuf[7];
+//		 n->sick_cali.isleft = instance.x[1];// 
+//		   instance.data[11]  = nucbuf[14];
+//		   instance.data[10]  = nucbuf[13];
+//		   instance.data[9]  = nucbuf[12];
+//		   instance.data[8]  = nucbuf[11];
+//		 n->pick.posw= instance.x[2];// 暂未用到
+//		   break;
+//    }
+//     return DEVICE_OK;
+//  }
+//    error:
+//    drop_message++;
+//    return DEVICE_ERR;
 }

 int8_t NUC_HandleOffline(CMD_NUC_t *cmd)
--- a/User/device/r12ds.c
+++ b/User/device/r12ds.c
@ -0,0 +1,216 @@
+/*
+  乐迪r12ds遥控器。
+  需要根据实际的遥控器通道修改解析的函数 该遥控器采用sbus  用的uart3
+
+*/
+
+
+///* Includes ----------------------------------------------------------------- */
+//#include "r12ds.h"
+//#include "main.h"
+//#include "error_detect.h"
+//#include <string.h>
+
+
+//extern UART_HandleTypeDef huart3;
+//extern DMA_HandleTypeDef hdma_usart3_rx;
+
+
+
+//osThreadId_t thread_alert;
+
+//int buf0ready =0;
+//int buf1ready =0;
+
+///* Private function  -------------------------------------------------------- */
+//static void R12DS_IdleCallback(void) {
+//	static uint16_t this_time_rx_len = 0;
+//	if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
+//		{
+//			//current memory buffer used is memory0
+//			
+//			//disable dma to change dma register
+//			__HAL_DMA_DISABLE(&hdma_usart3_rx);
+//			
+//			//get received data length, length = set_data_length - remain_length 
+//			this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
+
+//			//reset set_data_length
+//			hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
+//			
+//			//change memory0 to memory1
+//			hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
+//			
+//			//enable dma
+//			__HAL_DMA_ENABLE(&hdma_usart3_rx);
+//			
+//			//1 frame length is correct data
+//			if(this_time_rx_len == RC_FRAME_LENGTH)
+//			{
+////         	osThreadFlagsSet(thread_alert,SIGNAL_R12DS_BUF0_REDY);
+//				buf0ready = 1;
+//				detect_hook(R12DS_TOE);
+//			}
+//		}
+//			else
+//			{
+//				__HAL_DMA_DISABLE(&hdma_usart3_rx);
+//				
+//				this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
+//				
+//				hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
+//				
+//				//change memory1 to memory0
+//				DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
+//				
+//				__HAL_DMA_ENABLE(&hdma_usart3_rx);
+//				
+//				if(this_time_rx_len == RC_FRAME_LENGTH)
+//				{
+////           	osThreadFlagsSet(thread_alert,SIGNAL_R12DS_BUF1_REDY);
+//					buf1ready = 1;
+//					detect_hook(R12DS_TOE);
+//				}
+//			}
+//}
+
+///* Exported functions ------------------------------------------------------- */
+
+
+//int8_t R12ds_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num)
+//{
+//	    if((thread_alert = osThreadGetId()) == NULL ) return DEVICE_ERR_NULL;
+//	//enable the dma transfer for the receiver request
+//	SET_BIT(huart3.Instance->CR3, USART_CR3_DMAR);
+//	
+//	//enable idle interrupt
+//	__HAL_UART_ENABLE_IT(&huart3, UART_IT_IDLE);
+//	
+//	//disable dma, to change the dma register
+//	__HAL_DMA_DISABLE(&hdma_usart3_rx);
+//	
+//	//disable dma again but why?
+//	//what's the condition?
+//	while(hdma_usart3_rx.Instance->CR & DMA_SxCR_EN)
+//	{
+//		__HAL_DMA_DISABLE(&hdma_usart3_rx);
+//	}
+//	
+//	//??
+//	hdma_usart3_rx.Instance->PAR = (uint32_t) & (USART3->DR);
+//	
+//	//memory buffer 1
+//	hdma_usart3_rx.Instance->M0AR = (uint32_t)(rx1_buf);
+//	
+//	//momory buffer 2
+//	hdma_usart3_rx.Instance->M1AR = (uint32_t)(rx2_buf);
+//	
+//	//data length
+//	hdma_usart3_rx.Instance->NDTR = dma_buf_num;
+//	
+//	//enable double memory buffer
+//	SET_BIT(hdma_usart3_rx.Instance->CR, DMA_SxCR_DBM);
+//	
+//	
+//	//enable dma
+//	__HAL_DMA_ENABLE(&hdma_usart3_rx);
+//	
+//	  BSP_UART_RegisterCallback(BSP_UART_R12DS, BSP_UART_IDLE_LINE_CB,
+//                           R12DS_IdleCallback);
+
+//  return 1;
+//}
+
+//int map(int x, int in_min, int in_max, int out_min, int out_max)		//ӳʤگ˽
+//{
+//	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+//}
+
+
+//int8_t sbus_to_rc(volatile const uint8_t *sbus_buf, CMD_RC_t *rc_ctrl)
+//{
+//    if (sbus_buf == NULL || rc_ctrl == NULL)
+//    {
+//        return 0;
+//    }
+//		
+//		rc_ctrl->ch_x = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff;        //Channel 1  x
+//    rc_ctrl->mul= ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2   mul
+//    rc_ctrl->ch_y= ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) |          //Channel 3  y
+//                         (sbus_buf[5] << 10)) &0x07ff;
+//    rc_ctrl->ch_w = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4  w
+//    
+//		rc_ctrl->key[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF;                   								//Channel 5
+//    rc_ctrl->key[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF;    	//Channel 6
+//    rc_ctrl->key[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;;                    							//Channel 7
+//    rc_ctrl->key[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF;                    							//Channel 8
+//    rc_ctrl->key[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF;                  								//Channel 9
+//    rc_ctrl->key[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF;                               	//Channel 10
+//    rc_ctrl->key[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF;	//Channel 11
+//    rc_ctrl->key[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF;                    							//Channel 12
+
+//		rc_ctrl->ch_y -= RC_CH_VALUE_OFFSET;
+//    rc_ctrl->ch_x -= RC_CH_VALUE_OFFSET;
+//    rc_ctrl->mul  -= RC_CH_VALUE_OFFSET;
+//    rc_ctrl->ch_w -= RC_CH_VALUE_OFFSET;
+//    
+
+
+//		rc_ctrl->ch_y -= 4;	//y(-694,693)
+//		rc_ctrl->ch_x += 3;	//x(-693,694)
+//		rc_ctrl->mul = rc_ctrl->mul;		//m(-518,843)
+//		rc_ctrl->ch_w += 4;		//w(-694,693)
+//	
+//    rc_ctrl->key[2] = map(rc_ctrl->key[2],306,1694,1694,306);	
+//    rc_ctrl->key[3] = map(rc_ctrl->key[3],306,1694,1694,306);	
+//		rc_ctrl->ch_x = map(rc_ctrl->ch_x,700,-800,-700,700);		//x
+//		rc_ctrl->ch_y = map(rc_ctrl->ch_y,-900,796,700,-700);	//y
+//		rc_ctrl->mul = map(rc_ctrl->mul,-632,901,25,0);		//m
+//		rc_ctrl->ch_w = map(rc_ctrl->ch_w,-820,780,-700,700);  
+//		rc_ctrl->ch_w = 0.5f*(rc_ctrl->ch_w);
+//    rc_ctrl->ch_x = -0.5f*(rc_ctrl->ch_x);
+//    rc_ctrl->ch_y = -0.5f*(rc_ctrl->ch_y);		
+////		
+////̀死区(-5,5)
+//		if(rc_ctrl->ch_y>-15&&rc_ctrl->ch_y<15) rc_ctrl->ch_y=0;              
+//		if(rc_ctrl->ch_x>-15&&rc_ctrl->ch_x<15) rc_ctrl->ch_x=0;                
+//		if(rc_ctrl->mul>=0&&rc_ctrl->mul<=3) rc_ctrl->mul=0;              
+//		if(rc_ctrl->ch_w>-15&&rc_ctrl->ch_w<15) rc_ctrl->ch_w=0;        
+
+//   return 0;
+//}
+
+//bool_t R12Buf0_WaitDmaCplt(int32_t timeout) {
+//	
+//	    if(buf0ready == 1)
+//			{
+//				buf0ready =0;
+//				return 1;
+//			}
+//			else 
+//				return 0;
+////  return(osThreadFlagsWait(SIGNAL_R12DS_BUF0_REDY, osFlagsWaitAll,timeout) ==
+////          SIGNAL_R12DS_BUF0_REDY);
+//}
+
+//bool_t R12Buf1_WaitDmaCplt(int32_t timeout) {
+//		    if(buf1ready == 1)
+//			{
+//				buf1ready =0;
+//				return 1;
+//			}
+//			else 
+//				return 0;
+////  return(osThreadFlagsWait(SIGNAL_R12DS_BUF1_REDY, osFlagsWaitAll,timeout) ==
+////          SIGNAL_R12DS_BUF1_REDY);
+//	    
+//}
+
+//void R12ds_HandleOffline(void) {
+//	 CMD_RC_t *rc;
+//	 rc = R12ds_DataGet();
+
+//  memset(rc, 0, sizeof(*rc));
+//  rc->key[3] = 2000;//用作遥控器断电后急停使用
+//}
+
--- a/User/device/r12ds.h
+++ b/User/device/r12ds.h
@ -0,0 +1,32 @@
+#ifndef _R12DS_H
+#define _R12DS_H 
+
+#include <cmsis_os2.h>
+#include "device.h"
+#include "bsp_usart.h"
+#include "cmd.h"
+
+#define RC_FRAME_LENGTH 25u
+
+
+#define RC_CH_VALUE_OFFSET  ((uint16_t)1024)
+
+
+
+int8_t R12ds_DMA_Init(uint8_t *rx1_buf, uint8_t *rx2_buf, uint16_t dma_buf_num);
+
+int8_t sbus_to_rc(volatile const uint8_t *sbus_buf,CMD_RC_t *rc_ctrl);
+
+
+bool_t R12Buf0_WaitDmaCplt(int32_t timeout);
+
+
+bool_t R12Buf1_WaitDmaCplt(int32_t timeout);
+
+void R12ds_HandleOffline(void);
+
+
+
+
+#endif
+
--- a/User/device/remote_control.c
+++ b/User/device/remote_control.c
@ -0,0 +1,185 @@
+/**
+  ****************************(C) COPYRIGHT 2019 DJI****************************
+  * @file       remote_control.c/h
+  * @brief      遥控器处理，遥控器是通过类似SBUS的协议传输，利用DMA传输方式节约CPU
+  *             资源，利用串口空闲中断来拉起处理函数，同时提供一些掉线重启DMA，串口
+  *             的方式保证热插拔的稳定性。
+  * @note       该任务是通过串口中断启动，不是freeRTOS任务
+  * @history
+  *  Version    Date            Author          Modification
+  *  V1.0.0     Dec-01-2019     RM              1. 完成
+  *
+  @verbatim
+  ==============================================================================
+
+  ==============================================================================
+  @endverbatim
+  ****************************(C) COPYRIGHT 2019 DJI****************************
+  */
+  
+#include "remote_control.h"
+#include "main.h"
+
+
+extern UART_HandleTypeDef huart3;
+extern DMA_HandleTypeDef hdma_usart3_rx;
+
+static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
+
+RC_ctrl_t rc_ctrl;
+static uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
+uint8_t remote_ready = 0;//遥控器准备完成 
+
+void remote_control_init(void)
+{
+	RC_init(sbus_rx_buf[0], sbus_rx_buf[1], RC_FRAME_LENGTH);
+}
+
+
+//串口中断
+void USART3_IRQHandler(void)
+{
+	//have received data  ???
+	if(huart3.Instance->SR & UART_FLAG_RXNE)
+	{
+		__HAL_UART_CLEAR_FEFLAG(&huart3);
+	}
+	else if(USART3->SR & UART_FLAG_IDLE)
+	{
+	
+    static uint16_t this_time_rx_len = 0;
+		__HAL_UART_CLEAR_PEFLAG(&huart3);
+		
+		if( (hdma_usart3_rx.Instance->CR & DMA_SxCR_CT) == RESET)
+		{
+			//current memory buffer used is memory0
+			
+			//disable dma to change dma register
+			__HAL_DMA_DISABLE(&hdma_usart3_rx);
+			
+			//get received data length, length = set_data_length - remain_length 
+			this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
+
+			//reset set_data_length
+			hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
+			
+			//change memory0 to memory1
+			hdma_usart3_rx.Instance->CR |= DMA_SxCR_CT;
+			
+			//enable dma
+			__HAL_DMA_ENABLE(&hdma_usart3_rx);
+			
+			//1 frame length is correct data
+			if(this_time_rx_len == RC_FRAME_LENGTH)
+			{
+				sbus_to_rc(sbus_rx_buf[0], &rc_ctrl);
+			}
+		}
+			else
+			{
+				__HAL_DMA_DISABLE(&hdma_usart3_rx);
+				
+				this_time_rx_len = SBUS_RX_BUF_NUM - hdma_usart3_rx.Instance->NDTR;
+				
+				hdma_usart3_rx.Instance->NDTR = SBUS_RX_BUF_NUM;
+				
+				//change memory1 to memory0
+				DMA1_Stream1->CR &= ~(DMA_SxCR_CT);
+				
+				__HAL_DMA_ENABLE(&hdma_usart3_rx);
+				
+				if(this_time_rx_len == RC_FRAME_LENGTH)
+				{
+					sbus_to_rc(sbus_rx_buf[1], &rc_ctrl);
+				}
+			}
+	}
+}
+
+static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl)
+{
+    if (sbus_buf == NULL || rc_ctrl == NULL)
+    {
+        return;
+    }
+		
+		rc_ctrl->ch[1] = (sbus_buf[1] | (sbus_buf[2] << 8)) & 0x07ff;        //Channel 1
+    rc_ctrl->ch[2] = ((sbus_buf[2] >> 3) | (sbus_buf[3] << 5)) & 0x07ff; //Channel 2
+    rc_ctrl->ch[0] = ((sbus_buf[3] >> 6) | (sbus_buf[4] << 2) |          //Channel 3
+                         (sbus_buf[5] << 10)) &0x07ff;
+    rc_ctrl->ch[3] = ((sbus_buf[5] >> 1) | (sbus_buf[6] << 7)) & 0x07ff; //Channel 4
+    
+		rc_ctrl->sw[0] = ((int16_t)sbus_buf[6] >> 4 | ((int16_t)sbus_buf[7] << 4 )) & 0x07FF;                   								//Channel 5
+    rc_ctrl->sw[1] = ((int16_t)sbus_buf[7] >> 7 | ((int16_t)sbus_buf[8] << 1 ) | (int16_t)sbus_buf[9] << 9 ) & 0x07FF;    	//Channel 6
+    rc_ctrl->sw[2] = ((int16_t)sbus_buf[9] >> 2 | ((int16_t)sbus_buf[10] << 6 )) & 0x07FF;;                    							//Channel 7
+    rc_ctrl->sw[3] = ((int16_t)sbus_buf[10] >> 5 | ((int16_t)sbus_buf[11] << 3 )) & 0x07FF;                    							//Channel 8
+    rc_ctrl->sw[4] = ((int16_t)sbus_buf[12] << 0 | ((int16_t)sbus_buf[13] << 8 )) & 0x07FF;                  								//Channel 9
+    rc_ctrl->sw[5] = ((int16_t)sbus_buf[13] >> 3 | ((int16_t)sbus_buf[14] << 5 )) & 0x07FF;                               	//Channel 10
+    rc_ctrl->sw[6] = ((int16_t)sbus_buf[14] >> 6 | ((int16_t)sbus_buf[15] << 2 ) | (int16_t)sbus_buf[16] << 10 ) & 0x07FF;	//Channel 11
+    rc_ctrl->sw[7] = ((int16_t)sbus_buf[16] >> 1 | ((int16_t)sbus_buf[17] << 7 )) & 0x07FF;                    							//Channel 12
+
+	rc_ctrl->ch[0] -= RC_CH_VALUE_OFFSET;
+    rc_ctrl->ch[1] -= RC_CH_VALUE_OFFSET;
+    rc_ctrl->ch[2] -= RC_CH_VALUE_OFFSET;
+    rc_ctrl->ch[3] -= RC_CH_VALUE_OFFSET;
+    
+
+//		//新遥控器
+		rc_ctrl->ch[0] += 20;	//y(-694,693)
+		rc_ctrl->ch[1] += 20;	//x(-693,694)
+		rc_ctrl->ch[2] = -rc_ctrl->ch[2]+144;		//m(-518,843)
+		rc_ctrl->ch[3] += 4;		//w(-694,693)
+	
+    rc_ctrl->sw[2] = map(rc_ctrl->sw[2],306,1694,1694,306);	
+    rc_ctrl->sw[3] = map(rc_ctrl->sw[3],306,1694,1694,306);	
+//		rc_ctrl->ch[1] = map(rc_ctrl->ch[1],656,-656,-700,700);		//x
+		rc_ctrl->ch[0] = map(rc_ctrl->ch[0],-800,796,700,-700);	//y
+		rc_ctrl->ch[2] = map(rc_ctrl->ch[2],-632,901,25,0);		//m
+		rc_ctrl->ch[3] = map(rc_ctrl->ch[3],-820,780,-700,700);  
+		rc_ctrl->ch[3] = 0.5*(rc_ctrl->ch[3]);
+    rc_ctrl->ch[1] = 0.5*(rc_ctrl->ch[1]);
+    rc_ctrl->ch[0] = 0.5*(rc_ctrl->ch[0]);		
+//		
+		//死区(-30,30)
+		if(rc_ctrl->ch[0]>-14&&rc_ctrl->ch[0]<10) rc_ctrl->ch[0]=0;              
+		if(rc_ctrl->ch[1]>-30&&rc_ctrl->ch[1]<20) rc_ctrl->ch[1]=0;                
+		if(rc_ctrl->ch[2]>=0&&rc_ctrl->ch[2]<=3) rc_ctrl->ch[2]=0;              
+		if(rc_ctrl->ch[3]>-22&&rc_ctrl->ch[3]<22) rc_ctrl->ch[3]=0;        
+
+    remote_ready = 1;
+}                                                                            																																					
+
+
+
+int map(int x, int in_min, int in_max, int out_min, int out_max)		//映射函数
+{
+	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
+}
+
+
+/*
+
+
+
+  																																	
+306																							  					  	  306
+ sw[]																						 	 					  		sw[7]
+1694																							 					  		1694
+ 
+306																														    	306
+sw[6]                                                              sw[4]
+1694                                                               1694
+
+306         306                                        306        306   
+sw[0]      sw[2]    sw[1]:306-1694   sw[5]:306-1694  sw[]1000   sw[3] 
+1694       1694                                         1694       1694
+                                      710
+               688                   1425
+                |                      |
+                |                      |
+   54    -616------ch[3]770   -354---------ch[0] 339  0
+                |                      |
+                |                      |
+	             ch[2]                 ch[1]
+               _699                   38   
+*/
--- a/User/device/remote_control.h
+++ b/User/device/remote_control.h
@ -0,0 +1,42 @@
+/**
+  ****************************(C) COPYRIGHT 2016 DJI****************************
+  * @file       remote_control.c/h
+  * @brief      遥控器处理，遥控器是通过类似SBUS的协议传输，利用DMA传输方式节约CPU
+  *             资源，利用串口空闲中断来拉起处理函数，同时提供一些掉线重启DMA，串口
+  *             的方式保证热插拔的稳定性。
+  * @note       
+  * @history
+  *  Version    Date            Author          Modification
+  *  V1.0.0     Dec-26-2018     RM              1. 完成
+  *
+  @verbatim
+  ==============================================================================
+
+  ==============================================================================
+  @endverbatim
+  ****************************(C) COPYRIGHT 2016 DJI****************************
+  */
+#ifndef REMOTE_CONTROL_H
+#define REMOTE_CONTROL_H
+#include "struct_typedef.h"
+#include "bsp_rc.h"
+
+#define SBUS_RX_BUF_NUM 50u
+
+#define RC_FRAME_LENGTH 25u
+
+#define RC_CH_VALUE_OFFSET  ((uint16_t)1024)
+
+typedef  struct
+{
+	int16_t ch[4];
+  int16_t sw[8]; 
+
+}__attribute__((packed)) RC_ctrl_t;
+
+extern void remote_control_init(void);
+static void sbus_to_rc(volatile const uint8_t *sbus_buf, RC_ctrl_t *rc_ctrl);
+int map(int x, int in_min, int in_max, int out_min, int out_max);		//映射函数
+
+
+#endif
--- a/User/task/error_detect_task.c
+++ b/User/task/error_detect_task.c
@ -51,6 +51,7 @@
  */
 #include "error_detect.h"
 #include "user_task.h"
+#include "r12ds.h"
 #include "nuc.h"
 /**
  * @brief          init error_list, assign  offline_time, online_time, priority.
--- a/User/task/init.c
+++ b/User/task/init.c
@ -33,6 +33,8 @@ void Task_Init(void *argument) {
  /* 任务*/
  task_runtime.thread.atti_esti =
      osThreadNew(Task_AttiEsti, NULL, &attr_atti_esti);
+	task_runtime.thread.dr16 =
+      osThreadNew(Task_dr16,NULL,&attr_dr16);
  task_runtime.thread.can =
      osThreadNew(Task_can,NULL,&attr_can);
  task_runtime.thread.cmd =
@ -42,8 +44,6 @@ void Task_Init(void *argument) {
 	task_runtime.thread.up=
      osThreadNew(Task_up,NULL,&attr_up);
 		
-	task_runtime.thread.dr16 =
-      osThreadNew(Task_dr16,NULL,&attr_dr16);
 			
 			
 	task_runtime.thread.error_detect =
@ -81,9 +81,12 @@ void Task_Init(void *argument) {
      osMessageQueueNew(2u, sizeof(AHRS_Gyro_t), NULL);
 	
 		/*cmd */
-
+   task_runtime.msgq.cmd.raw.rc =
+      osMessageQueueNew(3u, sizeof(CMD_RC_t), NULL);
   task_runtime.msgq.cmd.raw.nuc =
      osMessageQueueNew(3u,sizeof(CMD_NUC_t), NULL);	 
+   task_runtime.msgq.cmd.up_ctrl =
+      osMessageQueueNew(3u,sizeof(CMD_t), NULL);	 

  osKernelUnlock();
  osThreadTerminate(osThreadGetId()); /* 结束自身 */
--- a/User/task/nuc_task.c
+++ b/User/task/nuc_task.c
@ -6,6 +6,8 @@
 NUC_t nuc_raw;
 CMD_NUC_t cmd_fromnuc;
 #else 
+static NUC_t nuc_raw;
+static CMD_NUC_t cmd_fromnuc;


 #endif
--- a/User/task/r12ds_task.c
+++ b/User/task/r12ds_task.c
@ -0,0 +1,56 @@
+
+#include "r12ds.h"
+#include "cmsis_os.h"
+#include "user_task.h"
+
+//#ifdef DEBUG
+
+//CMD_RC_t cmd_rc;
+
+//uint8_t sbus_rx_buf[2][RC_FRAME_LENGTH];
+
+//#else 
+
+//static CMD_RC_t cmd_rc;
+
+//#endif
+
+
+
+//CMD_RC_t *R12ds_DataGet(){
+//	return &cmd_rc; 
+//}
+//	
+//void Task_r12ds(void *argument)
+//{
+//   (void)argument;
+//  const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_R12DS;
+//    R12ds_DMA_Init(sbus_rx_buf[0],sbus_rx_buf[1],50);
+//	
+//      uint32_t tick = osKernelGetTickCount();
+//   while (1)
+//   {
+//#ifdef DEBUG
+//    task_runtime.stack_water_mark.rs12ds =
+//        osThreadGetStackSpace(osThreadGetId());
+//#endif
+//		 
+//      if(R12Buf0_WaitDmaCplt(1))
+//			{
+//			 sbus_to_rc(sbus_rx_buf[0],&cmd_rc);
+//			}
+//		  else if(R12Buf1_WaitDmaCplt(1))	
+//			{
+//				sbus_to_rc(sbus_rx_buf[1],&cmd_rc);
+//			}
+//      osMessageQueueReset(task_runtime.msgq.cmd.raw.rc);
+//	    osMessageQueuePut(task_runtime.msgq.cmd.raw.rc,(&cmd_rc),0,0);
+//	 
+//	 	tick += delay_tick; /* 计算下一个唤醒时刄1ķ*/
+//		 osDelay(10);
+//   }
+
+
+
+//    
+// }
--- a/User/task/r12ds_task.h
+++ b/User/task/r12ds_task.h
@ -0,0 +1,16 @@
+#ifndef _R12DS_TASK_H
+#define _R12DS_TASK_H
+
+
+
+
+
+
+
+
+
+
+
+
+
+#endif
--- a/User/task/up_task.c
+++ b/User/task/up_task.c
@ -10,7 +10,7 @@

 #include "vofa.h"

-static CAN_t can;
+static  CAN_t can;


 #ifdef DEBUG
@ -34,7 +34,7 @@ static CMD_t up_cmd;
 float  aaa=0;
 float bbb=0;
 float CCC=0;
-float DDD=0;
+float ddd=0;


 /**
@ -51,7 +51,6 @@ void Task_up(void *argument)
  uint32_t tick = osKernelGetTickCount();
 	up_init(&UP,&(task_runtime.config.chassis_config->up ),TASK_FREQ_UP);
 	
-	
 	while(1)
 		{
 #ifdef DEBUG
@ -59,24 +58,26 @@ void Task_up(void *argument)
 #endif
 		UP_UpdateFeedback(&UP, &can,&up_cmd) ;
 //    GM6020_control(&UP, 100) ;
-//			UP_angle_control(&UP, bbb,M3508 );
-						UP_angle_control(&UP, bbb,M2006 );
-
 //			UP_M3508_speed(&UP, 500); 
 			
-			
-			
-			VESC_M5065_Control(&UP,  000);
+//				UP_angle_control(&UP,0,M2006);
 //			
-//			HAL_GPIO_WritePin (GPIOE ,GPIO_PIN_9 ,GPIO_PIN_SET  );
-//		
-//			HAL_GPIO_WritePin (GPIOE ,GPIO_PIN_11 ,GPIO_PIN_SET  );
+//			
+//			VESC_M5065_Control(&UP,  20000);
 			
-//			GO_SendData(&UP, 1,CCC);
-			GO_SendData(&UP, 0,aaa);
+			
+//			

-		ALL_Motor_Control(&UP,&UP_CAN_out);
-//		UP_control(&UP,&UP_CAN_out);
+//      UP_control(&UP,&UP_CAN_out,&up_cmd);
+			UP.motor_target .go_shoot =aaa;
+//			UP.motor_target .M2006_angle =bbb ;
+
+//			UP.motor_target .M3508_angle =CCC;
+//			UP.motor_target .go_shoot =aaa;
+//			UP.motor_target .M2006_angle =bbb;
+//			UP.motor_target .go_spin  =ddd;
+//			
+			ALL_Motor_Control(&UP,&UP_CAN_out);

 		osDelay(1);
 			
@ -89,10 +90,9 @@ void Task_up(void *argument)
 	osMessageQueueGet(task_runtime.msgq.imu.accl, &UP.pos088.bmi088.accl,NULL, 0);
 	/*can上设备数据获取*/	
 	osMessageQueueGet(task_runtime.msgq.can.feedback.CAN_feedback, &can, NULL, 0);
+					
+		osMessageQueueGet(task_runtime.msgq.cmd .up_ctrl , &up_cmd, NULL, 0);
 		
- 		
-	osMessageQueueGet(task_runtime.msgq.cmd.up_ctrl, &up_cmd, NULL, 0);
-	
 	/*锁定RTOS（实时操作系统）内核，防止任务切换，直到 osKernelUnlock() 被调用*/		
 	osKernelLock();
 	
--- a/User/task/user_task.c
+++ b/User/task/user_task.c
@ -25,6 +25,21 @@ const osThreadAttr_t attr_atti_esti = {
    .priority = osPriorityRealtime,
    .stack_size = 256 * 4,
 };
+//const osThreadAttr_t attr_ops_9pos = {
+//	  .name = "action",
+//	  .priority = osPriorityRealtime,
+//	  .stack_size = 256 *4,
+//};
+//const osThreadAttr_t attr_chassis = {
+//    .name = "chassis",
+//    .priority = osPriorityAboveNormal,
+//    .stack_size = 512 * 4,
+//};
+const osThreadAttr_t attr_r12ds = {
+    .name = "r12ds",
+    .priority = osPriorityRealtime,
+    .stack_size = 128 * 4,
+};

 const osThreadAttr_t attr_can = {
    .name = "can",
@ -50,13 +65,20 @@ const osThreadAttr_t attr_error_detect = {
 	  .stack_size = 128 *4,
 };

-const osThreadAttr_t attr_up = {
-	   .name = "up",
-	   .priority = osPriorityRealtime,
-	   .stack_size = 512 * 4,
-};
 const osThreadAttr_t attr_dr16 = {
 	   .name = "dr16",
 	   .priority = osPriorityRealtime,
 	   .stack_size = 128 *4,
 };
+
+//const osThreadAttr_t attr_navi = {
+//	   .name = "navi",
+//	   .priority = osPriorityRealtime,
+//	   .stack_size = 128 *4,
+//};
+
+const osThreadAttr_t attr_up = {
+	   .name = "up",
+	   .priority = osPriorityRealtime,
+	   .stack_size = 512 * 4,
+};
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@ -19,7 +19,7 @@
 #define TASK_FREQ_NUC (500u)
 #define TASK_FREQ_CAN (1000u)
 #define TASK_FREQ_NAVI (500u)
-#define TASK_FREQ_DR16 (1000u)
+#define TASK_FREQ_R12DS (1000u)
 #define TASK_FREQ_ACTION (500u)

 #define TASK_FREQ_UP (500u)  //新加的上层
@ -44,10 +44,10 @@ typedef struct {
    osThreadId_t atti_esti;
 		osThreadId_t dr16;
 		osThreadId_t up;
+    osThreadId_t nuc;
  
    osThreadId_t can;
 		osThreadId_t cmd;
-    osThreadId_t nuc;
 		osThreadId_t error_detect;
  } thread;

@ -62,11 +62,9 @@ typedef struct {
    struct {
      struct {
        osMessageQueueId_t rc;
-        osMessageQueueId_t nuc;
+	      osMessageQueueId_t nuc;
+			
        osMessageQueueId_t eulr;/*姿态结算得到的欧拉角*/
-        osMessageQueueId_t Action;
-				osMessageQueueId_t ops_9_out;
-				
 		 
      }raw;
      osMessageQueueId_t up_ctrl;
@ -104,11 +102,9 @@ typedef struct {
    UBaseType_t can;
    UBaseType_t atti_esti;
 		UBaseType_t dr16;
-    UBaseType_t action;
    UBaseType_t cmd;
-    UBaseType_t nuc;
-		UBaseType_t navi;
 		UBaseType_t error_detect;
+    UBaseType_t nuc;
 		
 		UBaseType_t up;
 		
@ -117,9 +113,8 @@ typedef struct {
  struct {
    float can;
    float atti_esti;
-    float dr16;
+    float r12ds;
    float cmd;
-    float nuc;
 		float error_detect;
 		
 		float up;
@ -128,9 +123,8 @@ typedef struct {
  struct {
    float can;
    float atti_esti;
-    float dr16;
+    float r12ds;
    float cmd;
-    float nuc;
 		float error_detect;
 		float up;
 		
@ -149,12 +143,12 @@ extern const osThreadAttr_t attr_can;

 extern const osThreadAttr_t attr_cmd;

-extern const osThreadAttr_t attr_nuc;
-
 extern const osThreadAttr_t attr_error_detect;

 extern const osThreadAttr_t attr_dr16;

+extern const osThreadAttr_t attr_nuc;
+
 extern const osThreadAttr_t attr_up;
 /* Exported functions prototypes -------------------------------------------- */
 void Task_Init(void *argument);
@ -165,12 +159,11 @@ void Task_can(void *argument);

 void Task_cmd(void *argument);

-void Task_nuc(void *argument);
-
 void Task_up(void *argument);

-void Task_dr16(void *argument);
+void Task_nuc(void *argument);

 void Task_error_detect(void *argument);

+void Task_dr16(void *argument);
 #endif
--- a/keilkill.bat
+++ b/keilkill.bat
@ -1,27 +0,0 @@
-del *.bak /s
-del *.ddk /s
-del *.edk /s
-del *.lst /s
-del *.lnp /s
-del *.mpf /s
-del *.mpj /s
-del *.obj /s
-del *.omf /s
-::del *.opt /s  ::不允许删除JLINK的设置
-del *.plg /s
-del *.rpt /s
-del *.tmp /s
-del *.__i /s
-del *.crf /s
-del *.o /s
-del *.d /s
-del *.axf /s
-del *.tra /s
-del *.dep /s           
-del JLinkLog.txt /s
-
-del *.iex /s
-del *.htm /s
-del *.sct /s
-del *.map /s
-exit
Author	SHA1	Message	Date
ZHAISHUI04	0ef286e5f2	更新	2025-04-14 21:11:43 +08:00
ZHAISHUI04	37dc1ac1e9	目的，无线串口发送需要数据	2025-04-13 14:55:49 +08:00
ZHAISHUI04	3d6cb3d799	最终了，不大改了，改改参数就这样了	2025-04-07 19:58:25 +08:00
ZHAISHUI04	0aee725ece	重新写的流程，状态机实现，部分数据需要改	2025-04-05 01:59:17 +08:00
ZHAISHUI04	fe1c02b130	r2上能用，有点慢，代码待优化	2025-04-02 17:07:58 +08:00
ZHAISHUI04	6cbf728f10	恢复stash	2025-03-31 16:17:10 +08:00
ZHAISHUI04	1488098d60	3.30更改的暂存区丢失，这个修改了部分，处于可用状态，但不完善	2025-03-31 16:13:20 +08:00
ZHAISHUI04	5de502c448	只提交测试后的，遥控器投篮完成	2025-03-29 14:16:44 +08:00