更新代码

app/code_generate_interface.py

@@ -163,7 +163,7 @@ class CodeGenerateInterface(QWidget):
     def on_cmake_config_btn_clicked(self):
         """配置cmake，自动更新CMakeLists.txt中的源文件列表"""
         try:
-            from app.tools.update_cmake_sources import find_user_c_files, update_cmake_sources
+            from app.tools.update_cmake_sources import find_user_c_files, update_cmake_sources,update_cmake_includes
             from pathlib import Path
             
             # 构建User目录和CMakeLists.txt路径
@@ -204,6 +204,7 @@ class CodeGenerateInterface(QWidget):
             
             # 更新CMakeLists.txt
             success = update_cmake_sources(cmake_file, c_files)
+            success = update_cmake_includes(cmake_file, user_dir)
             
             if success:
                 InfoBar.success(

app/tools/update_cmake_sources.py

@@ -71,6 +71,36 @@ def update_cmake_sources(cmake_file, c_files):
         print("❌ 错误: 在CMakeLists.txt中找不到target_sources部分")
         return False
     
+def update_cmake_includes(cmake_file, user_dir):
+    """确保CMakeLists.txt中的include路径包含User"""
+    if not os.path.exists(cmake_file):
+        print(f"错误: CMakeLists.txt文件不存在: {cmake_file}")
+        return False
+
+    with open(cmake_file, 'r', encoding='utf-8') as f:
+        content = f.read()
+
+    # 构建新的include部分
+    include_section = (
+        "# Add include paths\n"
+        "target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE\n"
+        "    # Add user defined include paths\n"
+        "    User\n"
+        ")"
+    )
+
+    # 正则匹配并替换include部分
+    pattern = r'# Add include paths\s*\ntarget_include_directories\(\$\{CMAKE_PROJECT_NAME\}\s+PRIVATE\s*\n.*?\)'
+    if re.search(pattern, content, re.DOTALL):
+        new_content = re.sub(pattern, include_section, content, flags=re.DOTALL)
+        with open(cmake_file, 'w', encoding='utf-8') as f:
+            f.write(new_content)
+        print("✅ 成功更新CMakeLists.txt中的include路径")
+        return True
+    else:
+        print("❌ 错误: 在CMakeLists.txt中找不到target_include_directories部分")
+        return False
+
 def main():
     """主函数"""
     script_dir = Path(__file__).parent

assets/User_code/device/motor_rm.c

@@ -140,7 +140,13 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
         motor->feedback.torque_current = torque_current;
     }
     if (motor->motor.reverse) {
-        motor->feedback.rotor_abs_angle = M_2_PI - motor->feedback.rotor_abs_angle;
+        while (motor->feedback.rotor_abs_angle < 0) {
+            motor->feedback.rotor_abs_angle += M_2PI;
+        }
+        while (motor->feedback.rotor_abs_angle >= M_2PI) {
+            motor->feedback.rotor_abs_angle -= M_2PI;
+        }
+        motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle;
         motor->feedback.rotor_speed = -motor->feedback.rotor_speed;
         motor->feedback.torque_current = -motor->feedback.torque_current;
     }
@@ -197,6 +203,7 @@ int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param) {
             motor->motor.header.online = true;
             motor->motor.header.last_online_time = BSP_TIME_Get();
             Motor_RM_Decode(motor, &rx_msg);
+            motor->motor.feedback = motor->feedback;
             return DEVICE_OK;
         }
     }