更新

bsp/bsp.h

@@ -4,6 +4,14 @@
 extern "C" {
 #endif
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 #define BSP_OK (0)
 #define BSP_ERR (-1)
 #define BSP_ERR_NULL (-2)
@@ -11,6 +19,10 @@ extern "C" {
 #define BSP_ERR_NO_DEV (-4)
 #define BSP_ERR_TIMEOUT (-5)
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

bsp/can.c

@@ -5,11 +5,18 @@
 #include <cmsis_os2.h>
 #include <string.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
 #define CAN_QUEUE_MUTEX_TIMEOUT         100   /* 队列互斥锁超时时间(ms) */
-#define CAN_TX_SEMAPHORE_TIMEOUT        1000  /* 发送信号量超时时间(ms) */
 #define CAN_TX_MAILBOX_NUM              3     /* CAN发送邮箱数量 */
 
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
 typedef struct BSP_CAN_QueueNode {
@@ -20,10 +27,13 @@ typedef struct BSP_CAN_QueueNode {
     struct BSP_CAN_QueueNode *next; /* 指向下一个节点的指针 */
 } BSP_CAN_QueueNode_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 static BSP_CAN_QueueNode_t *queue_list = NULL;
 static osMutexId_t queue_mutex = NULL;
-static osSemaphoreId_t tx_semaphore[BSP_CAN_NUM] = {NULL}; /* 发送信号量，用于控制发送邮箱访问 */
 static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
 static bool inited = false;
 static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
@@ -35,12 +45,13 @@ static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queu
 static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
 static void BSP_CAN_RxFifo0Callback(void);
 static void BSP_CAN_RxFifo1Callback(void);
-static void BSP_CAN_TxCompleteCallback(CAN_HandleTypeDef *hcan);
-static void BSP_CAN_TxAbortCallback(CAN_HandleTypeDef *hcan);
 static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
 static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
 
 /* Private functions -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
 
 /**
  * @brief 根据CAN句柄获取BSP_CAN实例
@@ -213,38 +224,10 @@ static void BSP_CAN_RxFifo1Callback(void) {
     }
 }
 
-/**
- * @brief 发送完成回调统一处理函数
- */
-static void BSP_CAN_TxCompleteCallback(CAN_HandleTypeDef *hcan) {
-    BSP_CAN_t bsp_can = CAN_Get(hcan);
-    if (bsp_can != BSP_CAN_ERR) {
-        // 释放发送信号量
-        if (tx_semaphore[bsp_can] != NULL) {
-            osSemaphoreRelease(tx_semaphore[bsp_can]);
-        }
-    }
-}
-
-/**
- * @brief 发送中止回调统一处理函数
- */
-static void BSP_CAN_TxAbortCallback(CAN_HandleTypeDef *hcan) {
-    BSP_CAN_t bsp_can = CAN_Get(hcan);
-    if (bsp_can != BSP_CAN_ERR) {
-        // 释放发送信号量（发送中止也要释放）
-        if (tx_semaphore[bsp_can] != NULL) {
-            osSemaphoreRelease(tx_semaphore[bsp_can]);
-        }
-    }
-}
-
 /* HAL Callback Functions --------------------------------------------------- */
 void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
     BSP_CAN_t bsp_can = CAN_Get(hcan);
     if (bsp_can != BSP_CAN_ERR) {
-        // 自动释放发送信号量
-        BSP_CAN_TxCompleteCallback(hcan);
         // 调用用户回调
         if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB])
             CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_CPLT_CB]();
@@ -254,8 +237,6 @@ void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
 void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {
     BSP_CAN_t bsp_can = CAN_Get(hcan);
     if (bsp_can != BSP_CAN_ERR) {
-        // 自动释放发送信号量
-        BSP_CAN_TxCompleteCallback(hcan);
         // 调用用户回调
         if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB])
             CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_CPLT_CB]();
@@ -265,8 +246,6 @@ void HAL_CAN_TxMailbox1CompleteCallback(CAN_HandleTypeDef *hcan) {
 void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {
     BSP_CAN_t bsp_can = CAN_Get(hcan);
     if (bsp_can != BSP_CAN_ERR) {
-        // 自动释放发送信号量
-        BSP_CAN_TxCompleteCallback(hcan);
         // 调用用户回调
         if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB])
             CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_CPLT_CB]();
@@ -276,8 +255,6 @@ void HAL_CAN_TxMailbox2CompleteCallback(CAN_HandleTypeDef *hcan) {
 void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) {
     BSP_CAN_t bsp_can = CAN_Get(hcan);
     if (bsp_can != BSP_CAN_ERR) {
-        // 自动释放发送信号量
-        BSP_CAN_TxAbortCallback(hcan);
         // 调用用户回调
         if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB])
             CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX0_ABORT_CB]();
@@ -287,8 +264,6 @@ void HAL_CAN_TxMailbox0AbortCallback(CAN_HandleTypeDef *hcan) {
 void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) {
     BSP_CAN_t bsp_can = CAN_Get(hcan);
     if (bsp_can != BSP_CAN_ERR) {
-        // 自动释放发送信号量
-        BSP_CAN_TxAbortCallback(hcan);
         // 调用用户回调
         if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB])
             CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX1_ABORT_CB]();
@@ -298,8 +273,6 @@ void HAL_CAN_TxMailbox1AbortCallback(CAN_HandleTypeDef *hcan) {
 void HAL_CAN_TxMailbox2AbortCallback(CAN_HandleTypeDef *hcan) {
     BSP_CAN_t bsp_can = CAN_Get(hcan);
     if (bsp_can != BSP_CAN_ERR) {
-        // 自动释放发送信号量
-        BSP_CAN_TxAbortCallback(hcan);
         // 调用用户回调
         if (CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB])
             CAN_Callback[bsp_can][HAL_CAN_TX_MAILBOX2_ABORT_CB]();
@@ -381,25 +354,6 @@ int8_t BSP_CAN_Init(void) {
         return BSP_ERR;
     }
     
-    // 创建发送信号量，每个CAN通道有3个发送邮箱
-    for (int i = 0; i < BSP_CAN_NUM; i++) {
-        tx_semaphore[i] = osSemaphoreNew(CAN_TX_MAILBOX_NUM, CAN_TX_MAILBOX_NUM, NULL);
-        if (tx_semaphore[i] == NULL) {
-            // 清理已创建的信号量
-            for (int j = 0; j < i; j++) {
-                if (tx_semaphore[j] != NULL) {
-                    osSemaphoreDelete(tx_semaphore[j]);
-                    tx_semaphore[j] = NULL;
-                }
-            }
-            if (queue_mutex != NULL) {
-                osMutexDelete(queue_mutex);
-                queue_mutex = NULL;
-            }
-            return BSP_ERR;
-        }
-    }
-    
 /* AUTO GENERATED CAN_INIT */
     
     inited = true;
@@ -424,14 +378,6 @@ int8_t BSP_CAN_DeInit(void) {
         osMutexRelease(queue_mutex);
     }
     
-    // 删除发送信号量
-    for (int i = 0; i < BSP_CAN_NUM; i++) {
-        if (tx_semaphore[i] != NULL) {
-            osSemaphoreDelete(tx_semaphore[i]);
-            tx_semaphore[i] = NULL;
-        }
-    }
-    
     // 删除互斥锁
     if (queue_mutex != NULL) {
         osMutexDelete(queue_mutex);
@@ -494,20 +440,8 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
         return BSP_ERR;
     }
     
-    // 获取发送信号量，确保有可用的发送邮箱
-    if (tx_semaphore[can] == NULL) {
-        return BSP_ERR;
-    }
-    
-    osStatus_t sem_status = osSemaphoreAcquire(tx_semaphore[can], CAN_TX_SEMAPHORE_TIMEOUT);
-    if (sem_status != osOK) {
-        return BSP_ERR_TIMEOUT;  // 获取信号量超时，表示发送邮箱已满
-    }
-    
     CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
     if (hcan == NULL) {
-        // 如果获取句柄失败，需要释放信号量
-        osSemaphoreRelease(tx_semaphore[can]);
         return BSP_ERR_NULL;
     }
     
@@ -536,8 +470,6 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
             header.RTR = CAN_RTR_REMOTE;
             break;
         default:
-            // 如果格式错误，需要释放信号量
-            osSemaphoreRelease(tx_semaphore[can]);
             return BSP_ERR;
     }
     
@@ -547,12 +479,9 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
     HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
     
     if (result != HAL_OK) {
-        // 如果发送失败，需要释放信号量
-        osSemaphoreRelease(tx_semaphore[can]);
         return BSP_ERR;
     }
     
-    // 发送成功，信号量将在发送完成回调中释放
     return BSP_OK;
 }
 
@@ -672,3 +601,44 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
     }
     return BSP_CAN_DefaultIdParser(original_id, frame_type);
 }
+
+int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) {
+    if (!inited) {
+        return BSP_ERR_INITED;
+    }
+    if (can >= BSP_CAN_NUM) {
+        return BSP_ERR;
+    }
+    
+    CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
+    if (hcan == NULL) {
+        return BSP_ERR_NULL;
+    }
+    
+    uint32_t start_time = HAL_GetTick();
+    
+    // 如果超时时间为0，立即检查并返回
+    if (timeout == 0) {
+        uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
+        return (free_level > 0) ? BSP_OK : BSP_ERR_TIMEOUT;
+    }
+    
+    // 等待至少有一个邮箱空闲
+    while (true) {
+        uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
+        if (free_level > 0) {
+            return BSP_OK;
+        }
+        
+        // 检查超时
+        if (timeout != BSP_CAN_TIMEOUT_FOREVER) {
+            uint32_t elapsed = HAL_GetTick() - start_time;
+            if (elapsed >= timeout) {
+                return BSP_ERR_TIMEOUT;
+            }
+        }
+        
+        // 短暂延时，避免占用过多CPU
+        osDelay(1);
+    }
+}

bsp/can.h

@@ -12,12 +12,19 @@ extern "C" {
 #include <stdbool.h>
 #include <cmsis_os.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Exported constants ------------------------------------------------------- */
 #define BSP_CAN_MAX_DLC                 8
 #define BSP_CAN_DEFAULT_QUEUE_SIZE      10
 #define BSP_CAN_TIMEOUT_IMMEDIATE       0
 #define BSP_CAN_TIMEOUT_FOREVER         osWaitForever
-#define CAN_TX_SEMAPHORE_TIMEOUT        1000  /* 发送信号量超时时间(ms) */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
 
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
@@ -94,6 +101,10 @@ typedef struct {
 /* ID解析回调函数类型 */
 typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Exported functions prototypes -------------------------------------------- */
 
 /**
@@ -161,6 +172,14 @@ int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame
  */
 int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
 
+/**
+ * @brief 等待CAN发送邮箱空闲
+ * @param can CAN 枚举
+ * @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
+ * @return BSP_OK 成功，其他值失败
+ */
+int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
+
 /**
  * @brief 注册 CAN ID 接收队列
  * @param can CAN 枚举
@@ -225,6 +244,11 @@ int8_t BSP_CAN_UnregisterIdParser(void);
  */
 uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+
 #ifdef __cplusplus
 }
 #endif

bsp/dwt.c

@@ -12,6 +12,18 @@
  */
 #include "bsp/dwt.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 DWT_Time_t SysTime;
 static uint32_t CPU_FREQ_Hz, CPU_FREQ_Hz_ms, CPU_FREQ_Hz_us;
 static uint32_t CYCCNT_RountCount;
@@ -19,6 +31,10 @@ static uint32_t CYCCNT_LAST;
 uint64_t CYCCNT64;
 static void DWT_CNT_Update(void);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 void DWT_Init(uint32_t CPU_Freq_mHz)
 {
     /* 使能DWT外设 */

bsp/dwt.h

@@ -16,6 +16,14 @@
 #include "main.h"
 #include "stdint.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 typedef struct
 {
     uint32_t s;
@@ -23,6 +31,10 @@ typedef struct
     uint16_t us;
 } DWT_Time_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 void DWT_Init(uint32_t CPU_Freq_mHz);
 float DWT_GetDeltaT(uint32_t *cnt_last);
 double DWT_GetDeltaT64(uint32_t *cnt_last);
@@ -34,4 +46,8 @@ void DWT_SysTimeUpdate(void);
 
 extern DWT_Time_t SysTime;
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #endif /* DWT_H_ */

bsp/gpio.c

@@ -4,7 +4,15 @@
 #include <gpio.h>
 #include <main.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
 typedef struct {
@@ -12,6 +20,10 @@ typedef struct {
   GPIO_TypeDef *gpio;
 } BSP_GPIO_MAP_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
 /* AUTO GENERATED BSP_GPIO_MAP */
@@ -20,6 +32,10 @@ static const BSP_GPIO_MAP_t GPIO_Map[BSP_GPIO_NUM] = {
 static void (*GPIO_Callback[16])(void);
 
 /* Private function  -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
   for (uint8_t i = 0; i < 16; i++) {
     if (GPIO_Pin & (1 << i)) {

bsp/gpio.h

@@ -10,8 +10,16 @@ extern "C" {
 
 #include "bsp/bsp.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Exported types ----------------------------------------------------------- */
 typedef enum {
 /* AUTO GENERATED BSP_GPIO_ENUM */
@@ -30,6 +38,10 @@ int8_t BSP_GPIO_TogglePin(BSP_GPIO_t gpio);
 
 bool BSP_GPIO_ReadPin(BSP_GPIO_t gpio);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

bsp/i2c.c

@@ -1,9 +1,21 @@
 /* Includes ----------------------------------------------------------------- */
 #include "bsp\i2c.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 static void (*I2C_Callback[BSP_I2C_NUM][BSP_I2C_CB_NUM])(void);
 

bsp/i2c.h

@@ -11,8 +11,16 @@ extern "C" {
 
 #include "bsp/bsp.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Exported types ----------------------------------------------------------- */
 
 /* 要添加使用I2C的新设备，需要先在此添加对应的枚举值 */
@@ -61,6 +69,9 @@ int8_t BSP_I2C_MemRead(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
 int8_t BSP_I2C_MemWrite(BSP_I2C_t i2c, uint16_t devAddr, uint16_t memAddr,
                         uint8_t *data, uint16_t size, bool dma);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
 
 #ifdef __cplusplus
 }

bsp/mm.c

@@ -1,14 +1,30 @@
 /* Includes ----------------------------------------------------------------- */
-#include "bsp\mm.h"
+#include "bsp/mm.h"
 
 #include "FreeRTOS.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private function  -------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
 inline void *BSP_Malloc(size_t size) { return pvPortMalloc(size); }
 
 inline void BSP_Free(void *pv) { vPortFree(pv); }
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

bsp/mm.h

@@ -8,13 +8,25 @@ extern "C" {
 #include <stddef.h>
 #include <stdint.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Exported types ----------------------------------------------------------- */
 /* Exported functions prototypes -------------------------------------------- */
 void *BSP_Malloc(size_t size);
 void BSP_Free(void *pv);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

bsp/pwm.c

@@ -3,7 +3,15 @@
 #include "bsp/pwm.h"
 #include "bsp.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
 typedef struct {
@@ -11,6 +19,10 @@ typedef struct {
   uint16_t channel;
 } BSP_PWM_Config_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 static const BSP_PWM_Config_t PWM_Map[BSP_PWM_NUM] = {
 /* AUTO GENERATED BSP_PWM_MAP */

bsp/pwm.h

@@ -9,9 +9,17 @@ extern "C" {
 #include "tim.h"
 #include "bsp.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Exported types ----------------------------------------------------------- */
 /* PWM通道 */
 typedef enum {
@@ -31,6 +39,10 @@ TIM_HandleTypeDef* BSP_PWM_GetHandle(BSP_PWM_Channel_t ch);
 int8_t BSP_PWM_Start_DMA(BSP_PWM_Channel_t ch, uint32_t *pData, uint16_t Length);
 int8_t BSP_PWM_Stop_DMA(BSP_PWM_Channel_t ch);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

bsp/spi.c

@@ -2,9 +2,21 @@
 #include <spi.h>
 #include "bsp/spi.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 static void (*SPI_Callback[BSP_SPI_NUM][BSP_SPI_CB_NUM])(void);
 
@@ -163,3 +175,7 @@ int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size
   BSP_SPI_Transmit(spi, &reg, 1u, true);
   return BSP_SPI_Transmit(spi, data, size, true);
 }
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

bsp/spi.h

@@ -11,8 +11,16 @@ extern "C" {
 
 #include "bsp/bsp.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Exported types ----------------------------------------------------------- */
 
 /* 要添加使用SPI的新设备，需要先在此添加对应的枚举值 */
@@ -53,6 +61,10 @@ int8_t BSP_SPI_MemWriteByte(BSP_SPI_t spi, uint8_t reg, uint8_t data);
 int8_t BSP_SPI_MemRead(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size);
 int8_t BSP_SPI_MemWrite(BSP_SPI_t spi, uint8_t reg, uint8_t *data, uint16_t size);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

bsp/time.c

@@ -6,9 +6,21 @@
 #include "FreeRTOS.h"
 #include "main.h"
 #include "task.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
 /* Private define ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 /* Private function  -------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
@@ -63,3 +75,7 @@ int8_t BSP_TIME_Delay_us(uint32_t us) {
 }
 
 int8_t BSP_TIME_Delay(uint32_t ms) __attribute__((alias("BSP_TIME_Delay_ms")));
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

bsp/time.h

@@ -9,8 +9,16 @@ extern "C" {
 
 #include "bsp/bsp.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Exported types ----------------------------------------------------------- */
 /* Exported functions prototypes -------------------------------------------- */
 uint32_t BSP_TIME_Get_ms();
@@ -26,6 +34,10 @@ int8_t BSP_TIME_Delay_us(uint32_t us);
 
 int8_t BSP_TIME_Delay(uint32_t ms);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

bsp/uart.c

@@ -3,9 +3,21 @@
 
 #include "bsp/uart.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 static void (*UART_Callback[BSP_UART_NUM][BSP_UART_CB_NUM])(void);
 
@@ -135,3 +147,7 @@ int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma)
     return HAL_UART_Receive_IT(BSP_UART_GetHandle(uart), data, size);
   }
 }
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

bsp/uart.h

@@ -11,8 +11,16 @@ extern "C" {
 
 #include "bsp/bsp.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Exported types ----------------------------------------------------------- */
 
 /* 要添加使用UART的新设备，需要先在此添加对应的枚举值 */
@@ -51,6 +59,10 @@ int8_t BSP_UART_RegisterCallback(BSP_UART_t uart, BSP_UART_Callback_t type,
 int8_t BSP_UART_Transmit(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma);
 int8_t BSP_UART_Receive(BSP_UART_t uart, uint8_t *data, uint16_t size, bool dma);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

component/ahrs.c

@@ -9,9 +9,17 @@
 
 #include "user_math.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 #define BETA_IMU (0.033f)
 #define BETA_AHRS (0.041f)
 
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* 2 * proportional gain (Kp) */
 static float beta = BETA_IMU;
 
@@ -403,3 +411,7 @@ int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs) {
  * \param eulr 被操作的数据
  */
 void AHRS_ResetEulr(AHRS_Eulr_t *eulr) { memset(eulr, 0, sizeof(*eulr)); }
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

component/ahrs.h

@@ -11,6 +11,14 @@ extern "C" {
 
 #include "user_math.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* 欧拉角（Euler angle） */
 typedef struct {
   float yaw; /* 偏航角（Yaw angle） */
@@ -55,6 +63,10 @@ typedef struct {
   float inv_sample_freq; /* 采样频率的的倒数 */
 } AHRS_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /**
  * @brief 初始化姿态解算
  *
@@ -93,6 +105,10 @@ int8_t AHRS_GetEulr(AHRS_Eulr_t *eulr, const AHRS_t *ahrs);
  */
 void AHRS_ResetEulr(AHRS_Eulr_t *eulr);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

component/capacity.c

@@ -5,6 +5,14 @@
 
 #include "capacity.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /**
  * @brief 通过电压计算电池剩余电量
  *
@@ -56,3 +64,7 @@ float Capacity_GetCapacitorRemain(float vcap, float vbat, float v_cutoff) {
 
   return percentage;
 }
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

component/capacity.h

@@ -12,6 +12,14 @@ extern "C" {
 
 #include "user_math.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /**
  * @brief 通过电压计算电池剩余电量
  *
@@ -30,6 +38,10 @@ float Capacity_GetBatteryRemain(float volt);
  */
 float Capacity_GetCapacitorRemain(float vcap, float vbat, float v_cutoff);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

component/cmd.c

@@ -6,6 +6,14 @@
 
 #include <string.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /**
  * @brief 行为转换为对应按键
  *
@@ -373,3 +381,7 @@ int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
   ref->counter++;
   return 0;
 }
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

component/cmd.h

@@ -13,7 +13,15 @@ extern "C" {
 
 #include "component/ahrs.h"
 
-#define CMD_REFEREE_MAX_NUM (3) /* 发送命令限定的最大数量 */
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+#define CMD_REFEREE_MAX_NUM (3) /* Lines 16 omitted */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
 
 /* 机器人型号 */
 typedef enum {
@@ -301,6 +309,10 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec);
  */
 int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

component/crc16.c

@@ -1,5 +1,13 @@
 #include "crc16.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 static const uint16_t crc16_tab[256] = {
     0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48,
     0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108,
@@ -48,3 +56,7 @@ bool CRC16_Verify(const uint8_t *buf, size_t len) {
          ((const uint16_t *)((const uint8_t *)buf +
                              (len % 2)))[len / sizeof(uint16_t) - 1];
 }
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

component/crc16.h

@@ -8,11 +8,23 @@ extern "C" {
 
 #include "user_math.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 #define CRC16_INIT 0XFFFF
 
 uint16_t CRC16_Calc(const uint8_t *buf, size_t len, uint16_t crc);
 bool CRC16_Verify(const uint8_t *buf, size_t len);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

component/crc8.c

@@ -1,5 +1,13 @@
 #include "crc8.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 static const uint8_t crc8_tab[256] = {
     0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20,
     0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e,
@@ -38,3 +46,7 @@ bool CRC8_Verify(const uint8_t *buf, size_t len) {
   uint8_t expected = CRC8_Calc(buf, len - sizeof(uint8_t), CRC8_INIT);
   return expected == buf[len - sizeof(uint8_t)];
 }
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

component/crc8.h

@@ -8,11 +8,23 @@ extern "C" {
 #include <stddef.h>
 #include <stdint.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 #define CRC8_INIT 0xFF
 
 uint8_t CRC8_Calc(const uint8_t *buf, size_t len, uint8_t crc);
 bool CRC8_Verify(const uint8_t *buf, size_t len);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

component/error_detect.h

@@ -11,6 +11,14 @@ extern "C" {
 #include <stdbool.h>
 #include <stdint.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 typedef enum {
   /* Low priority */
   ERROR_DETECT_UNIT_NO_DEV = 0,
@@ -53,6 +61,10 @@ typedef struct {
   ErrorDetect_Error_t error[ERROR_DETECT_UNIT_NUM];
 } ErrorDetect_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 int8_t ErrorDetect_Init(void);
 void ErrorDetect_Processing(uint32_t sys_time);
 bool ErrorDetect_ErrorExist(ErrorDetect_Unit_t unit);
@@ -61,6 +73,10 @@ const ErrorDetect_Error_t *ErrorDetect_GetDetail(ErrorDetect_Unit_t unit);
 
 void ErrorDetect_Update(ErrorDetect_Unit_t unit, uint32_t time_current);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

component/filter.h

@@ -10,6 +10,14 @@ extern "C" {
 
 #include "user_math.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* 二阶低通滤波器 */
 typedef struct {
   float cutoff_freq; /* 截止频率 */
@@ -42,6 +50,10 @@ typedef struct {
 
 } NotchFilter_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /**
  * @brief 初始化滤波器
  *
@@ -99,6 +111,10 @@ float NotchFilter_Apply(NotchFilter_t *f, float sample);
  */
 float NotchFilter_Reset(NotchFilter_t *f, float sample);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

component/limiter.h

@@ -11,6 +11,14 @@ extern "C" {
 #include <stdbool.h>
 #include <stdint.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /**
  * @brief 限制底盘功率不超过power_limit
  *

component/mixer.h

@@ -10,6 +10,14 @@ extern "C" {
 
 #include "user_math.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /** 四轮布局 */
 /* 前 */
 /* 2 1 */
@@ -33,6 +41,10 @@ typedef struct {
   Mixer_Mode_t mode;
 } Mixer_t; /* 混合器主结构体 */
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /**
  * @brief 初始化混合器
  *
@@ -55,6 +67,10 @@ int8_t Mixer_Init(Mixer_t *mixer, Mixer_Mode_t mode);
 int8_t Mixer_Apply(Mixer_t *mixer, MoveVector_t *move_vec, float *out,
                    int8_t len, float scale);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

component/pid.h

@@ -14,6 +14,14 @@ extern "C" {
 #include "filter.h"
 #include "user_math.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* PID模式 */
 typedef enum {
   KPID_MODE_NO_D = 0, /* 不使用微分项，PI控制器 */
@@ -90,6 +98,10 @@ int8_t PID_ResetIntegral(KPID_t *pid);
  */
 int8_t PID_Reset(KPID_t *pid);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

component/ui.h

@@ -13,6 +13,10 @@ extern "C" {
 
 #include "component/user_math.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 #define UI_DEL_OPERATION_NOTHING (0)
 #define UI_DEL_OPERATION_DEL (1)
 #define UI_DEL_OPERATION_DEL_ALL (2)
@@ -31,6 +35,10 @@ extern "C" {
 #define UI_GRAPIC_LAYER_CMD (6)
 
 #define UI_DEFAULT_WIDTH (0x01)
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
 #define UI_CHAR_DEFAULT_WIDTH (0x02)
 
 typedef enum {

component/user_math.c

@@ -3,8 +3,10 @@
 */
 
 #include "user_math.h"
-
 #include <string.h>
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
 
 inline float InvSqrt(float x) {
 //#if 0
@@ -130,3 +132,7 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
 //     __NOP();
 //   }
 // }
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

component/user_math.h

@@ -14,6 +14,10 @@ extern "C" {
 #include <stdint.h>
 #include <stddef.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 #define M_DEG2RAD_MULT (0.01745329251f)
 #define M_RAD2DEG_MULT (57.2957795131f)
 
@@ -43,6 +47,12 @@ extern "C" {
     _a < _b ? _a : _b;      \
   })
 
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+
+
 /* 移动向量 */
 typedef struct {
   float vx; /* 前后平移 */
@@ -50,6 +60,10 @@ typedef struct {
   float wz; /* 转动 */
 } MoveVector_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 float InvSqrt(float x);
 
 float AbsClip(float in, float limit);
@@ -159,3 +173,7 @@ float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm);
 //  * @param line 行号
 //  */
 // void VerifyFailed(const char *file, uint32_t line);
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

device/bmi088.c

@@ -15,6 +15,11 @@
 #include "bsp/spi.h"
 #include "component/user_math.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private define ----------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
 #define BMI088_REG_ACCL_CHIP_ID (0x00)
 #define BMI088_REG_ACCL_ERR (0x02)
@@ -79,6 +84,10 @@ typedef enum {
   BMI_GYRO,
 } BMI_Device_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 static uint8_t buffer[2];
 static uint8_t bmi088_rxbuf[BMI088_LEN_RX_BUFF];
@@ -87,6 +96,10 @@ static osThreadId_t thread_alert;
 static bool inited = false;
 
 /* Private function  -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 static void BMI_WriteSingle(BMI_Device_t dv, uint8_t reg, uint8_t data) {
   buffer[0] = (reg & 0x7f);
   buffer[1] = data;

device/bmi088.h

@@ -11,6 +11,14 @@ extern "C" {
 #include "component/ahrs.h"
 #include "device/device.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
@@ -32,6 +40,10 @@ typedef struct {
   const BMI088_Cali_t *cali;
 } BMI088_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Exported functions prototypes -------------------------------------------- */
 int8_t BMI088_Init(BMI088_t *bmi088, const BMI088_Cali_t *cali);
 int8_t BMI088_Restart(void);
@@ -60,6 +72,10 @@ int8_t BMI088_ParseAccl(BMI088_t *bmi088);
 int8_t BMI088_ParseGyro(BMI088_t *bmi088);
 float BMI088_GetUpdateFreq(BMI088_t *bmi088);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

device/buzzer.c

@@ -1,5 +1,13 @@
 #include "device/buzzer.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 
 int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) {
     if (buzzer == NULL) return DEVICE_ERR;
@@ -42,3 +50,7 @@ int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle) {
     
     return result;
 }
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

device/buzzer.h

@@ -9,14 +9,26 @@ extern "C" {
 #include "bsp/pwm.h"         
 #include <stddef.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Exported constants ------------------------------------------------------- */
 
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Exported types ----------------------------------------------------------- */
 typedef struct {
     DEVICE_Header_t header;    
     BSP_PWM_Channel_t channel; 
 } BUZZER_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Exported functions prototypes -------------------------------------------- */
 
 int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel);
@@ -30,6 +42,10 @@ int8_t BUZZER_Stop(BUZZER_t *buzzer);
 
 int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

device/device.h

@@ -7,6 +7,14 @@ extern "C" {
 #include <stdbool.h>
 #include <stdint.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 #define DEVICE_OK (0)
 #define DEVICE_ERR (-1)
 #define DEVICE_ERR_NULL (-2)
@@ -26,6 +34,14 @@ typedef struct {
     uint64_t last_online_time;
 } DEVICE_Header_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

device/dm_imu.c

@@ -166,7 +166,7 @@ int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
         .dlc = 4,
     };
     memcpy(frame.data, tx_data, 4);
-    
+    BSP_CAN_WaitTxMailboxEmpty(imu->param.can, 1); // 等待发送邮箱空闲
     int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
     return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
 }

device/dr16.c

@@ -9,11 +9,19 @@
 
 #include "bsp/uart.h"
 #include "bsp/time.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
 /* Private define ----------------------------------------------------------- */
 #define DR16_CH_VALUE_MIN (364u)
 #define DR16_CH_VALUE_MID (1024u)
 #define DR16_CH_VALUE_MAX (1684u)
 
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
 /* Private variables -------------------------------------------------------- */
@@ -83,3 +91,7 @@ bool DR16_WaitDmaCplt(uint32_t timeout) {
   return (osThreadFlagsWait(SIGNAL_DR16_RAW_REDY, osFlagsWaitAll, timeout) ==
           SIGNAL_DR16_RAW_REDY);
 }
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

device/dr16.h

@@ -10,6 +10,14 @@ extern "C" {
 #include "component/user_math.h"
 #include "device/device.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
@@ -41,6 +49,9 @@ int8_t DR16_Restart(void);
 int8_t DR16_StartDmaRecv(DR16_t *dr16);
 bool DR16_WaitDmaCplt(uint32_t timeout);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
 
 #ifdef __cplusplus
 }

device/ist8310.c

@@ -13,6 +13,10 @@
 #include "bsp/gpio.h"
 #include "bsp/i2c.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
 #define IST8310_WAI (0x00)
 #define IST8310_STAT1 (0x02)
@@ -31,6 +35,11 @@
 #define IST8310_IIC_ADDRESS (0x0E << 1)
 
 #define IST8310_LEN_RX_BUFF (6)
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 #define IST8310_SET() \
   BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_SET)
@@ -38,6 +47,10 @@
   BSP_GPIO_WritePin(CMPS_RST_Pin, GPIO_PIN_RESET)
 
 /* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 uint8_t ist8310_rxbuf[IST8310_LEN_RX_BUFF];
 
@@ -45,6 +58,10 @@ static osThreadId_t thread_alert;
 static bool inited = false;
 
 /* Private function  -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 static void IST8310_WriteSingle(uint8_t reg, uint8_t data) {
   BSP_I2C_MemWriteByte(BSP_I2C_COMP, IST8310_IIC_ADDRESS, reg, data);
 }

device/led.c

@@ -6,12 +6,16 @@
 #include "bsp/gpio.h"
 #include "bsp/pwm.h"
 #include "device.h"
+
+
 /* Private define ----------------------------------------------------------- */
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
-int8_t LED_PWMSet(BSP_PWM_Channel_t channel,float duty_cycle)
-{
 
+
+
+int8_t DEVICE_LED_PWM_Set(BSP_PWM_Channel_t channel, float duty_cycle)
+{
     if (duty_cycle < 0.0f || duty_cycle > 1.0f) {
         return DEVICE_ERR_NULL; // 错误：占空比超出范围
     }
@@ -21,14 +25,14 @@ int8_t LED_PWMSet(BSP_PWM_Channel_t channel,float duty_cycle)
     return DEVICE_OK;
 }
 
-int8_t LED_GPIOSet(BSP_GPIO_t gpio,bool value)		
+int8_t DEVICE_LED_GPIO_Set(BSP_GPIO_t gpio, bool value)
 {
-		BSP_GPIO_WritePin(gpio,value);
+	if (value) {
+		BSP_GPIO_WritePin(gpio, true);
+	} else {
+		BSP_GPIO_WritePin(gpio, false);
+	}
 	return DEVICE_OK;
 }
 
 
-
-
-
-

device/led.h

@@ -14,14 +14,18 @@ extern "C" {
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
 
+
 typedef struct {
 BSP_GPIO_t gpio;
 BSP_PWM_Channel_t channel;	
 } DEVICE_LED_t;
 
+
+ extern DEVICE_LED_t LED_Map;
 /* Exported functions prototypes -------------------------------------------- */
-int8_t LED_PWMSet(BSP_PWM_Channel_t channel,float duty_cycle);
+
-int8_t LED_GPIOSet(BSP_GPIO_t gpio,bool value);
+
+int8_t BSP_LED_Set(char sign,DEVICE_LED_t ch,bool value,float duty_cycle);
 
 #ifdef __cplusplus
 }

device/motor.c

@@ -7,13 +7,28 @@
 
 #include <string.h>
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 
 /* Private define ----------------------------------------------------------- */
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 
 /* Private function  -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
 
 /* Exported functions ------------------------------------------------------- */
 float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {

device/motor.h

@@ -7,6 +7,14 @@ extern "C" {
 /* Includes ----------------------------------------------------------------- */
 #include "device/device.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
@@ -41,12 +49,20 @@ typedef struct {
     MOTOR_Feedback_t feedback;
 } MOTOR_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Exported functions prototypes -------------------------------------------- */
 float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor);
 float MOTOR_GetRotorSpeed(const MOTOR_t *motor);
 float MOTOR_GetTorqueCurrent(const MOTOR_t *motor);
 float MOTOR_GetTemp(const MOTOR_t *motor);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 #ifdef __cplusplus
 }
 #endif

device/motor_lk.c

@@ -10,6 +10,10 @@
 #include "bsp/time.h"
 #include "component/user_math.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
 #define LK_CTRL_ID_BASE        (0x140)
 #define LK_FB_ID_BASE          (0x240)
@@ -36,12 +40,24 @@
 #define LK_ENC_15BIT_MAX       (32767)   // 15位编码器最大值  
 #define LK_ENC_16BIT_MAX       (65535)   // 16位编码器最大值
 
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 static MOTOR_LK_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
 
 /* Private functions -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 static float MOTOR_LK_GetCurrentLSB(MOTOR_LK_Module_t module) {
     switch (module) {
         case MOTOR_LK_MF9025:
@@ -76,10 +92,6 @@ static int8_t MOTOR_LK_CreateCANManager(BSP_CAN_t can) {
 }
 
 static void MOTOR_LK_Decode(MOTOR_LK_t *motor, BSP_CAN_Message_t *msg) {
-    // 调试信息：打印接收到的数据
-    // printf("LK Motor ID:%d, CMD:0x%02X, Data: %02X %02X %02X %02X %02X %02X %02X %02X\n", 
-    //        motor->param.id, msg->data[0], msg->data[0], msg->data[1], msg->data[2], 
-    //        msg->data[3], msg->data[4], msg->data[5], msg->data[6], msg->data[7]);
 
     // 检查命令字节是否为反馈命令
     if (msg->data[0] != LK_CMD_FEEDBACK) {
@@ -98,24 +110,24 @@ static void MOTOR_LK_Decode(MOTOR_LK_t *motor, BSP_CAN_Message_t *msg) {
     switch (motor->param.module) {
         case MOTOR_LK_MF9025:
         case MOTOR_LK_MF9035:
-            // MF/MG电机：转矩电流值
             motor->motor.feedback.torque_current = raw_current_or_power * MOTOR_LK_GetCurrentLSB(motor->param.module);
             break;
         default:
-            // MS电机：功率值（范围-1000~1000）
+            motor->motor.feedback.torque_current = (float)raw_current_or_power;
-            motor->motor.feedback.torque_current = (float)raw_current_or_power;  // 将功率存储在torque_current字段中
             break;
     }
 
     // 解析转速 (DATA[4], DATA[5]) - 单位：1dps/LSB
-    motor->motor.feedback.rotor_speed = (int16_t)((msg->data[5] << 8) | msg->data[4]);
+    int16_t raw_speed = (int16_t)((msg->data[5] << 8) | msg->data[4]);
+    motor->motor.feedback.rotor_speed = motor->param.reverse ? -raw_speed : raw_speed;
 
     // 解析编码器值 (DATA[6], DATA[7])
     uint16_t raw_encoder = (uint16_t)((msg->data[7] << 8) | msg->data[6]);
     uint16_t encoder_max = MOTOR_LK_GetEncoderMax(motor->param.module);
 
     // 将编码器值转换为弧度 (0 ~ 2π)
-    motor->motor.feedback.rotor_abs_angle = (float)raw_encoder / (float)encoder_max * M_2PI;
+    float angle = (float)raw_encoder / (float)encoder_max * M_2PI;
+    motor->motor.feedback.rotor_abs_angle = motor->param.reverse ? (M_2PI - angle) : angle;
 }
 
 /* Exported functions ------------------------------------------------------- */
@@ -147,7 +159,7 @@ int8_t MOTOR_LK_Register(MOTOR_LK_Param_t *param) {
     
     // 对于某些LK电机，反馈数据可能通过命令ID发送
     // 根据实际测试，使用命令ID接收反馈数据
-    uint16_t feedback_id = 0x140 + param->id;  // 使用命令ID作为反馈ID
+    uint16_t feedback_id = param->id;  // 使用命令ID作为反馈ID
     
     // 注册CAN接收ID
     if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) {
@@ -170,7 +182,7 @@ int8_t MOTOR_LK_Update(MOTOR_LK_Param_t *param) {
         MOTOR_LK_t *motor = manager->motors[i];
         if (motor && motor->param.id == param->id) {
             // 对于某些LK电机，反馈数据通过命令ID发送
-            uint16_t feedback_id = 0x140 + param->id;
+            uint16_t feedback_id = param->id;
             
             BSP_CAN_Message_t rx_msg;
             if (BSP_CAN_GetMessage(param->can, feedback_id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
@@ -222,24 +234,26 @@ int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) {
     MOTOR_LK_t *motor = MOTOR_LK_GetMotor(param);
     if (motor == NULL) return DEVICE_ERR_NO_DEV;
 
-    // 转矩闭环控制命令 - 将输出值转换为转矩控制值
+    // 根据反转参数调整输出
-    int16_t torque_control = (int16_t)(value * (float)LK_TORQUE_RANGE);
+    float output = param->reverse ? -value : value;
 
-    // 构建CAN帧（根据协议：命令报文标识符 = 0x140 + ID）
+    // 转矩闭环控制命令 - 将输出值转换为转矩控制值
+    int16_t torque_control = (int16_t)(output * (float)LK_TORQUE_RANGE);
+
+    // 构建CAN帧
     BSP_CAN_StdDataFrame_t tx_frame;
-    tx_frame.id = 0x140 + param->id;
+    tx_frame.id = param->id;
     tx_frame.dlc = MOTOR_TX_BUF_SIZE;
 
-    // 设置转矩闭环控制命令数据
+    tx_frame.data[0] = LK_CMD_TORQUE_CTRL;
-    tx_frame.data[0] = LK_CMD_TORQUE_CTRL;  // 命令字节
+    tx_frame.data[1] = 0x00;
-    tx_frame.data[1] = 0x00;                // NULL
+    tx_frame.data[2] = 0x00;
-    tx_frame.data[2] = 0x00;                // NULL
+    tx_frame.data[3] = 0x00;
-    tx_frame.data[3] = 0x00;                // NULL
+    tx_frame.data[4] = (uint8_t)(torque_control & 0xFF);
-    tx_frame.data[4] = (uint8_t)(torque_control & 0xFF);        // 转矩电流控制值低字节
+    tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF);
-    tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF); // 转矩电流控制值高字节
+    tx_frame.data[6] = 0x00;
-    tx_frame.data[6] = 0x00;                // NULL
+    tx_frame.data[7] = 0x00;
-    tx_frame.data[7] = 0x00;                // NULL
+    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
-    
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -253,7 +267,7 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
     if (param == NULL) return DEVICE_ERR_NULL;
     
     BSP_CAN_StdDataFrame_t tx_frame;
-    tx_frame.id = 0x140 + param->id;
+    tx_frame.id = param->id;
     tx_frame.dlc = MOTOR_TX_BUF_SIZE;
     
     // 电机运行命令
@@ -265,7 +279,7 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
     tx_frame.data[5] = 0x00;
     tx_frame.data[6] = 0x00;
     tx_frame.data[7] = 0x00;
-    
+    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -273,7 +287,7 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
     if (param == NULL) return DEVICE_ERR_NULL;
     
     BSP_CAN_StdDataFrame_t tx_frame;
-    tx_frame.id = 0x140 + param->id;
+    tx_frame.id = param->id;
     tx_frame.dlc = MOTOR_TX_BUF_SIZE;
     
     // 电机关闭命令
@@ -285,7 +299,7 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
     tx_frame.data[5] = 0x00;
     tx_frame.data[6] = 0x00;
     tx_frame.data[7] = 0x00;
-    
+    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 

device/motor_lz.c

@@ -1,5 +1,10 @@
 /*
   灵足电机驱动
+  
+  灵足电机通信协议：
+  - CAN 2.0通信接口，波特率1Mbps
+  - 采用扩展帧格式(29位ID)
+  - ID格式：Bit28~24(通信类型) + Bit23~8(数据区2) + Bit7~0(目标地址)
 */
 /* Includes ----------------------------------------------------------------- */
 #include "motor_lz.h"
@@ -22,17 +27,17 @@
 #define LZ_RAW_VALUE_MAX            (65535)         /* 16位原始值最大值 */
 #define LZ_TEMP_SCALE               (10.0f)         /* 温度缩放因子 */
 
-#define LZ_MAX_RECOVER_DIFF_RAD    (0.4f)
+#define LZ_MAX_RECOVER_DIFF_RAD    (0.28f)
 #define MOTOR_TX_BUF_SIZE           (8)
 #define MOTOR_RX_BUF_SIZE           (8)
 
 /* Private macro ------------------------------------------------------------ */
 
-MOTOR_LZ_MotionParam_t lz_recover_param = {
+MOTOR_LZ_MotionParam_t lz_relax_param = {
     .target_angle = 0.0f,
     .target_velocity = 0.0f,
-    .kp = 20.0f,
+    .kp = 0.0f,
-    .kd = 1.0f,
+    .kd = 0.0f,
     .torque = 0.0f,
 };
 /* Private typedef ---------------------------------------------------------- */
@@ -129,7 +134,7 @@ static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *dat
     } else {
         memset(tx_frame.data, 0, dlc);
     }
-    
+    BSP_CAN_WaitTxMailboxEmpty(can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -177,56 +182,53 @@ static uint32_t MOTOR_LZ_IdParser(uint32_t original_id, BSP_CAN_FrameType_t fram
  */
 static void MOTOR_LZ_Decode(MOTOR_LZ_t *motor, BSP_CAN_Message_t *msg) {
     if (motor == NULL || msg == NULL) return;
-    
-    // 检查是否为反馈数据帧 (通信类型2)
-    // 需要使用原始ID来解析，因为parsed_id已经被IdParser处理过了
     uint8_t cmd_type = (msg->original_id >> 24) & 0x1F;
     if (cmd_type != MOTOR_LZ_CMD_FEEDBACK) return;
-    
-    // 解析原始ID中的数据区2 (bit23~8)
     uint16_t id_data2 = (msg->original_id >> 8) & 0xFFFF;
-    uint8_t motor_can_id = id_data2 & 0xFF;          // Bit8~15: 当前电机CAN ID
+    uint8_t motor_can_id = id_data2 & 0xFF;
-    uint8_t fault_info = (id_data2 >> 8) & 0x3F;     // Bit16~21: 故障信息
+    uint8_t fault_info = (id_data2 >> 8) & 0x3F;
-    uint8_t mode_state = (id_data2 >> 14) & 0x03;    // Bit22~23: 模式状态
+    uint8_t mode_state = (id_data2 >> 14) & 0x03;
-    
-    // 更新电机CAN ID
     motor->lz_feedback.motor_can_id = motor_can_id;
-    
+    motor->lz_feedback.fault.under_voltage = (fault_info & 0x01) != 0;
-    // 解析故障信息
+    motor->lz_feedback.fault.driver_fault = (fault_info & 0x02) != 0;
-    motor->lz_feedback.fault.under_voltage = (fault_info & 0x01) != 0;      // bit16
+    motor->lz_feedback.fault.over_temp = (fault_info & 0x04) != 0;
-    motor->lz_feedback.fault.driver_fault = (fault_info & 0x02) != 0;       // bit17
+    motor->lz_feedback.fault.encoder_fault = (fault_info & 0x08) != 0;
-    motor->lz_feedback.fault.over_temp = (fault_info & 0x04) != 0;          // bit18
+    motor->lz_feedback.fault.stall_overload = (fault_info & 0x10) != 0;
-    motor->lz_feedback.fault.encoder_fault = (fault_info & 0x08) != 0;      // bit19
+    motor->lz_feedback.fault.uncalibrated = (fault_info & 0x20) != 0;
-    motor->lz_feedback.fault.stall_overload = (fault_info & 0x10) != 0;     // bit20
-    motor->lz_feedback.fault.uncalibrated = (fault_info & 0x20) != 0;       // bit21
-    
-    // 解析模式状态
     motor->lz_feedback.state = (MOTOR_LZ_State_t)mode_state;
 
-    // 解析数据区
+    // 反馈解码并自动反向
-    // Byte0~1: 当前角度 (高字节在前，低字节在后)
     uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]);
-    motor->lz_feedback.current_angle = MOTOR_LZ_RawToFloat(raw_angle, LZ_ANGLE_RANGE_RAD);
+    float angle = MOTOR_LZ_RawToFloat(raw_angle, LZ_ANGLE_RANGE_RAD);
-    
-    // Byte2~3: 当前角速度 (高字节在前，低字节在后)
     uint16_t raw_velocity = (uint16_t)((msg->data[2] << 8) | msg->data[3]);
-    motor->lz_feedback.current_velocity = MOTOR_LZ_RawToFloat(raw_velocity, LZ_VELOCITY_RANGE_RAD_S);
+    float velocity = MOTOR_LZ_RawToFloat(raw_velocity, LZ_VELOCITY_RANGE_RAD_S);
-    
-    // Byte4~5: 当前力矩 (高字节在前，低字节在后)
     uint16_t raw_torque = (uint16_t)((msg->data[4] << 8) | msg->data[5]);
-    motor->lz_feedback.current_torque = MOTOR_LZ_RawToFloat(raw_torque, LZ_TORQUE_RANGE_NM);
+    float torque = MOTOR_LZ_RawToFloat(raw_torque, LZ_TORQUE_RANGE_NM);
+
+    while (angle <0){
+        angle += M_2PI;
+    }
+    while (angle > M_2PI){
+        angle -= M_2PI;
+    }
+    // 自动反向
+    if (motor->param.reverse) {
+        angle = M_2PI - angle;
+        velocity = -velocity;
+        torque = -torque;
+    }
+
+    motor->lz_feedback.current_angle = angle;
+    motor->lz_feedback.current_velocity = velocity;
+    motor->lz_feedback.current_torque = torque;
 
-    // Byte6~7: 当前温度 (温度*10) (高字节在前，低字节在后)
     uint16_t raw_temp = (uint16_t)((msg->data[6] << 8) | msg->data[7]);
     motor->lz_feedback.temperature = (float)raw_temp / LZ_TEMP_SCALE;
 
-    // 更新通用电机反馈信息
+    motor->motor.feedback.rotor_abs_angle = angle;
-    motor->motor.feedback.rotor_abs_angle = motor->lz_feedback.current_angle;
+    motor->motor.feedback.rotor_speed = velocity; 
-    motor->motor.feedback.rotor_speed = motor->lz_feedback.current_velocity * 180.0f / M_PI * 6.0f; // 转换为RPM
+    motor->motor.feedback.torque_current = torque;
-    motor->motor.feedback.torque_current = motor->lz_feedback.current_torque; // 使用力矩作为电流反馈
     motor->motor.feedback.temp = (int8_t)motor->lz_feedback.temperature;
-    
-    // 更新在线状态
     motor->motor.header.online = true;
     motor->motor.header.last_online_time = BSP_TIME_Get();
 }
@@ -339,49 +341,39 @@ int8_t MOTOR_LZ_UpdateAll(void) {
 
 int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *motion_param) {
     if (param == NULL || motion_param == NULL) return DEVICE_ERR_NULL;
-    
     MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param);
     if (motor == NULL) return DEVICE_ERR_NO_DEV;
 
-    // 更新运控参数
+    // 自动反向控制
+    MOTOR_LZ_MotionParam_t send_param = *motion_param;
+    if (param->reverse) {
+        send_param.target_angle = -send_param.target_angle;
+        send_param.target_velocity = -send_param.target_velocity;
+        send_param.torque = -send_param.torque;
+    }
+
     memcpy(&motor->motion_param, motion_param, sizeof(MOTOR_LZ_MotionParam_t));
 
-    // 根据协议，bit23~8数据区2包含力矩信息
+    uint16_t raw_torque = MOTOR_LZ_FloatToRaw(send_param.torque, LZ_TORQUE_RANGE_NM);
-    // 力矩范围：-60Nm~60Nm 对应 0~65535
-    uint16_t raw_torque = MOTOR_LZ_FloatToRaw(motion_param->torque, LZ_TORQUE_RANGE_NM);
-    
-    // 构建扩展ID - 运控模式控制指令
-    // bit28~24: 0x1 (运控模式)
-    // bit23~8:  力矩数据 (0~65535)，协议中描述为"Byte2:力矩"
-    // bit7~0:   目标电机CAN_ID
     uint32_t ext_id = MOTOR_LZ_BuildExtID(MOTOR_LZ_CMD_MOTION, raw_torque, param->motor_id);
-    
-    // 准备8字节数据区
     uint8_t data[8];
-    
+    uint16_t raw_angle = MOTOR_LZ_FloatToRaw(send_param.target_angle, LZ_ANGLE_RANGE_RAD);
-    // Byte0~1: 目标角度 [0~65535] 对应 (-12.57f~12.57f rad) (高字节在前，低字节在后)
+    data[0] = (raw_angle >> 8) & 0xFF;
-    uint16_t raw_angle = MOTOR_LZ_FloatToRaw(motion_param->target_angle, LZ_ANGLE_RANGE_RAD);
+    data[1] = raw_angle & 0xFF;
-    data[0] = (raw_angle >> 8) & 0xFF;  // 高字节
+    uint16_t raw_velocity = MOTOR_LZ_FloatToRaw(send_param.target_velocity, LZ_VELOCITY_RANGE_RAD_S);
-    data[1] = raw_angle & 0xFF;         // 低字节
+    data[2] = (raw_velocity >> 8) & 0xFF;
-    
+    data[3] = raw_velocity & 0xFF;
-    // Byte2~3: 目标角速度 [0~65535] 对应 (-20rad/s~20rad/s) (高字节在前，低字节在后)
+    uint16_t raw_kp = MOTOR_LZ_FloatToRawPositive(send_param.kp, LZ_KP_MAX);
-    uint16_t raw_velocity = MOTOR_LZ_FloatToRaw(motion_param->target_velocity, LZ_VELOCITY_RANGE_RAD_S);
+    data[4] = (raw_kp >> 8) & 0xFF;
-    data[2] = (raw_velocity >> 8) & 0xFF;  // 高字节
+    data[5] = raw_kp & 0xFF;
-    data[3] = raw_velocity & 0xFF;         // 低字节
+    uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX);
-    
+    data[6] = (raw_kd >> 8) & 0xFF;
-    // Byte4~5: Kp [0~65535] 对应 (0.0~5000.0) (高字节在前，低字节在后)
+    data[7] = raw_kd & 0xFF;
-    uint16_t raw_kp = MOTOR_LZ_FloatToRawPositive(motion_param->kp, LZ_KP_MAX);
+    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
-    data[4] = (raw_kp >> 8) & 0xFF;     // 高字节
-    data[5] = raw_kp & 0xFF;            // 低字节
-    
-    // Byte6~7: Kd [0~65535] 对应 (0.0~100.0) (高字节在前，低字节在后)
-    uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(motion_param->kd, LZ_KD_MAX);
-    data[6] = (raw_kd >> 8) & 0xFF;     // 高字节
-    data[7] = raw_kd & 0xFF;            // 低字节
-    
     return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
 }
 
+
 int8_t MOTOR_LZ_Enable(MOTOR_LZ_Param_t *param) {
     if (param == NULL) return DEVICE_ERR_NULL;
     
@@ -437,7 +429,7 @@ MOTOR_LZ_t* MOTOR_LZ_GetMotor(MOTOR_LZ_Param_t *param) {
 }
 
 int8_t MOTOR_LZ_Relax(MOTOR_LZ_Param_t *param) {
-    return MOTOR_LZ_Disable(param, false);
+    return MOTOR_LZ_MotionControl(param, &lz_relax_param);
 }
 
 int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param) {
@@ -456,72 +448,3 @@ static MOTOR_LZ_Feedback_t* MOTOR_LZ_GetFeedback(MOTOR_LZ_Param_t *param) {
     }
     return NULL;
 }
-
-int8_t MOTOR_LZ_TorqueControl(MOTOR_LZ_Param_t *param, float torque) {
-    if (param == NULL) return DEVICE_ERR_NULL;
-    
-    // 创建运控参数，只设置力矩，其他参数为0
-    MOTOR_LZ_MotionParam_t motion_param = {0};
-    motion_param.torque = torque;
-    motion_param.target_angle = 0.0f;
-    motion_param.target_velocity = 0.0f;
-    motion_param.kp = 0.0f;
-    motion_param.kd = 0.0f;
-    
-    return MOTOR_LZ_MotionControl(param, &motion_param);
-}
-
-int8_t MOTOR_LZ_PositionControl(MOTOR_LZ_Param_t *param, float target_angle, float max_velocity) {
-    if (param == NULL) return DEVICE_ERR_NULL;
-    
-    // 创建运控参数，设置位置和速度限制
-    MOTOR_LZ_MotionParam_t motion_param = {0};
-    motion_param.target_angle = target_angle;
-    motion_param.target_velocity = max_velocity;
-    motion_param.torque = 0.0f;
-    motion_param.kp = 100.0f;  // 默认位置增益
-    motion_param.kd = 5.0f;    // 默认微分增益
-    
-    return MOTOR_LZ_MotionControl(param, &motion_param);
-}
-
-int8_t MOTOR_LZ_VelocityControl(MOTOR_LZ_Param_t *param, float target_velocity) {
-    if (param == NULL) return DEVICE_ERR_NULL;
-    
-    // 创建运控参数，只设置速度
-    MOTOR_LZ_MotionParam_t motion_param = {0};
-    motion_param.target_angle = 0.0f;
-    motion_param.target_velocity = target_velocity;
-    motion_param.torque = 0.0f;
-    motion_param.kp = 0.0f;
-    motion_param.kd = 1.0f;    // 少量阻尼
-    
-    return MOTOR_LZ_MotionControl(param, &motion_param);
-}
-
-int8_t MOTOR_LZ_RecoverToZero(MOTOR_LZ_Param_t *param) {
-    if (param == NULL) return DEVICE_ERR_NULL;
-    
-    MOTOR_LZ_t *motor = MOTOR_LZ_GetMotor(param);
-    if (motor == NULL) return DEVICE_ERR_NO_DEV;
-    
-    // 获取当前角度
-    MOTOR_LZ_Feedback_t *feedback = MOTOR_LZ_GetFeedback(param);
-    if (feedback == NULL) return DEVICE_ERR_NO_DEV;
-    
-    float current_angle = feedback->current_angle;
-    
-    // 计算目标角度为0时的最短路径
-    float angle_diff = -current_angle; // 目标是0，所以差值就是-current_angle
-    // 限制最大差值，防止过大跳变
-    if (angle_diff > LZ_MAX_RECOVER_DIFF_RAD) angle_diff = LZ_MAX_RECOVER_DIFF_RAD;
-    if (angle_diff < -LZ_MAX_RECOVER_DIFF_RAD) angle_diff = -LZ_MAX_RECOVER_DIFF_RAD;
-    
-    float target_angle = current_angle + angle_diff;
-    
-    // 创建运控参数，设置位置和速度限制
-    MOTOR_LZ_MotionParam_t motion_param = lz_recover_param; // 使用预设的恢复参数
-    motion_param.target_angle = target_angle;
-
-    return MOTOR_LZ_MotionControl(param, &motion_param);
-}

device/motor_lz.h

@@ -213,8 +213,6 @@ int8_t MOTOR_LZ_Relax(MOTOR_LZ_Param_t *param);
  */
 int8_t MOTOR_LZ_Offline(MOTOR_LZ_Param_t *param);
 
-int8_t MOTOR_LZ_RecoverToZero(MOTOR_LZ_Param_t *param);
-
 #ifdef __cplusplus
 }
 #endif

device/motor_rm.c

@@ -10,6 +10,10 @@
 #include "bsp/time.h"
 #include "component/user_math.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
 #define GM6020_FB_ID_BASE        (0x205)
 #define GM6020_CTRL_ID_BASE      (0x1ff)
@@ -30,11 +34,24 @@
 #define MOTOR_ENC_RES            (8192)   /* 电机编码器分辨率 */
 #define MOTOR_CUR_RES            (16384)  /* 电机转矩电流分辨率 */
 
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 static MOTOR_RM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
 
+/* Private function  -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module) {
     switch (module) {
         case MOTOR_M2006:
@@ -223,6 +240,7 @@ int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
         default:
             return DEVICE_ERR;
     }
+    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 

device/servo.c

@@ -1,5 +1,5 @@
 /*
-	pwm控制舵机
+	pwm<EFBFBD><EFBFBD><EFBFBD>ƶ<EFBFBD><EFBFBD>
 */
 
 /*Includes   -----------------------------------------*/ 
@@ -7,9 +7,17 @@
 #include "bsp/pwm.h"
 #include "servo.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 #define SERVO_MIN_DUTY  0.025f   
 #define SERVO_MAX_DUTY  0.125f   
 
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */   
+
 /**
  * @brief  
  * @param  
@@ -24,10 +32,10 @@ int8_t SERVO_Init(SERVO_t *servo) {
 int8_t SERVO_SetAngle(SERVO_t *servo, float angle) {
     if (servo == NULL) return BSP_ERR;
     
-	  /*限制角度范围*/
+	  /*<EFBFBD><EFBFBD><EFBFBD>ƽǶȷ<EFBFBD>Χ*/
     if (angle < 0.0f)   angle = 0.0f;
     if (angle > 180.0f) angle = 180.0f;
-    /*角度映射到占空比*/
+    /*<EFBFBD>Ƕ<EFBFBD>ӳ<EFBFBD>䵽ռ<EFBFBD>ձ<EFBFBD>*/
     float duty = servo->min_duty + (angle / 180.0f) * (servo->max_duty - servo->min_duty);
 
     return BSP_PWM_Set(servo->pwm_ch, duty);

device/servo.h

@@ -9,6 +9,14 @@ extern "C" {
 	
 #include "bsp/pwm.h"
 
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+	
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
@@ -22,6 +30,10 @@ typedef struct {
    float max_duty;      
 } SERVO_t;
 
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /**
  * @brief  
  * @param  servo 
@@ -46,6 +58,10 @@ int8_t SERVO_SetAngle(SERVO_t *servo, float angle);
  
 int8_t SERVO_Stop(SERVO_t *servo);
 
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 	
 #ifdef __cplusplus
 }

device/vofa.c

@@ -3,18 +3,35 @@
 #include <string.h>
 #include "device/vofa.h"
 #include "bsp/uart.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
 
 #define MAX_CHANNEL  64u   		// 根据实际最大通道数调整
 
 #define JUSTFLOAT_TAIL 0x7F800000
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 static uint8_t vofa_tx_buf[sizeof(float) * MAX_CHANNEL + sizeof(uint32_t)];
 static VOFA_Protocol_t current_protocol = VOFA_PROTOCOL_FIREWATER;  // 默认协议
 
 /* Private function  -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
 
 /************************  RawData  *************************/
 void VOFA_RawData_Send(const char* data, bool dma) {

device/ws2812.c

@@ -4,18 +4,36 @@
 
 #include "bsp/pwm.h"
 #include <stdlib.h>
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
 /* Private define ----------------------------------------------------------- */
 #define DEVICE_WS2812_T1H            (uint16_t)(BSP_PWM_GetAutoReloadPreload(BSP_PWM_WS2812) * 0.56)   // High-level width of logic-1 pulse
 #define DEVICE_WS2812_T0H            (BSP_PWM_GetAutoReloadPreload(BSP_PWM_WS2812) * 0.29)             // High-level width of logic-0 pulse
 #define DEVICE_WS2812_WS_REST        40   // Number of reset pulses (low level) after data stream
 #define DEVICE_WS2812_DATA_LEN       24   // WS2812 data length: 24 bits (GRB) per LED
 #define DEVICE_WS2812_RST_NUM        50   // Extra reset pulses reserved at the end of the buffer
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
 /* Private variables -------------------------------------------------------- */
 static uint16_t DEVICE_WS2812_LED_NUM; 	       // Total number of LEDs
 static uint16_t *DEVICE_WS2812_RGB_Buff = NULL;// PWM duty buffer for DMA
 /* Private function  -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
 /* Exported functions ------------------------------------------------------- */
 /**
  * Set color of a single WS2812 LED