添加了开发票

assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/28ae4af8-67d9-431a-b2fe-312f587020b3/data.json

@@ -1,13 +0,0 @@
-{
-  "id": "28ae4af8-67d9-431a-b2fe-312f587020b3",
-  "date": "2025-01-01",
-  "amount": 5000.0,
-  "trader": "工作",
-  "notes": "1月工资",
-  "invoice_path": "accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/28ae4af8-67d9-431a-b2fe-312f587020b3/invoice/截屏2025-11-25 02.51.14.png",
-  "payment_path": null,
-  "purchase_path": null,
-  "category": "NUC",
-  "created_at": "2025-11-25T20:44:13.766681",
-  "updated_at": "2025-11-25T21:11:13.405339"
-}

assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/5cf3dc01-8a1c-4418-86b6-1728f1ae47d1/data.json

@@ -1,13 +0,0 @@
-{
-  "id": "5cf3dc01-8a1c-4418-86b6-1728f1ae47d1",
-  "date": "2025-01-10",
-  "amount": -200.0,
-  "trader": "超市",
-  "notes": "食材",
-  "invoice_path": "accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/5cf3dc01-8a1c-4418-86b6-1728f1ae47d1/invoice/截屏2025-11-25 02.51.14.png",
-  "payment_path": null,
-  "purchase_path": null,
-  "category": "NUC",
-  "created_at": "2025-11-25T20:44:13.766985",
-  "updated_at": "2025-11-25T20:56:17.767227"
-}

assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/86232779-66fb-4e8e-b31e-477aef8e4ecf/data.json

@@ -1,13 +0,0 @@
-{
-  "id": "86232779-66fb-4e8e-b31e-477aef8e4ecf",
-  "date": "2025-01-05",
-  "amount": -1500.0,
-  "trader": "房东",
-  "notes": "房租",
-  "invoice_path": null,
-  "payment_path": null,
-  "purchase_path": null,
-  "category": "NUC",
-  "created_at": "2025-11-25T20:44:13.766850",
-  "updated_at": "2025-11-25T20:54:13.895024"
-}

assets/Finance_Data/accounts/b87b752a-7fb6-40b6-a0cf-287df1d64e56/metadata.json

@@ -1,10 +0,0 @@
-{
-  "id": "b87b752a-7fb6-40b6-a0cf-287df1d64e56",
-  "name": "admin",
-  "description": "默认管理账户",
-  "categories": [
-    "NUC"
-  ],
-  "created_at": "2025-11-25T20:44:13.766008",
-  "updated_at": "2025-11-25T20:53:48.533051"
-}

assets/User_code/bsp/spi.c

@@ -22,8 +22,7 @@ static void (*SPI_Callback[BSP_SPI_NUM][BSP_SPI_CB_NUM])(void);
 
 /* Private function  -------------------------------------------------------- */
 static BSP_SPI_t SPI_Get(SPI_HandleTypeDef *hspi) {
-  if (hspi->Instance == SPI1)
-    return BSP_SPI_BMI088;
+/* AUTO GENERATED SPI_GET */
   else
     return BSP_SPI_ERR;
 }
@@ -96,8 +95,7 @@ void HAL_SPI_AbortCpltCallback(SPI_HandleTypeDef *hspi) {
 /* Exported functions ------------------------------------------------------- */
 SPI_HandleTypeDef *BSP_SPI_GetHandle(BSP_SPI_t spi) {
   switch (spi) {
-    case BSP_SPI_BMI088:
-      return &hspi1;
+/* AUTO GENERATED BSP_SPI_GET_HANDLE */
     default:
       return NULL;
   }

assets/User_code/component/cmd.c

@@ -0,0 +1,387 @@
+/*
+  控制命令
+*/
+
+#include "cmd.h"
+
+#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
+ *
+ * @param cmd 主结构体
+ * @param behavior 行为
+ * @return uint16_t 行为对应的按键
+ */
+static inline CMD_KeyValue_t CMD_BehaviorToKey(CMD_t *cmd,
+                                               CMD_Behavior_t behavior) {
+  return cmd->param->map.key_map[behavior].key;
+}
+
+static inline CMD_ActiveType_t CMD_BehaviorToActive(CMD_t *cmd,
+                                                    CMD_Behavior_t behavior) {
+  return cmd->param->map.key_map[behavior].active;
+}
+
+/**
+ * @brief 检查按键是否按下
+ *
+ * @param rc 遥控器数据
+ * @param key 按键名称
+ * @param stateful 是否为状态切换按键
+ * @return true 按下
+ * @return false 未按下
+ */
+static bool CMD_KeyPressedRc(const CMD_RC_t *rc, CMD_KeyValue_t key) {
+  /* 按下按键为鼠标左、右键 */
+  if (key == CMD_L_CLICK) {
+    return rc->mouse.l_click;
+  }
+  if (key == CMD_R_CLICK) {
+    return rc->mouse.r_click;
+  }
+  return rc->key & (1u << key);
+}
+
+static bool CMD_BehaviorOccurredRc(const CMD_RC_t *rc, CMD_t *cmd,
+                                   CMD_Behavior_t behavior) {
+  CMD_KeyValue_t key = CMD_BehaviorToKey(cmd, behavior);
+  CMD_ActiveType_t active = CMD_BehaviorToActive(cmd, behavior);
+
+  bool now_key_pressed, last_key_pressed;
+
+  /* 按下按键为鼠标左、右键 */
+  if (key == CMD_L_CLICK) {
+    now_key_pressed = rc->mouse.l_click;
+    last_key_pressed = cmd->mouse_last.l_click;
+  } else if (key == CMD_R_CLICK) {
+    now_key_pressed = rc->mouse.r_click;
+    last_key_pressed = cmd->mouse_last.r_click;
+  } else {
+    now_key_pressed = rc->key & (1u << key);
+    last_key_pressed = cmd->key_last & (1u << key);
+  }
+
+  switch (active) {
+    case CMD_ACTIVE_PRESSING:
+      return now_key_pressed && !last_key_pressed;
+    case CMD_ACTIVE_RASING:
+      return !now_key_pressed && last_key_pressed;
+    case CMD_ACTIVE_PRESSED:
+      return now_key_pressed;
+  }
+}
+
+/**
+ * @brief 解析pc行为逻辑
+ *
+ * @param rc 遥控器数据
+ * @param cmd 主结构体
+ * @param dt_sec 两次解析的间隔
+ */
+static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
+  cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+
+  /* 云台设置为鼠标控制欧拉角的变化，底盘的控制向量设置为零 */
+  cmd->gimbal.delta_eulr.yaw =
+      (float)rc->mouse.x * dt_sec * cmd->param->sens_mouse;
+  cmd->gimbal.delta_eulr.pit =
+      (float)(-rc->mouse.y) * dt_sec * cmd->param->sens_mouse;
+  cmd->chassis.ctrl_vec.vx = cmd->chassis.ctrl_vec.vy = 0.0f;
+  cmd->shoot.reverse_trig = false;
+
+  /* 按键行为映射相关逻辑 */
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FORE)) {
+    cmd->chassis.ctrl_vec.vy += cmd->param->move.move_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BACK)) {
+    cmd->chassis.ctrl_vec.vy -= cmd->param->move.move_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_LEFT)) {
+    cmd->chassis.ctrl_vec.vx -= cmd->param->move.move_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_RIGHT)) {
+    cmd->chassis.ctrl_vec.vx += cmd->param->move.move_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ACCELERATE)) {
+    cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_fast_sense;
+    cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_fast_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_DECELEBRATE)) {
+    cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_slow_sense;
+    cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_slow_sense;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE)) {
+    /* 切换至开火模式，设置相应的射击频率和弹丸初速度 */
+    cmd->shoot.mode = SHOOT_MODE_LOADED;
+    cmd->shoot.fire = true;
+  } else {
+    /* 切换至准备模式，停止射击 */
+    cmd->shoot.mode = SHOOT_MODE_LOADED;
+    cmd->shoot.fire = false;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE_MODE)) {
+    /* 每按一次依次切换开火下一个模式 */
+    cmd->shoot.fire_mode++;
+    cmd->shoot.fire_mode %= FIRE_MODE_NUM;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ROTOR)) {
+    /* 切换到小陀螺模式 */
+    cmd->chassis.mode = CHASSIS_MODE_ROTOR;
+    cmd->chassis.mode_rotor = ROTOR_MODE_RAND;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_OPENCOVER)) {
+    /* 每按一次开、关弹舱盖 */
+    cmd->shoot.cover_open = !cmd->shoot.cover_open;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BUFF)) {
+    if (cmd->ai_status == AI_STATUS_HITSWITCH) {
+      /* 停止ai的打符模式，停用host控制 */
+      CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_STOP);
+      cmd->host_overwrite = false;
+      cmd->ai_status = AI_STATUS_STOP;
+    } else if (cmd->ai_status == AI_STATUS_AUTOAIM) {
+      /* 自瞄模式中切换失败提醒 */
+    } else {
+      /* ai切换至打符模式，启用host控制 */
+      CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START);
+      cmd->ai_status = AI_STATUS_HITSWITCH;
+      cmd->host_overwrite = true;
+    }
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_AUTOAIM)) {
+    if (cmd->ai_status == AI_STATUS_AUTOAIM) {
+      /* 停止ai的自瞄模式，停用host控制 */
+      cmd->host_overwrite = false;
+      cmd->ai_status = AI_STATUS_STOP;
+      CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP);
+    } else {
+      /* ai切换至自瞄模式，启用host控制 */
+      cmd->ai_status = AI_STATUS_AUTOAIM;
+      cmd->host_overwrite = true;
+      CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START);
+    }
+  } else {
+    cmd->host_overwrite = false;
+    // TODO: 修复逻辑
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_REVTRIG)) {
+    /* 按下拨弹反转 */
+    cmd->shoot.reverse_trig = true;
+  }
+  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FOLLOWGIMBAL35)) {
+    cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
+  }
+  /* 保存当前按下的键位状态 */
+  cmd->key_last = rc->key;
+  memcpy(&(cmd->mouse_last), &(rc->mouse), sizeof(cmd->mouse_last));
+}
+
+/**
+ * @brief 解析rc行为逻辑
+ *
+ * @param rc 遥控器数据
+ * @param cmd 主结构体
+ * @param dt_sec 两次解析的间隔
+ */
+static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
+  switch (rc->sw_l) {
+      /* 左拨杆相应行为选择和解析 */
+    case CMD_SW_UP:
+      cmd->chassis.mode = CHASSIS_MODE_BREAK;
+      break;
+
+    case CMD_SW_MID:
+      cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+      break;
+
+    case CMD_SW_DOWN:
+      cmd->chassis.mode = CHASSIS_MODE_ROTOR;
+      cmd->chassis.mode_rotor = ROTOR_MODE_CW;
+      break;
+
+    case CMD_SW_ERR:
+      cmd->chassis.mode = CHASSIS_MODE_RELAX;
+      break;
+  }
+  switch (rc->sw_r) {
+      /* 右拨杆相应行为选择和解析*/ 
+    case CMD_SW_UP:
+      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+      cmd->shoot.mode = SHOOT_MODE_SAFE;
+      break;
+
+    case CMD_SW_MID:
+      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+      cmd->shoot.fire = false;
+      cmd->shoot.mode = SHOOT_MODE_LOADED;
+      break;
+
+    case CMD_SW_DOWN:
+      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+      cmd->shoot.mode = SHOOT_MODE_LOADED;
+      cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
+      cmd->shoot.fire = true;
+      break;
+		/*
+		    case CMD_SW_UP:
+      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
+      cmd->shoot.mode = SHOOT_MODE_SAFE;
+      break;
+
+    case CMD_SW_MID:
+      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
+      cmd->shoot.fire = false;
+      cmd->shoot.mode = SHOOT_MODE_LOADED;
+      break;
+
+    case CMD_SW_DOWN:
+      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
+      cmd->shoot.mode = SHOOT_MODE_LOADED;
+      cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
+      cmd->shoot.fire = true;
+      break;
+		*/
+    case CMD_SW_ERR:
+      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
+      cmd->shoot.mode = SHOOT_MODE_RELAX;
+  }
+  /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
+  cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
+  cmd->chassis.ctrl_vec.vy = rc->ch_l_y;
+  cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
+  cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
+}
+
+/**
+ * @brief rc失控时机器人恢复放松模式
+ *
+ * @param cmd 主结构体
+ */
+static void CMD_RcLostLogic(CMD_t *cmd) {
+  /* 机器人底盘、云台、射击运行模式恢复至放松模式 */
+  cmd->chassis.mode = CHASSIS_MODE_RELAX;
+  cmd->gimbal.mode = GIMBAL_MODE_RELAX;
+  cmd->shoot.mode = SHOOT_MODE_RELAX;
+}
+
+/**
+ * @brief 初始化命令解析
+ *
+ * @param cmd 主结构体
+ * @param param 参数
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param) {
+  /* 指针检测 */
+  if (cmd == NULL) return -1;
+  if (param == NULL) return -1;
+
+  /* 设置机器人的命令参数，初始化控制方式为rc控制 */
+  cmd->pc_ctrl = false;
+  cmd->param = param;
+
+  return 0;
+}
+
+/**
+ * @brief 检查是否启用上位机控制指令覆盖
+ *
+ * @param cmd 主结构体
+ * @return true 启用
+ * @return false 不启用
+ */
+inline bool CMD_CheckHostOverwrite(CMD_t *cmd) { return cmd->host_overwrite; }
+
+/**
+ * @brief 解析命令
+ *
+ * @param rc 遥控器数据
+ * @param cmd 命令
+ * @param dt_sec 两次解析的间隔
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
+  /* 指针检测 */
+  if (rc == NULL) return -1;
+  if (cmd == NULL) return -1;
+
+  /* 在pc控制和rc控制间切换 */
+  if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
+      CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_Q))
+    cmd->pc_ctrl = true;
+
+  if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
+      CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_E))
+    cmd->pc_ctrl = false;
+  /*c当rc丢控时，恢复机器人至默认状态 */
+  if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
+    CMD_RcLostLogic(cmd);
+  } else {
+    if (cmd->pc_ctrl) {
+      CMD_PcLogic(rc, cmd, dt_sec);
+    } else {
+      CMD_RcLogic(rc, cmd, dt_sec);
+    }
+  }
+  return 0;
+}
+
+/**
+ * @brief 解析上位机命令
+ *
+ * @param host host数据
+ * @param cmd 命令
+ * @param dt_sec 两次解析的间隔
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
+  (void)dt_sec; /* 未使用dt_sec，消除警告 */
+  /* 指针检测 */
+  if (host == NULL) return -1;
+  if (cmd == NULL) return -1;
+
+  /* 云台欧拉角设置为host相应的变化的欧拉角 */
+  cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
+  cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
+
+  /* host射击命令，设置不同的射击频率和弹丸初速度 */
+  if (host->fire) {
+    cmd->shoot.mode = SHOOT_MODE_LOADED;
+    cmd->shoot.fire = true;
+  } else {
+    cmd->shoot.mode = SHOOT_MODE_SAFE;
+  }
+  return 0;
+}
+
+/**
+ * @brief 添加向Referee发送的命令
+ *
+ * @param ref 命令队列
+ * @param cmd 要添加的命令
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
+  /* 指针检测 */
+  if (ref == NULL) return -1;
+  /* 越界检测 */
+  if (ref->counter >= CMD_REFEREE_MAX_NUM || ref->counter < 0) return -1;
+
+  /* 添加机器人当前行为状态到画图的命令队列中 */
+  ref->cmd[ref->counter] = cmd;
+  ref->counter++;
+  return 0;
+}
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */

assets/User_code/component/cmd.h

@@ -0,0 +1,318 @@
+/*
+  控制命令
+*/
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "component/ahrs.h"
+
+/* 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 {
+  ROBOT_MODEL_INFANTRY = 0, /* 步兵机器人 */
+  ROBOT_MODEL_HERO,         /* 英雄机器人 */
+  ROBOT_MODEL_ENGINEER,     /* 工程机器人 */
+  ROBOT_MODEL_DRONE,        /* 空中机器人 */
+  ROBOT_MODEL_SENTRY,       /* 哨兵机器人 */
+  ROBOT_MODEL_NUM,          /* 型号数量 */
+} CMD_RobotModel_t;
+
+/* 底盘运行模式 */
+typedef enum {
+  CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
+  CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */
+  CHASSIS_MODE_FOLLOW_GIMBAL, /* 通过闭环控制使车头方向跟随云台 */
+  CHASSIS_MODE_FOLLOW_GIMBAL_35, /* 通过闭环控制使车头方向35度跟随云台 */
+  CHASSIS_MODE_ROTOR, /* 小陀螺模式，通过闭环控制使底盘不停旋转 */
+  CHASSIS_MODE_INDENPENDENT, /* 独立模式。底盘运行不受云台影响 */
+  CHASSIS_MODE_OPEN, /* 开环模式。底盘运行不受PID控制，直接输出到电机 */
+} CMD_ChassisMode_t;
+
+/* 云台运行模式 */
+typedef enum {
+  GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
+  GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
+  GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
+} CMD_GimbalMode_t;
+
+/* 射击运行模式 */
+typedef enum {
+  SHOOT_MODE_RELAX,  /* 放松模式，电机不输出 */
+  SHOOT_MODE_SAFE,   /* 保险模式，电机闭环控制保持静止 */
+  SHOOT_MODE_LOADED, /* 上膛模式，摩擦轮开启。随时准备开火 */
+} CMD_ShootMode_t;
+
+typedef enum {
+  FIRE_MODE_SINGLE, /* 单发开火模式  */
+  FIRE_MODE_BURST,  /* N连发开火模式 */
+  FIRE_MODE_CONT,   /* 持续开火模式 */
+  FIRE_MODE_NUM,
+} CMD_FireMode_t;
+
+/* 小陀螺转动模式 */
+typedef enum {
+  ROTOR_MODE_CW,   /* 顺时针转动 */
+  ROTOR_MODE_CCW,  /* 逆时针转动 */
+  ROTOR_MODE_RAND, /* 随机转动 */
+} CMD_RotorMode_t;
+
+/* 底盘控制命令 */
+typedef struct {
+  CMD_ChassisMode_t mode;     /* 底盘运行模式 */
+  CMD_RotorMode_t mode_rotor; /* 小陀螺转动模式 */
+  MoveVector_t ctrl_vec;      /* 底盘控制向量 */
+} CMD_ChassisCmd_t;
+
+/* 云台控制命令 */
+typedef struct {
+  CMD_GimbalMode_t mode;  /* 云台运行模式 */
+  AHRS_Eulr_t delta_eulr; /* 欧拉角变化角度 */
+} CMD_GimbalCmd_t;
+
+/* 射击控制命令 */
+typedef struct {
+  CMD_ShootMode_t mode;     /* 射击运行模式 */
+  CMD_FireMode_t fire_mode; /* 开火模式 */
+  bool fire;                /*开火*/
+  bool cover_open;          /* 弹舱盖开关 */
+  bool reverse_trig;        /* 拨弹电机状态 */
+} CMD_ShootCmd_t;
+
+/* 拨杆位置 */
+typedef enum {
+  CMD_SW_ERR = 0,
+  CMD_SW_UP = 1,
+  CMD_SW_MID = 3,
+  CMD_SW_DOWN = 2,
+} CMD_SwitchPos_t;
+
+/* 键盘按键值 */
+typedef enum {
+  CMD_KEY_W = 0,
+  CMD_KEY_S,
+  CMD_KEY_A,
+  CMD_KEY_D,
+  CMD_KEY_SHIFT,
+  CMD_KEY_CTRL,
+  CMD_KEY_Q,
+  CMD_KEY_E,
+  CMD_KEY_R,
+  CMD_KEY_F,
+  CMD_KEY_G,
+  CMD_KEY_Z,
+  CMD_KEY_X,
+  CMD_KEY_C,
+  CMD_KEY_V,
+  CMD_KEY_B,
+  CMD_L_CLICK,
+  CMD_R_CLICK,
+  CMD_KEY_NUM,
+} CMD_KeyValue_t;
+
+/* 行为值序列 */
+typedef enum {
+  CMD_BEHAVIOR_FORE = 0,       /* 向前 */
+  CMD_BEHAVIOR_BACK,           /* 向后 */
+  CMD_BEHAVIOR_LEFT,           /* 向左 */
+  CMD_BEHAVIOR_RIGHT,          /* 向右 */
+  CMD_BEHAVIOR_ACCELERATE,     /* 加速 */
+  CMD_BEHAVIOR_DECELEBRATE,    /* 减速 */
+  CMD_BEHAVIOR_FIRE,           /* 开火 */
+  CMD_BEHAVIOR_FIRE_MODE,      /* 切换开火模式 */
+  CMD_BEHAVIOR_BUFF,           /* 打符模式 */
+  CMD_BEHAVIOR_AUTOAIM,        /* 自瞄模式 */
+  CMD_BEHAVIOR_OPENCOVER,      /* 弹舱盖开关 */
+  CMD_BEHAVIOR_ROTOR,          /* 小陀螺模式 */
+  CMD_BEHAVIOR_REVTRIG,        /* 反转拨弹 */
+  CMD_BEHAVIOR_FOLLOWGIMBAL35, /* 跟随云台呈35度 */
+  CMD_BEHAVIOR_NUM,
+} CMD_Behavior_t;
+
+typedef enum {
+  CMD_ACTIVE_PRESSING, /* 按下时触发 */
+  CMD_ACTIVE_RASING,   /* 抬起时触发 */
+  CMD_ACTIVE_PRESSED,  /* 按住时触发 */
+} CMD_ActiveType_t;
+
+typedef struct {
+  CMD_ActiveType_t active;
+  CMD_KeyValue_t key;
+} CMD_KeyMapItem_t;
+
+/* 行为映射的对应按键数组 */
+typedef struct {
+  CMD_KeyMapItem_t key_map[CMD_BEHAVIOR_NUM];
+} CMD_KeyMap_Params_t;
+
+/* 位移灵敏度参数 */
+typedef struct {
+  float move_sense;      /* 移动灵敏度 */
+  float move_fast_sense; /* 加速灵敏度 */
+  float move_slow_sense; /* 减速灵敏度 */
+} CMD_Move_Params_t;
+
+typedef struct {
+  uint16_t width;
+  uint16_t height;
+} CMD_Screen_t;
+
+/* 命令参数 */
+typedef struct {
+  float sens_mouse;        /* 鼠标灵敏度 */
+  float sens_rc;           /* 遥控器摇杆灵敏度 */
+  CMD_KeyMap_Params_t map; /* 按键映射行为命令 */
+  CMD_Move_Params_t move;  /* 位移灵敏度参数 */
+  CMD_Screen_t screen;     /* 屏幕分辨率参数 */
+} CMD_Params_t;
+
+/* AI行为状态 */
+typedef enum {
+  AI_STATUS_STOP,      /* 停止状态 */
+  AI_STATUS_AUTOAIM,   /* 自瞄状态 */
+  AI_STATUS_HITSWITCH, /* 打符状态 */
+  AI_STATUS_AUTOMATIC  /* 自动状态 */
+} CMD_AI_Status_t;
+
+/* UI所用行为状态 */
+typedef enum {
+  CMD_UI_NOTHING,          /* 当前无状态 */
+  CMD_UI_AUTO_AIM_START,   /* 自瞄状态开启 */
+  CMD_UI_AUTO_AIM_STOP,    /* 自瞄状态关闭 */
+  CMD_UI_HIT_SWITCH_START, /* 打符状态开启 */
+  CMD_UI_HIT_SWITCH_STOP   /* 打符状态关闭 */
+} CMD_UI_t;
+
+/*裁判系统发送的命令*/
+typedef struct {
+  CMD_UI_t cmd[CMD_REFEREE_MAX_NUM]; /* 命令数组 */
+  uint8_t counter;                   /* 命令计数 */
+} CMD_RefereeCmd_t;
+
+typedef struct {
+  bool pc_ctrl;        /* 是否使用键鼠控制 */
+  bool host_overwrite; /* 是否Host控制 */
+  uint16_t key_last;   /* 上次按键键值 */
+
+  struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+    bool l_click; /* 左键 */
+    bool r_click; /* 右键 */
+  } mouse_last;   /* 鼠标值 */
+
+  CMD_AI_Status_t ai_status; /* AI状态 */
+
+  const CMD_Params_t *param; /* 命令参数 */
+
+  CMD_ChassisCmd_t chassis; /* 底盘控制命令 */
+  CMD_GimbalCmd_t gimbal;   /* 云台控制命令 */
+  CMD_ShootCmd_t shoot;     /* 射击控制命令 */
+  CMD_RefereeCmd_t referee; /* 裁判系统发送命令 */
+} CMD_t;
+
+typedef struct {
+  float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
+  float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
+  float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
+  float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
+
+  float ch_res; /* 第五通道值 */
+
+  CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
+  CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
+
+  struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+    bool l_click; /* 左键 */
+    bool r_click; /* 右键 */
+  } mouse;        /* 鼠标值 */
+
+  uint16_t key; /* 按键值 */
+
+  uint16_t res; /* 保留，未启用 */
+} CMD_RC_t;
+
+typedef struct {
+  AHRS_Eulr_t gimbal_delta; /* 欧拉角的变化量 */
+
+  struct {
+    float vx;         /* x轴移动速度 */
+    float vy;         /* y轴移动速度 */
+    float wz;         /* z轴转动速度 */
+  } chassis_move_vec; /* 底盘移动向量 */
+
+  bool fire; /* 开火状态 */
+} CMD_Host_t;
+
+/**
+ * @brief 解析行为命令
+ *
+ * @param rc 遥控器数据
+ * @param cmd 主结构体
+ */
+int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param);
+
+/**
+ * @brief 检查是否启用上位机控制指令覆盖
+ *
+ * @param cmd 主结构体
+ * @return true 启用
+ * @return false 不启用
+ */
+bool CMD_CheckHostOverwrite(CMD_t *cmd);
+
+/**
+ * @brief 解析命令
+ *
+ * @param rc 遥控器数据
+ * @param cmd 命令
+ * @param dt_sec 两次解析的间隔
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec);
+
+/**
+ * @brief 解析上位机命令
+ *
+ * @param host host数据
+ * @param cmd 命令
+ * @param dt_sec 两次解析的间隔
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec);
+
+/**
+ * @brief 添加向Referee发送的命令
+ *
+ * @param ref 命令队列
+ * @param cmd 要添加的命令
+ * @return int8_t 0对应没有错误
+ */
+int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd);
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+#ifdef __cplusplus
+}
+#endif

assets/User_code/config.csv

@@ -1,4 +1,4 @@
 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
-component,ahrs,capacity,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
-device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9,ai
+component,ahrs,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
+device,dr16,bmi088,ist8310,motor,motor_rm,motor_dm,motor_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,rc_can,servo,buzzer,led,ws2812,vofa,ops9
 module,config,

assets/User_code/device/ai.c

@@ -1,142 +0,0 @@
-/*
-AI
-*/
-
-/* Includes ----------------------------------------------------------------- */
-#include "ai.h"
-
-#include <stdbool.h>
-#include <string.h>
-
-#include "bsp/time.h"
-#include "bsp/uart.h"
-#include "component/ahrs.h"
-#include "component/crc16.h"
-#include "component/crc8.h"
-#include "component/user_math.h"
-#include "component/filter.h"
-
-
-/* Private define ----------------------------------------------------------- */
-#define AI_LEN_RX_BUFF (sizeof(AI_DownPackage_t))
-
-/* Private macro ------------------------------------------------------------ */
-/* Private typedef ---------------------------------------------------------- */
-/* Private variables -------------------------------------------------------- */
-
-static uint8_t rxbuf[AI_LEN_RX_BUFF];
-
-static bool inited = false;
-
-static osThreadId_t thread_alert;
-
-static uint32_t drop_message = 0;
-
-// uint16_t crc16;
-
-/* Private function  -------------------------------------------------------- */
-
-static void Ai_RxCpltCallback(void) {
-  osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
-}
-
-static void Ai_IdleLineCallback(void) {
-  osThreadFlagsSet(thread_alert, SIGNAL_AI_RAW_REDY);
-}
-
-/* Exported functions ------------------------------------------------------- */
-int8_t AI_Init(AI_t *ai) {
-  UNUSED(ai);
-  if (inited) return DEVICE_ERR_INITED;
-  thread_alert = osThreadGetId();
-
-  BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
-                            Ai_RxCpltCallback);
-  BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
-                            Ai_IdleLineCallback);
-  
-  inited = true;
-  return 0;
-}
-
-int8_t AI_Restart(AI_t *ai) {
-  UNUSED(ai);
-  __HAL_UART_DISABLE(BSP_UART_GetHandle(BSP_UART_AI));
-  __HAL_UART_ENABLE(BSP_UART_GetHandle(BSP_UART_AI));
-  return DEVICE_OK;
-}
-
-int8_t AI_StartReceiving(AI_t *ai) {
-  UNUSED(ai);
-  // if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI), rxbuf,
-  //                          AI_LEN_RX_BUFF) == HAL_OK)
-  if (BSP_UART_Receive(BSP_UART_AI, rxbuf,
-                           AI_LEN_RX_BUFF, true) == HAL_OK)
-    return DEVICE_OK;
-  return DEVICE_ERR;
-}
-
-bool AI_WaitDmaCplt(void) {
-  return (osThreadFlagsWait(SIGNAL_AI_RAW_REDY, osFlagsWaitAll,0) ==
-          SIGNAL_AI_RAW_REDY);
-}
-
-int8_t AI_ParseHost(AI_t *ai) {
-  // crc16 = CRC16_Calc((const uint8_t *)&(rxbuf), sizeof(ai->from_host) - 2, CRC16_INIT);
-  if (!CRC16_Verify((const uint8_t *)&(rxbuf), sizeof(ai->from_host)))
-    goto error;
-  ai->header.online = true;
-  ai->header.last_online_time = BSP_TIME_Get();
-  memcpy(&(ai->from_host), rxbuf, sizeof(ai->from_host));
-  memset(rxbuf, 0, AI_LEN_RX_BUFF);
-  return DEVICE_OK;
-
-error:
-  drop_message++;
-  return DEVICE_ERR;
-}
-
-int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *data){
-  if (ai == NULL || data == NULL) return DEVICE_ERR_NULL;
-  ai->to_host.mcu.id = AI_ID_MCU;
-  ai->to_host.mcu.package.quat=*data;
-  ai->to_host.mcu.package.notice = ai->status;
-  ai->to_host.mcu.crc16 = CRC16_Calc((const uint8_t *)&(ai->to_host.mcu), sizeof(AI_UpPackageMCU_t) - 2, CRC16_INIT);
-  return DEVICE_OK;
-}
-
-int8_t AI_PackRef(AI_t *ai, const AI_UpPackageReferee_t *data) {
-  if (ai == NULL || data == NULL) return DEVICE_ERR_NULL;
-  ai->to_host.ref = *data;
-  return DEVICE_OK;
-}
-
-int8_t AI_HandleOffline(AI_t *ai) {
-  if (ai == NULL) return DEVICE_ERR_NULL;
-  if (BSP_TIME_Get() - ai->header.last_online_time >
-      100000) {
-    ai->header.online = false;
-  }
-  return DEVICE_OK;
-}
-
-int8_t AI_StartSend(AI_t *ai, bool ref_online){
-  if (ai == NULL) return DEVICE_ERR_NULL;
-  
-  if (ref_online) {
-    // 发送裁判系统数据和MCU数据
-    if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&(ai->to_host),
-                          sizeof(ai->to_host.ref) + sizeof(ai->to_host.mcu), true) == HAL_OK)
-      return DEVICE_OK;
-    else
-      return DEVICE_ERR;
-  } else {
-    // 只发送MCU数据
-    if (BSP_UART_Transmit(BSP_UART_AI, (uint8_t *)&(ai->to_host.mcu),
-                          sizeof(ai->to_host.mcu), true) == HAL_OK)
-      return DEVICE_OK;
-    else
-      return DEVICE_ERR;
-  }
-}
-

assets/User_code/device/ai.h

@@ -1,131 +0,0 @@
-/*
-  AI
-*/
-
-#pragma once
-
-#include <sys/cdefs.h>
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ----------------------------------------------------------------- */
-#include "component/ahrs.h"
-#include "component/filter.h"
-#include "component/user_math.h"
-#include "device/device.h"
-#include <cmsis_os2.h>
-#include <stdbool.h>
-#include <stdint.h>
-
-/* Exported constants ------------------------------------------------------- */
-/* Exported macro ----------------------------------------------------------- */
-#define AI_ID_MCU (0xC4)
-#define AI_ID_REF (0xA8)
-#define AI_ID_AI (0xA1)
-/* Exported types ----------------------------------------------------------- */
-
-typedef enum {
-  AI_ARMOR_HERO = 0, /*英雄机器人*/
-  AI_ARMOR_INFANTRY, /*步兵机器人*/
-  AI_ARMOR_SENTRY,   /*哨兵机器人*/
-  AI_ARMOR_ENGINEER, /*工程机器人*/
-  AI_ARMOR_OUTPOST,  /*前哨占*/
-  AI_ARMOR_BASE,     /*基地*/
-  AI_ARMOR_NORMAL,   /*由AI自动选择*/
-} AI_ArmorsType_t;
-
-typedef enum {
-  AI_STATUS_OFF = 0, /* 关闭 */
-  AI_STATUS_AUTOAIM, /* 自瞄 */
-  AI_STATUS_AUTOPICK, /* 自动取矿 */
-  AI_STATUS_AUTOPUT,  /* 自动兑矿 */
-  AI_STATUS_AUTOHITBUFF,  /* 自动打符 */
-  AI_STATUS_AUTONAV,
-} AI_Status_t;
-
-typedef enum { 
-  AI_NOTICE_NONE = 0,
-  AI_NOTICE_SEARCH,
-  AI_NOTICE_FIRE,
-}AI_Notice_t;
-
-/* 电控 -> 视觉 MCU数据结构体*/
-typedef struct __packed {
-  AHRS_Quaternion_t quat; /* 四元数 */
-  // struct {
-  //   AI_ArmorsType_t armor_type;
-  //   AI_Status_t status;
-  // }notice; /* 控制命令 */
-  uint8_t notice;
-} AI_Protucol_UpDataMCU_t;
-
-/* 电控 -> 视觉 裁判系统数据结构体*/
-typedef struct __packed {
-  /* USER REFEREE BEGIN */
-  uint16_t team; /* 本身队伍 */
-  uint16_t time; /* 比赛开始时间 */
-  /* USER REFEREE END */
-} AI_Protocol_UpDataReferee_t;
-
-/* 视觉 -> 电控 数据包结构体*/
-typedef struct __packed {
-  AHRS_Eulr_t eulr;      /* 欧拉角 */
-  MoveVector_t move_vec; /* 运动向量 */
-  uint8_t notice;        /* 控制命令 */
-} AI_Protocol_DownData_t;
-
-/* 电控 -> 视觉 裁判系统数据包 */
-typedef struct __packed {
-  uint8_t id;                          /* 包ID */
-  AI_Protocol_UpDataReferee_t package; /* 数据包 */
-  uint16_t crc16;                      /* CRC16校验 */
-} AI_UpPackageReferee_t;
-
-/* 电控 -> 视觉 MUC数据包 */
-typedef struct __packed {
-  uint8_t id;
-  AI_Protucol_UpDataMCU_t package;
-  uint16_t crc16;
-} AI_UpPackageMCU_t;
-
-/* 视觉 -> 电控 数据包 */
-typedef struct __packed {
-  uint8_t id;                     /* 包ID */
-  AI_Protocol_DownData_t package; /* 数据包 */
-  uint16_t crc16;                 /* CRC16校验 */
-} AI_DownPackage_t;
-
-typedef struct __packed {
-  DEVICE_Header_t header; /* 设备通用头部 */
-  AI_DownPackage_t from_host;
-  AI_Status_t status;
-  struct {
-    AI_UpPackageReferee_t ref;
-    AI_UpPackageMCU_t mcu;
-  } to_host;
-} AI_t;
-
-/* Exported functions prototypes -------------------------------------------- */
-
-int8_t AI_Init(AI_t *ai);
-
-int8_t AI_Restart(AI_t *ai);
-
-int8_t AI_StartReceiving(AI_t *ai);
-
-bool AI_WaitDmaCplt(void);
-
-int8_t AI_ParseHost(AI_t *ai);
-
-int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat);
-
-int8_t AI_PackRef(AI_t *ai, const AI_UpPackageReferee_t *data);
-
-int8_t AI_HandleOffline(AI_t *ai);
-
-int8_t AI_StartSend(AI_t *ai, bool ref_online);
-
-#ifdef __cplusplus
-}
-#endif

assets/User_code/device/motor_rm.c

@@ -56,12 +56,12 @@ static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module
     switch (module) {
         case MOTOR_M2006:
         case MOTOR_M3508:
-            if (can_id >= M3508_M2006_FB_ID_BASE && can_id < M3508_M2006_FB_ID_BASE + 7) {
+            if (can_id >= M3508_M2006_FB_ID_BASE && can_id <= M3508_M2006_FB_ID_BASE + 7) {
                 return can_id - M3508_M2006_FB_ID_BASE;
             }
             break;
         case MOTOR_GM6020:
-            if (can_id >= GM6020_FB_ID_BASE && can_id < GM6020_FB_ID_BASE + 6) {
+            if (can_id >= GM6020_FB_ID_BASE && can_id <= GM6020_FB_ID_BASE + 6) {
                 return can_id - GM6020_FB_ID_BASE + 4;
             }
             break;