修复FDCAN模板加载路径，删除重复类定义

- 修复bsp_fdcan类的模板加载路径以支持新的文件夹结构
- 删除重复的bsp_fdcan类定义
- 确保从子文件夹正确加载FDCAN模板文件

.vscode/settings.json

@@ -1,22 +0,0 @@
-{
-    "files.associations": {
-        "user_math.h": "c",
-        "bsp.h": "c",
-        "stdint.h": "c",
-        "array": "c",
-        "string": "c",
-        "string_view": "c",
-        "vector": "c",
-        "can.h": "c",
-        "device.h": "c",
-        "gpio.h": "c",
-        "uart.h": "c",
-        "motor_rm.h": "c",
-        "mm.h": "c",
-        "capacity.h": "c",
-        "error_detect.h": "c",
-        "bmi088.h": "c",
-        "time.h": "c",
-        "motor.h": "c"
-    }
-}

MRobot.iss

@@ -1,17 +1,16 @@
 [Setup]
 AppName=MRobot
-AppVersion=1.0.1
+AppVersion=1.0.8
 DefaultDirName={userappdata}\MRobot
 DefaultGroupName=MRobot
 OutputDir=.
 OutputBaseFilename=MRobotInstaller
 
 [Files]
-Source: "dist\MRobot.exe"; DestDir: "{app}"; Flags: ignoreversion
+; 复制整个 dist\MRobot 文件夹（onedir 模式生成的所有文件）
+Source: "dist\MRobot\*"; DestDir: "{app}"; Flags: ignoreversion recursesubdirs
+; 复制 assets 资源文件到安装目录（支持后续更新）
 Source: "assets\logo\*"; DestDir: "{app}\assets\logo"; Flags: ignoreversion recursesubdirs
-Source: "assets\User_code\*"; DestDir: "{app}\assets\User_code"; Flags: ignoreversion recursesubdirs
-Source: "assets\mech_lib\*"; DestDir: "{app}\assets\mech_lib"; Flags: ignoreversion recursesubdirs
-Source: "assets\logo\M.ico"; DestDir: "{app}\assets\logo"; Flags: ignoreversion
 
 [Icons]
 Name: "{group}\MRobot"; Filename: "{app}\MRobot.exe"; IconFilename: "{app}\assets\logo\M.ico"

README.md

@@ -86,5 +86,5 @@
 使用以下命令构建可执行文件：
 
 ```bash
-pyinstaller MRobot.py --onefile --windowed --add-data "assets;assets" --add-data "app;app" --add-data "app/tools;app/tools"
+pyinstaller MRobot.py --onefile --windowed --add-data "assets/logo;assets/logo" --add-data "app;app" --add-data "app/tools;app/tools"
 ```

app/batch_export_dialog.py

@@ -0,0 +1,211 @@
+"""
+批量导出选项对话框
+"""
+
+from PyQt5.QtWidgets import QDialog, QVBoxLayout, QHBoxLayout, QButtonGroup, QRadioButton, QFrame
+from PyQt5.QtCore import Qt
+from PyQt5.QtGui import QFont, QPalette
+from qfluentwidgets import (BodyLabel, PushButton, PrimaryPushButton, SubtitleLabel,
+                           TitleLabel, HorizontalSeparator, CardWidget, FluentIcon, StrongBodyLabel,
+                           theme, Theme)
+
+
+class BatchExportDialog(QDialog):
+    """批量导出选项对话框"""
+    
+    EXPORT_NORMAL = 0  # 普通文件夹导出
+    EXPORT_MROBOT = 1  # MRobot 格式导出
+    
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setWindowTitle("导出选项")
+        self.setGeometry(200, 200, 680, 550)
+        self.setMinimumWidth(640)
+        self.setMinimumHeight(480)
+        
+        # 设置背景色跟随主题
+        if theme() == Theme.DARK:
+            self.setStyleSheet("background-color: #232323;")
+        else:
+            self.setStyleSheet("background-color: #f7f9fc;")
+        
+        self.export_type = self.EXPORT_NORMAL
+        self.init_ui()
+    
+    def init_ui(self):
+        """初始化UI"""
+        layout = QVBoxLayout(self)
+        layout.setContentsMargins(24, 24, 24, 24)
+        layout.setSpacing(16)
+        
+        # 标题区域
+        title_layout = QVBoxLayout()
+        title_layout.setSpacing(8)
+        
+        title_label = TitleLabel("选择导出方式")
+        title_layout.addWidget(title_label)
+        
+        desc_label = BodyLabel("选择最适合您的导出格式")
+        title_layout.addWidget(desc_label)
+        
+        layout.addLayout(title_layout)
+        layout.addWidget(HorizontalSeparator())
+        
+        # 选项组
+        self.button_group = QButtonGroup()
+        
+        # 普通导出选项卡
+        normal_card = self._create_option_card(
+            title="普通导出",
+            description="将每个交易的图片导出到单独的文件夹",
+            details="文件夹名称：日期_金额\n每个交易的图片保存在独立文件夹中，便于查看和管理",
+            is_selected=True
+        )
+        normal_radio = normal_card.findChild(QRadioButton)
+        normal_radio.setChecked(True)
+        self.button_group.addButton(normal_radio, self.EXPORT_NORMAL)
+        layout.addWidget(normal_card)
+        
+        # MRobot 格式导出选项卡
+        mrobot_card = self._create_option_card(
+            title="MRobot 专用格式",
+            description="导出为 .mrobot 文件（ZIP 格式）",
+            details="包含完整的交易数据和图片\n用于转交给他人或备份",
+            is_selected=False
+        )
+        mrobot_radio = mrobot_card.findChild(QRadioButton)
+        self.button_group.addButton(mrobot_radio, self.EXPORT_MROBOT)
+        layout.addWidget(mrobot_card)
+        
+        layout.addStretch()
+        
+        # 按钮
+        btn_layout = QHBoxLayout()
+        btn_layout.setSpacing(12)
+        btn_layout.addStretch()
+        
+        cancel_btn = PushButton("取消")
+        cancel_btn.setMinimumWidth(110)
+        cancel_btn.clicked.connect(self.reject)
+        btn_layout.addWidget(cancel_btn)
+        
+        ok_btn = PrimaryPushButton("确定导出")
+        ok_btn.setMinimumWidth(110)
+        ok_btn.clicked.connect(self.on_ok)
+        btn_layout.addWidget(ok_btn)
+        
+        layout.addLayout(btn_layout)
+    
+    def _create_option_card(self, title, description, details, is_selected=False):
+        """创建导出选项卡片"""
+        card = CardWidget()
+        card_layout = QHBoxLayout()
+        card_layout.setContentsMargins(16, 16, 16, 16)
+        card_layout.setSpacing(16)
+        
+        # 单选按钮
+        radio = QRadioButton()
+        radio.setMinimumWidth(40)
+        card_layout.addWidget(radio)
+        
+        # 内容区域
+        content_layout = QVBoxLayout()
+        content_layout.setSpacing(8)
+        
+        # 标题行
+        title_layout = QHBoxLayout()
+        title_layout.setSpacing(10)
+        
+        # 图标
+        icon_label = BodyLabel()
+        icon_label.setText("📁" if title == "普通导出" else "📦")
+        icon_label.setStyleSheet("font-size: 20px;")
+        title_layout.addWidget(icon_label)
+        
+        # 标题
+        title_label = StrongBodyLabel(title)
+        title_layout.addWidget(title_label)
+        title_layout.addStretch()
+        content_layout.addLayout(title_layout)
+        
+        # 描述
+        desc_label = BodyLabel(description)
+        desc_label.setWordWrap(True)
+        # 使用 QPalette 来自适应主题
+        from PyQt5.QtGui import QPalette
+        content_layout.addWidget(desc_label)
+        
+        # 详细信息
+        details_label = BodyLabel(details)
+        details_label.setWordWrap(True)
+        # 使用相对颜色而不是硬编码
+        content_layout.addWidget(details_label)
+        
+        content_layout.addStretch()
+        card_layout.addLayout(content_layout, 1)
+        
+        # 设置卡片样式 - 不使用硬编码颜色，让 CardWidget 自适应主题
+        # 只通过边框来显示选中状态
+        self._update_card_style(card, is_selected)
+        
+        card.setLayout(card_layout)
+        card.setMinimumHeight(120)
+        
+        # 点击卡片时选中单选按钮
+        def on_card_clicked():
+            radio.setChecked(True)
+            # 更新卡片样式
+            self._update_card_styles(radio)
+        
+        radio.clicked.connect(on_card_clicked)
+        card.mousePressEvent = lambda e: on_card_clicked()
+        
+        return card
+    
+    def _update_card_style(self, card, is_selected):
+        """更新单个卡片的样式"""
+        if is_selected:
+            card.setProperty("is_selected", True)
+            card.setStyleSheet("""
+                CardWidget[is_selected=true] {
+                    border: 2px solid palette(highlight);
+                }
+                CardWidget[is_selected=false] {
+                    border: 1px solid palette(mid);
+                }
+                CardWidget[is_selected=false]:hover {
+                    border: 2px solid palette(highlight);
+                }
+            """)
+        else:
+            card.setProperty("is_selected", False)
+            card.setStyleSheet("""
+                CardWidget[is_selected=false] {
+                    border: 1px solid palette(mid);
+                }
+                CardWidget[is_selected=false]:hover {
+                    border: 2px solid palette(highlight);
+                }
+            """)
+    
+    def _update_card_styles(self, selected_radio):
+        """更新所有卡片的样式"""
+        for button in self.button_group.buttons():
+            card = button.parent()
+            while card and not isinstance(card, CardWidget):
+                card = card.parent()
+            
+            if card:
+                is_checked = button.isChecked()
+                self._update_card_style(card, is_checked)
+    
+    def on_ok(self):
+        """确定按钮点击"""
+        checked_button = self.button_group.checkedButton()
+        if checked_button:
+            self.export_type = self.button_group.id(checked_button)
+        self.accept()
+    
+    def get_export_type(self):
+        """获取选择的导出方式"""
+        return self.export_type

app/category_management_dialog.py

@@ -0,0 +1,394 @@
+"""
+分类管理对话框
+提供新增、重命名、删除分类的功能
+"""
+
+from typing import Optional
+from PyQt5.QtWidgets import (QDialog, QVBoxLayout, QHBoxLayout, QListWidget, QListWidgetItem, QMessageBox, QScrollArea, QWidget)
+from PyQt5.QtCore import Qt
+from PyQt5.QtGui import QIcon, QColor, QFont
+from qfluentwidgets import (BodyLabel, PushButton, PrimaryPushButton, LineEdit, 
+                           InfoBar, InfoBarPosition, SubtitleLabel, TitleLabel,
+                           HorizontalSeparator, CardWidget, FluentIcon, StrongBodyLabel, theme, Theme)
+from .tools.finance_manager import FinanceManager
+
+
+class CategoryManagementDialog(QDialog):
+    """分类管理对话框"""
+    
+    def __init__(self, parent=None, finance_manager: Optional[FinanceManager] = None, account_id: Optional[str] = None):
+        super().__init__(parent)
+        self.finance_manager = finance_manager
+        self.account_id = account_id
+        self.setWindowTitle("分类管理")
+        self.setGeometry(100, 100, 650, 550)
+        self.setMinimumWidth(600)
+        self.setMinimumHeight(480)
+        
+        # 设置背景色跟随主题
+        if theme() == Theme.DARK:
+            self.setStyleSheet("background-color: #232323;")
+        else:
+            self.setStyleSheet("background-color: #f7f9fc;")
+        
+        self.init_ui()
+    
+    def init_ui(self):
+        """初始化UI"""
+        main_layout = QVBoxLayout()
+        main_layout.setContentsMargins(24, 24, 24, 24)
+        main_layout.setSpacing(16)
+        
+        # 标题区域
+        title_layout = QVBoxLayout()
+        title_layout.setSpacing(6)
+        
+        title_label = TitleLabel("分类管理")
+        title_layout.addWidget(title_label)
+        
+        desc_label = BodyLabel("新增、编辑或删除您的交易分类")
+        title_layout.addWidget(desc_label)
+        
+        main_layout.addLayout(title_layout)
+        main_layout.addWidget(HorizontalSeparator())
+        
+        # 内容区域（分类列表）
+        content_layout = QHBoxLayout()
+        content_layout.setSpacing(16)
+        
+        # 左侧：分类列表卡片
+        list_card = CardWidget()
+        list_card_layout = QVBoxLayout()
+        list_card_layout.setContentsMargins(0, 0, 0, 0)
+        list_card_layout.setSpacing(0)
+        
+        list_label = StrongBodyLabel("现有分类")
+        list_label.setStyleSheet("padding: 12px 16px; border-bottom: 1px solid var(--border-color);")
+        list_card_layout.addWidget(list_label)
+        
+        # 分类列表
+        self.category_list = QListWidget()
+        self.category_list.itemSelectionChanged.connect(self.on_category_selected)
+        self.category_list.setStyleSheet("""
+            QListWidget {
+                border: none;
+                background-color: transparent;
+            }
+            QListWidget::item {
+                padding: 10px 12px;
+                border-radius: 4px;
+                margin: 2px 4px;
+            }
+            QListWidget::item:hover {
+                background-color: rgba(0, 0, 0, 0.05);
+            }
+            QListWidget::item:selected {
+                background-color: var(--highlight-color);
+                color: var(--highlight-text-color);
+                font-weight: bold;
+            }
+        """)
+        list_card_layout.addWidget(self.category_list, 1)
+        list_card.setLayout(list_card_layout)
+        list_card.setMinimumHeight(280)
+        content_layout.addWidget(list_card, 1)
+        
+        main_layout.addLayout(content_layout, 1)
+        
+        # 加载分类
+        self.load_categories()
+        
+        # 按钮区域
+        btn_layout = QHBoxLayout()
+        btn_layout.setSpacing(12)
+        
+        # 新增按钮
+        add_btn = PrimaryPushButton()
+        add_btn.setIcon(FluentIcon.ADD)
+        add_btn.setText("新增分类")
+        add_btn.clicked.connect(self.on_add_category)
+        add_btn.setMinimumWidth(120)
+        btn_layout.addWidget(add_btn)
+        
+        # 重命名按钮
+        self.rename_btn = PushButton()
+        self.rename_btn.setIcon(FluentIcon.EDIT)
+        self.rename_btn.setText("重命名")
+        self.rename_btn.clicked.connect(self.on_rename_category)
+        self.rename_btn.setEnabled(False)
+        self.rename_btn.setMinimumWidth(110)
+        btn_layout.addWidget(self.rename_btn)
+        
+        # 删除按钮
+        self.delete_btn = PushButton()
+        self.delete_btn.setIcon(FluentIcon.DELETE)
+        self.delete_btn.setText("删除")
+        self.delete_btn.clicked.connect(self.on_delete_category)
+        self.delete_btn.setEnabled(False)
+        self.delete_btn.setMinimumWidth(110)
+        btn_layout.addWidget(self.delete_btn)
+        
+        btn_layout.addStretch()
+        
+        # 关闭按钮
+        close_btn = PushButton("关闭")
+        close_btn.clicked.connect(self.accept)
+        close_btn.setMinimumWidth(110)
+        btn_layout.addWidget(close_btn)
+        
+        main_layout.addLayout(btn_layout)
+        self.setLayout(main_layout)
+    
+    def load_categories(self):
+        """加载分类列表"""
+        if not self.finance_manager or not self.account_id:
+            return
+        
+        self.category_list.clear()
+        categories = self.finance_manager.get_categories(self.account_id)
+        for category in categories:
+            item = QListWidgetItem(category)
+            self.category_list.addItem(item)
+    
+    def on_category_selected(self):
+        """分类被选择"""
+        has_selection = self.category_list.currentItem() is not None
+        self.rename_btn.setEnabled(has_selection)
+        self.delete_btn.setEnabled(has_selection)
+    
+    def on_add_category(self):
+        """新增分类"""
+        # 弹出输入对话框
+        from PyQt5.QtWidgets import QDialog as QStdDialog
+        
+        dialog = QStdDialog(self)
+        dialog.setWindowTitle("新增分类")
+        dialog.setGeometry(150, 150, 450, 220)
+        dialog.setStyleSheet("""
+            QDialog {
+                background-color: white;
+            }
+        """)
+        
+        layout = QVBoxLayout(dialog)
+        layout.setContentsMargins(24, 24, 24, 24)
+        layout.setSpacing(16)
+        
+        # 标题
+        title = StrongBodyLabel("创建新分类")
+        layout.addWidget(title)
+        
+        # 说明文字
+        desc = BodyLabel("请输入分类名称")
+        desc.setStyleSheet("color: #606366;")
+        layout.addWidget(desc)
+        
+        # 输入框
+        input_edit = LineEdit()
+        input_edit.setPlaceholderText("例如：食品、交通、娱乐、购物等")
+        input_edit.setMinimumHeight(40)
+        layout.addWidget(input_edit)
+        
+        # 按钮
+        btn_layout = QHBoxLayout()
+        btn_layout.addStretch()
+        
+        def on_create():
+            category_name = input_edit.text().strip()
+            if not category_name:
+                InfoBar.warning(
+                    title="提示",
+                    content="分类名称不能为空",
+                    isClosable=True,
+                    position=InfoBarPosition.TOP,
+                    duration=2000,
+                    parent=self
+                )
+                return
+            
+            if self.finance_manager.add_category(self.account_id, category_name):
+                InfoBar.success(
+                    title="成功",
+                    content=f"分类 '{category_name}' 创建成功",
+                    isClosable=True,
+                    position=InfoBarPosition.TOP,
+                    duration=2000,
+                    parent=self
+                )
+                self.load_categories()
+                dialog.accept()
+            else:
+                InfoBar.warning(
+                    title="提示",
+                    content="分类已存在",
+                    isClosable=True,
+                    position=InfoBarPosition.TOP,
+                    duration=2000,
+                    parent=self
+                )
+        
+        cancel_btn = PushButton("取消")
+        cancel_btn.setMinimumWidth(100)
+        cancel_btn.clicked.connect(dialog.reject)
+        btn_layout.addWidget(cancel_btn)
+        
+        create_btn = PrimaryPushButton("创建")
+        create_btn.setMinimumWidth(100)
+        create_btn.clicked.connect(on_create)
+        btn_layout.addWidget(create_btn)
+        
+        layout.addSpacing(12)
+        layout.addLayout(btn_layout)
+        
+        # 回车快速创建
+        input_edit.returnPressed.connect(on_create)
+        
+        dialog.exec()
+    
+    def on_rename_category(self):
+        """重命名分类"""
+        current_item = self.category_list.currentItem()
+        if not current_item:
+            return
+        
+        old_name = current_item.text()
+        
+        # 弹出输入对话框
+        from PyQt5.QtWidgets import QDialog as QStdDialog
+        
+        dialog = QStdDialog(self)
+        dialog.setWindowTitle("重命名分类")
+        dialog.setGeometry(150, 150, 450, 280)
+        dialog.setStyleSheet("""
+            QDialog {
+                background-color: white;
+            }
+        """)
+        
+        layout = QVBoxLayout(dialog)
+        layout.setContentsMargins(24, 24, 24, 24)
+        layout.setSpacing(16)
+        
+        # 标题
+        title = StrongBodyLabel("重命名分类")
+        layout.addWidget(title)
+        
+        # 原名称显示
+        old_info_layout = QHBoxLayout()
+        old_label = BodyLabel("原分类名:")
+        old_label.setMinimumWidth(80)
+        old_value = StrongBodyLabel(old_name)
+        old_value.setStyleSheet("color: #1976d2;")
+        old_info_layout.addWidget(old_label)
+        old_info_layout.addWidget(old_value)
+        old_info_layout.addStretch()
+        layout.addLayout(old_info_layout)
+        
+        # 新名称输入
+        new_label = BodyLabel("新分类名:")
+        new_label.setMinimumWidth(80)
+        layout.addWidget(new_label)
+        
+        input_edit = LineEdit()
+        input_edit.setText(old_name)
+        input_edit.selectAll()
+        input_edit.setMinimumHeight(40)
+        layout.addWidget(input_edit)
+        
+        # 按钮
+        btn_layout = QHBoxLayout()
+        btn_layout.addStretch()
+        
+        def on_rename():
+            new_name = input_edit.text().strip()
+            if not new_name:
+                InfoBar.warning(
+                    title="提示",
+                    content="分类名称不能为空",
+                    isClosable=True,
+                    position=InfoBarPosition.TOP,
+                    duration=2000,
+                    parent=self
+                )
+                return
+            
+            if new_name == old_name:
+                dialog.accept()
+                return
+            
+            if self.finance_manager.rename_category(self.account_id, old_name, new_name):
+                InfoBar.success(
+                    title="成功",
+                    content=f"分类已重命名为 '{new_name}'",
+                    isClosable=True,
+                    position=InfoBarPosition.TOP,
+                    duration=2000,
+                    parent=self
+                )
+                self.load_categories()
+                dialog.accept()
+            else:
+                InfoBar.warning(
+                    title="提示",
+                    content="重命名失败，可能分类已存在",
+                    isClosable=True,
+                    position=InfoBarPosition.TOP,
+                    duration=2000,
+                    parent=self
+                )
+        
+        cancel_btn = PushButton("取消")
+        cancel_btn.setMinimumWidth(100)
+        cancel_btn.clicked.connect(dialog.reject)
+        btn_layout.addWidget(cancel_btn)
+        
+        rename_btn = PrimaryPushButton("重命名")
+        rename_btn.setMinimumWidth(100)
+        rename_btn.clicked.connect(on_rename)
+        btn_layout.addWidget(rename_btn)
+        
+        layout.addSpacing(12)
+        layout.addLayout(btn_layout)
+        
+        # 回车快速重命名
+        input_edit.returnPressed.connect(on_rename)
+        
+        dialog.exec()
+    
+    def on_delete_category(self):
+        """删除分类"""
+        current_item = self.category_list.currentItem()
+        if not current_item:
+            return
+        
+        category_name = current_item.text()
+        
+        # 确认删除
+        reply = QMessageBox.question(
+            self,
+            "确认删除",
+            f"确定要删除分类 '{category_name}' 吗？\n\n使用该分类的交易记录分类将被清空。",
+            QMessageBox.Yes | QMessageBox.No,
+            QMessageBox.No
+        )
+        
+        if reply == QMessageBox.Yes:
+            if self.finance_manager.delete_category(self.account_id, category_name):
+                InfoBar.success(
+                    title="成功",
+                    content=f"分类 '{category_name}' 已删除",
+                    isClosable=True,
+                    position=InfoBarPosition.TOP,
+                    duration=2000,
+                    parent=self
+                )
+                self.load_categories()
+            else:
+                InfoBar.warning(
+                    title="错误",
+                    content="删除分类失败",
+                    isClosable=True,
+                    position=InfoBarPosition.TOP,
+                    duration=2000,
+                    parent=self
+                )

app/code_page/bsp_interface.py

@@ -61,9 +61,17 @@ class BspSimplePeripheral(QWidget):
                     return "skipped"  # 返回特殊值表示跳过
             return "not_needed"  # 返回特殊值表示不需要生成
         
-        template_dir = CodeGenerator.get_template_dir()
+        # 使用外设名称作为子文件夹名（小写）
+        periph_folder = self.peripheral_name.lower()
+        template_base_dir = CodeGenerator.get_assets_dir("User_code/bsp")
+        
         for key, filename in self.template_names.items():
-            template_path = os.path.join(template_dir, filename)
+            # 先尝试从子文件夹加载
+            template_path = os.path.join(template_base_dir, periph_folder, filename)
+            if not os.path.exists(template_path):
+                # 如果子文件夹不存在，尝试从根目录加载（向后兼容）
+                template_path = os.path.join(template_base_dir, filename)
+            
             template_content = CodeGenerator.load_template(template_path)
             if not template_content:
                 return False
@@ -206,7 +214,15 @@ class BspPeripheralBase(QWidget):
         return True
 
     def _generate_header_file(self, configs, template_dir):
-        template_path = os.path.join(template_dir, self.template_names['header'])
+        # 构建模板路径，优先从子文件夹读取
+        periph_folder = self.peripheral_name.lower()
+        template_base_dir = CodeGenerator.get_assets_dir("User_code/bsp")
+        template_path = os.path.join(template_base_dir, periph_folder, self.template_names['header'])
+        
+        if not os.path.exists(template_path):
+            # 向后兼容：尝试从根目录读取
+            template_path = os.path.join(template_base_dir, self.template_names['header'])
+        
         template_content = CodeGenerator.load_template(template_path)
         if not template_content:
             return False
@@ -318,6 +334,14 @@ def get_available_can(project_path):
         return analyzing_ioc.get_enabled_can_from_ioc(ioc_path)
     return []
 
+def get_available_fdcan(project_path):
+    """获取可用的FDCAN列表"""
+    ioc_files = [f for f in os.listdir(project_path) if f.endswith('.ioc')]
+    if ioc_files:
+        ioc_path = os.path.join(project_path, ioc_files[0])
+        return analyzing_ioc.get_enabled_fdcan_from_ioc(ioc_path)
+    return []
+
 def get_available_spi(project_path):
     ioc_files = [f for f in os.listdir(project_path) if f.endswith('.ioc')]
     if ioc_files:
@@ -605,6 +629,199 @@ class bsp_can(BspPeripheralBase):
             ])
             filter_bank += 1  # 为下一个CAN分配不同的过滤器组
 
+class bsp_fdcan(BspPeripheralBase):
+    def __init__(self, project_path):
+        super().__init__(
+            project_path,
+            "FDCAN",
+            {'header': 'fdcan.h', 'source': 'fdcan.c'},
+            "BSP_FDCAN",
+            "hfdcan",
+            "fdcan",
+            get_available_fdcan
+        )
+
+    def _generate_header_file(self, configs, template_dir):
+        """重写头文件生成，添加 FDCAN 使能和 FIFO 分配定义"""
+        # 从子文件夹加载模板
+        periph_folder = self.peripheral_name.lower()
+        template_base_dir = CodeGenerator.get_assets_dir("User_code/bsp")
+        template_path = os.path.join(template_base_dir, periph_folder, self.template_names['header'])
+        
+        if not os.path.exists(template_path):
+            # 向后兼容：尝试从根目录读取
+            template_path = os.path.join(template_base_dir, self.template_names['header'])
+        
+        template_content = CodeGenerator.load_template(template_path)
+        if not template_content:
+            return False
+        
+        # 生成枚举
+        enum_lines = [f"  {self.enum_prefix}_{name}," for name, _ in configs]
+        content = CodeGenerator.replace_auto_generated(
+            template_content, f"AUTO GENERATED {self.enum_prefix}_NAME", "\n".join(enum_lines)
+        )
+        
+        # 生成 FDCAN 使能宏和 FIFO 分配
+        enable_lines = []
+        fdcan_count = len(configs)
+        
+        # 根据 FDCAN 数量分配 FIFO（与 _generate_source_file 中的逻辑一致）
+        if fdcan_count == 1:
+            fifo_map = {0: 0}
+        elif fdcan_count == 2:
+            fifo_map = {0: 0, 1: 1}
+        else:  # >= 3
+            fifo_map = {0: 0, 1: 0, 2: 1}
+        
+        for idx, (name, instance) in enumerate(configs):
+            num = ''.join(filter(str.isdigit, instance))
+            fifo_idx = fifo_map.get(idx, 1)
+            enable_lines.append(f"#define FDCAN{num}_EN")
+            enable_lines.append(f"#define FDCAN{num}_RX_FIFO  {fifo_idx}")
+        
+        content = CodeGenerator.replace_auto_generated(
+            content, "AUTO GENERATED FDCAN_ENABLE", "\n".join(enable_lines)
+        )
+        
+        output_path = os.path.join(self.project_path, f"User/bsp/{self.template_names['header']}")
+        CodeGenerator.save_with_preserve(output_path, content)
+        return True
+
+    def _generate_source_file(self, configs, template_dir):
+        # 从子文件夹加载模板
+        periph_folder = self.peripheral_name.lower()
+        template_base_dir = CodeGenerator.get_assets_dir("User_code/bsp")
+        template_path = os.path.join(template_base_dir, periph_folder, self.template_names['source'])
+        
+        if not os.path.exists(template_path):
+            # 向后兼容：尝试从根目录读取
+            template_path = os.path.join(template_base_dir, self.template_names['source'])
+        
+        template_content = CodeGenerator.load_template(template_path)
+        if not template_content:
+            return False
+            
+        # FDCAN_Get函数
+        get_lines = []
+        for idx, (name, instance) in enumerate(configs):
+            if idx == 0:
+                get_lines.append(f"  if (hfdcan->Instance == {instance})")
+            else:
+                get_lines.append(f"  else if (hfdcan->Instance == {instance})")
+            get_lines.append(f"    return {self.enum_prefix}_{name};")
+        content = CodeGenerator.replace_auto_generated(
+            template_content, "AUTO GENERATED FDCAN_GET", "\n".join(get_lines)
+        )
+        
+        # Handle函数
+        handle_lines = []
+        for name, instance in configs:
+            num = ''.join(filter(str.isdigit, instance))  # 提取数字
+            handle_lines.append(f"    case {self.enum_prefix}_{name}:")
+            handle_lines.append(f"      return &hfdcan{num};")
+        content = CodeGenerator.replace_auto_generated(
+            content, f"AUTO GENERATED {self.enum_prefix}_GET_HANDLE", "\n".join(handle_lines)
+        )
+        
+        # 生成FDCAN初始化代码（类似CAN的策略）
+        init_lines = []
+        fdcan_instances = [instance for _, instance in configs]
+        fdcan_count = len(fdcan_instances)
+        
+        # 根据FDCAN数量分配FIFO
+        if fdcan_count == 1:
+            self._generate_single_fdcan_init(init_lines, configs, 0)
+        elif fdcan_count == 2:
+            self._generate_dual_fdcan_init(init_lines, configs)
+        elif fdcan_count >= 3:
+            self._generate_multi_fdcan_init(init_lines, configs)
+        
+        content = CodeGenerator.replace_auto_generated(
+            content, "AUTO GENERATED FDCAN_INIT", "\n".join(init_lines)
+        )
+        
+        output_path = os.path.join(self.project_path, f"User/bsp/{self.template_names['source']}")
+        CodeGenerator.save_with_preserve(output_path, content)
+        return True
+
+    def _generate_single_fdcan_init(self, init_lines, configs, fifo_idx):
+        """单个FDCAN：使用指定的FIFO"""
+        for name, instance in configs:
+            num = ''.join(filter(str.isdigit, instance))
+            init_lines.append(f"#ifdef FDCAN{num}_EN")
+            init_lines.append(f"  {{")
+            init_lines.append(f"    FDCAN_HandleTypeDef hfdcan = hfdcan{num};")
+            init_lines.append(f"    FDCAN_FilterTypeDef sFilterConfig = {{0}};")
+            init_lines.append(f"    #define FDCANX_RX_FIFO {fifo_idx}")
+            init_lines.append(f"    #ifdef FDCAN{num}_FILTER_CONFIG_TABLE")
+            init_lines.append(f"      FDCAN{num}_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)")
+            init_lines.append(f"    #endif")
+            init_lines.append(f"    #ifdef FDCAN{num}_GLOBAL_FILTER")
+            init_lines.append(f"      HAL_FDCAN_ConfigGlobalFilter(&hfdcan{num}, FDCAN{num}_GLOBAL_FILTER);")
+            init_lines.append(f"    #endif")
+            init_lines.append(f"    HAL_FDCAN_ActivateNotification(&hfdcan{num}, FDCANx_NOTIFY_FLAGS(FDCANX_RX_FIFO), 0);")
+            init_lines.append(f"    BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, FDCANX_MSG_PENDING_CB(FDCANX_RX_FIFO), BSP_FDCAN_RxFifo{fifo_idx}Callback);")
+            init_lines.append(f"    BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, HAL_FDCAN_TX_BUFFER_COMPLETE_CB, BSP_FDCAN_TxCompleteCallback);")
+            init_lines.append(f"    #undef FDCANX_RX_FIFO")
+            init_lines.append(f"    HAL_FDCAN_Start(&hfdcan{num});")
+            init_lines.append(f"  }}")
+            init_lines.append(f"#endif")
+            init_lines.append("")
+
+    def _generate_dual_fdcan_init(self, init_lines, configs):
+        """双FDCAN：FDCAN1用FIFO0，FDCAN2用FIFO1"""
+        fifo_map = {0: 0, 1: 1}
+        for idx, (name, instance) in enumerate(configs):
+            num = ''.join(filter(str.isdigit, instance))
+            fifo_idx = fifo_map[idx]
+            init_lines.append(f"#ifdef FDCAN{num}_EN")
+            init_lines.append(f"  {{")
+            init_lines.append(f"    FDCAN_HandleTypeDef hfdcan = hfdcan{num};")
+            init_lines.append(f"    FDCAN_FilterTypeDef sFilterConfig = {{0}};")
+            init_lines.append(f"    #define FDCANX_RX_FIFO {fifo_idx}")
+            init_lines.append(f"    #ifdef FDCAN{num}_FILTER_CONFIG_TABLE")
+            init_lines.append(f"      FDCAN{num}_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)")
+            init_lines.append(f"    #endif")
+            init_lines.append(f"    #ifdef FDCAN{num}_GLOBAL_FILTER")
+            init_lines.append(f"      HAL_FDCAN_ConfigGlobalFilter(&hfdcan{num}, FDCAN{num}_GLOBAL_FILTER);")
+            init_lines.append(f"    #endif")
+            init_lines.append(f"    HAL_FDCAN_ActivateNotification(&hfdcan{num}, FDCANx_NOTIFY_FLAGS(FDCANX_RX_FIFO), 0);")
+            init_lines.append(f"    BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, FDCANX_MSG_PENDING_CB(FDCANX_RX_FIFO), BSP_FDCAN_RxFifo{fifo_idx}Callback);")
+            init_lines.append(f"    BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, HAL_FDCAN_TX_BUFFER_COMPLETE_CB, BSP_FDCAN_TxCompleteCallback);")
+            init_lines.append(f"    #undef FDCANX_RX_FIFO")
+            init_lines.append(f"    HAL_FDCAN_Start(&hfdcan{num});")
+            init_lines.append(f"  }}")
+            init_lines.append(f"#endif")
+            init_lines.append("")
+
+    def _generate_multi_fdcan_init(self, init_lines, configs):
+        """多FDCAN：FDCAN1和FDCAN2用FIFO0，FDCAN3用FIFO1"""
+        fifo_map = {0: 0, 1: 0, 2: 1}
+        for idx, (name, instance) in enumerate(configs):
+            num = ''.join(filter(str.isdigit, instance))
+            fifo_idx = fifo_map.get(idx, 1)
+            init_lines.append(f"#ifdef FDCAN{num}_EN")
+            init_lines.append(f"  {{")
+            init_lines.append(f"    FDCAN_HandleTypeDef hfdcan = hfdcan{num};")
+            init_lines.append(f"    FDCAN_FilterTypeDef sFilterConfig = {{0}};")
+            init_lines.append(f"    #define FDCANX_RX_FIFO {fifo_idx}")
+            init_lines.append(f"    #ifdef FDCAN{num}_FILTER_CONFIG_TABLE")
+            init_lines.append(f"      FDCAN{num}_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)")
+            init_lines.append(f"    #endif")
+            init_lines.append(f"    #ifdef FDCAN{num}_GLOBAL_FILTER")
+            init_lines.append(f"      HAL_FDCAN_ConfigGlobalFilter(&hfdcan{num}, FDCAN{num}_GLOBAL_FILTER);")
+            init_lines.append(f"    #endif")
+            init_lines.append(f"    HAL_FDCAN_ActivateNotification(&hfdcan{num}, FDCANx_NOTIFY_FLAGS(FDCANX_RX_FIFO), 0);")
+            init_lines.append(f"    BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, FDCANX_MSG_PENDING_CB(FDCANX_RX_FIFO), BSP_FDCAN_RxFifo{fifo_idx}Callback);")
+            init_lines.append(f"    BSP_FDCAN_RegisterCallback({self.enum_prefix}_{name}, HAL_FDCAN_TX_BUFFER_COMPLETE_CB, BSP_FDCAN_TxCompleteCallback);")
+            init_lines.append(f"    #undef FDCANX_RX_FIFO")
+            init_lines.append(f"    HAL_FDCAN_Start(&hfdcan{num});")
+            init_lines.append(f"  }}")
+            init_lines.append(f"#endif")
+            init_lines.append("")
+
+
 class bsp_spi(BspPeripheralBase):
     def __init__(self, project_path):
         super().__init__(
@@ -1166,6 +1383,7 @@ def get_bsp_page(peripheral_name, project_path):
     special_classes = {
         "i2c": bsp_i2c,
         "can": bsp_can,
+        "fdcan": bsp_fdcan,
         "spi": bsp_spi,
         "uart": bsp_uart,
         "gpio": bsp_gpio,

app/code_page/component_interface.py

@@ -107,9 +107,17 @@ class ComponentSimple(QWidget):
                     return "skipped"  # 返回特殊值表示跳过
             return "not_needed"  # 返回特殊值表示不需要生成
         
-        template_dir = self._get_component_template_dir()
+        # 使用组件名称作为子文件夹名（小写）
+        comp_folder = self.component_name.lower()
+        template_base_dir = CodeGenerator.get_assets_dir("User_code/component")
+        
         for key, filename in self.template_names.items():
-            template_path = os.path.join(template_dir, filename)
+            # 先尝试从子文件夹加载
+            template_path = os.path.join(template_base_dir, comp_folder, filename)
+            if not os.path.exists(template_path):
+                # 如果子文件夹不存在，尝试从根目录加载（向后兼容）
+                template_path = os.path.join(template_base_dir, filename)
+            
             template_content = CodeGenerator.load_template(template_path)
             if not template_content:
                 print(f"模板文件不存在或为空: {template_path}")

app/code_page/device_interface.py

@@ -240,12 +240,18 @@ class DeviceSimple(QWidget):
         # 获取BSP配置
         bsp_config = self.get_bsp_config()
         
-        # 复制并修改文件
-        template_dir = self._get_device_template_dir()
+        # 使用设备名称作为子文件夹名（小写）
+        device_folder = self.device_name.lower()
+        template_base_dir = CodeGenerator.get_assets_dir("User_code/device")
         files = self.device_config.get('files', {})
         
         for file_type, filename in files.items():
-            src_path = os.path.join(template_dir, filename)
+            # 先尝试从子文件夹加载
+            src_path = os.path.join(template_base_dir, device_folder, filename)
+            if not os.path.exists(src_path):
+                # 如果子文件夹不存在，尝试从根目录加载（向后兼容）
+                src_path = os.path.join(template_base_dir, filename)
+            
             dst_path = os.path.join(self.project_path, f"User/device/{filename}")
 
             if os.path.exists(src_path):

app/data_interface.py

@@ -263,8 +263,14 @@ class DataInterface(QWidget):
 
     def update_user_template(self):
         from app.tools.update_code import update_code
+        from app.tools.code_generator import CodeGenerator
         
         def info_callback(parent):
+            # 清除 CodeGenerator 的缓存，强制重新读取更新后的文件
+            CodeGenerator._assets_dir_cache = None
+            CodeGenerator._assets_dir_initialized = False
+            CodeGenerator._template_dir_logged = False
+            
             InfoBar.success(
                 title="更新成功",
                 content="用户模板已更新到最新版本！",
@@ -272,6 +278,10 @@ class DataInterface(QWidget):
                 duration=2000
             )
             
+            # 如果当前在代码生成页面，刷新文件列表
+            if self.stacked_layout.currentWidget() == self.codegen_page:
+                self.show_user_code_files()
+        
         def error_callback(parent, msg):
             InfoBar.error(
                 title="更新失败",
@@ -287,6 +297,10 @@ class DataInterface(QWidget):
         file_tree = self.codegen_page.file_tree
         file_tree.clear()
         base_dir = CodeGenerator.get_assets_dir("User_code")
+        print(f"显示用户代码文件：base_dir = {base_dir}")
+        print(f"目录是否存在: {os.path.exists(base_dir)}")
+        if os.path.exists(base_dir):
+            print(f"目录内容: {os.listdir(base_dir)}")
         user_dir = os.path.join(self.project_path, "User")
         sub_dirs = ["bsp", "component", "device", "module"]
 

app/home_interface.py

@@ -5,10 +5,20 @@ import sys
 import os
 
 def resource_path(relative_path):
-    """获取资源文件的绝对路径，兼容打包和开发环境"""
+    """获取资源文件的绝对路径，兼容打包和开发环境
+    对于 logo 文件，使用打包的临时目录（只有 logo 被打包）
+    对于其他资源，使用可执行文件所在目录
+    """
+    if getattr(sys, 'frozen', False):
+        # 打包环境
+        if 'logo' in relative_path:
+            # logo 文件使用打包的临时目录
             if hasattr(sys, '_MEIPASS'):
-        # PyInstaller 打包后的临时目录
                 return os.path.join(sys._MEIPASS, relative_path)
+        # 其他资源使用可执行文件所在目录
+        exe_dir = os.path.dirname(sys.executable)
+        return os.path.join(exe_dir, relative_path)
+    # 开发环境
     return os.path.join(os.path.abspath("."), relative_path)
 
 class HomeInterface(QWidget):

app/main_window.py

@@ -1,10 +1,10 @@
-from PyQt5.QtCore import Qt, QSize
+from PyQt5.QtCore import Qt, QSize, QTimer
 from PyQt5.QtGui import QIcon
 from PyQt5.QtWidgets import QApplication
 
 from contextlib import redirect_stdout
 with redirect_stdout(None):
-    from qfluentwidgets import NavigationItemPosition, FluentWindow, SplashScreen, setThemeColor, NavigationBarPushButton, toggleTheme, setTheme, Theme, NavigationAvatarWidget, NavigationToolButton ,NavigationPushButton
+    from qfluentwidgets import NavigationItemPosition, FluentWindow, SplashScreen, setThemeColor, NavigationBarPushButton, toggleTheme, setTheme, Theme, NavigationAvatarWidget, NavigationToolButton ,NavigationPushButton, theme
     from qfluentwidgets import FluentIcon as FIF
     from qfluentwidgets import InfoBar, InfoBarPosition
 
@@ -14,6 +14,7 @@ from .part_library_interface import PartLibraryInterface
 from .data_interface import DataInterface
 from .mini_tool_interface import MiniToolInterface
 from .code_configuration_interface import CodeConfigurationInterface
+from .finance_interface import FinanceInterface
 from .about_interface import AboutInterface
 import base64
 
@@ -52,6 +53,7 @@ class MainWindow(FluentWindow):
         # self.dataInterface = DataInterface(self)
         self.miniToolInterface = MiniToolInterface(self)
         self.codeConfigurationInterface = CodeConfigurationInterface(self)
+        self.financeInterface = FinanceInterface(self)
 
 
     def initNavigation(self):
@@ -60,13 +62,14 @@ class MainWindow(FluentWindow):
         self.addSubInterface(self.codeConfigurationInterface, FIF.CODE, self.tr('代码生成'))
         self.addSubInterface(self.serialTerminalInterface, FIF.COMMAND_PROMPT,self.tr('串口助手'))
         self.addSubInterface(self.partLibraryInterface, FIF.DOWNLOAD, self.tr('零件库'))
+        self.addSubInterface(self.financeInterface, FIF.DOCUMENT, self.tr('财务做账'))
         self.addSubInterface(self.miniToolInterface, FIF.LIBRARY, self.tr('迷你工具箱'))
         self.addSubInterface(AboutInterface(self), FIF.INFO, self.tr('关于'), position=NavigationItemPosition.BOTTOM)
 
 
 
         self.themeBtn = NavigationPushButton(FIF.BRUSH, "切换主题", False, self.navigationInterface)
-        self.themeBtn.clicked.connect(lambda: toggleTheme(lazy=True))
+        self.themeBtn.clicked.connect(self._safe_toggle_theme)
         self.navigationInterface.addWidget(
             'themeButton',
             self.themeBtn,
@@ -74,6 +77,36 @@ class MainWindow(FluentWindow):
             NavigationItemPosition.BOTTOM
         )
     
+    def _safe_toggle_theme(self):
+        """安全地切换主题，避免字典迭代异常"""
+        def safe_toggle():
+            try:
+                import sys
+                from io import StringIO
+                
+                # 捕获 stderr 以抑制库内的异常消息
+                old_stderr = sys.stderr
+                sys.stderr = StringIO()
+                
+                try:
+                    # 获取当前主题
+                    current_theme = theme()
+                    # 根据当前主题切换到另一个
+                    new_theme = Theme.LIGHT if current_theme == Theme.DARK else Theme.DARK
+                    setTheme(new_theme, save=True, lazy=True)
+                finally:
+                    # 恢复 stderr
+                    sys.stderr = old_stderr
+                    
+            except Exception as e:
+                # 其他异常仍然打印，但忽略字典迭代异常
+                error_msg = str(e)
+                if "dictionary changed size during iteration" not in error_msg:
+                    print(f"主题切换失败: {e}")
+        
+        # 在下一个事件循环中执行切换，让 Qt 完成当前事件处理
+        QTimer.singleShot(50, safe_toggle)
+    
     def check_updates_in_background(self):
         """后台检查更新"""
         try:

app/tools/analyzing_ioc.py

@@ -71,7 +71,7 @@ class analyzing_ioc:
     @staticmethod
     def get_enabled_can_from_ioc(ioc_path):
         """
-        获取已启用的CAN列表
+        获取已启用的CAN列表（不包括FDCAN）
         返回格式: ['CAN1', 'CAN2'] 等
         """
         enabled_can = []
@@ -84,12 +84,35 @@ class analyzing_ioc:
                     key, value = line.split('=', 1)
                     key = key.strip()
                     value = value.strip()
-                    if key.startswith('Mcu.IP') and value.startswith('CAN'):
+                    # 只匹配CAN，不包括FDCAN
+                    if key.startswith('Mcu.IP') and value.startswith('CAN') and not value.startswith('FDCAN'):
                         can_name = value.split('.')[0] if '.' in value else value
                         if can_name not in enabled_can:
                             enabled_can.append(can_name)
         return sorted(enabled_can)
 
+    @staticmethod
+    def get_enabled_fdcan_from_ioc(ioc_path):
+        """
+        获取已启用的FDCAN列表
+        返回格式: ['FDCAN1', 'FDCAN2', 'FDCAN3'] 等
+        """
+        enabled_fdcan = []
+        with open(ioc_path, encoding='utf-8', errors='ignore') as f:
+            for line in f:
+                line = line.strip()
+                if not line or line.startswith('#'):
+                    continue
+                if '=' in line:
+                    key, value = line.split('=', 1)
+                    key = key.strip()
+                    value = value.strip()
+                    if key.startswith('Mcu.IP') and value.startswith('FDCAN'):
+                        fdcan_name = value.split('.')[0] if '.' in value else value
+                        if fdcan_name not in enabled_fdcan:
+                            enabled_fdcan.append(fdcan_name)
+        return sorted(enabled_fdcan)
+
     @staticmethod
     def get_enabled_uart_from_ioc(ioc_path):
         """

app/tools/code_generator.py

@@ -97,29 +97,19 @@ class CodeGenerator:
             assets_dir = ""
             
             if getattr(sys, 'frozen', False):
-                # 打包后的环境
-                print("检测到打包环境")
-                
-                # 优先使用sys._MEIPASS（PyInstaller的临时解包目录）
-                if hasattr(sys, '_MEIPASS'):
-                    base_path = getattr(sys, '_MEIPASS')
-                    assets_dir = os.path.join(base_path, "assets")
-                    print(f"使用PyInstaller临时目录: {assets_dir}")
-                else:
-                    # 后备方案：使用可执行文件所在目录
+                # 打包后的环境 - 始终使用可执行文件所在目录
+                # 这样可以使用安装目录下的文件，而不是打包进去的文件
                 exe_dir = os.path.dirname(sys.executable)
                 assets_dir = os.path.join(exe_dir, "assets")
-                    print(f"使用可执行文件目录: {assets_dir}")
+                print(f"打包环境：使用可执行文件目录: {assets_dir}")
                 
-                # 如果都不存在，尝试其他可能的位置
+                # 如果assets目录不存在，创建它
                 if not os.path.exists(assets_dir):
-                    # 尝试从当前工作目录查找
-                    cwd_assets = os.path.join(os.getcwd(), "assets")
-                    if os.path.exists(cwd_assets):
-                        assets_dir = cwd_assets
-                        print(f"从工作目录找到assets: {assets_dir}")
-                    else:
-                        print(f"警告：无法找到assets目录，使用默认路径: {assets_dir}")
+                    try:
+                        os.makedirs(assets_dir, exist_ok=True)
+                        print(f"创建assets目录: {assets_dir}")
+                    except Exception as e:
+                        print(f"创建assets目录失败: {e}")
             else:
                 # 开发环境
                 current_dir = os.path.dirname(os.path.abspath(__file__))

app/tools/finance_manager.py

@@ -0,0 +1,738 @@
+"""
+财务做账模块 - 数据管理系统
+管理所有财务账目、图片、文件等数据的存储和检索
+"""
+
+import os
+import json
+import shutil
+import zipfile
+import uuid
+from datetime import datetime
+from pathlib import Path
+from typing import List, Dict, Optional, Tuple, Union
+from enum import Enum
+
+
+class TransactionType(Enum):
+    """交易类型"""
+    INVOICE = "invoice"  # 发票
+    PAYMENT = "payment"  # 支付记录
+    PURCHASE = "purchase"  # 购买记录
+
+
+class Transaction:
+    """单个交易记录数据模型"""
+    
+    def __init__(self, trans_id: Optional[str] = None, date: Optional[str] = None, amount: float = 0.0,
+                 trader: str = "", notes: str = "", invoice_path: Optional[str] = None,
+                 payment_path: Optional[str] = None, purchase_path: Optional[str] = None,
+                 category: str = ""):
+        self.id = trans_id or str(uuid.uuid4())
+        self.date = date or datetime.now().strftime("%Y-%m-%d")
+        self.amount = amount
+        self.trader = trader
+        self.notes = notes
+        self.invoice_path = invoice_path  # 相对路径
+        self.payment_path = payment_path
+        self.purchase_path = purchase_path
+        self.category = category  # 交易分类，用户自定义
+        self.created_at = datetime.now().isoformat()
+        self.updated_at = datetime.now().isoformat()
+    
+    def to_dict(self) -> dict:
+        """转换为字典格式（用于JSON序列化）"""
+        return {
+            'id': self.id,
+            'date': self.date,
+            'amount': self.amount,
+            'trader': self.trader,
+            'notes': self.notes,
+            'invoice_path': self.invoice_path,
+            'payment_path': self.payment_path,
+            'purchase_path': self.purchase_path,
+            'category': self.category,
+            'created_at': self.created_at,
+            'updated_at': self.updated_at
+        }
+    
+    @classmethod
+    def from_dict(cls, data: dict) -> 'Transaction':
+        """从字典创建Transaction对象"""
+        trans = cls(
+            trans_id=data.get('id'),
+            date=data.get('date'),
+            amount=data.get('amount', 0.0),
+            trader=data.get('trader', ''),
+            notes=data.get('notes', ''),
+            invoice_path=data.get('invoice_path'),
+            payment_path=data.get('payment_path'),
+            purchase_path=data.get('purchase_path'),
+            category=data.get('category', '')
+        )
+        if 'created_at' in data:
+            trans.created_at = data['created_at']
+        if 'updated_at' in data:
+            trans.updated_at = data['updated_at']
+        return trans
+
+
+class Account:
+    """账户数据模型"""
+    
+    def __init__(self, account_id: Optional[str] = None, account_name: str = "", description: str = ""):
+        self.id = account_id or str(uuid.uuid4())
+        self.name = account_name
+        self.description = description
+        self.transactions: List[Transaction] = []
+        self.categories: List[str] = []  # 空列表，用户自定义分类
+        self.created_at = datetime.now().isoformat()
+        self.updated_at = datetime.now().isoformat()
+    
+    def add_transaction(self, transaction: Transaction) -> None:
+        """添加交易记录"""
+        self.transactions.append(transaction)
+        self.updated_at = datetime.now().isoformat()
+    
+    def remove_transaction(self, trans_id: str) -> bool:
+        """移除交易记录"""
+        original_len = len(self.transactions)
+        self.transactions = [t for t in self.transactions if t.id != trans_id]
+        if len(self.transactions) < original_len:
+            self.updated_at = datetime.now().isoformat()
+            return True
+        return False
+    
+    def get_transaction(self, trans_id: str) -> Optional[Transaction]:
+        """获取单个交易记录"""
+        for t in self.transactions:
+            if t.id == trans_id:
+                return t
+        return None
+    
+    def to_dict(self) -> dict:
+        """转换为字典"""
+        return {
+            'id': self.id,
+            'name': self.name,
+            'description': self.description,
+            'categories': self.categories,
+            'transactions': [t.to_dict() for t in self.transactions],
+            'created_at': self.created_at,
+            'updated_at': self.updated_at
+        }
+    
+    @classmethod
+    def from_dict(cls, data: dict) -> 'Account':
+        """从字典创建Account对象"""
+        account = cls(
+            account_id=data.get('id'),
+            account_name=data.get('name', ''),
+            description=data.get('description', '')
+        )
+        account.categories = data.get('categories', [])  # 使用存储的分类，如果没有则为空列表
+        account.transactions = [Transaction.from_dict(t) for t in data.get('transactions', [])]
+        if 'created_at' in data:
+            account.created_at = data['created_at']
+        if 'updated_at' in data:
+            account.updated_at = data['updated_at']
+        return account
+
+
+class FinanceManager:
+    """财务管理系统 - 处理所有数据操作和文件管理"""
+    
+    def __init__(self, data_root: Optional[str] = None):
+        """初始化财务管理系统
+        
+        Args:
+            data_root: 数据存储根目录，默认为 assets/Finance_Data
+        """
+        if data_root:
+            self.data_root = Path(data_root)
+        else:
+            # 获取项目根目录
+            import os
+            current_dir = Path(os.getcwd())
+            self.data_root = current_dir / "assets" / "Finance_Data"
+        
+        self._ensure_directory_structure()
+        self.accounts: Dict[str, Account] = {}
+        self.load_all_accounts()
+        
+        # 如果没有账户，自动创建 admin 账户
+        if len(self.accounts) == 0:
+            self.create_account(
+                account_name="admin",
+                description="默认管理账户"
+            )
+    
+    def _ensure_directory_structure(self) -> None:
+        """确保目录结构完整"""
+        self.data_root.mkdir(parents=True, exist_ok=True)
+        
+        # 创建子目录
+        subdirs = ['accounts', 'backups', 'images', 'invoices', 'payments', 'purchases']
+        for subdir in subdirs:
+            (self.data_root / subdir).mkdir(exist_ok=True)
+    
+    def _get_account_dir(self, account_id: str) -> Path:
+        """获取账户目录"""
+        account_dir = self.data_root / 'accounts' / account_id
+        account_dir.mkdir(parents=True, exist_ok=True)
+        return account_dir
+    
+    def _get_transaction_dir(self, account_id: str, trans_id: str) -> Path:
+        """获取交易记录目录"""
+        trans_dir = self._get_account_dir(account_id) / trans_id
+        trans_dir.mkdir(parents=True, exist_ok=True)
+        return trans_dir
+    
+    def _save_account_metadata(self, account: Account) -> None:
+        """保存账户元数据（不包含交易详情）"""
+        account_dir = self._get_account_dir(account.id)
+        metadata_file = account_dir / 'metadata.json'
+        
+        metadata = {
+            'id': account.id,
+            'name': account.name,
+            'description': account.description,
+            'categories': account.categories,
+            'created_at': account.created_at,
+            'updated_at': account.updated_at
+        }
+        
+        with open(metadata_file, 'w', encoding='utf-8') as f:
+            json.dump(metadata, f, ensure_ascii=False, indent=2)
+    
+    def _load_account_metadata(self, account_id: str) -> Optional[dict]:
+        """加载账户元数据"""
+        metadata_file = self._get_account_dir(account_id) / 'metadata.json'
+        if not metadata_file.exists():
+            return None
+        
+        with open(metadata_file, 'r', encoding='utf-8') as f:
+            return json.load(f)
+    
+    def _save_transaction_data(self, account_id: str, transaction: Transaction) -> None:
+        """保存交易记录数据"""
+        trans_dir = self._get_transaction_dir(account_id, transaction.id)
+        data_file = trans_dir / 'data.json'
+        
+        with open(data_file, 'w', encoding='utf-8') as f:
+            json.dump(transaction.to_dict(), f, ensure_ascii=False, indent=2)
+    
+    def _load_transaction_data(self, account_id: str, trans_id: str) -> Optional[Transaction]:
+        """加载交易记录数据"""
+        data_file = self._get_transaction_dir(account_id, trans_id) / 'data.json'
+        if not data_file.exists():
+            return None
+        
+        with open(data_file, 'r', encoding='utf-8') as f:
+            data = json.load(f)
+            return Transaction.from_dict(data)
+    
+    def create_account(self, account_name: str, description: str = "") -> Account:
+        """创建新账户"""
+        account = Account(account_name=account_name, description=description)
+        self.accounts[account.id] = account
+        self._save_account_metadata(account)
+        return account
+    
+    def get_account(self, account_id: str) -> Optional[Account]:
+        """获取账户"""
+        return self.accounts.get(account_id)
+    
+    def get_all_accounts(self) -> List[Account]:
+        """获取所有账户"""
+        return list(self.accounts.values())
+    
+    def delete_account(self, account_id: str) -> bool:
+        """删除账户及其所有数据"""
+        if account_id not in self.accounts:
+            return False
+        
+        account_dir = self._get_account_dir(account_id)
+        try:
+            shutil.rmtree(account_dir)
+            del self.accounts[account_id]
+            return True
+        except Exception as e:
+            print(f"删除账户出错: {e}")
+            return False
+    
+    def update_account(self, account_id: str, account_name: Optional[str] = None, description: Optional[str] = None) -> bool:
+        """更新账户信息"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return False
+        
+        if account_name:
+            account.name = account_name
+        if description is not None:
+            account.description = description
+        
+        account.updated_at = datetime.now().isoformat()
+        self._save_account_metadata(account)
+        return True
+    
+    def add_transaction(self, account_id: str, transaction: Transaction) -> bool:
+        """添加交易记录到账户"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return False
+        
+        account.add_transaction(transaction)
+        self._save_transaction_data(account_id, transaction)
+        return True
+    
+    def save_image_for_transaction(self, account_id: str, trans_id: str, 
+                                   image_type: TransactionType, image_path: str) -> Optional[str]:
+        """保存交易相关的图片，返回相对路径"""
+        trans_dir = self._get_transaction_dir(account_id, trans_id)
+        
+        source_path = Path(image_path)
+        if not source_path.exists():
+            return None
+        
+        # 保存图片到对应的图片目录
+        dest_dir = trans_dir / image_type.value
+        dest_dir.mkdir(exist_ok=True)
+        
+        dest_path = dest_dir / source_path.name
+        shutil.copy2(source_path, dest_path)
+        
+        # 返回相对于data_root的路径
+        relative_path = str(dest_path.relative_to(self.data_root))
+        return relative_path
+    
+    def get_transaction_image_path(self, account_id: str, relative_path: str) -> Optional[Path]:
+        """获取交易图片的完整路径"""
+        if not relative_path:
+            return None
+        return self.data_root / relative_path
+    
+    def delete_transaction(self, account_id: str, trans_id: str) -> bool:
+        """删除交易记录"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return False
+        
+        # 删除磁盘上的文件
+        trans_dir = self._get_transaction_dir(account_id, trans_id)
+        try:
+            shutil.rmtree(trans_dir)
+        except Exception as e:
+            print(f"删除交易记录文件出错: {e}")
+        
+        # 从账户中移除
+        return account.remove_transaction(trans_id)
+    
+    def update_transaction(self, account_id: str, trans_id: str, **kwargs) -> bool:
+        """更新交易记录"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return False
+        
+        transaction = account.get_transaction(trans_id)
+        if not transaction:
+            return False
+        
+        # 更新允许的字段
+        allowed_fields = ['date', 'amount', 'trader', 'notes', 'invoice_path', 
+                         'payment_path', 'purchase_path', 'category']
+        for field, value in kwargs.items():
+            if field in allowed_fields:
+                setattr(transaction, field, value)
+        
+        transaction.updated_at = datetime.now().isoformat()
+        self._save_transaction_data(account_id, transaction)
+        return True
+    
+    def get_transaction(self, account_id: str, trans_id: str) -> Optional[Transaction]:
+        """获取单个交易记录"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return None
+        return account.get_transaction(trans_id)
+    
+    def query_transactions(self, account_id: str, date_start: Optional[str] = None, 
+                          date_end: Optional[str] = None, amount_min: Optional[float] = None,
+                          amount_max: Optional[float] = None, trader: Optional[str] = None,
+                          category: Optional[str] = None) -> List[Transaction]:
+        """查询交易记录（支持多条件筛选）"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return []
+        
+        results = []
+        for trans in account.transactions:
+            # 日期范围筛选
+            if date_start and trans.date < date_start:
+                continue
+            if date_end and trans.date > date_end:
+                continue
+            
+            # 金额范围筛选
+            if amount_min is not None and trans.amount < amount_min:
+                continue
+            if amount_max is not None and trans.amount > amount_max:
+                continue
+            
+            # 交易人筛选（模糊匹配）
+            if trader and trader.lower() not in trans.trader.lower():
+                continue
+            
+            # 分类筛选
+            if category and trans.category != category:
+                continue
+            
+            results.append(trans)
+        
+        # 按日期排序
+        results.sort(key=lambda x: x.date, reverse=True)
+        return results
+    
+    def get_account_summary(self, account_id: str) -> Optional[dict]:
+        """获取账户汇总信息"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return None
+        
+        total_amount = sum(t.amount for t in account.transactions)
+        transaction_count = len(account.transactions)
+        
+        return {
+            'account_id': account_id,
+            'account_name': account.name,
+            'total_amount': total_amount,
+            'transaction_count': transaction_count,
+            'created_at': account.created_at,
+            'updated_at': account.updated_at
+        }
+    
+    def export_account_package(self, account_id: str, export_path: str) -> bool:
+        """导出账户为可转移的压缩包"""
+        account_dir = self._get_account_dir(account_id)
+        if not account_dir.exists():
+            return False
+        
+        try:
+            export_file = Path(export_path) / f"{self.accounts[account_id].name}_{account_id}.zip"
+            
+            with zipfile.ZipFile(export_file, 'w', zipfile.ZIP_DEFLATED) as zipf:
+                for root, dirs, files in os.walk(account_dir):
+                    for file in files:
+                        file_path = Path(root) / file
+                        arcname = file_path.relative_to(account_dir)
+                        zipf.write(file_path, arcname)
+            
+            return True
+        except Exception as e:
+            print(f"导出账户出错: {e}")
+            return False
+    
+    def import_account_package(self, zip_path: str) -> Optional[str]:
+        """导入账户压缩包，返回导入的账户ID"""
+        try:
+            zip_path = Path(zip_path)
+            if not zip_path.exists():
+                return None
+            
+            # 先加载元数据以获取账户ID
+            with zipfile.ZipFile(zip_path, 'r') as zipf:
+                metadata_content = zipf.read('metadata.json')
+                metadata = json.loads(metadata_content)
+                account_id = metadata['id']
+            
+            # 如果账户已存在，创建新ID
+            if account_id in self.accounts:
+                account_id = str(uuid.uuid4())
+                # 更新元数据中的ID
+                metadata['id'] = account_id
+            
+            # 解压到临时目录
+            temp_dir = self.data_root / f"_temp_{uuid.uuid4()}"
+            with zipfile.ZipFile(zip_path, 'r') as zipf:
+                zipf.extractall(temp_dir)
+            
+            # 更新临时目录中的元数据文件
+            metadata_file = temp_dir / 'metadata.json'
+            with open(metadata_file, 'w', encoding='utf-8') as f:
+                json.dump(metadata, f, ensure_ascii=False, indent=2)
+            
+            # 移动到正式目录
+            account_dir = self._get_account_dir(account_id)
+            if account_dir.exists():
+                shutil.rmtree(account_dir)
+            
+            shutil.move(str(temp_dir), str(account_dir))
+            
+            # 重新加载账户
+            self.load_all_accounts()
+            return account_id
+        except Exception as e:
+            print(f"导入账户出错: {e}")
+            return None
+    
+    def backup_all_accounts(self) -> bool:
+        """备份所有账户"""
+        try:
+            backup_dir = self.data_root / 'backups'
+            backup_dir.mkdir(exist_ok=True)
+            
+            timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
+            backup_file = backup_dir / f"backup_{timestamp}.zip"
+            
+            accounts_dir = self.data_root / 'accounts'
+            with zipfile.ZipFile(backup_file, 'w', zipfile.ZIP_DEFLATED) as zipf:
+                for root, dirs, files in os.walk(accounts_dir):
+                    for file in files:
+                        file_path = Path(root) / file
+                        arcname = file_path.relative_to(self.data_root / 'accounts')
+                        zipf.write(file_path, arcname)
+            
+            return True
+        except Exception as e:
+            print(f"备份账户出错: {e}")
+            return False
+    
+    def load_all_accounts(self) -> None:
+        """加载所有账户"""
+        self.accounts.clear()
+        accounts_dir = self.data_root / 'accounts'
+        
+        if not accounts_dir.exists():
+            return
+        
+        for account_dir in accounts_dir.iterdir():
+            if not account_dir.is_dir():
+                continue
+            
+            metadata = self._load_account_metadata(account_dir.name)
+            if not metadata:
+                continue
+            
+            account = Account(
+                account_id=metadata['id'],
+                account_name=metadata['name'],
+                description=metadata.get('description', '')
+            )
+            account.categories = metadata.get('categories', [])  # 从元数据加载分类
+            account.created_at = metadata.get('created_at')
+            account.updated_at = metadata.get('updated_at')
+            
+            # 加载该账户的所有交易记录
+            trans_dirs = [d for d in account_dir.iterdir() 
+                         if d.is_dir() and d.name not in ['invoice', 'payment', 'purchase']]
+            
+            for trans_dir in trans_dirs:
+                transaction = self._load_transaction_data(account_dir.name, trans_dir.name)
+                if transaction:
+                    account.transactions.append(transaction)
+            
+            # 按日期排序
+            account.transactions.sort(key=lambda x: x.date, reverse=True)
+            
+            self.accounts[account.id] = account
+    
+    def export_to_csv(self, account_id: str, csv_path: str) -> bool:
+        """导出账户数据为CSV格式"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return False
+        
+        try:
+            import csv
+            with open(csv_path, 'w', newline='', encoding='utf-8-sig') as f:
+                writer = csv.writer(f)
+                writer.writerow(['日期', '金额', '交易人', '分类', '备注', '创建时间'])
+                
+                for trans in account.transactions:
+                    writer.writerow([
+                        trans.date,
+                        trans.amount,
+                        trans.trader,
+                        trans.category,
+                        trans.notes,
+                        trans.created_at
+                    ])
+            
+            return True
+        except Exception as e:
+            print(f"导出CSV出错: {e}")
+            return False
+    
+    def add_category(self, account_id: str, category: str) -> bool:
+        """添加交易分类"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return False
+        
+        if category not in account.categories:
+            account.categories.append(category)
+            account.updated_at = datetime.now().isoformat()
+            self._save_account_metadata(account)
+            return True
+        return False
+    
+    def rename_category(self, account_id: str, old_name: str, new_name: str) -> bool:
+        """重命名交易分类"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return False
+        
+        if old_name not in account.categories:
+            return False
+        
+        if new_name in account.categories:
+            return False  # 新分类名已存在
+        
+        # 重命名分类
+        idx = account.categories.index(old_name)
+        account.categories[idx] = new_name
+        
+        # 更新所有使用旧分类的交易
+        account_dir = self._get_account_dir(account_id)
+        for trans_dir in account_dir.iterdir():
+            if not trans_dir.is_dir() or trans_dir.name in ['invoice', 'payment', 'purchase']:
+                continue
+            
+            data_file = trans_dir / 'data.json'
+            if data_file.exists():
+                try:
+                    with open(data_file, 'r', encoding='utf-8') as f:
+                        transaction_data = json.load(f)
+                    
+                    if transaction_data.get('category') == old_name:
+                        transaction_data['category'] = new_name
+                        with open(data_file, 'w', encoding='utf-8') as f:
+                            json.dump(transaction_data, f, ensure_ascii=False, indent=2)
+                except Exception as e:
+                    print(f"更新交易分类出错: {e}")
+        
+        account.updated_at = datetime.now().isoformat()
+        self._save_account_metadata(account)
+        return True
+    
+    def delete_category(self, account_id: str, category: str) -> bool:
+        """删除交易分类"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return False
+        
+        if category in account.categories:
+            account.categories.remove(category)
+            
+            # 清除所有使用此分类的交易的分类字段
+            account_dir = self._get_account_dir(account_id)
+            for trans_dir in account_dir.iterdir():
+                if not trans_dir.is_dir() or trans_dir.name in ['invoice', 'payment', 'purchase']:
+                    continue
+                
+                data_file = trans_dir / 'data.json'
+                if data_file.exists():
+                    try:
+                        with open(data_file, 'r', encoding='utf-8') as f:
+                            transaction_data = json.load(f)
+                        
+                        if transaction_data.get('category') == category:
+                            transaction_data['category'] = ""
+                            with open(data_file, 'w', encoding='utf-8') as f:
+                                json.dump(transaction_data, f, ensure_ascii=False, indent=2)
+                    except Exception as e:
+                        print(f"清除交易分类出错: {e}")
+            
+            account.updated_at = datetime.now().isoformat()
+            self._save_account_metadata(account)
+            return True
+        return False
+    
+    def get_categories(self, account_id: str) -> List[str]:
+        """获取账户的所有分类"""
+        account = self.accounts.get(account_id)
+        if not account:
+            return []
+        return account.categories
+    
+    def export_to_mrobot_format(self, account_id: str, transaction_ids: List[str], output_path: str) -> bool:
+        """导出交易为 .mrobot 专用格式（ZIP 文件）
+        
+        格式说明：
+        - 文件扩展名：.mrobot（实际上是 ZIP 文件）
+        - 结构：
+          - metadata.json（交易元数据）
+          - images/（所有相关图片）
+        """
+        try:
+            account = self.accounts.get(account_id)
+            if not account:
+                return False
+            
+            output_file = Path(output_path)
+            if not output_file.parent.exists():
+                output_file.parent.mkdir(parents=True, exist_ok=True)
+            
+            # 创建 ZIP 文件
+            with zipfile.ZipFile(output_file, 'w', zipfile.ZIP_DEFLATED) as zf:
+                # 收集交易数据和图片
+                transactions_data = []
+                image_index = 0
+                
+                for trans_id in transaction_ids:
+                    transaction = self._load_transaction_data(account_id, trans_id)
+                    if not transaction:
+                        continue
+                    
+                    # 转换交易为字典
+                    trans_dict = transaction.to_dict()
+                    
+                    # 处理图片，存储相对路径
+                    image_map = {}
+                    
+                    if transaction.invoice_path:
+                        img_path = self.get_transaction_image_path(account_id, transaction.invoice_path)
+                        if img_path and img_path.exists():
+                            archive_path = f"images/invoice_{image_index}{img_path.suffix}"
+                            zf.write(str(img_path), archive_path)
+                            image_map['invoice'] = archive_path
+                            image_index += 1
+                    
+                    if transaction.payment_path:
+                        img_path = self.get_transaction_image_path(account_id, transaction.payment_path)
+                        if img_path and img_path.exists():
+                            archive_path = f"images/payment_{image_index}{img_path.suffix}"
+                            zf.write(str(img_path), archive_path)
+                            image_map['payment'] = archive_path
+                            image_index += 1
+                    
+                    if transaction.purchase_path:
+                        img_path = self.get_transaction_image_path(account_id, transaction.purchase_path)
+                        if img_path and img_path.exists():
+                            archive_path = f"images/purchase_{image_index}{img_path.suffix}"
+                            zf.write(str(img_path), archive_path)
+                            image_map['purchase'] = archive_path
+                            image_index += 1
+                    
+                    trans_dict['image_map'] = image_map
+                    transactions_data.append(trans_dict)
+                
+                # 创建元数据 JSON
+                metadata = {
+                    'version': '1.0',
+                    'account_name': account.name,
+                    'account_description': account.description,
+                    'export_date': datetime.now().isoformat(),
+                    'transactions': transactions_data,
+                    'transaction_count': len(transactions_data)
+                }
+                
+                # 将元数据写入 ZIP
+                metadata_json = json.dumps(metadata, ensure_ascii=False, indent=2)
+                zf.writestr('metadata.json', metadata_json)
+            
+            return True
+        
+        except Exception as e:
+            print(f"导出失败: {e}")
+            return False

app/tools/update_code.py

@@ -10,20 +10,44 @@ import time
 def update_code(parent=None, info_callback=None, error_callback=None):
     url = "http://gitea.qutrobot.top/robofish/MRobot/archive/User_code.zip"
     
-    # 使用与CodeGenerator.get_assets_dir相同的逻辑确定assets目录
+    # 导入 CodeGenerator 以使用统一的路径获取逻辑
+    try:
+        from app.tools.code_generator import CodeGenerator
+        # 直接使用 CodeGenerator 的路径获取方法，确保路径一致
+        assets_dir = CodeGenerator.get_assets_dir("")
+        print(f"更新代码：使用 CodeGenerator 路径: {assets_dir}")
+    except Exception as e:
+        print(f"无法导入 CodeGenerator，使用后备路径逻辑: {e}")
+        # 后备方案：使用与CodeGenerator.get_assets_dir相同的逻辑确定assets目录
         if getattr(sys, 'frozen', False):
-        # 打包后的环境 - 使用可执行文件所在目录
+            # 打包后的环境
+            if hasattr(sys, '_MEIPASS'):
+                base_path = getattr(sys, '_MEIPASS')
+                assets_dir = os.path.join(base_path, "assets")
+                print(f"更新代码：使用PyInstaller临时目录: {assets_dir}")
+            else:
+                # 使用可执行文件所在目录
                 exe_dir = os.path.dirname(sys.executable)
                 assets_dir = os.path.join(exe_dir, "assets")
                 print(f"更新代码：打包环境，使用路径: {assets_dir}")
             
-        # 如果exe_dir/assets不存在，尝试使用相对路径作为后备
+            # 如果不存在，尝试工作目录
             if not os.path.exists(assets_dir):
-            assets_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../assets")
-            print(f"更新代码：后备路径: {assets_dir}")
+                cwd_assets = os.path.join(os.getcwd(), "assets")
+                if os.path.exists(cwd_assets):
+                    assets_dir = cwd_assets
+                    print(f"更新代码：使用工作目录: {assets_dir}")
         else:
             # 开发环境
-        assets_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../assets")
+            current_dir = os.path.dirname(os.path.abspath(__file__))
+            while current_dir != os.path.dirname(current_dir):
+                if os.path.basename(current_dir) == 'MRobot':
+                    break
+                parent_dir = os.path.dirname(current_dir)
+                if parent_dir == current_dir:
+                    break
+                current_dir = parent_dir
+            assets_dir = os.path.join(current_dir, "assets")
             print(f"更新代码：开发环境，使用路径: {assets_dir}")
     
     local_dir = os.path.join(assets_dir, "User_code")
@@ -93,6 +117,16 @@ def update_code(parent=None, info_callback=None, error_callback=None):
                 if backup_dir and os.path.exists(backup_dir):
                     shutil.rmtree(backup_dir, ignore_errors=True)
                 
+                # 清除 CodeGenerator 的缓存，确保后续读取更新后的文件
+                try:
+                    from app.tools.code_generator import CodeGenerator
+                    CodeGenerator._assets_dir_cache = None
+                    CodeGenerator._assets_dir_initialized = False
+                    CodeGenerator._template_dir_logged = False
+                    print("已清除 CodeGenerator 缓存")
+                except Exception as e:
+                    print(f"清除缓存失败（可忽略）: {e}")
+                
                 if info_callback:
                     info_callback(parent)
                 return True

assets/Finance_Data/accounts/06266d34-8789-45e9-aff0-e42549c238ba/metadata.json

@@ -0,0 +1,8 @@
+{
+  "id": "06266d34-8789-45e9-aff0-e42549c238ba",
+  "name": "admin",
+  "description": "默认管理账户",
+  "categories": [],
+  "created_at": "2025-12-19T22:06:29.964929",
+  "updated_at": "2025-12-19T22:06:29.964938"
+}

assets/Finance_Data/accounts/7751771f-1363-4606-b292-2db511004bae/metadata.json

@@ -0,0 +1,8 @@
+{
+  "id": "7751771f-1363-4606-b292-2db511004bae",
+  "name": "admin",
+  "description": "默认管理账户",
+  "categories": [],
+  "created_at": "2025-12-29T20:48:32.536465",
+  "updated_at": "2025-12-29T20:48:32.536472"
+}

assets/User_code/STRUCTURE.md

@@ -0,0 +1,113 @@
+# User_code 目录结构说明
+
+## 新的文件夹结构
+
+所有外设、组件和设备的文件现在都存放在独立的子文件夹中，便于管理和维护。
+
+### BSP (板级支持包)
+```
+bsp/
+├── bsp.h                 # BSP 总头文件
+├── describe.csv          # 外设描述文件
+├── .gitkeep
+├── can/
+│   ├── can.c
+│   └── can.h
+├── fdcan/
+│   ├── fdcan.c
+│   └── fdcan.h
+├── uart/
+│   ├── uart.c
+│   └── uart.h
+├── spi/
+│   ├── spi.c
+│   └── spi.h
+├── i2c/
+│   ├── i2c.c
+│   └── i2c.h
+├── gpio/
+│   ├── gpio.c
+│   └── gpio.h
+├── pwm/
+│   ├── pwm.c
+│   └── pwm.h
+├── time/
+│   ├── time.c
+│   └── time.h
+├── dwt/
+│   ├── dwt.c
+│   └── dwt.h
+└── mm/
+    ├── mm.c
+    └── mm.h
+```
+
+### Component (组件)
+```
+component/
+├── describe.csv          # 组件描述文件
+├── dependencies.csv      # 组件依赖关系
+├── .gitkeep
+├── ahrs/
+├── capacity/
+├── cmd/
+├── crc16/
+├── crc8/
+├── error_detect/
+├── filter/
+├── freertos_cli/
+├── limiter/
+├── mixer/
+├── pid/
+├── ui/
+└── user_math/
+```
+
+### Device (设备)
+```
+device/
+├── device.h              # Device 总头文件
+├── config.yaml           # 设备配置文件
+├── .gitkeep
+├── bmi088/
+├── buzzer/
+├── dm_imu/
+├── dr16/
+├── ist8310/
+├── led/
+├── motor/
+├── motor_dm/
+├── motor_lk/
+├── motor_lz/
+├── motor_odrive/
+├── motor_rm/
+├── motor_vesc/
+├── oid/
+├── ops9/
+├── rc_can/
+├── servo/
+├── vofa/
+├── ws2812/
+└── lcd_driver/          # LCD 驱动（原有结构）
+```
+
+## 代码生成逻辑
+
+代码生成器会：
+1. 首先尝试从子文件夹加载模板（如 `bsp/can/can.c`）
+2. 如果子文件夹不存在，回退到根目录加载（向后兼容）
+3. 生成时将文件展开到项目的扁平目录结构中（如 `User/bsp/can.c`）
+
+## 优势
+
+✅ **更好的组织**: 每个外设/组件的文件都在独立文件夹中
+✅ **便于管理**: 添加、删除、修改模板更加方便
+✅ **向后兼容**: 现有的扁平结构仍然可以正常工作
+✅ **清晰的结构**: 一目了然地看到所有可用的外设/组件
+
+## 迁移说明
+
+如果你添加新的外设/组件/设备：
+1. 在对应目录下创建新的子文件夹（小写命名）
+2. 将 .c 和 .h 文件放入子文件夹
+3. 代码生成器会自动识别并使用

assets/User_code/bsp/describe.csv

@@ -1,5 +1,6 @@
 uart,请开启uart的dma和中断
 can,请开启can中断，使用函数前请确保can已经初始化。一定要开启can发送中断！！！
+fdcan,请开启fdcan中断，支持经典CAN和FDCAN模式。会自动根据IOC配置生成对应的宏定义。
 gpio,会自动读取cubemx中配置为gpio的引脚，并自动区分输入输出和中断。
 spi,请开启spi的dma和中断
 i2c,要求开始spi中断

assets/User_code/bsp/fdcan/fdcan.c

@@ -0,0 +1,576 @@
+/* Includes ----------------------------------------------------------------- */
+#include "fdcan.h"
+#include "bsp/fdcan.h"
+#include "bsp/bsp.h"
+#include <fdcan.h>
+#include <cmsis_os2.h>
+#include <string.h>
+
+/* Private define ----------------------------------------------------------- */
+#define FDCAN_QUEUE_MUTEX_TIMEOUT         100
+
+/* Private macro ------------------------------------------------------------ */
+
+/* ===== FDCAN_FilterTypeDef 配置表 =====
+ * 定义每个FDCAN实例的过滤器参数表。
+ * 过滤器表参数说明：
+ *   idx       idtype               ftype                id1           id2           rxidx
+ *   过滤器编号 标识符类型            过滤器类型           过滤器ID1      过滤器ID2      接收缓冲区索引
+ */
+#ifdef FDCAN1_EN
+  #define FDCAN1_FILTER_CONFIG_TABLE(X) \
+    X(0,       FDCAN_STANDARD_ID,   FDCAN_FILTER_MASK,   0x000     ,   0x000     ,   0) \
+    X(1,       FDCAN_EXTENDED_ID,   FDCAN_FILTER_MASK,   0x00000000,   0x00000000,   0) 
+    #define FDCAN1_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
+#endif
+#ifdef FDCAN2_EN
+  #define FDCAN2_FILTER_CONFIG_TABLE(X) \
+    X(0,       FDCAN_STANDARD_ID,   FDCAN_FILTER_MASK,   0x000     ,   0x000     ,   0) \
+    X(1,       FDCAN_EXTENDED_ID,   FDCAN_FILTER_MASK,   0x00000000,   0x00000000,   0) 
+    #define FDCAN2_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
+#endif
+#ifdef FDCAN3_EN
+  #define FDCAN3_FILTER_CONFIG_TABLE(X) \
+    X(0,       FDCAN_STANDARD_ID,   FDCAN_FILTER_MASK,   0x000     ,   0x000     ,   0) \
+    X(1,       FDCAN_EXTENDED_ID,   FDCAN_FILTER_MASK,   0x00000000,   0x00000000,   0) 
+  #define FDCAN3_GLOBAL_FILTER FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE/* 全局过滤器参数（用于 HAL_FDCAN_ConfigGlobalFilter） */
+#endif
+
+/* ====宏展开实现==== */
+#define FDCAN_FILTER_TO_RXFIFO_ENUM_INNER(FIFOIndex) FDCAN_FILTER_TO_RXFIFO##FIFOIndex 
+#define FDCAN_FILTER_TO_RXFIFO_ENUM(FIFOIndex) FDCAN_FILTER_TO_RXFIFO_ENUM_INNER(FIFOIndex)
+#define FDCAN_CONFIG_FILTER(idx, idtype, ftype, id1, id2, rxidx) \
+    sFilterConfig.FilterIndex = (idx); \
+    sFilterConfig.IdType = (idtype); \
+    sFilterConfig.FilterType = (ftype); \
+    sFilterConfig.FilterConfig = (FDCAN_FILTER_TO_RXFIFO_ENUM(FDCANX_RX_FIFO)); \
+    sFilterConfig.FilterID1 = (id1); \
+    sFilterConfig.FilterID2 = (id2); \
+    sFilterConfig.RxBufferIndex = (rxidx); \
+    HAL_FDCAN_ConfigFilter(&hfdcan, &sFilterConfig); 
+
+#define FDCAN_NOTIFY_FLAG_RXFIFO_INNER(FIFO_IDX)   FDCAN_IT_RX_FIFO##FIFO_IDX##_NEW_MESSAGE
+#define FDCAN_NOTIFY_FLAG_RXFIFO(FIFO_IDX)         FDCAN_NOTIFY_FLAG_RXFIFO_INNER(FIFO_IDX)
+#define FDCANx_NOTIFY_FLAGS(FIFO_MACRO)   (FDCAN_NOTIFY_FLAG_RXFIFO(FIFO_MACRO) | FDCAN_IT_TX_EVT_FIFO_NEW_DATA | FDCAN_IT_RAM_ACCESS_FAILURE)
+
+#define FDCANX_MSG_PENDING_CB_INNER(FIFO_IDX) HAL_FDCAN_RX_FIFO##FIFO_IDX##_MSG_PENDING_CB
+#define FDCANX_MSG_PENDING_CB(FIFO_IDX)   FDCANX_MSG_PENDING_CB_INNER(FIFO_IDX)
+/* Private typedef ---------------------------------------------------------- */
+typedef struct BSP_FDCAN_QueueNode {
+    BSP_FDCAN_t fdcan;
+    uint32_t can_id;
+    osMessageQueueId_t queue;
+    uint8_t queue_size;
+    struct BSP_FDCAN_QueueNode *next;
+} BSP_FDCAN_QueueNode_t;
+
+/* Private variables -------------------------------------------------------- */
+static BSP_FDCAN_QueueNode_t *queue_list = NULL;
+static osMutexId_t queue_mutex = NULL;
+static void (*FDCAN_Callback[BSP_FDCAN_NUM][HAL_FDCAN_CB_NUM])(void);
+static bool inited = false;
+static BSP_FDCAN_IdParser_t id_parser = NULL;
+static BSP_FDCAN_TxQueue_t tx_queues[BSP_FDCAN_NUM];
+static const uint8_t fdcan_dlc2len[16] = {0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64};
+
+/* Private function prototypes ---------------------------------------------- */
+static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan);
+static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id);
+static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size);
+static void BSP_FDCAN_RxFifo0Callback(void);
+static void BSP_FDCAN_RxFifo1Callback(void);
+static void BSP_FDCAN_TxCompleteCallback(void);
+static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header);
+static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type);
+static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan);
+static bool BSP_FDCAN_TxQueuePush(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg);
+static bool BSP_FDCAN_TxQueuePop(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg);
+static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan);
+
+/* Private functions -------------------------------------------------------- */
+static BSP_FDCAN_t FDCAN_Get(FDCAN_HandleTypeDef *hfdcan) {
+  if (hfdcan == NULL) return BSP_FDCAN_ERR;
+  if (hfdcan->Instance == FDCAN1) return BSP_FDCAN_1;
+  else if (hfdcan->Instance == FDCAN2) return BSP_FDCAN_2;
+  else if (hfdcan->Instance == FDCAN3) return BSP_FDCAN_3;
+  else return BSP_FDCAN_ERR;
+}
+
+static osMessageQueueId_t BSP_FDCAN_FindQueue(BSP_FDCAN_t fdcan, uint32_t can_id) {
+  BSP_FDCAN_QueueNode_t *node = queue_list;
+  while (node != NULL) {
+    if (node->fdcan == fdcan && node->can_id == can_id) return node->queue;
+    node = node->next;
+  }
+  return NULL;
+}
+
+static int8_t BSP_FDCAN_CreateIdQueue(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size) {
+  if (queue_size == 0) queue_size = BSP_FDCAN_DEFAULT_QUEUE_SIZE;
+  if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT;
+  BSP_FDCAN_QueueNode_t *node = queue_list;
+  while (node != NULL) {
+    if (node->fdcan == fdcan && node->can_id == can_id) {
+      osMutexRelease(queue_mutex);
+      return BSP_ERR;
+    }
+    node = node->next;
+  }
+  
+  BSP_FDCAN_QueueNode_t *new_node = (BSP_FDCAN_QueueNode_t *)BSP_Malloc(sizeof(BSP_FDCAN_QueueNode_t));
+  if (new_node == NULL) { osMutexRelease(queue_mutex); return BSP_ERR_NULL; }
+  new_node->queue = osMessageQueueNew(queue_size, sizeof(BSP_FDCAN_Message_t), NULL);
+  if (new_node->queue == NULL) { BSP_Free(new_node); osMutexRelease(queue_mutex); return BSP_ERR; }
+  new_node->fdcan = fdcan;
+  new_node->can_id = can_id;
+  new_node->queue_size = queue_size;
+  new_node->next = queue_list;
+  queue_list = new_node;
+  osMutexRelease(queue_mutex);
+  return BSP_OK;
+}
+
+static BSP_FDCAN_FrameType_t BSP_FDCAN_GetFrameType(FDCAN_RxHeaderTypeDef *header) {
+  if (header->RxFrameType == FDCAN_REMOTE_FRAME) {
+    return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_REMOTE : BSP_FDCAN_FRAME_STD_REMOTE;
+  } else {
+    return (header->IdType == FDCAN_EXTENDED_ID) ? BSP_FDCAN_FRAME_EXT_DATA : BSP_FDCAN_FRAME_STD_DATA;
+  }
+}
+
+static uint32_t BSP_FDCAN_DefaultIdParser(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type) {
+  (void)frame_type;
+  return original_id;
+}
+
+static uint32_t BSP_FDCAN_EncodeDLC(uint8_t dlc) {
+  if (dlc <= 8) return dlc;
+  if (dlc <= 12) return FDCAN_DLC_BYTES_12;
+  if (dlc <= 16) return FDCAN_DLC_BYTES_16;
+  if (dlc <= 20) return FDCAN_DLC_BYTES_20;
+  if (dlc <= 24) return FDCAN_DLC_BYTES_24;
+  if (dlc <= 32) return FDCAN_DLC_BYTES_32;
+  if (dlc <= 48) return FDCAN_DLC_BYTES_48;
+  return FDCAN_DLC_BYTES_64;
+}
+
+static void BSP_FDCAN_TxQueueInit(BSP_FDCAN_t fdcan) {
+  if (fdcan >= BSP_FDCAN_NUM) return;
+  tx_queues[fdcan].head = 0;
+  tx_queues[fdcan].tail = 0;
+}
+
+static bool BSP_FDCAN_TxQueuePush(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) {
+  if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false;
+  BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan];
+  uint32_t next_head = (queue->head + 1) % BSP_FDCAN_TX_QUEUE_SIZE;
+  if (next_head == queue->tail) return false;
+  queue->buffer[queue->head] = *msg;
+  queue->head = next_head;
+  return true;
+}
+
+static bool BSP_FDCAN_TxQueuePop(BSP_FDCAN_t fdcan, BSP_FDCAN_TxMessage_t *msg) {
+  if (fdcan >= BSP_FDCAN_NUM || msg == NULL) return false;
+  BSP_FDCAN_TxQueue_t *queue = &tx_queues[fdcan];
+  if (queue->head == queue->tail) return false;
+  *msg = queue->buffer[queue->tail];
+  queue->tail = (queue->tail + 1) % BSP_FDCAN_TX_QUEUE_SIZE;
+  return true;
+}
+
+static bool BSP_FDCAN_TxQueueIsEmpty(BSP_FDCAN_t fdcan) {
+  if (fdcan >= BSP_FDCAN_NUM) return true;
+  return tx_queues[fdcan].head == tx_queues[fdcan].tail;
+}
+
+static void BSP_FDCAN_TxCompleteCallback(void) {
+  for (int i = 0; i < BSP_FDCAN_NUM; i++) {
+    BSP_FDCAN_t fdcan = (BSP_FDCAN_t)i;
+    FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan);
+    if (hfdcan == NULL) continue;
+    // 消费所有 TX EVENT FIFO 事件，防止堵塞
+    FDCAN_TxEventFifoTypeDef tx_event;
+    while (HAL_FDCAN_GetTxEvent(hfdcan, &tx_event) == HAL_OK) {
+        // 可在此统计 MessageMarker、ID、时间戳等
+    }
+    // 续写软件队列到硬件 FIFO
+    BSP_FDCAN_TxMessage_t msg;
+    while (!BSP_FDCAN_TxQueueIsEmpty(fdcan)) {
+      if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) == 0) break;
+      if (!BSP_FDCAN_TxQueuePop(fdcan, &msg)) break;
+      HAL_StatusTypeDef res = HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &msg.header, msg.data);
+      if (res != HAL_OK) {
+        break;
+      }
+    }
+  }
+}
+
+static void BSP_FDCAN_RxFifo0Callback(void) {
+  FDCAN_RxHeaderTypeDef rx_header;
+  uint8_t rx_data[BSP_FDCAN_MAX_DLC];
+  for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) {
+    FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx);
+    if (hfdcan == NULL) continue;
+    while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO0) > 0) {
+      if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) {
+        uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff;
+        BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header);
+        uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type);
+        osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id);
+        if (queue != NULL) {
+          BSP_FDCAN_Message_t msg;
+          msg.frame_type = frame_type;
+          msg.original_id = original_id;
+          msg.parsed_id = parsed_id;
+          uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF];
+          msg.dlc = real_len;
+          if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
+          memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零
+          memcpy(msg.data, rx_data, msg.dlc);
+          osMessageQueuePut(queue, &msg, 0, 0);
+        }
+      } else {
+          break;
+      }
+    }
+  }
+}
+
+static void BSP_FDCAN_RxFifo1Callback(void) {
+  FDCAN_RxHeaderTypeDef rx_header;
+  uint8_t rx_data[BSP_FDCAN_MAX_DLC];
+  for (int fdcan_idx = 0; fdcan_idx < BSP_FDCAN_NUM; fdcan_idx++) {
+    FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle((BSP_FDCAN_t)fdcan_idx);
+    if (hfdcan == NULL) continue;
+    while (HAL_FDCAN_GetRxFifoFillLevel(hfdcan, FDCAN_RX_FIFO1) > 0) {
+      if (HAL_FDCAN_GetRxMessage(hfdcan, FDCAN_RX_FIFO1, &rx_header, rx_data) == HAL_OK) {
+        uint32_t original_id = (rx_header.IdType == FDCAN_STANDARD_ID) ? rx_header.Identifier&0x7ff : rx_header.Identifier&0x1fffffff;
+        BSP_FDCAN_FrameType_t frame_type = BSP_FDCAN_GetFrameType(&rx_header);
+        uint32_t parsed_id = BSP_FDCAN_ParseId(original_id, frame_type);
+        osMessageQueueId_t queue = BSP_FDCAN_FindQueue((BSP_FDCAN_t)fdcan_idx, parsed_id);
+        if (queue != NULL) {
+          BSP_FDCAN_Message_t msg;
+          msg.frame_type = frame_type;
+          msg.original_id = original_id;
+          msg.parsed_id = parsed_id;
+          uint8_t real_len = fdcan_dlc2len[rx_header.DataLength & 0xF];
+          msg.dlc = real_len; 
+          if (msg.dlc > BSP_FDCAN_MAX_DLC) msg.dlc = BSP_FDCAN_MAX_DLC;
+          memset(msg.data, 0, BSP_FDCAN_MAX_DLC);//现在是最大缓冲区写法所以全清零
+          memcpy(msg.data, rx_data, msg.dlc);
+          osMessageQueuePut(queue, &msg, 0, 0);
+        }
+      } else {
+          break;
+      }
+    }
+  }
+}
+
+/* HAL Callback Stubs (map HAL FDCAN callbacks to user callbacks) */
+void HAL_FDCAN_TxEventFifoCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t TxEventFifoITs) {
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_EVENT_FIFO_CB]();
+  }
+}
+
+void HAL_FDCAN_TxBufferCompleteCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) {
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_COMPLETE_CB]();
+  }
+}
+
+void HAL_FDCAN_TxBufferAbortCallback(FDCAN_HandleTypeDef *hfdcan, uint32_t BufferIndex) {
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_TX_BUFFER_ABORT_CB]();
+  }
+}
+
+void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB]();
+  }
+}
+
+void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) {
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB]();
+  }
+}
+
+void HAL_FDCAN_ErrorCallback(FDCAN_HandleTypeDef *hfdcan) {
+  BSP_FDCAN_t bsp_fdcan = FDCAN_Get(hfdcan);
+  if (bsp_fdcan != BSP_FDCAN_ERR) {
+    if (FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB])
+      FDCAN_Callback[bsp_fdcan][HAL_FDCAN_ERROR_CB]();
+  }
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t BSP_FDCAN_Init(void) {
+  if (inited) return BSP_ERR_INITED;
+
+  memset(FDCAN_Callback, 0, sizeof(FDCAN_Callback));
+  for (int i = 0; i < BSP_FDCAN_NUM; i++) BSP_FDCAN_TxQueueInit((BSP_FDCAN_t)i);
+  id_parser = BSP_FDCAN_DefaultIdParser;
+  queue_mutex = osMutexNew(NULL);
+  if (queue_mutex == NULL) return BSP_ERR;
+
+  inited = true;
+
+  /* 配置并启动 FDCAN 实例，绑定中断/回调 */
+
+  //========== 过滤器配置说明：==========================
+  //  过滤器编号：相对于每个（相当于经典can过滤器的bank）
+  //  sFilterConfig.FilterIndex = 0 to 127(标准ID) or 0 to 63(扩展ID);  
+  //  关于过滤器索引的说明：
+  //  由stm32h7xx_hal_fdcan.c的第1874行代码可知滤波器地址计算方式如下：
+  //  StandardFilterSA（字节） = SRAMCAN_BASE + (MessageRAMOffset * 4U)
+  //  标准滤波器物理地址（字节） = StandardFilterSA + (FilterIndex * 4U)（每个标准滤波器占 4 字节 = 1 word,扩展的则是8个字节）
+  //  
+  //
+  //  标识符类型:
+  //  sFilterConfig.IdType = FDCAN_STANDARD_ID or FDCAN_EXTENDED_ID;
+  //  过滤器类型: （仅介绍掩码模式）
+  //  sFilterConfig.FilterType = FDCAN_FILTER_MASK;(掩码模式）
+  //  过滤器配置:
+  //  sFilterConfig.FilterConfig = FDCAN_FILTER_DISABLE; (禁用该过滤器条目)
+  //                               FDCAN_FILTER_TO_RXFIFO0; (将匹配的消息放入 FIFO 0（普通优先级）)
+  //                               FDCAN_FILTER_TO_RXFIFO1; (将匹配的消息放入 FIFO 1（高优先级）)
+  //                               FDCAN_FILTER_TO_RXBUFFER; (将匹配的消息放入 指定的接收缓冲区)
+  //                               FDCAN_FILTER_REJECT; (拒绝接收该标识符对应的报文)
+  //                               FDCAN_FILTER_ACCEPT; (接受所有消息)
+  //                               FDCAN_FILTER_HP            (过滤器匹配时，将报文标记为高优先级)                            
+  //                               FDCAN_FILTER_TO_RXFIFO0_HP (过滤器匹配时，将报文标记为高优先级并存储至接收FIFO 0)          
+  //                               FDCAN_FILTER_TO_RXFIFO1_HP (过滤器匹配时，将报文标记为高优先级并存储至接收FIFO 1)          
+  //                               FDCAN_FILTER_TO_RXBUFFER   (将报文存储至接收缓冲区，过滤器类型（FilterType）配置项失效 )
+  //  过滤器ID与掩码(FilterType掩码模式下)
+  //  比较值（要匹配的 ID 的参考位）
+  //  sFilterConfig.FilterID1 = 0 to 0x7FF; 标准ID
+  //                            0 to 0x1FFFFFFF 扩展ID
+  //  掩码（1=比较该位，0=忽略该位）
+  //  sFilterConfig.FilterID2 = 0 to 0x7FF; 标准ID
+  //                            0 to 0x1FFFFFFF 扩展ID
+  //  接收缓冲区索引
+  //  FilterConfig == FDCAN_FILTER_TO_RXBUFFER 时有效;必须小于RxBuffersNbr配置的实际Rx buffer数量
+  //  sFilterConfig.RxBufferIndex = 0 to (RxBuffersNbr - 1);
+  //  标记校准信息（用于 FDCAN 校准/时钟相关单元作特殊处理或统计）
+  //  仅在FilterConfig 设为 FDCAN_FILTER_TO_RXBUFFER 时才有意义，通常设置为0
+  //  IsCalibrationMsg = 0 or 1; 
+  // fdcan_filter_table.h
+  //=================================================================================
+  /* 依据上述说明，配置过滤器并启动FDCAN */
+  FDCAN_FilterTypeDef sFilterConfig;
+
+#ifdef FDCAN1_EN
+  #define hfdcan hfdcan1
+  #define FDCANX_RX_FIFO FDCAN1_RX_FIFO
+  FDCAN1_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)
+  #undef hfdcan
+  #undef FDCANX_RX_FIFO
+  HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN1_GLOBAL_FILTER);
+  HAL_FDCAN_ActivateNotification(&hfdcan1, FDCANx_NOTIFY_FLAGS(FDCAN1_RX_FIFO), 0);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, FDCANX_MSG_PENDING_CB(FDCAN1_RX_FIFO), BSP_FDCAN_RxFifo0Callback);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_1, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback);
+  HAL_FDCAN_Start(&hfdcan1);
+#endif
+
+#ifdef FDCAN2_EN
+  #define hfdcan hfdcan2
+  #define FDCANX_RX_FIFO FDCAN2_RX_FIFO
+  FDCAN2_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)
+  #undef hfdcan
+  #undef FDCANX_RX_FIFO
+  HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN2_GLOBAL_FILTER);
+  HAL_FDCAN_ActivateNotification(&hfdcan2, FDCANx_NOTIFY_FLAGS(FDCAN2_RX_FIFO), 0);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, FDCANX_MSG_PENDING_CB(FDCAN2_RX_FIFO), BSP_FDCAN_RxFifo1Callback);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_2, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback);
+  HAL_FDCAN_Start(&hfdcan2);
+#endif
+
+#ifdef FDCAN3_EN
+  #define hfdcan hfdcan3
+  #define FDCANX_RX_FIFO FDCAN3_RX_FIFO
+  FDCAN3_FILTER_CONFIG_TABLE(FDCAN_CONFIG_FILTER)
+  #undef hfdcan
+  #undef FDCANX_RX_FIFO
+  HAL_FDCAN_ConfigGlobalFilter(&hfdcan3, FDCAN3_GLOBAL_FILTER);
+  HAL_FDCAN_ActivateNotification(&hfdcan3, FDCANx_NOTIFY_FLAGS(FDCAN3_RX_FIFO), 0);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, FDCANX_MSG_PENDING_CB(FDCAN3_RX_FIFO), BSP_FDCAN_RxFifo1Callback);
+  BSP_FDCAN_RegisterCallback(BSP_FDCAN_3, HAL_FDCAN_TX_EVENT_FIFO_CB, BSP_FDCAN_TxCompleteCallback);
+  HAL_FDCAN_Start(&hfdcan3);
+#endif
+
+#undef FDCAN_FILTER_TO_RXFIFO_ENUM_INNER
+#undef FDCAN_FILTER_TO_RXFIFO_ENUM
+#undef FDCAN_CONFIG_FILTER 
+#undef FDCAN_NOTIFY_FLAG_RXFIFO_INNER
+#undef FDCAN_NOTIFY_FLAG_RXFIFO
+#undef FDCANx_NOTIFY_FLAGS
+#undef FDCANX_MSG_PENDING_CB_INNER
+#undef FDCANX_MSG_PENDING_CB
+
+  return BSP_OK;
+}
+
+FDCAN_HandleTypeDef *BSP_FDCAN_GetHandle(BSP_FDCAN_t fdcan) {
+    if (fdcan >= BSP_FDCAN_NUM) return NULL;
+    switch (fdcan) {
+        /* AUTO GENERATED BSP_FDCAN_GET_HANDLE BEGIN */
+        case BSP_FDCAN_1: return &hfdcan1;
+        case BSP_FDCAN_2: return &hfdcan2;
+        case BSP_FDCAN_3: return &hfdcan3;
+        /* AUTO GENERATED BSP_FDCAN_GET_HANDLE END */
+        default: return NULL;
+    }
+}
+
+int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t fdcan, BSP_FDCAN_Callback_t type, void (*callback)(void)) {
+    if (!inited) return BSP_ERR_INITED;
+    if (callback == NULL) return BSP_ERR_NULL;
+    if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR;
+    if (type >= HAL_FDCAN_CB_NUM) return BSP_ERR;
+    FDCAN_Callback[fdcan][type] = callback;
+    return BSP_OK;
+}
+
+int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t fdcan, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc) {
+    if (!inited) return BSP_ERR_INITED;
+    if (fdcan >= BSP_FDCAN_NUM) return BSP_ERR;
+    if (data == NULL && format != BSP_FDCAN_FORMAT_STD_REMOTE && format != BSP_FDCAN_FORMAT_EXT_REMOTE) return BSP_ERR_NULL;
+    if (dlc > BSP_FDCAN_MAX_DLC) return BSP_ERR;
+    FDCAN_HandleTypeDef *hfdcan = BSP_FDCAN_GetHandle(fdcan);
+    if (hfdcan == NULL) return BSP_ERR_NULL;
+
+  BSP_FDCAN_TxMessage_t tx_msg = {0};
+  switch (format) {
+      case BSP_FDCAN_FORMAT_STD_DATA:
+          tx_msg.header.Identifier = id;
+          tx_msg.header.IdType = FDCAN_STANDARD_ID;
+          tx_msg.header.TxFrameType = FDCAN_DATA_FRAME;
+          break;
+      case BSP_FDCAN_FORMAT_EXT_DATA:
+          tx_msg.header.Identifier = id;
+          tx_msg.header.IdType = FDCAN_EXTENDED_ID;
+          tx_msg.header.TxFrameType = FDCAN_DATA_FRAME;
+          break;
+      case BSP_FDCAN_FORMAT_STD_REMOTE:
+          tx_msg.header.Identifier = id;
+          tx_msg.header.IdType = FDCAN_STANDARD_ID;
+          tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME;
+          break;
+      case BSP_FDCAN_FORMAT_EXT_REMOTE:
+          tx_msg.header.Identifier = id;
+          tx_msg.header.IdType = FDCAN_EXTENDED_ID;
+          tx_msg.header.TxFrameType = FDCAN_REMOTE_FRAME;
+          break;
+      default:
+          return BSP_ERR;
+  }
+  switch (hfdcan->Init.FrameFormat) {
+    case FDCAN_FRAME_FD_BRS:
+      tx_msg.header.BitRateSwitch = FDCAN_BRS_ON;
+      tx_msg.header.FDFormat = FDCAN_FD_CAN;
+      break;
+    case FDCAN_FRAME_FD_NO_BRS:
+      tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF;
+      tx_msg.header.FDFormat = FDCAN_FD_CAN;
+      break;
+    case FDCAN_FRAME_CLASSIC:
+    default:
+      tx_msg.header.BitRateSwitch = FDCAN_BRS_OFF;
+      tx_msg.header.FDFormat = FDCAN_CLASSIC_CAN;
+      break;
+  }
+	tx_msg.header.ErrorStateIndicator = FDCAN_ESI_ACTIVE;
+  tx_msg.header.TxEventFifoControl = FDCAN_STORE_TX_EVENTS;
+	tx_msg.header.MessageMarker = 0x01;
+  tx_msg.header.DataLength = BSP_FDCAN_EncodeDLC(dlc);   
+
+  memset(tx_msg.data, 0, dlc);
+  if (data != NULL && dlc > 0) {memcpy(tx_msg.data, data, dlc);}
+
+  if (HAL_FDCAN_GetTxFifoFreeLevel(hfdcan) > 0) {
+    if (HAL_FDCAN_AddMessageToTxFifoQ(hfdcan, &tx_msg.header, tx_msg.data) == HAL_OK) return BSP_OK;
+  }
+  if (BSP_FDCAN_TxQueuePush(fdcan, &tx_msg)) return BSP_OK;
+  return BSP_ERR;
+}
+
+int8_t BSP_FDCAN_TransmitStdDataFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_StdDataFrame_t *frame) {
+    if (frame == NULL) return BSP_ERR_NULL;
+    return BSP_FDCAN_Transmit(fdcan, BSP_FDCAN_FORMAT_STD_DATA, frame->id, frame->data, frame->dlc);
+}
+
+int8_t BSP_FDCAN_TransmitExtDataFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_ExtDataFrame_t *frame) {
+    if (frame == NULL) return BSP_ERR_NULL;
+    return BSP_FDCAN_Transmit(fdcan, BSP_FDCAN_FORMAT_EXT_DATA, frame->id, frame->data, frame->dlc);
+}
+
+int8_t BSP_FDCAN_TransmitRemoteFrame(BSP_FDCAN_t fdcan, BSP_FDCAN_RemoteFrame_t *frame) {
+    if (frame == NULL) return BSP_ERR_NULL;
+    BSP_FDCAN_Format_t format = frame->is_extended ? BSP_FDCAN_FORMAT_EXT_REMOTE : BSP_FDCAN_FORMAT_STD_REMOTE;
+    return BSP_FDCAN_Transmit(fdcan, format, frame->id, NULL, frame->dlc);
+}
+
+int8_t BSP_FDCAN_RegisterId(BSP_FDCAN_t fdcan, uint32_t can_id, uint8_t queue_size) {
+    if (!inited) return BSP_ERR_INITED;
+    return BSP_FDCAN_CreateIdQueue(fdcan, can_id, queue_size);
+}
+
+int8_t BSP_FDCAN_GetMessage(BSP_FDCAN_t fdcan, uint32_t can_id, BSP_FDCAN_Message_t *msg, uint32_t timeout) {
+    if (!inited) return BSP_ERR_INITED;
+    if (msg == NULL) return BSP_ERR_NULL;
+    if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT;
+    osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id);
+    osMutexRelease(queue_mutex);
+    if (queue == NULL) return BSP_ERR_NO_DEV;
+    osStatus_t res = osMessageQueueGet(queue, msg, NULL, timeout);
+    return (res == osOK) ? BSP_OK : BSP_ERR;
+}
+
+int32_t BSP_FDCAN_GetQueueCount(BSP_FDCAN_t fdcan, uint32_t can_id) {
+    if (!inited) return -1;
+    if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return -1;
+    osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id);
+    osMutexRelease(queue_mutex);
+    if (queue == NULL) return -1;
+    return (int32_t)osMessageQueueGetCount(queue);
+}
+
+int8_t BSP_FDCAN_FlushQueue(BSP_FDCAN_t fdcan, uint32_t can_id) {
+    if (!inited) return BSP_ERR_INITED;
+    if (osMutexAcquire(queue_mutex, FDCAN_QUEUE_MUTEX_TIMEOUT) != osOK) return BSP_ERR_TIMEOUT;
+    osMessageQueueId_t queue = BSP_FDCAN_FindQueue(fdcan, can_id);
+    osMutexRelease(queue_mutex);
+    if (queue == NULL) return BSP_ERR_NO_DEV;
+    BSP_FDCAN_Message_t tmp;
+    while (osMessageQueueGet(queue, &tmp, NULL, BSP_FDCAN_TIMEOUT_IMMEDIATE) == osOK) { }
+    return BSP_OK;
+}
+
+int8_t BSP_FDCAN_RegisterIdParser(BSP_FDCAN_IdParser_t parser) {
+    if (!inited) return BSP_ERR_INITED;
+    if (parser == NULL) return BSP_ERR_NULL;
+    id_parser = parser;
+    return BSP_OK;
+}
+
+uint32_t BSP_FDCAN_ParseId(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type) {
+    if (id_parser != NULL) return id_parser(original_id, frame_type);
+    return BSP_FDCAN_DefaultIdParser(original_id, frame_type);
+}
+/* */
+

assets/User_code/bsp/fdcan/fdcan.h

@@ -0,0 +1,137 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include <stdint.h>
+#include <stdbool.h>
+#include "bsp/bsp.h"
+#include "bsp/mm.h"
+#include <cmsis_os.h>
+
+/* USER INCLUDE BEGIN */
+#include <fdcan.h>
+/* USER INCLUDE END */
+
+/* Exported constants ------------------------------------------------------- */
+#define BSP_FDCAN_MAX_DLC                 64
+#define BSP_FDCAN_DEFAULT_QUEUE_SIZE      10
+#define BSP_FDCAN_TIMEOUT_IMMEDIATE       0
+#define BSP_FDCAN_TIMEOUT_FOREVER         osWaitForever
+#define BSP_FDCAN_TX_QUEUE_SIZE           32
+/* Exported macro ----------------------------------------------------------- */
+//FDCANX实例使能
+/* AUTO GENERATED FDCAN_EN BEGIN */
+#define FDCAN1_EN 
+#define FDCAN2_EN  
+#define FDCAN3_EN 
+/* AUTO GENERATED FDCAN_EN END */
+
+// FDCANX接收FIFO选择（0=FIFO0, 1=FIFO1）
+/* AUTO GENERATED FDCAN_RX_FIFO BEGIN */
+#ifdef FDCAN1_EN
+  #define FDCAN1_RX_FIFO  0
+#endif
+#ifdef FDCAN2_EN
+  #define FDCAN2_RX_FIFO  1
+#endif
+#ifdef FDCAN3_EN
+  #define FDCAN3_RX_FIFO  1 
+#endif
+/* AUTO GENERATED FDCAN_RX_FIFO END */
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+  /* AUTO GENERATED BSP_FDCAN_NAME BEGIN */
+  BSP_FDCAN_1,
+  BSP_FDCAN_2,
+  BSP_FDCAN_3,
+  /* AUTO GENERATED BSP_FDCAN_NAME END */
+  BSP_FDCAN_NUM,
+  BSP_FDCAN_ERR,
+} BSP_FDCAN_t;
+
+typedef enum {
+  HAL_FDCAN_TX_EVENT_FIFO_CB,
+  HAL_FDCAN_TX_BUFFER_COMPLETE_CB,
+  HAL_FDCAN_TX_BUFFER_ABORT_CB,
+  HAL_FDCAN_RX_FIFO0_MSG_PENDING_CB,
+  HAL_FDCAN_RX_FIFO0_FULL_CB,
+  HAL_FDCAN_RX_FIFO1_MSG_PENDING_CB,
+  HAL_FDCAN_RX_FIFO1_FULL_CB,
+  HAL_FDCAN_ERROR_CB,
+  HAL_FDCAN_CB_NUM,
+} BSP_FDCAN_Callback_t;
+
+typedef enum {
+  BSP_FDCAN_FORMAT_STD_DATA,
+  BSP_FDCAN_FORMAT_EXT_DATA,
+  BSP_FDCAN_FORMAT_STD_REMOTE,
+  BSP_FDCAN_FORMAT_EXT_REMOTE,
+} BSP_FDCAN_Format_t;
+
+typedef enum {
+  BSP_FDCAN_FRAME_STD_DATA,
+  BSP_FDCAN_FRAME_EXT_DATA,
+  BSP_FDCAN_FRAME_STD_REMOTE,
+  BSP_FDCAN_FRAME_EXT_REMOTE,
+} BSP_FDCAN_FrameType_t;
+
+typedef struct {
+    BSP_FDCAN_FrameType_t frame_type;
+    uint32_t original_id;
+    uint32_t parsed_id;
+    uint8_t dlc;
+    uint8_t data[BSP_FDCAN_MAX_DLC];
+    uint32_t timestamp;
+} BSP_FDCAN_Message_t;
+
+typedef struct {
+    uint32_t id;
+    uint8_t dlc;
+    uint8_t data[BSP_FDCAN_MAX_DLC];
+} BSP_FDCAN_StdDataFrame_t;
+
+typedef struct {
+    uint32_t id;
+    uint8_t dlc;
+    uint8_t data[BSP_FDCAN_MAX_DLC];
+} BSP_FDCAN_ExtDataFrame_t;
+
+typedef struct {
+    uint32_t id;
+    uint8_t dlc;
+    bool is_extended;
+} BSP_FDCAN_RemoteFrame_t;
+
+typedef uint32_t (*BSP_FDCAN_IdParser_t)(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type);
+
+typedef struct {
+  FDCAN_TxHeaderTypeDef header; /* HAL FDCAN header type */
+  uint8_t data[BSP_FDCAN_MAX_DLC];
+} BSP_FDCAN_TxMessage_t;
+
+typedef struct {
+  BSP_FDCAN_TxMessage_t buffer[BSP_FDCAN_TX_QUEUE_SIZE];
+  volatile uint32_t head;
+  volatile uint32_t tail;
+} BSP_FDCAN_TxQueue_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+int8_t BSP_FDCAN_Init(void);
+FDCAN_HandleTypeDef *BSP_FDCAN_GetHandle(BSP_FDCAN_t can);
+int8_t BSP_FDCAN_RegisterCallback(BSP_FDCAN_t can, BSP_FDCAN_Callback_t type, void (*callback)(void));
+int8_t BSP_FDCAN_Transmit(BSP_FDCAN_t can, BSP_FDCAN_Format_t format, uint32_t id, uint8_t *data, uint8_t dlc);
+int8_t BSP_FDCAN_TransmitStdDataFrame(BSP_FDCAN_t can, BSP_FDCAN_StdDataFrame_t *frame);
+int8_t BSP_FDCAN_TransmitExtDataFrame(BSP_FDCAN_t can, BSP_FDCAN_ExtDataFrame_t *frame);
+int8_t BSP_FDCAN_TransmitRemoteFrame(BSP_FDCAN_t can, BSP_FDCAN_RemoteFrame_t *frame);
+int8_t BSP_FDCAN_RegisterId(BSP_FDCAN_t can, uint32_t can_id, uint8_t queue_size);
+int8_t BSP_FDCAN_GetMessage(BSP_FDCAN_t can, uint32_t can_id, BSP_FDCAN_Message_t *msg, uint32_t timeout);
+int32_t BSP_FDCAN_GetQueueCount(BSP_FDCAN_t can, uint32_t can_id);
+int8_t BSP_FDCAN_FlushQueue(BSP_FDCAN_t can, uint32_t can_id);
+int8_t BSP_FDCAN_RegisterIdParser(BSP_FDCAN_IdParser_t parser);
+uint32_t BSP_FDCAN_ParseId(uint32_t original_id, BSP_FDCAN_FrameType_t frame_type);
+#ifdef __cplusplus
+}
+#endif

assets/User_code/bsp/spi/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/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/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
+bsp,can,fdcan,dwt,gpio,i2c,mm,spi,uart,pwm,time
+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,oid,lcd_driver
 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;
-  }
-}
-