大更新

.vscode/settings.json

@@ -11,6 +11,12 @@
         "device.h": "c",
         "gpio.h": "c",
         "uart.h": "c",
-        "motor_rm.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"
     }
 }

app/code_page/bsp_interface.py

@@ -433,6 +433,27 @@ class bsp_can(BspPeripheralBase):
         
         # 生成CAN初始化代码
         init_lines = []
+        # 初始化发送信号量
+        init_lines.append("    // 创建发送信号量，每个CAN通道有3个发送邮箱")
+        init_lines.append("    for (int i = 0; i < BSP_CAN_NUM; i++) {")
+        init_lines.append("        tx_semaphore[i] = osSemaphoreNew(CAN_TX_MAILBOX_NUM, CAN_TX_MAILBOX_NUM, NULL);")
+        init_lines.append("        if (tx_semaphore[i] == NULL) {")
+        init_lines.append("            // 清理已创建的信号量")
+        init_lines.append("            for (int j = 0; j < i; j++) {")
+        init_lines.append("                if (tx_semaphore[j] != NULL) {")
+        init_lines.append("                    osSemaphoreDelete(tx_semaphore[j]);")
+        init_lines.append("                    tx_semaphore[j] = NULL;")
+        init_lines.append("                }")
+        init_lines.append("            }")
+        init_lines.append("            if (queue_mutex != NULL) {")
+        init_lines.append("                osMutexDelete(queue_mutex);")
+        init_lines.append("                queue_mutex = NULL;")
+        init_lines.append("            }")
+        init_lines.append("            return BSP_ERR;")
+        init_lines.append("        }")
+        init_lines.append("    }")
+        init_lines.append("")
+        
         # 先设置初始化标志
         init_lines.append("    // 先设置初始化标志，以便后续回调注册能通过检查")
         init_lines.append("    inited = true;")
@@ -482,10 +503,19 @@ class bsp_can(BspPeripheralBase):
             f"    HAL_CAN_ConfigFilter(&hcan{can_num}, &can{can_num}_filter);",
             f"    HAL_CAN_Start(&hcan{can_num});",
             "",
-            f"    // 注册{instance}回调函数",
+            f"    // 注册{instance}发送完成回调（用于释放信号量）",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+            "",
+            f"    // 注册{instance}接收回调函数",
             f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
             "",
-            f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING);",
+            f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING | ",
+            f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
             ""
         ])
 
@@ -513,10 +543,19 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);",
                 f"    HAL_CAN_Start(&hcan1);",
                 "",
-                f"    // 注册CAN1回调函数",
+                f"    // 注册CAN1发送完成回调（用于释放信号量）",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                "",
+                f"    // 注册CAN1接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
                 "",
-                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
         
@@ -529,9 +568,18 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan2, &can1_filter);  // 通过 CAN1 配置",
                 f"    HAL_CAN_Start(&hcan2);",
                 "",
-                f"    // 注册CAN2回调函数",
+                f"    // 注册CAN2发送完成回调（用于释放信号量）",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                "",
+                f"    // 注册CAN2接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);",
-                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
 
@@ -560,10 +608,19 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);",
                 f"    HAL_CAN_Start(&hcan1);",
                 "",
-                f"    // 注册CAN1回调函数",
+                f"    // 注册CAN1发送完成回调（用于释放信号量）",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                "",
+                f"    // 注册CAN1接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
                 "",
-                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
         
@@ -577,9 +634,18 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan2, &can1_filter);  // 通过 CAN1 配置",
                 f"    HAL_CAN_Start(&hcan2);",
                 "",
-                f"    // 注册CAN2回调函数",
+                f"    // 注册CAN2发送完成回调（用于释放信号量）",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                "",
+                f"    // 注册CAN2接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
-                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
         
@@ -595,9 +661,18 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);  // 通过 CAN1 配置",
                 f"    HAL_CAN_Start(&hcan{can_num});",
                 "",
-                f"    // 注册{instance}回调函数",
+                f"    // 注册{instance}发送完成回调（用于释放信号量）",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_ABORT_CB, BSP_CAN_TxAbortCallback);",
+                "",
+                f"    // 注册{instance}接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);",
-                f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO1_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO1_MSG_PENDING | ",
+                f"                                            CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
             filter_bank += 1  # 为下一个CAN分配不同的过滤器组

assets/User_code/bsp/can.c

@@ -7,6 +7,8 @@
 
 /* Private define ----------------------------------------------------------- */
 #define CAN_QUEUE_MUTEX_TIMEOUT         100   /* 队列互斥锁超时时间(ms) */
+#define CAN_TX_SEMAPHORE_TIMEOUT        1000  /* 发送信号量超时时间(ms) */
+#define CAN_TX_MAILBOX_NUM              3     /* CAN发送邮箱数量 */
 
 /* Private macro ------------------------------------------------------------ */
 /* Private typedef ---------------------------------------------------------- */
@@ -21,6 +23,7 @@ typedef struct BSP_CAN_QueueNode {
 /* Private variables -------------------------------------------------------- */
 static BSP_CAN_QueueNode_t *queue_list = NULL;
 static osMutexId_t queue_mutex = NULL;
+static osSemaphoreId_t tx_semaphore[BSP_CAN_NUM] = {NULL}; /* 发送信号量，用于控制发送邮箱访问 */
 static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
 static bool inited = false;
 static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
@@ -32,6 +35,8 @@ static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queu
 static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
 static void BSP_CAN_RxFifo0Callback(void);
 static void BSP_CAN_RxFifo1Callback(void);
+static void BSP_CAN_TxCompleteCallback(CAN_HandleTypeDef *hcan);
+static void BSP_CAN_TxAbortCallback(CAN_HandleTypeDef *hcan);
 static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
 static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
 
@@ -208,6 +213,32 @@ static void BSP_CAN_RxFifo1Callback(void) {
     }
 }
 
+/**
+ * @brief 发送完成回调统一处理函数
+ */
+static void BSP_CAN_TxCompleteCallback(CAN_HandleTypeDef *hcan) {
+    BSP_CAN_t bsp_can = CAN_Get(hcan);
+    if (bsp_can != BSP_CAN_ERR) {
+        // 释放发送信号量
+        if (tx_semaphore[bsp_can] != NULL) {
+            osSemaphoreRelease(tx_semaphore[bsp_can]);
+        }
+    }
+}
+
+/**
+ * @brief 发送中止回调统一处理函数
+ */
+static void BSP_CAN_TxAbortCallback(CAN_HandleTypeDef *hcan) {
+    BSP_CAN_t bsp_can = CAN_Get(hcan);
+    if (bsp_can != BSP_CAN_ERR) {
+        // 释放发送信号量（发送中止也要释放）
+        if (tx_semaphore[bsp_can] != NULL) {
+            osSemaphoreRelease(tx_semaphore[bsp_can]);
+        }
+    }
+}
+
 /* HAL Callback Functions --------------------------------------------------- */
 void HAL_CAN_TxMailbox0CompleteCallback(CAN_HandleTypeDef *hcan) {
     BSP_CAN_t bsp_can = CAN_Get(hcan);
@@ -332,6 +363,25 @@ int8_t BSP_CAN_Init(void) {
         return BSP_ERR;
     }
     
+    // 创建发送信号量，每个CAN通道有3个发送邮箱
+    for (int i = 0; i < BSP_CAN_NUM; i++) {
+        tx_semaphore[i] = osSemaphoreNew(CAN_TX_MAILBOX_NUM, CAN_TX_MAILBOX_NUM, NULL);
+        if (tx_semaphore[i] == NULL) {
+            // 清理已创建的信号量
+            for (int j = 0; j < i; j++) {
+                if (tx_semaphore[j] != NULL) {
+                    osSemaphoreDelete(tx_semaphore[j]);
+                    tx_semaphore[j] = NULL;
+                }
+            }
+            if (queue_mutex != NULL) {
+                osMutexDelete(queue_mutex);
+                queue_mutex = NULL;
+            }
+            return BSP_ERR;
+        }
+    }
+    
 /* AUTO GENERATED CAN_INIT */
     
     inited = true;
@@ -356,6 +406,14 @@ int8_t BSP_CAN_DeInit(void) {
         osMutexRelease(queue_mutex);
     }
     
+    // 删除发送信号量
+    for (int i = 0; i < BSP_CAN_NUM; i++) {
+        if (tx_semaphore[i] != NULL) {
+            osSemaphoreDelete(tx_semaphore[i]);
+            tx_semaphore[i] = NULL;
+        }
+    }
+    
     // 删除互斥锁
     if (queue_mutex != NULL) {
         osMutexDelete(queue_mutex);
@@ -418,8 +476,20 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
         return BSP_ERR;
     }
     
+    // 获取发送信号量，确保有可用的发送邮箱
+    if (tx_semaphore[can] == NULL) {
+        return BSP_ERR;
+    }
+    
+    osStatus_t sem_status = osSemaphoreAcquire(tx_semaphore[can], CAN_TX_SEMAPHORE_TIMEOUT);
+    if (sem_status != osOK) {
+        return BSP_ERR_TIMEOUT;  // 获取信号量超时，表示发送邮箱已满
+    }
+    
     CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
     if (hcan == NULL) {
+        // 如果获取句柄失败，需要释放信号量
+        osSemaphoreRelease(tx_semaphore[can]);
         return BSP_ERR_NULL;
     }
     
@@ -448,6 +518,8 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
             header.RTR = CAN_RTR_REMOTE;
             break;
         default:
+            // 如果格式错误，需要释放信号量
+            osSemaphoreRelease(tx_semaphore[can]);
             return BSP_ERR;
     }
     
@@ -455,7 +527,15 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
     header.TransmitGlobalTime = DISABLE;
     
     HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
-    return (result == HAL_OK) ? BSP_OK : BSP_ERR;
+    
+    if (result != HAL_OK) {
+        // 如果发送失败，需要释放信号量
+        osSemaphoreRelease(tx_semaphore[can]);
+        return BSP_ERR;
+    }
+    
+    // 发送成功，信号量将在发送完成回调中释放
+    return BSP_OK;
 }
 
 int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) {
@@ -574,6 +654,3 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
     }
     return BSP_CAN_DefaultIdParser(original_id, frame_type);
 }
-
-/* USER CAN FUNCTIONS BEGIN */
-/* USER CAN FUNCTIONS END */

assets/User_code/bsp/can.h

@@ -17,6 +17,7 @@ extern "C" {
 #define BSP_CAN_DEFAULT_QUEUE_SIZE      10
 #define BSP_CAN_TIMEOUT_IMMEDIATE       0
 #define BSP_CAN_TIMEOUT_FOREVER         osWaitForever
+#define CAN_TX_SEMAPHORE_TIMEOUT        1000  /* 发送信号量超时时间(ms) */
 
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
@@ -224,9 +225,6 @@ int8_t BSP_CAN_UnregisterIdParser(void);
  */
 uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
 
-/* USER CAN FUNCTIONS BEGIN */
-/* USER CAN FUNCTIONS END */
-
 #ifdef __cplusplus
 }
 #endif

assets/User_code/bsp/describe.csv

@@ -1,7 +1,11 @@
-uart,要求开启dma和中断
-can,2222
-gpio,要求设置label开启中断
-spi,要求开启spi中断
+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。
+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
-mm,这是套了一层的内存
-time,需要使用开启freerots
+mm,这是套了一层的动态内存分配
+time,获取时间戳函数，需要开启freerots
+dwt,需要开启dwt，获取时间
+i2c,请开启i2c的dma和中断
+pwm,用于选择那些勇于输出pwm
+

assets/User_code/bsp/pwm.c

@@ -35,7 +35,6 @@ int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) {
   if (duty_cycle < 0.0f) {
     duty_cycle = 0.0f;
   }
-  
   // 获取ARR值（周期值）
   uint32_t arr = __HAL_TIM_GET_AUTORELOAD(PWM_Map[ch].tim);
   
@@ -43,6 +42,7 @@ int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle) {
   uint32_t ccr = (uint32_t)(duty_cycle * (arr + 1));
   
   __HAL_TIM_SET_COMPARE(PWM_Map[ch].tim, PWM_Map[ch].channel, ccr);
+
   return BSP_OK;
 }
 

assets/User_code/component/ballistics.c

@@ -1,12 +0,0 @@
-/*
-  弹道补偿算法。
-*/
-
-#include "ballistics.h"
-
-void Ballistics_Init(Ballistics_t *b) { (void)b; }
-void Ballistics_Apply(Ballistics_t *b, float bullet_speed) {
-  (void)b;
-  (void)bullet_speed;
-}
-void Ballistics_Reset(Ballistics_t *b) { (void)b; }

assets/User_code/component/ballistics.h

@@ -1,23 +0,0 @@
-/*
-  弹道补偿算法。
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "ahrs.h"
-
-typedef struct {
-  AHRS_Eulr_t *eulr;
-} Ballistics_t;
-
-void Ballistics_Init(Ballistics_t *b);
-void Ballistics_Apply(Ballistics_t *b, float bullet_speed);
-void Ballistics_Reset(Ballistics_t *b);
-
-#ifdef __cplusplus
-}
-#endif

assets/User_code/component/capacity.c

@@ -1,6 +1,5 @@
 /*
   剩余电量算法。
-
   通过电压值计算剩余电量。
 */
 

assets/User_code/component/cmd.h

@@ -11,7 +11,7 @@ extern "C" {
 #include <stdbool.h>
 #include <stdint.h>
 
-#include "ahrs.h"
+#include "component/ahrs.h"
 
 #define CMD_REFEREE_MAX_NUM (3) /* 发送命令限定的最大数量 */
 

assets/User_code/component/dependencies.csv

@@ -1,3 +1,8 @@
+ahrs,component/user_math.h
+capacity,component/user_math.h
+cmd,component/ahrs
+error_detect,bsp/mm
 pid,component/filter
-ahrs,component/filter
 filter,component/ahrs
+mixer,component/user_math.h
+ui,component/user_math.h

assets/User_code/component/describe.csv

@@ -1,2 +1,14 @@
 pid,好用的
-ahrs,开源的
+ahrs,开源的AHRS算法，MadgwickAHRS
+capacity,电池容量计算
+cmd,通用控制命令
+crc8,CRC8校验rm
+crc16,CRC16校验rm
+error_detect,错误检测
+filter,各类滤波器
+FreeRTOS_CLI,FreeRTOS命令行接口
+limiter,限幅器
+mixer,混控器
+ui,用户交互
+user_math,用户自定义数学函数
+pid,PID控制器

assets/User_code/config.csv

@@ -1,4 +1,4 @@
 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
-component,ahrs,ballistics,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
+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_vesc,motor_lk,motor_lz,motor_odrive,dm_imu,servo,buzzer,led,ws2812
 module,

assets/User_code/device/bmi088.c

@@ -1,6 +1,5 @@
 /*
      BMI088 陀螺仪+加速度计传感器。
-
 */
 
 /* Includes ----------------------------------------------------------------- */

assets/User_code/device/config.yaml

@@ -79,7 +79,10 @@ devices:
     name: "VESC 电调"
     description: "VESC 电调驱动"
     dependencies:
-      bsp: ["can", "time"]
+      bsp: ["can", "time", "mm"]
+      component: ["user_math"]
+    thread_signals:
+      - name: "SIGNAL_VESC_DATA_REDY"
     files:
       header: "motor_vesc.h"
       source: "motor_vesc.c"
@@ -88,7 +91,10 @@ devices:
     name: "ODrive 电机"
     description: "ODrive 电机驱动"
     dependencies:
-      bsp: ["can", "time"]
+      bsp: ["can", "time", "mm"]
+      component: ["user_math"]
+    thread_signals:
+      - name: "SIGNAL_ODRIVE_DATA_REDY"
     files:
       header: "motor_odrive.h"
       source: "motor_odrive.c"
@@ -97,7 +103,10 @@ devices:
     name: "RM 电机" 
     description: "RM 电机驱动"
     dependencies:
-      bsp: ["can", "time"]
+      bsp: ["can", "time", "mm"]
+      component: ["user_math"]
+    thread_signals:
+      - name: "SIGNAL_RM_MOTOR_DATA_REDY"
     files:
       header: "motor_rm.h"
       source: "motor_rm.c"
@@ -105,6 +114,11 @@ devices:
   motor:
     name: "通用电机"
     description: "通用电机驱动"
+    dependencies:
+      bsp: []
+      component: []
+    bsp_requirements: []
+    thread_signals: []
     files:
       header: "motor.h"
       source: "motor.c"
@@ -115,11 +129,91 @@ devices:
     dependencies:
       bsp: ["pwm", "time"]
       component: []
-    bsp_requirements:
-      - type: "pwm"
-        var_name: "BSP_PWM_WS2812"
-        description: "用于WS2812数据传输的PWM通道"
     thread_signals: []
     files:
       header: "ws2812.h"
       source: "ws2812.c"
+
+  buzzer:
+    name: "蜂鸣器"
+    description: "蜂鸣器驱动"
+    dependencies:
+      bsp: ["pwm"]
+      component: []
+    bsp_requirements:
+      - type: "pwm"
+        var_name: "BSP_PWM_BUZZER"
+        description: "用于蜂鸣器的PWM通道"
+    thread_signals: []
+    files:
+      header: "buzzer.h"
+      source: "buzzer.c"
+
+  dm_imu:
+    name: "DM IMU"
+    description: "DM IMU 传感器"
+    dependencies:
+      bsp: ["can", "time"]
+      component: ["user_math"]
+    thread_signals:
+      - name: "SIGNAL_DM_IMU_DATA_REDY"
+    files:
+      header: "dm_imu.h"
+      source: "dm_imu.c"
+
+  led:
+    name: "LED 灯"
+    description: "LED 灯驱动"
+    dependencies:
+      bsp: ["gpio", "pwm"]
+      component: []
+    thread_signals: []
+    files:
+      header: "led.h"
+      source: "led.c"
+
+  motor_lk:
+    name: "LK 电机"
+    description: "LK 电机驱动"
+    dependencies:
+      bsp: ["can", "time", "mm"]
+      component: ["user_math"]
+    thread_signals:
+      - name: "SIGNAL_LK_MOTOR_DATA_REDY"
+    files:
+      header: "motor_lk.h"
+      source: "motor_lk.c"
+
+  motor_lz:
+    name: "LZ 电机"
+    description: "LZ 电机驱动"
+    dependencies:
+      bsp: ["can", "time", "mm"]
+      component: ["user_math"]
+    thread_signals:
+      - name: "SIGNAL_LZ_MOTOR_DATA_REDY"
+    files:
+      header: "motor_lz.h"
+      source: "motor_lz.c"
+
+  servo:
+    name: "舵机"
+    description: "舵机驱动"
+    dependencies:
+      bsp: ["pwm"]
+      component: []
+    thread_signals: []
+    files:
+      header: "servo.h"
+      source: "servo.c"
+
+  vofa:
+    name: "VOFA"
+    description: "VOFA 数据传输协议"
+    dependencies:
+      bsp: ["uart"]
+      component: []
+    thread_signals: []
+    files:
+      header: "vofa.h"
+      source: "vofa.c"

assets/User_code/device/dm_imu.c

@@ -1,5 +1,5 @@
 /*
-    DM_IMU数据获取
+    DM_IMU数据获取（CAN）
 */
 
 /* Includes ----------------------------------------------------------------- */

assets/User_code/device/ist8310.c

@@ -1,6 +1,5 @@
 /*
     IST8310 地磁传感器。
-
 */
 
 /* Includes ----------------------------------------------------------------- */

assets/User_code/device/motor.c

@@ -1,5 +1,5 @@
 /*
-        DR16接收机
+    电机通用函数
 */
 
 /* Includes ----------------------------------------------------------------- */
@@ -18,30 +18,18 @@
 /* Exported functions ------------------------------------------------------- */
 float MOTOR_GetRotorAbsAngle(const MOTOR_t *motor) {
   if (motor == NULL) return DEVICE_ERR_NULL;
-  if (motor->reverse) {
-    return -motor->feedback.rotor_abs_angle;
-  }else{
-    return motor->feedback.rotor_abs_angle;
-  }
+  motor->feedback.rotor_abs_angle;
 }
 
 float MOTOR_GetRotorSpeed(const MOTOR_t *motor) {
   if (motor == NULL) return DEVICE_ERR_NULL;
-  if (motor->reverse) {
-    return -motor->feedback.rotor_speed;
-  }else{
   return motor->feedback.rotor_speed;
 }
-}
 
 float MOTOR_GetTorqueCurrent(const MOTOR_t *motor) {
   if (motor == NULL) return DEVICE_ERR_NULL;
-  if (motor->reverse) {
-    return -motor->feedback.torque_current;
-  }else{
   return motor->feedback.torque_current;
 }
-}
 
 float MOTOR_GetTemp(const MOTOR_t *motor) {
   if (motor == NULL) return DEVICE_ERR_NULL;

assets/User_code/device/motor_lz.c

@@ -1,10 +1,5 @@
 /*
   灵足电机驱动
-  
-  灵足电机通信协议：
-  - CAN 2.0通信接口，波特率1Mbps
-  - 采用扩展帧格式(29位ID)
-  - ID格式：Bit28~24(通信类型) + Bit23~8(数据区2) + Bit7~0(目标地址)
 */
 /* Includes ----------------------------------------------------------------- */
 #include "motor_lz.h"

assets/User_code/device/motor_odrive.c

@@ -1,6 +1,5 @@
 /*
-  CAN总线上的设备
-  将所有CAN总线上挂载的设备抽象成一个设备进行配置和控制
+  Odrive电机驱动
 */
 /* Includes ----------------------------------------------------------------- */
 #include "motor_odrive.h"

assets/User_code/device/motor_rm.c

@@ -1,6 +1,5 @@
 /*
-  CAN总线上的设备
-  将所有CAN总线上挂载的设备抽象成一个设备进行配置和控制
+  RM电机驱动
 */
 /* Includes ----------------------------------------------------------------- */
 #include "motor_rm.h"

assets/User_code/device/motor_vesc.c

@@ -1,6 +1,5 @@
 /*
-  CAN总线上的设备
-  将所有CAN总线上挂载的设备抽象成一个设备进行配置和控制
+  VESC电机驱动
 */
 /* Includes ----------------------------------------------------------------- */
 #include "motor_vesc.h"

assets/User_code/device/vofa.c

@@ -0,0 +1,89 @@
+/* Includes ----------------------------------------------------------------- */
+#include <stdio.h>
+#include <string.h>
+#include "device/vofa.h"
+#include "bsp/uart.h"
+/* Private define ----------------------------------------------------------- */
+
+#define MAX_CHANNEL  64u   		// 根据实际最大通道数调整
+
+#define JUSTFLOAT_TAIL 0x7F800000
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+static uint8_t vofa_tx_buf[sizeof(float) * MAX_CHANNEL + sizeof(uint32_t)];
+static VOFA_Protocol_t current_protocol = VOFA_PROTOCOL_FIREWATER;  // 默认协议
+
+/* Private function  -------------------------------------------------------- */
+
+/************************  RawData  *************************/
+void VOFA_RawData_Send(const char* data, bool dma) {
+    BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t*)data, strlen(data), dma);
+}
+
+/************************ FireWater *************************/
+void VOFA_FireWater_Send(float *channels, uint8_t channel_count, bool dma)
+{
+    if (channel_count == 0 || channel_count > MAX_CHANNEL)
+        return;
+
+    char *buf = (char *)vofa_tx_buf;
+    size_t len = 0;
+
+    for (uint8_t i = 0; i < channel_count; ++i) {
+        len += snprintf(buf + len,
+                        sizeof(vofa_tx_buf) - len,
+                        "%s%.2f",
+                        (i ? "," : ""),
+                        channels[i]);
+    }
+    snprintf(buf + len, sizeof(vofa_tx_buf) - len, "\n");
+
+    BSP_UART_Transmit(BSP_UART_VOFA, vofa_tx_buf, strlen(buf), dma);
+}
+
+/************************ JustFloat *************************/
+void VOFA_JustFloat_Send(float *channels, uint8_t channel_count, bool dma)
+{
+    if (channel_count == 0 || channel_count > MAX_CHANNEL)
+        return;
+    memcpy(vofa_tx_buf, channels, channel_count * sizeof(float));
+
+    uint32_t tail = JUSTFLOAT_TAIL;                     // 0x7F800000
+    memcpy(vofa_tx_buf + channel_count * sizeof(float), &tail, sizeof(tail));
+
+    BSP_UART_Transmit(BSP_UART_VOFA, vofa_tx_buf, channel_count * sizeof(float) + sizeof(tail), dma);
+}
+
+/* Exported functions ------------------------------------------------------- */
+int8_t VOFA_init(VOFA_Protocol_t protocol) {
+    current_protocol = protocol;
+    return DEVICE_OK;
+}
+
+int8_t VOFA_Send(float* channels, uint8_t channel_count, bool dma) {
+    switch (current_protocol) {
+        case VOFA_PROTOCOL_RAWDATA:
+            {
+                char data[256];
+                if (channel_count >= 1) {
+                    sprintf(data, "Channel1: %.2f", channels[0]);
+                    if (channel_count >= 2) {
+                        sprintf(data + strlen(data), ", Channel2: %.2f", channels[1]);
+                    }
+                    strcat(data, "\n");
+                    VOFA_RawData_Send(data, dma);
+                }
+            }
+            break;
+        case VOFA_PROTOCOL_FIREWATER:
+            VOFA_FireWater_Send(channels, channel_count, dma);
+            break;
+        case VOFA_PROTOCOL_JUSTFLOAT:
+            VOFA_JustFloat_Send(channels, channel_count, dma);
+            break;
+        default:
+            return DEVICE_ERR;
+    }
+    return DEVICE_OK;
+}

assets/User_code/device/vofa.h

@@ -0,0 +1,39 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/uart.h"
+#include ”device/device.h“
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+/* Exported functions prototypes -------------------------------------------- */
+
+typedef enum {
+    VOFA_PROTOCOL_RAWDATA,
+    VOFA_PROTOCOL_FIREWATER,
+    VOFA_PROTOCOL_JUSTFLOAT,
+} VOFA_Protocol_t;
+
+/**
+ * @brief 初始化VOFA设备
+ * @param protocol 设置通信协议
+ * @return 
+ */
+int8_t VOFA_init(VOFA_Protocol_t protocol);
+
+/**
+ * @brief 发送数据到VOFA
+ * @param channels 要发送的通道数据
+ * @param channel_count 通道数量
+ * @param dma 是否使用DMA发送
+ * @return 
+ */
+int8_t VOFA_Send(float* channels, uint8_t channel_count, bool dma);
+
+#ifdef __cplusplus
+}
+#endif