app/code_configuration_interface.py

@@ -2,11 +2,8 @@ from PyQt5.QtWidgets import QWidget, QVBoxLayout, QStackedWidget, QSizePolicy
 from PyQt5.QtCore import Qt
 from qfluentwidgets import PushSettingCard, FluentIcon, TabBar
 from qfluentwidgets import TitleLabel, BodyLabel, PushButton, FluentIcon
-from PyQt5.QtWidgets import QFileDialog, QDialog, QHBoxLayout
+from PyQt5.QtWidgets import QFileDialog
-from qfluentwidgets import ComboBox, PrimaryPushButton, SubtitleLabel
 import os
-import shutil
-import tempfile
 from .function_fit_interface import FunctionFitInterface
 from .ai_interface import AIInterface
 from qfluentwidgets import InfoBar
@@ -59,10 +56,6 @@ class CodeConfigurationInterface(QWidget):
         self.update_template_btn.setFixedWidth(200)
         mainLayout.addWidget(self.update_template_btn, alignment=Qt.AlignmentFlag.AlignCenter)
 
-        self.preset_ioc_btn = PushButton(FluentIcon.LIBRARY, "获取预设IOC")
-        self.preset_ioc_btn.setFixedWidth(200)
-        mainLayout.addWidget(self.preset_ioc_btn, alignment=Qt.AlignmentFlag.AlignCenter)
-
         mainLayout.addSpacing(10)
         mainLayout.addStretch()
 
@@ -76,7 +69,6 @@ class CodeConfigurationInterface(QWidget):
         self.tabBar.tabCloseRequested.connect(self.onCloseTab)
         self.choose_btn.clicked.connect(self.choose_project_folder)  # 启用选择项目路径按钮
         self.update_template_btn.clicked.connect(self.on_update_template)
-        self.preset_ioc_btn.clicked.connect(self.use_preset_ioc)  # 启用预设工程按钮
 
 
     def on_update_template(self):
@@ -96,170 +88,6 @@ class CodeConfigurationInterface(QWidget):
             )
         update_code(parent=self, info_callback=info, error_callback=error)
 
-    def get_preset_ioc_files(self):
-        """获取预设的ioc文件列表"""
-        try:
-            preset_ioc_dir = os.path.join(os.path.dirname(os.path.dirname(__file__)), "assets", "User_code", "ioc")
-            if not os.path.exists(preset_ioc_dir):
-                return []
-            
-            ioc_files = []
-            for filename in os.listdir(preset_ioc_dir):
-                if filename.endswith('.ioc'):
-                    ioc_files.append({
-                        'name': os.path.splitext(filename)[0],
-                        'filename': filename,
-                        'path': os.path.join(preset_ioc_dir, filename)
-                    })
-            return ioc_files
-        except Exception as e:
-            print(f"获取预设ioc文件失败: {e}")
-            return []
-
-    def use_preset_ioc(self):
-        """使用预设ioc文件"""
-        preset_files = self.get_preset_ioc_files()
-        if not preset_files:
-            InfoBar.warning(
-                title="无预设工程",
-                content="未找到可用的预设工程文件",
-                parent=self,
-                duration=2000
-            )
-            return
-
-        # 创建选择对话框
-        dialog = QDialog(self)
-        dialog.setWindowTitle("获取预设IOC")
-        dialog.resize(400, 200)
-        dialog.setModal(True)
-
-        layout = QVBoxLayout(dialog)
-        layout.setContentsMargins(24, 24, 24, 24)
-        layout.setSpacing(16)
-
-        # 标题
-        title_label = SubtitleLabel("选择要使用的IOC模版")
-        layout.addWidget(title_label)
-
-        # 选择下拉框
-        select_layout = QHBoxLayout()
-        select_label = BodyLabel("预设IOC：")
-        preset_combo = ComboBox()
-        
-        # 修复ComboBox数据问题
-        for i, preset in enumerate(preset_files):
-            preset_combo.addItem(preset['name'])
-        
-        select_layout.addWidget(select_label)
-        select_layout.addWidget(preset_combo)
-        layout.addLayout(select_layout)
-
-        layout.addSpacing(16)
-
-        # 按钮区域
-        btn_layout = QHBoxLayout()
-        btn_layout.addStretch()
-        
-        cancel_btn = PushButton("取消")
-        ok_btn = PrimaryPushButton("保存到")
-        
-        cancel_btn.clicked.connect(dialog.reject)
-        ok_btn.clicked.connect(dialog.accept)
-        
-        btn_layout.addWidget(cancel_btn)
-        btn_layout.addWidget(ok_btn)
-        layout.addLayout(btn_layout)
-
-        # 显示对话框
-        if dialog.exec() == QDialog.Accepted:
-            selected_index = preset_combo.currentIndex()
-            if selected_index >= 0 and selected_index < len(preset_files):
-                selected_preset = preset_files[selected_index]
-                self.save_preset_template(selected_preset)
-
-    def save_preset_template(self, preset_info):
-        """保存预设模板到用户指定位置"""
-        try:
-            # 让用户选择保存位置
-            save_dir = QFileDialog.getExistingDirectory(
-                self, 
-                f"选择保存 {preset_info['name']} 模板的位置",
-                os.path.expanduser("~")
-            )
-            
-            if not save_dir:
-                return
-            
-            # 复制ioc文件到用户选择的目录
-            target_path = os.path.join(save_dir, preset_info['filename'])
-            
-            # 检查目标文件是否已存在
-            if os.path.exists(target_path):
-                from qfluentwidgets import Dialog
-                dialog = Dialog("文件已存在", f"目标位置已存在 {preset_info['filename']}，是否覆盖？", self)
-                if dialog.exec() != Dialog.Accepted:
-                    return
-            
-            # 复制文件
-            shutil.copy2(preset_info['path'], target_path)
-            
-            InfoBar.success(
-                title="模板保存成功",
-                content=f"预设模板 {preset_info['name']} 已保存到:\n{target_path}",
-                parent=self,
-                duration=3000
-            )
-                
-        except Exception as e:
-            InfoBar.error(
-                title="保存失败",
-                content=f"保存预设模板失败: {str(e)}",
-                parent=self,
-                duration=3000
-            )
-
-    def open_project_from_path(self, folder_path):
-        """从指定路径打开工程"""
-        try:
-            if not os.path.exists(folder_path):
-                return
-                
-            ioc_files = [f for f in os.listdir(folder_path) if f.endswith('.ioc')]
-            if ioc_files:
-                # 检查是否已存在 codeGenPage 标签页
-                for i in range(self.stackedWidget.count()):
-                    widget = self.stackedWidget.widget(i)
-                    if widget is not None and widget.objectName() == "codeGenPage":
-                        # 如果已存在，则切换到该标签页，并更新路径显示
-                        if hasattr(widget, "project_path"):
-                            widget.project_path = folder_path
-                            if hasattr(widget, "refresh"):
-                                widget.refresh()
-                        self.stackedWidget.setCurrentWidget(widget)
-                        self.tabBar.setCurrentTab("codeGenPage")
-                        return
-                
-                # 不存在则新建
-                code_gen_page = CodeGenerateInterface(folder_path, self)
-                self.addSubInterface(code_gen_page, "codeGenPage", "代码生成")
-                self.stackedWidget.setCurrentWidget(code_gen_page)
-                self.tabBar.setCurrentTab("codeGenPage")
-            else:
-                InfoBar.error(
-                    title="未找到.ioc文件",
-                    content="所选文件夹不是有效的CUBEMX工程目录",
-                    parent=self,
-                    duration=3000
-                )
-        except Exception as e:
-            InfoBar.error(
-                title="打开工程失败",
-                content=f"打开工程失败: {str(e)}",
-                parent=self,
-                duration=3000
-            )
-
     def choose_project_folder(self):
         folder = QFileDialog.getExistingDirectory(self, "选择CUBEMX工程目录")
         if not folder:

app/code_page/bsp_interface.py

@@ -917,48 +917,10 @@ class bsp_spi(BspPeripheralBase):
 
 
 def patch_uart_interrupts(project_path, uart_instances):
-    """自动修改中断文件，插入 UART BSP 相关代码（支持 F1/F4/H7 等系列）"""
+    """自动修改 stm32f4xx_it.c，插入 UART BSP 相关代码"""
-    # 检测MCU型号，确定正确的中断文件
+    it_path = os.path.join(project_path, "Core/Src/stm32f4xx_it.c")
-    ioc_files = [f for f in os.listdir(project_path) if f.endswith('.ioc')]
-    if not ioc_files:
-        return
-    
-    ioc_path = os.path.join(project_path, ioc_files[0])
-    mcu_name = analyzing_ioc.get_mcu_name_from_ioc(ioc_path)
-    
-    if not mcu_name:
-        return
-    
-    # 根据MCU型号确定中断文件名
-    mcu_upper = mcu_name.upper()
-    if 'STM32F1' in mcu_upper:
-        it_file = "stm32f1xx_it.c"
-    elif 'STM32F4' in mcu_upper:
-        it_file = "stm32f4xx_it.c"
-    elif 'STM32H7' in mcu_upper:
-        it_file = "stm32h7xx_it.c"
-    elif 'STM32F7' in mcu_upper:
-        it_file = "stm32f7xx_it.c"
-    elif 'STM32G4' in mcu_upper:
-        it_file = "stm32g4xx_it.c"
-    elif 'STM32L4' in mcu_upper:
-        it_file = "stm32l4xx_it.c"
-    else:
-        # 通用处理：尝试从MCU名称提取系列信息
-        # 格式通常为 STM32X0XXX，提取 X0 部分
-        import re as regex
-        match = regex.match(r'STM32([A-Z]\d)', mcu_upper)
-        if match:
-            series = match.group(1).lower()
-            it_file = f"stm32{series}xx_it.c"
-        else:
-            # 默认尝试 F4
-            it_file = "stm32f4xx_it.c"
-    
-    it_path = os.path.join(project_path, f"Core/Src/{it_file}")
     if not os.path.exists(it_path):
         return
-    
     with open(it_path, "r", encoding="utf-8") as f:
         code = f.read()
 

app/data_interface.py

@@ -637,31 +637,6 @@ class DataInterface(QWidget):
         for t in task_list:
             desc = t.get("description", "")
             desc_wrapped = "\n    ".join(textwrap.wrap(desc, 20))
-            
-            # 检查是否是预设任务
-            if t.get("preset_task"):
-                # 使用预设任务的代码
-                preset_task_name = t["preset_task"]
-                from app.tools.code_generator import CodeGenerator
-                task_template_dir = CodeGenerator.get_assets_dir("User_code/task/template_task")
-                preset_task_file = os.path.join(task_template_dir, f"{preset_task_name}.c")
-                
-                if os.path.exists(preset_task_file):
-                    # 直接复制预设任务文件
-                    task_c_path = os.path.join(output_dir, f"{t['name']}.c")
-                    with open(preset_task_file, 'r', encoding='utf-8') as f:
-                        preset_code = f.read()
-                    
-                    # 如果任务名称不同，需要替换函数名
-                    if preset_task_name != t["name"]:
-                        # 替换任务函数名
-                        preset_code = preset_code.replace(f"Task_{preset_task_name}", t["function"])
-                        preset_code = preset_code.replace(f"    {preset_task_name} Task", f"    {t['name']} Task")
-                    
-                    save_with_preserve(task_c_path, preset_code)
-                    continue
-            
-            # 使用默认模板生成任务代码
             context_task = {
                 "task_name": t["name"],
                 "task_function": t["function"],

app/tools/code_task_config.py

@@ -1,7 +1,7 @@
 from PyQt5.QtWidgets import QDialog, QVBoxLayout, QHBoxLayout, QWidget, QScrollArea
 from qfluentwidgets import (
     BodyLabel, TitleLabel, HorizontalSeparator, PushButton, PrimaryPushButton,
-    LineEdit, SpinBox, DoubleSpinBox, CheckBox, TextEdit, ComboBox
+    LineEdit, SpinBox, DoubleSpinBox, CheckBox, TextEdit
 )
 from qfluentwidgets import theme, Theme
 import yaml
@@ -76,20 +76,12 @@ class TaskConfigDialog(QDialog):
         self.add_btn = PrimaryPushButton("创建新任务")
         self.add_btn.setAutoDefault(False)  # 禁止回车触发
         self.add_btn.setDefault(False)
-        
-        # 新增：预设任务按钮
-        self.preset_btn = PushButton("使用预设任务")
-        self.preset_btn.setAutoDefault(False)
-        self.preset_btn.setDefault(False)
-        
         self.del_btn = PushButton("删除当前任务")
         self.del_btn.setAutoDefault(False)  # 禁止回车触发
         self.del_btn.setDefault(False)
         self.add_btn.clicked.connect(self.add_task)
-        self.preset_btn.clicked.connect(self.add_preset_task)
         self.del_btn.clicked.connect(self.delete_current_task)
         btn_layout.addWidget(self.add_btn)
-        btn_layout.addWidget(self.preset_btn)
         btn_layout.addWidget(self.del_btn)
         btn_layout.addStretch()  # 添加/删除靠左，stretch在中间
 
@@ -143,274 +135,6 @@ class TaskConfigDialog(QDialog):
             self.task_btn_layout.addWidget(btn)
         self.task_btn_layout.addStretch()
 
-    def get_preset_tasks(self):
-        """获取所有可用的预设任务"""
-        from app.tools.code_generator import CodeGenerator
-        task_dir = CodeGenerator.get_assets_dir("User_code/task/template_task")
-        preset_tasks = []
-        
-        if not os.path.exists(task_dir):
-            return preset_tasks
-            
-        for filename in os.listdir(task_dir):
-            if filename.endswith('.c') and not filename.endswith('.template'):
-                task_name = os.path.splitext(filename)[0]
-                preset_tasks.append(task_name)
-        
-        return preset_tasks
-
-    def load_preset_task_config(self, task_name):
-        """从 yaml 配置文件中加载预设任务的配置"""
-        try:
-            from app.tools.code_generator import CodeGenerator
-            template_dir = CodeGenerator.get_assets_dir("User_code/task/template_task")
-            config_file = os.path.join(template_dir, "task.yaml")
-            
-            if not os.path.exists(config_file):
-                return None
-                
-            with open(config_file, 'r', encoding='utf-8') as f:
-                config_data = yaml.safe_load(f)
-                
-            if config_data and task_name in config_data:
-                return config_data[task_name]
-            return None
-        except Exception as e:
-            print(f"加载预设任务配置失败: {e}")
-            return None
-
-    def load_preset_task_code(self, task_name):
-        """加载预设任务的代码内容"""
-        from app.tools.code_generator import CodeGenerator
-        task_dir = CodeGenerator.get_assets_dir("User_code/task/template_task")
-        task_file = os.path.join(task_dir, f"{task_name}.c")
-        
-        if os.path.exists(task_file):
-            with open(task_file, 'r', encoding='utf-8') as f:
-                return f.read()
-        return None
-
-    def add_preset_task(self):
-        """添加预设任务"""
-        preset_tasks = self.get_preset_tasks()
-        if not preset_tasks:
-            InfoBar.warning(
-                title="无预设任务",
-                content="未找到可用的预设任务模板",
-                parent=self,
-                duration=2000
-            )
-            return
-        
-        # 创建自适应主题的对话框
-        dialog = QDialog(self)
-        dialog.setWindowTitle("选择预设任务")
-        dialog.resize(600, 500)
-        dialog.setModal(True)
-        
-        layout = QVBoxLayout(dialog)
-        layout.setContentsMargins(24, 24, 24, 24)
-        layout.setSpacing(18)
-        
-        # 固定内容区域
-        fixed_content = QWidget()
-        fixed_content.setFixedHeight(180)  # 减少固定高度
-        fixed_layout = QVBoxLayout(fixed_content)
-        fixed_layout.setContentsMargins(0, 0, 0, 0)
-        fixed_layout.setSpacing(18)
-        
-        # 标题
-        title_label = TitleLabel("选择预设任务模板")
-        fixed_layout.addWidget(title_label)
-        
-        # 说明文字
-        desc_label = BodyLabel("选择一个预设任务模板，系统将自动复制相应的代码和配置")
-        fixed_layout.addWidget(desc_label)
-        
-        fixed_layout.addWidget(HorizontalSeparator())
-        
-        # 任务选择
-        select_layout = QHBoxLayout()
-        select_layout.setSpacing(12)
-        
-        select_label = BodyLabel("预设任务：")
-        preset_combo = ComboBox()
-        preset_combo.addItems(preset_tasks)
-        preset_combo.setCurrentIndex(0)
-        preset_combo.setMinimumWidth(160)
-        
-        select_layout.addWidget(select_label)
-        select_layout.addWidget(preset_combo)
-        select_layout.addStretch()
-        
-        fixed_layout.addLayout(select_layout)
-        
-        # 参数信息 - 单行显示
-        params_layout = QHBoxLayout()
-        params_layout.setSpacing(24)  # 适中的间距
-        
-        self.info_freq = BodyLabel("")
-        self.info_delay = BodyLabel("")
-        self.info_stack = BodyLabel("")
-        self.info_ctrl = BodyLabel("")
-        
-        self.info_freq.setMinimumWidth(120)
-        self.info_delay.setMinimumWidth(100)
-        self.info_stack.setMinimumWidth(120)
-        self.info_ctrl.setMinimumWidth(100)
-        
-        params_layout.addWidget(self.info_freq)
-        params_layout.addWidget(self.info_delay)
-        params_layout.addWidget(self.info_stack)
-        params_layout.addWidget(self.info_ctrl)
-        params_layout.addStretch()
-        
-        fixed_layout.addLayout(params_layout)
-        fixed_layout.addStretch()  # 在固定区域内保持紧凑
-        
-        layout.addWidget(fixed_content)
-        
-        # 弹性描述区域
-        desc_layout = QVBoxLayout()
-        desc_layout.setSpacing(8)
-        
-        desc_title = BodyLabel("描述：")
-        desc_title.setStyleSheet("font-weight: bold;")
-        desc_layout.addWidget(desc_title)
-        
-        self.preview_desc = TextEdit()
-        self.preview_desc.setReadOnly(True)
-        self.preview_desc.setMinimumHeight(60)  # 最小高度
-        desc_layout.addWidget(self.preview_desc)
-        
-        layout.addLayout(desc_layout, stretch=1)  # 弹性伸缩
-        
-        # 按钮区域
-        layout.addWidget(HorizontalSeparator())
-        btn_layout = QHBoxLayout()
-        btn_layout.addStretch()
-        
-        cancel_btn = PushButton("取消")
-        ok_btn = PrimaryPushButton("确定添加")
-        
-        cancel_btn.clicked.connect(dialog.reject)
-        ok_btn.clicked.connect(dialog.accept)
-        
-        btn_layout.addWidget(cancel_btn)
-        btn_layout.addWidget(ok_btn)
-        layout.addLayout(btn_layout)
-        
-        # 预览更新函数
-        def update_preview():
-            selected = preset_combo.currentText()
-            self.update_preset_preview(selected)
-        
-        preset_combo.currentTextChanged.connect(update_preview)
-        
-        # 存储对话框状态
-        self.current_preview_dialog = dialog
-        self.preview_combo = preset_combo
-        
-        # 初始化预览
-        if preset_tasks:
-            update_preview()
-        
-        # 显示对话框
-        if dialog.exec() == QDialog.Accepted:
-            selected_task = preset_combo.currentText()
-            self.save_form()
-            new_idx = len(self.tasks)
-            
-            # 从配置文件加载预设任务参数
-            config = self.load_preset_task_config(selected_task)
-            if config:
-                new_task = self._make_task_obj({
-                    "name": config.get("name", selected_task),
-                    "frequency": config.get("frequency", 500),
-                    "delay": config.get("delay", 0),
-                    "stack": config.get("stack", 256),
-                    "description": config.get("description", ""),
-                    "freq_control": config.get("freq_control", True)
-                })
-            else:
-                new_task = self._make_task_obj({"name": selected_task})
-            
-            new_task["preset_task"] = selected_task
-            
-            self.tasks.append(new_task)
-            self.current_index = new_idx
-            self.refresh_task_btns()
-            self.show_task_form(self.tasks[self.current_index])
-            
-            InfoBar.success(
-                title="添加成功",
-                content=f"已添加预设任务：{selected_task}",
-                parent=self,
-                duration=2000
-            )
-
-    def update_preset_preview(self, task_name):
-        """更新预设任务预览信息"""        
-        # 从配置加载信息
-        config = self.load_preset_task_config(task_name)
-        if config:
-            self.info_freq.setText(f"频率: {config.get('frequency', 500)} Hz")
-            self.info_delay.setText(f"延时: {config.get('delay', 0)} ms")
-            self.info_stack.setText(f"堆栈: {config.get('stack', 256)} Bytes")
-            freq_ctrl = "启用" if config.get('freq_control', True) else "禁用"
-            self.info_ctrl.setText(f"频率控制: {freq_ctrl}")
-            
-            description = config.get('description', f'预设任务：{task_name}')
-            self.preview_desc.setText(description)
-        else:
-            self.info_freq.setText("频率: 500 Hz")
-            self.info_delay.setText("延时: 0 ms")
-            self.info_stack.setText("堆栈: 256 Bytes")
-            self.info_ctrl.setText("频率控制: 启用")
-            self.preview_desc.setText(f"预设任务：{task_name}")
-
-    def on_preset_task_selected(self, task_name):
-        """预设任务选择事件（向后兼容）"""
-        pass
-
-    def get_preset_task_description(self, task_name):
-        """获取预设任务的描述信息"""
-        # 首先尝试从 yaml 配置中获取描述
-        config = self.load_preset_task_config(task_name)
-        if config and 'description' in config:
-            return f"预设任务：{task_name}\n\n{config['description']}\n\n频率控制：{'启用' if config.get('freq_control', True) else '禁用'}\n运行频率：{config.get('frequency', 500)} Hz\n堆栈大小：{config.get('stack', 256)} Bytes\n初始延时：{config.get('delay', 0)} ms"
-        
-        # 如果没有配置文件，则从代码注释中提取
-        try:
-            task_code = self.load_preset_task_code(task_name)
-            if task_code:
-                # 尝试从注释中提取描述
-                lines = task_code.split('\n')
-                description_lines = []
-                in_comment = False
-                
-                for line in lines[:20]:  # 只检查前20行
-                    line = line.strip()
-                    if line.startswith('/*'):
-                        in_comment = True
-                        if 'Task' in line and line != '/*':
-                            description_lines.append(line.replace('/*', '').strip())
-                        continue
-                    elif line.endswith('*/'):
-                        in_comment = False
-                        break
-                    elif in_comment and line and not line.startswith('*'):
-                        description_lines.append(line)
-                
-                if description_lines:
-                    return '\n'.join(description_lines)
-                else:
-                    return f"预设任务：{task_name}\n这是一个预定义的任务模板，包含完整的实现代码。"
-            else:
-                return f"预设任务：{task_name}\n无法读取任务描述。"
-        except Exception as e:
-            return f"预设任务：{task_name}\n读取描述时出现错误：{str(e)}"
-
     def add_task(self):
         self.save_form()
         new_idx = len(self.tasks)
@@ -578,10 +302,5 @@ class TaskConfigDialog(QDialog):
             }
             if freq_ctrl:
                 task["frequency"] = freq
-            
-            # 保留预设任务信息
-            if "preset_task" in t:
-                task["preset_task"] = t["preset_task"]
-                
             tasks.append(task)
         return tasks

assets/User_code/bsp/fdcan/fdcan.c

@@ -21,19 +21,19 @@
   #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_ACCEPT_IN_RX_FIFO0, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
+    #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_ACCEPT_IN_RX_FIFO1, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
+    #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_ACCEPT_IN_RX_FIFO1, FDCAN_ACCEPT_IN_RX_FIFO1, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE
+  #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==== */

assets/User_code/bsp/gpio/gpio.c

@@ -69,7 +69,6 @@ int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
     default:
       return BSP_ERR;
   }
-  return BSP_OK;
 }
 
 int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
@@ -78,7 +77,6 @@ int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
     default:
       return BSP_ERR;
   }
-  return BSP_OK;
 }
 int8_t BSP_GPIO_WritePin(BSP_GPIO_t gpio, bool value){
   if (gpio >= BSP_GPIO_NUM) return BSP_ERR;

assets/User_code/component/dependencies.csv

@@ -6,4 +6,3 @@ pid,component/filter
 filter,component/ahrs
 mixer,component/user_math.h
 ui,component/user_math.h
-kalman_filter,arm_math.h

assets/User_code/component/describe.csv

@@ -12,4 +12,3 @@ 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
-kalman_filter,卡尔曼滤波器

assets/User_code/component/freertos_cli/FreeRTOS_CLI.h

@@ -28,9 +28,6 @@
 #ifndef COMMAND_INTERPRETER_H
 #define COMMAND_INTERPRETER_H
 
-#include <stddef.h>
-#include "FreeRTOS.h"
-
 /* This config should be defined in FreeRTOSConfig.h. But due to the limition of CubeMX I put it here. */
 #define configCOMMAND_INT_MAX_OUTPUT_SIZE  512
 

assets/User_code/component/kalman_filter/kalman_filter.c

@@ -1,591 +0,0 @@
-/*
-  卡尔曼滤波器 modified from wang hongxi
-  支持动态量测调整，使用ARM CMSIS DSP优化矩阵运算
-
-  主要特性：
-  - 基于量测有效性的 H、R、K 矩阵动态调整
-  - 支持不同传感器采样频率
-  - 矩阵 P 防过度收敛机制
-  - ARM CMSIS DSP 优化的矩阵运算
-  - 可扩展架构，支持用户自定义函数（EKF/UKF/ESKF）
-
-  使用说明：
-  1. 矩阵初始化：P、F、Q 使用标准初始化方式
-     H、R 在使用自动调整时需要配置量测映射
-
-  2. 自动调整模式 (use_auto_adjustment = 1)：
-     - 提供 measurement_map：每个量测对应的状态索引
-     - 提供 measurement_degree：H 矩阵元素值
-     - 提供 mat_r_diagonal_elements：量测噪声方差
-
-  3. 固定模式 (use_auto_adjustment = 0)：
-     - 像初始化 P 矩阵那样正常初始化 z、H、R
-
-  4. 量测更新：
-     - 在传感器回调函数中更新 measured_vector
-     - 值为 0 表示量测无效
-     - 向量在每次 KF 更新后会被重置为 0
-
-  5. 防过度收敛：
-     - 设置 state_min_variance 防止 P 矩阵过度收敛
-     - 帮助滤波器适应缓慢变化的状态
-
-  使用示例：高度估计
-  状态向量 x =
-    |   高度      |
-    |   速度      |
-    |   加速度    |
-
-  KF_t Height_KF;
-
-  void INS_Task_Init(void)
-  {
-      // 初始协方差矩阵 P 
-      static float P_Init[9] =
-      {
-          10, 0, 0,
-          0, 30, 0,
-          0, 0, 10,
-      };
-
-      // 状态转移矩阵 F（根据运动学模型）
-      static float F_Init[9] =
-      {
-          1, dt, 0.5*dt*dt,
-          0, 1, dt,
-          0, 0, 1,
-      };
-
-      // 过程噪声协方差矩阵 Q
-      static float Q_Init[9] =
-      {
-          0.25*dt*dt*dt*dt, 0.5*dt*dt*dt, 0.5*dt*dt,
-          0.5*dt*dt*dt,        dt*dt,         dt,
-          0.5*dt*dt,              dt,         1,
-      };
-
-      // 设置状态最小方差（防止过度收敛）
-      static float state_min_variance[3] = {0.03, 0.005, 0.1};
-
-      // 开启自动调整
-      Height_KF.use_auto_adjustment = 1;
-
-      // 量测映射：[气压高度对应状态1, GPS高度对应状态1, 加速度计对应状态3]
-      static uint8_t measurement_reference[3] = {1, 1, 3};
-
-      // 量测系数（H矩阵元素值）
-      static float measurement_degree[3] = {1, 1, 1};
-      // 根据 measurement_reference 与 measurement_degree 生成 H 矩阵如下
-      // （在当前周期全部量测数据有效的情况下）
-      //   |1   0   0|
-      //   |1   0   0|
-      //   |0   0   1|
-
-      // 量测噪声方差（R矩阵对角元素）
-      static float mat_r_diagonal_elements[3] = {30, 25, 35};
-      // 根据 mat_r_diagonal_elements 生成 R 矩阵如下
-      // （在当前周期全部量测数据有效的情况下）
-      //   |30   0   0|
-      //   | 0  25   0|
-      //   | 0   0  35|
-
-      // 初始化卡尔曼滤波器（状态维数3，控制维数0，量测维数3）
-      KF_Init(&Height_KF, 3, 0, 3);
-
-      // 设置矩阵初值
-      memcpy(Height_KF.P_data, P_Init, sizeof(P_Init));
-      memcpy(Height_KF.F_data, F_Init, sizeof(F_Init));
-      memcpy(Height_KF.Q_data, Q_Init, sizeof(Q_Init));
-      memcpy(Height_KF.measurement_map, measurement_reference,
-             sizeof(measurement_reference));
-      memcpy(Height_KF.measurement_degree, measurement_degree,
-             sizeof(measurement_degree));
-      memcpy(Height_KF.mat_r_diagonal_elements, mat_r_diagonal_elements,
-             sizeof(mat_r_diagonal_elements));
-      memcpy(Height_KF.state_min_variance, state_min_variance,
-             sizeof(state_min_variance));
-  }
-
-  void INS_Task(void const *pvParameters)
-  {
-      // 循环更新卡尔曼滤波器
-      KF_Update(&Height_KF);
-      vTaskDelay(ts);
-  }
-
-  // 传感器回调函数示例：在数据就绪时更新 measured_vector
-  void Barometer_Read_Over(void)
-  {
-      ......
-      INS_KF.measured_vector[0] = baro_height;  // 气压计高度
-  }
-
-  void GPS_Read_Over(void)
-  {
-      ......
-      INS_KF.measured_vector[1] = GPS_height;   // GPS高度
-  }
-
-  void Acc_Data_Process(void)
-  {
-      ......
-      INS_KF.measured_vector[2] = acc.z;        // Z轴加速度
-  }
-*/
-
-#include "kalman_filter.h"
-
-/* USER INCLUDE BEGIN */
-
-/* USER INCLUDE END */
-
-/* USER DEFINE BEGIN */
-
-/* USER DEFINE END */
-
-/* 私有函数声明 */
-static void KF_AdjustHKR(KF_t *kf);
-
-/**
- * @brief 初始化卡尔曼滤波器并分配矩阵内存
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @param xhat_size 状态向量维度
- * @param u_size 控制向量维度（无控制输入时设为0）
- * @param z_size 量测向量维度
- * @return int8_t 0对应没有错误
- */
-int8_t KF_Init(KF_t *kf, uint8_t xhat_size, uint8_t u_size, uint8_t z_size) {
-  if (kf == NULL) return -1;
-
-  kf->xhat_size = xhat_size;
-  kf->u_size = u_size;
-  kf->z_size = z_size;
-
-  kf->measurement_valid_num = 0;
-
-  /* 量测标志分配 */
-  kf->measurement_map = (uint8_t *)user_malloc(sizeof(uint8_t) * z_size);
-  memset(kf->measurement_map, 0, sizeof(uint8_t) * z_size);
-
-  kf->measurement_degree = (float *)user_malloc(sizeof(float) * z_size);
-  memset(kf->measurement_degree, 0, sizeof(float) * z_size);
-
-  kf->mat_r_diagonal_elements = (float *)user_malloc(sizeof(float) * z_size);
-  memset(kf->mat_r_diagonal_elements, 0, sizeof(float) * z_size);
-
-  kf->state_min_variance = (float *)user_malloc(sizeof(float) * xhat_size);
-  memset(kf->state_min_variance, 0, sizeof(float) * xhat_size);
-
-  kf->temp = (uint8_t *)user_malloc(sizeof(uint8_t) * z_size);
-  memset(kf->temp, 0, sizeof(uint8_t) * z_size);
-
-  /* 滤波数据分配 */
-  kf->filtered_value = (float *)user_malloc(sizeof(float) * xhat_size);
-  memset(kf->filtered_value, 0, sizeof(float) * xhat_size);
-
-  kf->measured_vector = (float *)user_malloc(sizeof(float) * z_size);
-  memset(kf->measured_vector, 0, sizeof(float) * z_size);
-
-  kf->control_vector = (float *)user_malloc(sizeof(float) * u_size);
-  memset(kf->control_vector, 0, sizeof(float) * u_size);
-
-  /* 状态估计 xhat x(k|k) */
-  kf->xhat_data = (float *)user_malloc(sizeof(float) * xhat_size);
-  memset(kf->xhat_data, 0, sizeof(float) * xhat_size);
-  KF_MatInit(&kf->xhat, kf->xhat_size, 1, kf->xhat_data);
-
-  /* 先验状态估计 xhatminus x(k|k-1) */
-  kf->xhatminus_data = (float *)user_malloc(sizeof(float) * xhat_size);
-  memset(kf->xhatminus_data, 0, sizeof(float) * xhat_size);
-  KF_MatInit(&kf->xhatminus, kf->xhat_size, 1, kf->xhatminus_data);
-
-  /* 控制向量 u */
-  if (u_size != 0) {
-    kf->u_data = (float *)user_malloc(sizeof(float) * u_size);
-    memset(kf->u_data, 0, sizeof(float) * u_size);
-    KF_MatInit(&kf->u, kf->u_size, 1, kf->u_data);
-  }
-
-  /* 量测向量 z */
-  kf->z_data = (float *)user_malloc(sizeof(float) * z_size);
-  memset(kf->z_data, 0, sizeof(float) * z_size);
-  KF_MatInit(&kf->z, kf->z_size, 1, kf->z_data);
-
-  /* 协方差矩阵 P(k|k) */
-  kf->P_data = (float *)user_malloc(sizeof(float) * xhat_size * xhat_size);
-  memset(kf->P_data, 0, sizeof(float) * xhat_size * xhat_size);
-  KF_MatInit(&kf->P, kf->xhat_size, kf->xhat_size, kf->P_data);
-
-  /* 先验协方差矩阵 P(k|k-1) */
-  kf->Pminus_data = (float *)user_malloc(sizeof(float) * xhat_size * xhat_size);
-  memset(kf->Pminus_data, 0, sizeof(float) * xhat_size * xhat_size);
-  KF_MatInit(&kf->Pminus, kf->xhat_size, kf->xhat_size, kf->Pminus_data);
-
-  /* 状态转移矩阵 F 及其转置 FT */
-  kf->F_data = (float *)user_malloc(sizeof(float) * xhat_size * xhat_size);
-  kf->FT_data = (float *)user_malloc(sizeof(float) * xhat_size * xhat_size);
-  memset(kf->F_data, 0, sizeof(float) * xhat_size * xhat_size);
-  memset(kf->FT_data, 0, sizeof(float) * xhat_size * xhat_size);
-  KF_MatInit(&kf->F, kf->xhat_size, kf->xhat_size, kf->F_data);
-  KF_MatInit(&kf->FT, kf->xhat_size, kf->xhat_size, kf->FT_data);
-
-  /* 控制矩阵 B */
-  if (u_size != 0) {
-    kf->B_data = (float *)user_malloc(sizeof(float) * xhat_size * u_size);
-    memset(kf->B_data, 0, sizeof(float) * xhat_size * u_size);
-    KF_MatInit(&kf->B, kf->xhat_size, kf->u_size, kf->B_data);
-  }
-
-  /* 量测矩阵 H 及其转置 HT */
-  kf->H_data = (float *)user_malloc(sizeof(float) * z_size * xhat_size);
-  kf->HT_data = (float *)user_malloc(sizeof(float) * xhat_size * z_size);
-  memset(kf->H_data, 0, sizeof(float) * z_size * xhat_size);
-  memset(kf->HT_data, 0, sizeof(float) * xhat_size * z_size);
-  KF_MatInit(&kf->H, kf->z_size, kf->xhat_size, kf->H_data);
-  KF_MatInit(&kf->HT, kf->xhat_size, kf->z_size, kf->HT_data);
-
-  /* 过程噪声协方差矩阵 Q */
-  kf->Q_data = (float *)user_malloc(sizeof(float) * xhat_size * xhat_size);
-  memset(kf->Q_data, 0, sizeof(float) * xhat_size * xhat_size);
-  KF_MatInit(&kf->Q, kf->xhat_size, kf->xhat_size, kf->Q_data);
-
-  /* 量测噪声协方差矩阵 R */
-  kf->R_data = (float *)user_malloc(sizeof(float) * z_size * z_size);
-  memset(kf->R_data, 0, sizeof(float) * z_size * z_size);
-  KF_MatInit(&kf->R, kf->z_size, kf->z_size, kf->R_data);
-
-  /* 卡尔曼增益 K */
-  kf->K_data = (float *)user_malloc(sizeof(float) * xhat_size * z_size);
-  memset(kf->K_data, 0, sizeof(float) * xhat_size * z_size);
-  KF_MatInit(&kf->K, kf->xhat_size, kf->z_size, kf->K_data);
-
-  /* 临时矩阵分配 */
-  kf->S_data = (float *)user_malloc(sizeof(float) * xhat_size * xhat_size);
-  kf->temp_matrix_data =
-      (float *)user_malloc(sizeof(float) * xhat_size * xhat_size);
-  kf->temp_matrix_data1 =
-      (float *)user_malloc(sizeof(float) * xhat_size * xhat_size);
-  kf->temp_vector_data = (float *)user_malloc(sizeof(float) * xhat_size);
-  kf->temp_vector_data1 = (float *)user_malloc(sizeof(float) * xhat_size);
-
-  KF_MatInit(&kf->S, kf->xhat_size, kf->xhat_size, kf->S_data);
-  KF_MatInit(&kf->temp_matrix, kf->xhat_size, kf->xhat_size,
-             kf->temp_matrix_data);
-  KF_MatInit(&kf->temp_matrix1, kf->xhat_size, kf->xhat_size,
-             kf->temp_matrix_data1);
-  KF_MatInit(&kf->temp_vector, kf->xhat_size, 1, kf->temp_vector_data);
-  KF_MatInit(&kf->temp_vector1, kf->xhat_size, 1, kf->temp_vector_data1);
-
-  /* 初始化跳过标志 */
-  kf->skip_eq1 = 0;
-  kf->skip_eq2 = 0;
-  kf->skip_eq3 = 0;
-  kf->skip_eq4 = 0;
-  kf->skip_eq5 = 0;
-
-  /* 初始化用户函数指针 */
-  kf->User_Func0_f = NULL;
-  kf->User_Func1_f = NULL;
-  kf->User_Func2_f = NULL;
-  kf->User_Func3_f = NULL;
-  kf->User_Func4_f = NULL;
-  kf->User_Func5_f = NULL;
-  kf->User_Func6_f = NULL;
-
-  return 0;
-}
-
-/**
- * @brief 获取量测并在启用自动调整时调整矩阵
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_Measure(KF_t *kf) {
-  if (kf == NULL) return -1;
-
-  /* 根据量测有效性自动调整 H, K, R 矩阵 */
-  if (kf->use_auto_adjustment != 0) {
-    KF_AdjustHKR(kf);
-  } else {
-    memcpy(kf->z_data, kf->measured_vector, sizeof(float) * kf->z_size);
-    memset(kf->measured_vector, 0, sizeof(float) * kf->z_size);
-  }
-
-  memcpy(kf->u_data, kf->control_vector, sizeof(float) * kf->u_size);
-
-  return 0;
-}
-
-/**
- * @brief 步骤1：先验状态估计 - xhat'(k) = F·xhat(k-1) + B·u
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_PredictState(KF_t *kf) {
-  if (kf == NULL) return -1;
-
-  if (!kf->skip_eq1) {
-    if (kf->u_size > 0) {
-      /* 有控制输入: xhat'(k) = F·xhat(k-1) + B·u */
-      kf->temp_vector.numRows = kf->xhat_size;
-      kf->temp_vector.numCols = 1;
-      kf->mat_status = KF_MatMult(&kf->F, &kf->xhat, &kf->temp_vector);
-
-      kf->temp_vector1.numRows = kf->xhat_size;
-      kf->temp_vector1.numCols = 1;
-      kf->mat_status = KF_MatMult(&kf->B, &kf->u, &kf->temp_vector1);
-      kf->mat_status =
-          KF_MatAdd(&kf->temp_vector, &kf->temp_vector1, &kf->xhatminus);
-    } else {
-      /* 无控制输入: xhat'(k) = F·xhat(k-1) */
-      kf->mat_status = KF_MatMult(&kf->F, &kf->xhat, &kf->xhatminus);
-    }
-  }
-
-  return 0;
-}
-
-/**
- * @brief 步骤2：先验协方差 - P'(k) = F·P(k-1)·F^T + Q
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_PredictCovariance(KF_t *kf) {
-  if (kf == NULL) return -1;
-
-  if (!kf->skip_eq2) {
-    kf->mat_status = KF_MatTrans(&kf->F, &kf->FT);
-    kf->mat_status = KF_MatMult(&kf->F, &kf->P, &kf->Pminus);
-    kf->temp_matrix.numRows = kf->Pminus.numRows;
-    kf->temp_matrix.numCols = kf->FT.numCols;
-    /* F·P(k-1)·F^T */
-    kf->mat_status = KF_MatMult(&kf->Pminus, &kf->FT, &kf->temp_matrix);
-    kf->mat_status = KF_MatAdd(&kf->temp_matrix, &kf->Q, &kf->Pminus);
-  }
-
-  return 0;
-}
-
-/**
- * @brief 步骤3：卡尔曼增益 - K = P'(k)·H^T / (H·P'(k)·H^T + R)
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_CalcGain(KF_t *kf) {
-  if (kf == NULL) return -1;
-
-  if (!kf->skip_eq3) {
-    kf->mat_status = KF_MatTrans(&kf->H, &kf->HT);
-    kf->temp_matrix.numRows = kf->H.numRows;
-    kf->temp_matrix.numCols = kf->Pminus.numCols;
-    /* H·P'(k) */
-    kf->mat_status = KF_MatMult(&kf->H, &kf->Pminus, &kf->temp_matrix);
-    kf->temp_matrix1.numRows = kf->temp_matrix.numRows;
-    kf->temp_matrix1.numCols = kf->HT.numCols;
-    /* H·P'(k)·H^T */
-    kf->mat_status = KF_MatMult(&kf->temp_matrix, &kf->HT, &kf->temp_matrix1);
-    kf->S.numRows = kf->R.numRows;
-    kf->S.numCols = kf->R.numCols;
-    /* S = H·P'(k)·H^T + R */
-    kf->mat_status = KF_MatAdd(&kf->temp_matrix1, &kf->R, &kf->S);
-    /* S^-1 */
-    kf->mat_status = KF_MatInv(&kf->S, &kf->temp_matrix1);
-    kf->temp_matrix.numRows = kf->Pminus.numRows;
-    kf->temp_matrix.numCols = kf->HT.numCols;
-    /* P'(k)·H^T */
-    kf->mat_status = KF_MatMult(&kf->Pminus, &kf->HT, &kf->temp_matrix);
-    /* K = P'(k)·H^T·S^-1 */
-    kf->mat_status = KF_MatMult(&kf->temp_matrix, &kf->temp_matrix1, &kf->K);
-  }
-
-  return 0;
-}
-
-/**
- * @brief 步骤4：状态更新 - xhat(k) = xhat'(k) + K·(z - H·xhat'(k))
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_UpdateState(KF_t *kf) {
-  if (kf == NULL) return -1;
-
-  if (!kf->skip_eq4) {
-    kf->temp_vector.numRows = kf->H.numRows;
-    kf->temp_vector.numCols = 1;
-    /* H·xhat'(k) */
-    kf->mat_status = KF_MatMult(&kf->H, &kf->xhatminus, &kf->temp_vector);
-    kf->temp_vector1.numRows = kf->z.numRows;
-    kf->temp_vector1.numCols = 1;
-    /* 新息: z - H·xhat'(k) */
-    kf->mat_status = KF_MatSub(&kf->z, &kf->temp_vector, &kf->temp_vector1);
-    kf->temp_vector.numRows = kf->K.numRows;
-    kf->temp_vector.numCols = 1;
-    /* K·新息 */
-    kf->mat_status = KF_MatMult(&kf->K, &kf->temp_vector1, &kf->temp_vector);
-    /* xhat = xhat' + K·新息 */
-    kf->mat_status = KF_MatAdd(&kf->xhatminus, &kf->temp_vector, &kf->xhat);
-  }
-
-  return 0;
-}
-
-/**
- * @brief 步骤5：协方差更新 - P(k) = P'(k) - K·H·P'(k)
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_UpdateCovariance(KF_t *kf) {
-  if (kf == NULL) return -1;
-
-  if (!kf->skip_eq5) {
-    kf->temp_matrix.numRows = kf->K.numRows;
-    kf->temp_matrix.numCols = kf->H.numCols;
-    kf->temp_matrix1.numRows = kf->temp_matrix.numRows;
-    kf->temp_matrix1.numCols = kf->Pminus.numCols;
-    /* K·H */
-    kf->mat_status = KF_MatMult(&kf->K, &kf->H, &kf->temp_matrix);
-    /* K·H·P'(k) */
-    kf->mat_status = KF_MatMult(&kf->temp_matrix, &kf->Pminus, &kf->temp_matrix1);
-    /* P = P' - K·H·P' */
-    kf->mat_status = KF_MatSub(&kf->Pminus, &kf->temp_matrix1, &kf->P);
-  }
-
-  return 0;
-}
-
-/**
- * @brief 执行完整的卡尔曼滤波周期（五大方程）
- *
- * 实现标准KF，并支持用户自定义函数钩子用于扩展（EKF/UKF/ESKF/AUKF）。
- * 每个步骤都可以通过 User_Func 回调函数替换。
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return float* 滤波后的状态估计值指针
- */
-float *KF_Update(KF_t *kf) {
-  if (kf == NULL) return NULL;
-
-  /* 步骤0: 量测获取和矩阵调整 */
-  KF_Measure(kf);
-  if (kf->User_Func0_f != NULL) kf->User_Func0_f(kf);
-
-  /* 步骤1: 先验状态估计 - xhat'(k) = F·xhat(k-1) + B·u */
-  KF_PredictState(kf);
-  if (kf->User_Func1_f != NULL) kf->User_Func1_f(kf);
-
-  /* 步骤2: 先验协方差 - P'(k) = F·P(k-1)·F^T + Q */
-  KF_PredictCovariance(kf);
-  if (kf->User_Func2_f != NULL) kf->User_Func2_f(kf);
-
-  /* 量测更新（仅在存在有效量测时执行） */
-  if (kf->measurement_valid_num != 0 || kf->use_auto_adjustment == 0) {
-    /* 步骤3: 卡尔曼增益 - K = P'(k)·H^T / (H·P'(k)·H^T + R) */
-    KF_CalcGain(kf);
-    if (kf->User_Func3_f != NULL) kf->User_Func3_f(kf);
-
-    /* 步骤4: 状态更新 - xhat(k) = xhat'(k) + K·(z - H·xhat'(k)) */
-    KF_UpdateState(kf);
-    if (kf->User_Func4_f != NULL) kf->User_Func4_f(kf);
-
-    /* 步骤5: 协方差更新 - P(k) = P'(k) - K·H·P'(k) */
-    KF_UpdateCovariance(kf);
-  } else {
-    /* 无有效量测 - 仅预测 */
-    memcpy(kf->xhat_data, kf->xhatminus_data, sizeof(float) * kf->xhat_size);
-    memcpy(kf->P_data, kf->Pminus_data,
-           sizeof(float) * kf->xhat_size * kf->xhat_size);
-  }
-
-  /* 后处理钩子 */
-  if (kf->User_Func5_f != NULL) kf->User_Func5_f(kf);
-
-  /* 防过度收敛：强制最小方差 */
-  for (uint8_t i = 0; i < kf->xhat_size; i++) {
-    if (kf->P_data[i * kf->xhat_size + i] < kf->state_min_variance[i])
-      kf->P_data[i * kf->xhat_size + i] = kf->state_min_variance[i];
-  }
-
-  /* 复制结果到输出 */
-  memcpy(kf->filtered_value, kf->xhat_data, sizeof(float) * kf->xhat_size);
-
-  /* 附加后处理钩子 */
-  if (kf->User_Func6_f != NULL) kf->User_Func6_f(kf);
-
-  return kf->filtered_value;
-}
-
-/**
- * @brief 重置卡尔曼滤波器状态
- *
- * @param kf 卡尔曼滤波器结构体指针
- */
-void KF_Reset(KF_t *kf) {
-  if (kf == NULL) return;
-
-  memset(kf->xhat_data, 0, sizeof(float) * kf->xhat_size);
-  memset(kf->xhatminus_data, 0, sizeof(float) * kf->xhat_size);
-  memset(kf->filtered_value, 0, sizeof(float) * kf->xhat_size);
-  kf->measurement_valid_num = 0;
-}
-
-/**
- * @brief 根据量测有效性动态调整 H, R, K 矩阵
- *
- * 该函数根据当前周期中哪些量测有效（非零）来重建量测相关矩阵。
- * 支持具有不同采样率的异步传感器。
- *
- * @param kf 卡尔曼滤波器结构体指针
- */
-static void KF_AdjustHKR(KF_t *kf) {
-  kf->measurement_valid_num = 0;
-
-  /* 复制并重置量测向量 */
-  memcpy(kf->z_data, kf->measured_vector, sizeof(float) * kf->z_size);
-  memset(kf->measured_vector, 0, sizeof(float) * kf->z_size);
-
-  /* 清空 H 和 R 矩阵 */
-  memset(kf->R_data, 0, sizeof(float) * kf->z_size * kf->z_size);
-  memset(kf->H_data, 0, sizeof(float) * kf->xhat_size * kf->z_size);
-
-  /* 识别有效量测并重建 z, H */
-  for (uint8_t i = 0; i < kf->z_size; i++) {
-    if (kf->z_data[i] != 0) { /* 非零表示有效量测 */
-      /* 将有效量测压缩到 z */
-      kf->z_data[kf->measurement_valid_num] = kf->z_data[i];
-      kf->temp[kf->measurement_valid_num] = i;
-
-      /* 重建 H 矩阵行 */
-      kf->H_data[kf->xhat_size * kf->measurement_valid_num +
-                 kf->measurement_map[i] - 1] = kf->measurement_degree[i];
-      kf->measurement_valid_num++;
-    }
-  }
-
-  /* 用有效量测方差重建 R 矩阵 */
-  for (uint8_t i = 0; i < kf->measurement_valid_num; i++) {
-    kf->R_data[i * kf->measurement_valid_num + i] =
-        kf->mat_r_diagonal_elements[kf->temp[i]];
-  }
-
-  /* 调整矩阵维度以匹配有效量测数量 */
-  kf->H.numRows = kf->measurement_valid_num;
-  kf->H.numCols = kf->xhat_size;
-  kf->HT.numRows = kf->xhat_size;
-  kf->HT.numCols = kf->measurement_valid_num;
-  kf->R.numRows = kf->measurement_valid_num;
-  kf->R.numCols = kf->measurement_valid_num;
-  kf->K.numRows = kf->xhat_size;
-  kf->K.numCols = kf->measurement_valid_num;
-  kf->z.numRows = kf->measurement_valid_num;
-}
-
-/* USER FUNCTION BEGIN */
-
-/* USER FUNCTION END */

assets/User_code/component/kalman_filter/kalman_filter.h

@@ -1,199 +0,0 @@
-/*
-  卡尔曼滤波器
-  支持动态量测调整，使用ARM CMSIS DSP优化矩阵运算
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "arm_math.h"
-
-#include <math.h>
-#include <stdint.h>
-#include <stdlib.h>
-#include <string.h>
-
-/* USER INCLUDE BEGIN */
-
-/* USER INCLUDE END */
-
-/* USER DEFINE BEGIN */
-
-/* USER DEFINE END */
-
-/* 内存分配配置 */
-#ifndef user_malloc
-#ifdef _CMSIS_OS_H
-#define user_malloc pvPortMalloc /* FreeRTOS堆分配 */
-#else
-#define user_malloc malloc /* 标准C库分配 */
-#endif
-#endif
-
-/* ARM CMSIS DSP 矩阵运算别名 */
-#define KF_Mat              arm_matrix_instance_f32
-#define KF_MatInit          arm_mat_init_f32
-#define KF_MatAdd           arm_mat_add_f32
-#define KF_MatSub           arm_mat_sub_f32
-#define KF_MatMult          arm_mat_mult_f32
-#define KF_MatTrans         arm_mat_trans_f32
-#define KF_MatInv           arm_mat_inverse_f32
-
-/* 卡尔曼滤波器主结构体 */
-typedef struct KF_s {
-  /* 输出和输入向量 */
-  float *filtered_value;   /* 滤波后的状态估计输出 */
-  float *measured_vector;  /* 量测输入向量 */
-  float *control_vector;   /* 控制输入向量 */
-
-  /* 维度 */
-  uint8_t xhat_size; /* 状态向量维度 */
-  uint8_t u_size;    /* 控制向量维度 */
-  uint8_t z_size;    /* 量测向量维度 */
-
-  /* 自动调整参数 */
-  uint8_t use_auto_adjustment;    /* 启用动态 H/R/K 调整 */
-  uint8_t measurement_valid_num;  /* 有效量测数量 */
-
-  /* 量测配置 */
-  uint8_t *measurement_map;        /* 量测到状态的映射 */
-  float *measurement_degree;       /* 每个量测的H矩阵元素值 */
-  float *mat_r_diagonal_elements;  /* 量测噪声方差（R对角线） */
-  float *state_min_variance;       /* 最小状态方差（防过度收敛） */
-  uint8_t *temp;                   /* 临时缓冲区 */
-
-  /* 方程跳过标志（用于自定义用户函数） */
-  uint8_t skip_eq1, skip_eq2, skip_eq3, skip_eq4, skip_eq5;
-
-  /* 卡尔曼滤波器矩阵 */
-  KF_Mat xhat;      /* 状态估计 x(k|k) */
-  KF_Mat xhatminus; /* 先验状态估计 x(k|k-1) */
-  KF_Mat u;         /* 控制向量 */
-  KF_Mat z;         /* 量测向量 */
-  KF_Mat P;         /* 后验误差协方差 P(k|k) */
-  KF_Mat Pminus;    /* 先验误差协方差 P(k|k-1) */
-  KF_Mat F, FT;     /* 状态转移矩阵及其转置 */
-  KF_Mat B;         /* 控制矩阵 */
-  KF_Mat H, HT;     /* 量测矩阵及其转置 */
-  KF_Mat Q;         /* 过程噪声协方差 */
-  KF_Mat R;         /* 量测噪声协方差 */
-  KF_Mat K;         /* 卡尔曼增益 */
-  KF_Mat S;         /* 临时矩阵 S */
-  KF_Mat temp_matrix, temp_matrix1;   /* 临时矩阵 */
-  KF_Mat temp_vector, temp_vector1;   /* 临时向量 */
-
-  int8_t mat_status; /* 矩阵运算状态 */
-
-  /* 用户自定义函数指针（用于EKF/UKF/ESKF扩展） */
-  void (*User_Func0_f)(struct KF_s *kf); /* 自定义量测处理 */
-  void (*User_Func1_f)(struct KF_s *kf); /* 自定义状态预测 */
-  void (*User_Func2_f)(struct KF_s *kf); /* 自定义协方差预测 */
-  void (*User_Func3_f)(struct KF_s *kf); /* 自定义卡尔曼增益计算 */
-  void (*User_Func4_f)(struct KF_s *kf); /* 自定义状态更新 */
-  void (*User_Func5_f)(struct KF_s *kf); /* 自定义后处理 */
-  void (*User_Func6_f)(struct KF_s *kf); /* 附加自定义函数 */
-
-  /* 矩阵数据存储指针 */
-  float *xhat_data, *xhatminus_data;
-  float *u_data;
-  float *z_data;
-  float *P_data, *Pminus_data;
-  float *F_data, *FT_data;
-  float *B_data;
-  float *H_data, *HT_data;
-  float *Q_data;
-  float *R_data;
-  float *K_data;
-  float *S_data;
-  float *temp_matrix_data, *temp_matrix_data1;
-  float *temp_vector_data, *temp_vector_data1;
-} KF_t;
-
-/* USER STRUCT BEGIN */
-
-/* USER STRUCT END */
-
-/**
- * @brief 初始化卡尔曼滤波器并分配矩阵内存
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @param xhat_size 状态向量维度
- * @param u_size 控制向量维度（无控制输入时设为0）
- * @param z_size 量测向量维度
- * @return int8_t 0对应没有错误
- */
-int8_t KF_Init(KF_t *kf, uint8_t xhat_size, uint8_t u_size, uint8_t z_size);
-
-/**
- * @brief 获取量测并在启用自动调整时调整矩阵
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_Measure(KF_t *kf);
-
-/**
- * @brief 步骤1：先验状态估计 - xhat'(k) = F·xhat(k-1) + B·u
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_PredictState(KF_t *kf);
-
-/**
- * @brief 步骤2：先验协方差 - P'(k) = F·P(k-1)·F^T + Q
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_PredictCovariance(KF_t *kf);
-
-/**
- * @brief 步骤3：卡尔曼增益 - K = P'(k)·H^T / (H·P'(k)·H^T + R)
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_CalcGain(KF_t *kf);
-
-/**
- * @brief 步骤4：状态更新 - xhat(k) = xhat'(k) + K·(z - H·xhat'(k))
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_UpdateState(KF_t *kf);
-
-/**
- * @brief 步骤5：协方差更新 - P(k) = P'(k) - K·H·P'(k)
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return int8_t 0对应没有错误
- */
-int8_t KF_UpdateCovariance(KF_t *kf);
-
-/**
- * @brief 执行完整的卡尔曼滤波周期（五大方程）
- *
- * @param kf 卡尔曼滤波器结构体指针
- * @return float* 滤波后的状态估计值指针
- */
-float *KF_Update(KF_t *kf);
-
-/**
- * @brief 重置卡尔曼滤波器状态
- *
- * @param kf 卡尔曼滤波器结构体指针
- */
-void KF_Reset(KF_t *kf);
-
-/* USER FUNCTION BEGIN */
-
-/* USER FUNCTION END */
-
-#ifdef __cplusplus
-}
-#endif

assets/User_code/component/limiter/limiter.c

@@ -105,8 +105,3 @@ float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
   else
     return (heat_percent > 0.7f) ? stable_freq : 3.0f * stable_freq;
 }
-
-
-/* USER CODE BEGIN */
-
-/* USER CODE END */

assets/User_code/component/limiter/limiter.h

@@ -61,7 +61,3 @@ float PowerLimit_TargetPower(float power_limit, float power_buffer);
  */
 float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
                           float heat_increase, bool is_big);
-
-/* USER CODE BEGIN */
-
-/* USER CODE END */

assets/User_code/config.csv

@@ -1,4 +1,4 @@
 bsp,can,fdcan,dwt,gpio,i2c,mm,spi,uart,pwm,time,flash
 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,mrobot
+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,

assets/User_code/device/config.yaml

@@ -260,18 +260,3 @@ devices:
     files:
       header: "lcd.h"
       source: "lcd.c"
-
-  mrobot:
-    name: "MRobot CLI"
-    description: "基于 FreeRTOS CLI 的嵌入式调试命令行系统，支持设备注册与监控、类 Unix 文件系统命令、htop 风格任务监控等"
-    dependencies:
-      bsp: ["uart", "mm"]
-      component: ["freertos_cli"]
-    bsp_requirements:
-      - type: "uart"
-        var_name: "BSP_UART_MROBOT"
-        description: "用于 MRobot CLI 命令行交互"
-    thread_signals: []
-    files:
-      header: "mrobot.h"
-      source: "mrobot.c"

assets/User_code/device/motor_dm/motor_dm.c

@@ -111,21 +111,11 @@ static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output)
 	uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp;
 	uint16_t id = motor->param.can_id;
 
-    /* 根据 reverse 参数调整控制值 */
+	pos_tmp = float_to_uint(output->angle, DM_P_MIN , DM_P_MAX, 16);
-    float angle = output->angle;
+	vel_tmp = float_to_uint(output->velocity, DM_V_MIN , DM_V_MAX, 12);
-    float velocity = output->velocity;
-    float torque = output->torque;
-    if (motor->param.reverse) {
-        angle = -angle;
-        velocity = -velocity;
-        torque = -torque;
-    }
-
-	pos_tmp = float_to_uint(angle, DM_P_MIN , DM_P_MAX, 16);
-	vel_tmp = float_to_uint(velocity, DM_V_MIN , DM_V_MAX, 12);
 	kp_tmp  = float_to_uint(output->kp,   DM_KP_MIN, DM_KP_MAX, 12);
 	kd_tmp  = float_to_uint(output->kd,   DM_KD_MIN, DM_KD_MAX, 12);
-	tor_tmp = float_to_uint(torque, DM_T_MIN , DM_T_MAX, 12);
+	tor_tmp = float_to_uint(output->torque, DM_T_MIN , DM_T_MAX, 12);
 
     /* 打包数据 */
 	data[0] = (pos_tmp >> 8);
@@ -161,11 +151,6 @@ static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) {
     
     uint8_t data[8] = {0};
 
-    /* 根据 reverse 参数调整控制值 */
-    if (motor->param.reverse) {
-        pos = -pos;
-        vel = -vel;
-    }
     
     /* 直接发送浮点数数据 */
     memcpy(&data[0], &pos, 4);  // 位置，低位在前
@@ -194,11 +179,6 @@ static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) {
     
     uint8_t data[4] = {0};
     
-    /* 根据 reverse 参数调整控制值 */
-    if (motor->param.reverse) {
-        vel = -vel;
-    }
-    
     /* 直接发送浮点数数据 */
     memcpy(&data[0], &vel, 4);  // 速度，低位在前
     

assets/User_code/device/mrobot/mrobot.c

@@ -1,874 +0,0 @@
-/**
- * @file mrobot.c
- * @brief MRobot CLI 实现
- */
-
-/* Includes ----------------------------------------------------------------- */
-#include "device/mrobot.h"
-#include "component/freertos_cli.h"
-#include "bsp/uart.h"
-#include "bsp/mm.h"
-#include <string.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <stdarg.h>
-#include <FreeRTOS.h>
-#include <task.h>
-#include <semphr.h>
-#include <cmsis_os2.h>
-
-/* Private constants -------------------------------------------------------- */
-static const char *const CLI_WELCOME_MESSAGE =
-    "\r\n"
-    "  __  __ _____       _           _   \r\n"
-    " |  \\/  |  __ \\     | |         | |  \r\n"
-    " | \\  / | |__) |___ | |__   ___ | |_ \r\n"
-    " | |\\/| |  _  // _ \\| '_ \\ / _ \\| __|\r\n"
-    " | |  | | | \\ \\ (_) | |_) | (_) | |_ \r\n"
-    " |_|  |_|_|  \\_\\___/|_.__/ \\___/ \\__|\r\n"
-    " ------------------------------------\r\n"
-    " Welcome to use MRobot CLI. Type 'help' to view a list of registered commands.\r\n"
-    "\r\n";
-
-/* ANSI 转义序列 */
-#define ANSI_CLEAR_SCREEN   "\033[2J\033[H"
-#define ANSI_CURSOR_HOME    "\033[H"
-#define ANSI_BACKSPACE      "\b \b"
-
-/* Private types ------------------------------------------------------------ */
-/* CLI 上下文结构体 - 封装所有状态 */
-typedef struct {
-    /* 设备管理 */
-    MRobot_Device_t devices[MROBOT_MAX_DEVICES];
-    uint8_t device_count;
-    
-    /* 自定义命令 */
-    CLI_Command_Definition_t *custom_cmds[MROBOT_MAX_CUSTOM_COMMANDS];
-    uint8_t custom_cmd_count;
-    
-    /* CLI 状态 */
-    MRobot_State_t state;
-    char current_path[MROBOT_PATH_MAX_LEN];
-    
-    /* 命令缓冲区 */
-    uint8_t cmd_buffer[MROBOT_CMD_BUFFER_SIZE];
-    volatile uint8_t cmd_index;
-    volatile bool cmd_ready;
-    
-    /* UART 相关 */
-    uint8_t uart_rx_char;
-    volatile bool tx_complete;
-    volatile bool htop_exit;
-    
-    /* 输出缓冲区 */
-    char output_buffer[MROBOT_OUTPUT_BUFFER_SIZE];
-    
-    /* 初始化标志 */
-    bool initialized;
-    
-    /* 互斥锁 */
-    SemaphoreHandle_t mutex;
-} MRobot_Context_t;
-
-/* Private variables -------------------------------------------------------- */
-static MRobot_Context_t ctx = {
-    .device_count = 0,
-    .custom_cmd_count = 0,
-    .state = MROBOT_STATE_IDLE,
-    .current_path = "/",
-    .cmd_index = 0,
-    .cmd_ready = false,
-    .tx_complete = true,
-    .htop_exit = false,
-    .initialized = false,
-    .mutex = NULL
-};
-
-/* Private function prototypes ---------------------------------------------- */
-/* 命令处理函数 */
-static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
-static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
-static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
-static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
-static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
-
-/* 内部辅助函数 */
-static void uart_tx_callback(void);
-static void uart_rx_callback(void);
-static void send_string(const char *str);
-static void send_prompt(void);
-static int format_float_va(char *buf, size_t size, const char *fmt, va_list args);
-
-/* CLI 命令定义表 */
-static const CLI_Command_Definition_t builtin_commands[] = {
-    { "help", " --help: 显示所有可用命令\r\n", cmd_help, 0 },
-    { "htop", " --htop: 动态显示 FreeRTOS 任务状态 (按 'q' 退出)\r\n", cmd_htop, 0 },
-    { "cd",   " --cd <path>: 切换目录\r\n", cmd_cd, 1 },
-    { "ls",   " --ls: 列出当前目录内容\r\n", cmd_ls, 0 },
-    { "show", " --show [device] [count]: 显示设备信息\r\n", cmd_show, -1 },
-};
-#define BUILTIN_CMD_COUNT (sizeof(builtin_commands) / sizeof(builtin_commands[0]))
-
-/* ========================================================================== */
-/*                              辅助函数实现                                    */
-/* ========================================================================== */
-
-/**
- * @brief 发送字符串到 UART（阻塞等待完成）
- */
-static void send_string(const char *str) {
-    if (str == NULL || *str == '\0') return;
-    
-    ctx.tx_complete = false;
-    BSP_UART_Transmit(BSP_UART_MROBOT, (uint8_t *)str, strlen(str), true);
-    while (!ctx.tx_complete) { osDelay(1); }
-}
-
-/**
- * @brief 发送命令提示符
- */
-static void send_prompt(void) {
-    char prompt[MROBOT_PATH_MAX_LEN + 32];
-    snprintf(prompt, sizeof(prompt), MROBOT_USER_NAME "@" MROBOT_HOST_NAME ":%s$ ", ctx.current_path);
-    send_string(prompt);
-}
-
-/**
- * @brief UART 发送完成回调
- */
-static void uart_tx_callback(void) {
-    ctx.tx_complete = true;
-}
-
-/**
- * @brief UART 接收回调
- */
-static void uart_rx_callback(void) {
-    uint8_t ch = ctx.uart_rx_char;
-    
-    /* htop 模式下检查退出键 */
-    if (ctx.state == MROBOT_STATE_HTOP) {
-        if (ch == 'q' || ch == 'Q' || ch == 27) {
-            ctx.htop_exit = true;
-        }
-        BSP_UART_Receive(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
-        return;
-    }
-    
-    /* 正常命令输入处理 */
-    if (ch == '\r' || ch == '\n') {
-        if (ctx.cmd_index > 0) {
-            ctx.cmd_buffer[ctx.cmd_index] = '\0';
-            ctx.cmd_ready = true;
-            BSP_UART_Transmit(BSP_UART_MROBOT, (uint8_t *)"\r\n", 2, false);
-        }
-    } else if (ch == 127 || ch == 8) {  /* 退格键 */
-        if (ctx.cmd_index > 0) {
-            ctx.cmd_index--;
-            BSP_UART_Transmit(BSP_UART_MROBOT, (uint8_t *)ANSI_BACKSPACE, 3, false);
-        }
-    } else if (ch >= 32 && ch < 127 && ctx.cmd_index < sizeof(ctx.cmd_buffer) - 1) {
-        ctx.cmd_buffer[ctx.cmd_index++] = ch;
-        /* 回显：使用静态变量地址，避免异步发送时局部变量已失效 */
-        BSP_UART_Transmit(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
-    }
-    
-    BSP_UART_Receive(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
-}
-
-/* ========================================================================== */
-/*                             CLI 命令实现                                     */
-/* ========================================================================== */
-
-/**
- * @brief help 命令 - 显示帮助信息
- */
-static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
-    (void)pcCommandString;
-    
-    int offset = snprintf(pcWriteBuffer, xWriteBufferLen,
-        "MRobot CLI v2.0\r\n"
-        "================\r\n"
-        "Built-in Commands:\r\n");
-    
-    for (size_t i = 0; i < BUILTIN_CMD_COUNT && offset < (int)xWriteBufferLen - 50; i++) {
-        offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
-            "  %s", builtin_commands[i].pcHelpString);
-    }
-    
-    if (ctx.custom_cmd_count > 0) {
-        offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
-            "\r\nCustom Commands:\r\n");
-        for (uint8_t i = 0; i < ctx.custom_cmd_count && offset < (int)xWriteBufferLen - 50; i++) {
-            if (ctx.custom_cmds[i] != NULL) {
-                offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
-                    "  %s", ctx.custom_cmds[i]->pcHelpString);
-            }
-        }
-    }
-    
-    return pdFALSE;
-}
-
-/**
- * @brief htop 命令 - 设置 htop 模式标志
- */
-static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
-    (void)pcCommandString;
-    (void)pcWriteBuffer;
-    (void)xWriteBufferLen;
-    /* htop 模式在 MRobot_Run 中处理 */
-    return pdFALSE;
-}
-
-/**
- * @brief cd 命令 - 切换目录
- */
-static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
-    const char *param;
-    BaseType_t param_len;
-    
-    param = FreeRTOS_CLIGetParameter(pcCommandString, 1, &param_len);
-    
-    if (param == NULL) {
-        /* 无参数时切换到根目录 */
-        strcpy(ctx.current_path, "/");
-        snprintf(pcWriteBuffer, xWriteBufferLen, "Changed to: %s\r\n", ctx.current_path);
-        return pdFALSE;
-    }
-    
-    /* 安全复制路径参数 */
-    char path[MROBOT_PATH_MAX_LEN];
-    size_t copy_len = (size_t)param_len < sizeof(path) - 1 ? (size_t)param_len : sizeof(path) - 1;
-    strncpy(path, param, copy_len);
-    path[copy_len] = '\0';
-    
-    /* 路径解析 */
-    if (strcmp(path, "/") == 0 || strcmp(path, "..") == 0 || strcmp(path, "~") == 0) {
-        strcpy(ctx.current_path, "/");
-    } else if (strcmp(path, "dev") == 0 || strcmp(path, "/dev") == 0) {
-        strcpy(ctx.current_path, "/dev");
-    } else if (strcmp(path, "modules") == 0 || strcmp(path, "/modules") == 0) {
-        strcpy(ctx.current_path, "/modules");
-    } else {
-        snprintf(pcWriteBuffer, xWriteBufferLen, "Error: Directory '%s' not found\r\n", path);
-        return pdFALSE;
-    }
-    
-    snprintf(pcWriteBuffer, xWriteBufferLen, "Changed to: %s\r\n", ctx.current_path);
-    return pdFALSE;
-}
-
-/**
- * @brief ls 命令 - 列出目录内容
- */
-static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
-    (void)pcCommandString;
-    int offset = 0;
-    
-    if (strcmp(ctx.current_path, "/") == 0) {
-        snprintf(pcWriteBuffer, xWriteBufferLen, 
-            "dev/\r\n"
-            "modules/\r\n");
-    } else if (strcmp(ctx.current_path, "/dev") == 0) {
-        offset = snprintf(pcWriteBuffer, xWriteBufferLen, 
-            "Device List (%d devices)\r\n\r\n", 
-            ctx.device_count);
-        
-        if (ctx.device_count == 0) {
-            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, 
-                              "  (No devices)\r\n");
-        } else {
-            /* 直接列出所有设备 */
-            for (uint8_t i = 0; i < ctx.device_count && offset < (int)xWriteBufferLen - 50; i++) {
-                offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
-                    "  - %s\r\n", ctx.devices[i].name);
-            }
-        }
-    } else if (strcmp(ctx.current_path, "/modules") == 0) {
-        snprintf(pcWriteBuffer, xWriteBufferLen, 
-            "Module functions not yet implemented\r\n");
-    }
-    
-    return pdFALSE;
-}
-
-/**
- * @brief show 命令 - 显示设备信息
- */
-static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
-    const char *param;
-    const char *count_param;
-    BaseType_t param_len, count_param_len;
-    
-    /* 使用局部静态变量跟踪多次打印状态 */
-    static uint32_t print_count = 0;
-    static uint32_t current_iter = 0;
-    static char target_device[MROBOT_DEVICE_NAME_LEN] = {0};
-    
-    /* 首次调用时解析参数 */
-    if (current_iter == 0) {
-        /* 检查是否在 /dev 目录 */
-        if (strcmp(ctx.current_path, "/dev") != 0) {
-            snprintf(pcWriteBuffer, xWriteBufferLen, 
-                "Error: 'show' command only works in /dev directory\r\n"
-                "Hint: Use 'cd /dev' to switch to device directory\r\n");
-            return pdFALSE;
-        }
-        
-        param = FreeRTOS_CLIGetParameter(pcCommandString, 1, &param_len);
-        count_param = FreeRTOS_CLIGetParameter(pcCommandString, 2, &count_param_len);
-        
-        /* 解析打印次数 */
-        print_count = 1;
-        if (count_param != NULL) {
-            char count_str[16];
-            size_t copy_len = (size_t)count_param_len < sizeof(count_str) - 1 ? 
-                              (size_t)count_param_len : sizeof(count_str) - 1;
-            strncpy(count_str, count_param, copy_len);
-            count_str[copy_len] = '\0';
-            int parsed = atoi(count_str);
-            if (parsed > 0 && parsed <= 1000) {
-                print_count = (uint32_t)parsed;
-            }
-        }
-        
-        /* 保存目标设备名称 */
-        if (param != NULL) {
-            size_t copy_len = (size_t)param_len < sizeof(target_device) - 1 ? 
-                              (size_t)param_len : sizeof(target_device) - 1;
-            strncpy(target_device, param, copy_len);
-            target_device[copy_len] = '\0';
-        } else {
-            target_device[0] = '\0';
-        }
-    }
-    
-    int offset = 0;
-    
-    /* 连续打印模式：清屏 */
-    if (print_count > 1) {
-        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "%s[%lu/%lu]\r\n",
-                          ANSI_CLEAR_SCREEN,
-                          (unsigned long)(current_iter + 1), 
-                          (unsigned long)print_count);
-    }
-    
-    if (target_device[0] == '\0') {
-        /* 显示所有设备 */
-        offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
-                          "=== All Devices ===\r\n\r\n");
-        
-        for (uint8_t i = 0; i < ctx.device_count && offset < (int)xWriteBufferLen - 100; i++) {
-            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
-                              "--- %s ---\r\n", ctx.devices[i].name);
-            
-            if (ctx.devices[i].print_cb != NULL) {
-                int written = ctx.devices[i].print_cb(ctx.devices[i].data,
-                                                       pcWriteBuffer + offset,
-                                                       xWriteBufferLen - offset);
-                offset += (written > 0) ? written : 0;
-            } else {
-                offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
-                                  "  (No print function)\r\n");
-            }
-        }
-        
-        if (ctx.device_count == 0) {
-            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
-                              "  (No devices registered)\r\n");
-        }
-    } else {
-        /* 显示指定设备 */
-        const MRobot_Device_t *dev = MRobot_FindDevice(target_device);
-        
-        if (dev == NULL) {
-            snprintf(pcWriteBuffer, xWriteBufferLen, 
-                    "Error: Device '%s' not found\r\n", 
-                    target_device);
-            current_iter = 0;
-            return pdFALSE;
-        }
-        
-        offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
-                          "=== %s ===\r\n", dev->name);
-        
-        if (dev->print_cb != NULL) {
-            dev->print_cb(dev->data, pcWriteBuffer + offset, xWriteBufferLen - offset);
-        } else {
-            snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
-                    "  (No print function)\r\n");
-        }
-    }
-    
-    /* 判断是否继续打印 */
-    current_iter++;
-    if (current_iter < print_count) {
-        osDelay(MROBOT_HTOP_REFRESH_MS);
-        return pdTRUE;
-    } else {
-        current_iter = 0;
-        return pdFALSE;
-    }
-}
-
-/* ============================================================================
- * htop 模式处理
- * ========================================================================== */
-static void handle_htop_mode(void) {
-    send_string(ANSI_CLEAR_SCREEN);
-    send_string("=== MRobot Task Monitor (Press 'q' to exit) ===\r\n\r\n");
-    
-    /* 获取任务列表 */
-    char task_buffer[1024];
-    char display_line[128];
-    
-    vTaskList(task_buffer);
-    
-    /* 表头 */
-    send_string("Task Name         State    Prio  Stack  Num\r\n");
-    send_string("------------------------------------------------\r\n");
-    
-    /* 解析并格式化任务列表 */
-    char *line = strtok(task_buffer, "\r\n");
-    while (line != NULL) {
-        char name[17] = {0};
-        char state_char = '?';
-        int prio = 0, stack = 0, num = 0;
-        
-        if (sscanf(line, "%16s %c %d %d %d", name, &state_char, &prio, &stack, &num) == 5) {
-            const char *state_str;
-            switch (state_char) {
-                case 'R': state_str = "Running"; break;
-                case 'B': state_str = "Blocked"; break;
-                case 'S': state_str = "Suspend"; break;
-                case 'D': state_str = "Deleted"; break;
-                case 'X': state_str = "Ready  "; break;
-                default:  state_str = "Unknown"; break;
-            }
-            
-            snprintf(display_line, sizeof(display_line),
-                    "%-16s %-8s %-4d %-8d %-4d\r\n",
-                    name, state_str, prio, stack, num);
-            send_string(display_line);
-        }
-        line = strtok(NULL, "\r\n");
-    }
-    
-    /* 显示系统信息 */
-    snprintf(display_line, sizeof(display_line),
-            "------------------------------------------------\r\n"
-            "System Tick: %lu | Free Heap: %lu bytes\r\n",
-            (unsigned long)xTaskGetTickCount(),
-            (unsigned long)xPortGetFreeHeapSize());
-    send_string(display_line);
-    
-    /* 检查退出 */
-    if (ctx.htop_exit) {
-        ctx.state = MROBOT_STATE_IDLE;
-        ctx.htop_exit = false;
-        send_string(ANSI_CLEAR_SCREEN);
-        send_prompt();
-    }
-    
-    osDelay(MROBOT_HTOP_REFRESH_MS);
-}
-
-/* ========================================================================== */
-/*                              公共 API 实现                                   */
-/* ========================================================================== */
-
-void MRobot_Init(void) {
-    if (ctx.initialized) return;
-    
-    /* 创建互斥锁 */
-    ctx.mutex = xSemaphoreCreateMutex();
-    
-    /* 初始化状态（保留已注册的设备） */
-    // 注意：不清除 devices 和 device_count，因为其他任务可能已经注册了设备
-    ctx.custom_cmd_count = 0;
-    ctx.state = MROBOT_STATE_IDLE;
-    strcpy(ctx.current_path, "/");
-    ctx.cmd_index = 0;
-    ctx.cmd_ready = false;
-    ctx.tx_complete = true;
-    ctx.htop_exit = false;
-    
-    /* 注册内置命令 */
-    for (size_t i = 0; i < BUILTIN_CMD_COUNT; i++) {
-        FreeRTOS_CLIRegisterCommand(&builtin_commands[i]);
-    }
-    
-    /* 注册 UART 回调 */
-    BSP_UART_RegisterCallback(BSP_UART_MROBOT, BSP_UART_RX_CPLT_CB, uart_rx_callback);
-    BSP_UART_RegisterCallback(BSP_UART_MROBOT, BSP_UART_TX_CPLT_CB, uart_tx_callback);
-    
-    /* 启动 UART 接收 */
-    BSP_UART_Receive(BSP_UART_MROBOT, &ctx.uart_rx_char, 1, false);
-    
-    /* 等待用户按下回车 */
-    while (ctx.uart_rx_char != '\r' && ctx.uart_rx_char != '\n') {
-        osDelay(10);
-    }
-    
-    /* 发送欢迎消息和提示符 */
-    send_string(CLI_WELCOME_MESSAGE);
-    send_prompt();
-    
-    ctx.initialized = true;
-}
-
-void MRobot_DeInit(void) {
-    if (!ctx.initialized) return;
-    
-    /* 释放自定义命令内存 */
-    for (uint8_t i = 0; i < ctx.custom_cmd_count; i++) {
-        if (ctx.custom_cmds[i] != NULL) {
-            BSP_Free(ctx.custom_cmds[i]);
-            ctx.custom_cmds[i] = NULL;
-        }
-    }
-    
-    /* 删除互斥锁 */
-    if (ctx.mutex != NULL) {
-        vSemaphoreDelete(ctx.mutex);
-        ctx.mutex = NULL;
-    }
-    
-    ctx.initialized = false;
-}
-
-MRobot_State_t MRobot_GetState(void) {
-    return ctx.state;
-}
-
-MRobot_Error_t MRobot_RegisterDevice(const char *name, void *data, MRobot_PrintCallback_t print_cb) {
-    if (name == NULL || data == NULL) {
-        return MROBOT_ERR_NULL_PTR;
-    }
-    
-    if (ctx.device_count >= MROBOT_MAX_DEVICES) {
-        return MROBOT_ERR_FULL;
-    }
-    
-    /* 检查重名 */
-    for (uint8_t i = 0; i < ctx.device_count; i++) {
-        if (strcmp(ctx.devices[i].name, name) == 0) {
-            return MROBOT_ERR_INVALID_ARG;  /* 设备名已存在 */
-        }
-    }
-    
-    /* 线程安全写入 */
-    if (ctx.mutex != NULL) {
-        xSemaphoreTake(ctx.mutex, portMAX_DELAY);
-    }
-    
-    strncpy(ctx.devices[ctx.device_count].name, name, MROBOT_DEVICE_NAME_LEN - 1);
-    ctx.devices[ctx.device_count].name[MROBOT_DEVICE_NAME_LEN - 1] = '\0';
-    ctx.devices[ctx.device_count].data = data;
-    ctx.devices[ctx.device_count].print_cb = print_cb;
-    ctx.device_count++;
-    
-    if (ctx.mutex != NULL) {
-        xSemaphoreGive(ctx.mutex);
-    }
-    
-    return MROBOT_OK;
-}
-
-MRobot_Error_t MRobot_UnregisterDevice(const char *name) {
-    if (name == NULL) {
-        return MROBOT_ERR_NULL_PTR;
-    }
-    
-    if (ctx.mutex != NULL) {
-        xSemaphoreTake(ctx.mutex, portMAX_DELAY);
-    }
-    
-    for (uint8_t i = 0; i < ctx.device_count; i++) {
-        if (strcmp(ctx.devices[i].name, name) == 0) {
-            /* 移动后续设备 */
-            for (uint8_t j = i; j < ctx.device_count - 1; j++) {
-                ctx.devices[j] = ctx.devices[j + 1];
-            }
-            ctx.device_count--;
-            
-            if (ctx.mutex != NULL) {
-                xSemaphoreGive(ctx.mutex);
-            }
-            return MROBOT_OK;
-        }
-    }
-    
-    if (ctx.mutex != NULL) {
-        xSemaphoreGive(ctx.mutex);
-    }
-    return MROBOT_ERR_NOT_FOUND;
-}
-
-MRobot_Error_t MRobot_RegisterCommand(const char *command, const char *help_text,
-                                       MRobot_CommandCallback_t callback, int8_t param_count) {
-    if (command == NULL || help_text == NULL || callback == NULL) {
-        return MROBOT_ERR_NULL_PTR;
-    }
-    
-    if (ctx.custom_cmd_count >= MROBOT_MAX_CUSTOM_COMMANDS) {
-        return MROBOT_ERR_FULL;
-    }
-    
-    /* 动态分配命令结构体 */
-    CLI_Command_Definition_t *cmd_def = BSP_Malloc(sizeof(CLI_Command_Definition_t));
-    if (cmd_def == NULL) {
-        return MROBOT_ERR_ALLOC;
-    }
-    
-    /* 初始化命令定义 */
-    *(const char **)&cmd_def->pcCommand = command;
-    *(const char **)&cmd_def->pcHelpString = help_text;
-    *(pdCOMMAND_LINE_CALLBACK *)&cmd_def->pxCommandInterpreter = (pdCOMMAND_LINE_CALLBACK)callback;
-    cmd_def->cExpectedNumberOfParameters = param_count;
-    
-    /* 注册到 FreeRTOS CLI */
-    FreeRTOS_CLIRegisterCommand(cmd_def);
-    
-    ctx.custom_cmds[ctx.custom_cmd_count] = cmd_def;
-    ctx.custom_cmd_count++;
-    
-    return MROBOT_OK;
-}
-
-uint8_t MRobot_GetDeviceCount(void) {
-    return ctx.device_count;
-}
-
-const MRobot_Device_t *MRobot_FindDevice(const char *name) {
-    if (name == NULL) return NULL;
-    
-    for (uint8_t i = 0; i < ctx.device_count; i++) {
-        if (strcmp(ctx.devices[i].name, name) == 0) {
-            return &ctx.devices[i];
-        }
-    }
-    return NULL;
-}
-
-int MRobot_Printf(const char *fmt, ...) {
-    if (fmt == NULL || !ctx.initialized) return -1;
-    
-    char buffer[MROBOT_OUTPUT_BUFFER_SIZE];
-    va_list args;
-    va_start(args, fmt);
-    int len = format_float_va(buffer, sizeof(buffer), fmt, args);
-    va_end(args);
-    
-    if (len > 0) {
-        send_string(buffer);
-    }
-    return len;
-}
-
-/**
- * @brief 内部函数：格式化浮点数到缓冲区（va_list 版本）
- */
-static int format_float_va(char *buf, size_t size, const char *fmt, va_list args) {
-    if (buf == NULL || size == 0 || fmt == NULL) return 0;
-    
-    char *buf_ptr = buf;
-    size_t buf_remain = size - 1;
-    
-    const char *p = fmt;
-    while (*p && buf_remain > 0) {
-        if (*p != '%') {
-            *buf_ptr++ = *p++;
-            buf_remain--;
-            continue;
-        }
-        
-        p++;  /* 跳过 '%' */
-        
-        /* 处理 %% */
-        if (*p == '%') {
-            *buf_ptr++ = '%';
-            buf_remain--;
-            p++;
-            continue;
-        }
-        
-        /* 解析精度 %.Nf */
-        int precision = 2;  /* 默认精度 */
-        if (*p == '.') {
-            p++;
-            precision = 0;
-            while (*p >= '0' && *p <= '9') {
-                precision = precision * 10 + (*p - '0');
-                p++;
-            }
-            if (precision > 6) precision = 6;
-        }
-        
-        int written = 0;
-        switch (*p) {
-            case 'f': {  /* 浮点数 */
-                double val = va_arg(args, double);
-                written = MRobot_FormatFloat(buf_ptr, buf_remain, (float)val, precision);
-                break;
-            }
-            case 'd':
-            case 'i': {
-                int val = va_arg(args, int);
-                written = snprintf(buf_ptr, buf_remain, "%d", val);
-                break;
-            }
-            case 'u': {
-                unsigned int val = va_arg(args, unsigned int);
-                written = snprintf(buf_ptr, buf_remain, "%u", val);
-                break;
-            }
-            case 'x': {
-                unsigned int val = va_arg(args, unsigned int);
-                written = snprintf(buf_ptr, buf_remain, "%x", val);
-                break;
-            }
-            case 'X': {
-                unsigned int val = va_arg(args, unsigned int);
-                written = snprintf(buf_ptr, buf_remain, "%X", val);
-                break;
-            }
-            case 's': {
-                const char *str = va_arg(args, const char *);
-                if (str == NULL) str = "(null)";
-                written = snprintf(buf_ptr, buf_remain, "%s", str);
-                break;
-            }
-            case 'c': {
-                int ch = va_arg(args, int);
-                *buf_ptr = (char)ch;
-                written = 1;
-                break;
-            }
-            case 'l': {
-                p++;
-                if (*p == 'd' || *p == 'i') {
-                    long val = va_arg(args, long);
-                    written = snprintf(buf_ptr, buf_remain, "%ld", val);
-                } else if (*p == 'u') {
-                    unsigned long val = va_arg(args, unsigned long);
-                    written = snprintf(buf_ptr, buf_remain, "%lu", val);
-                } else if (*p == 'x' || *p == 'X') {
-                    unsigned long val = va_arg(args, unsigned long);
-                    written = snprintf(buf_ptr, buf_remain, *p == 'x' ? "%lx" : "%lX", val);
-                } else {
-                    p--;
-                }
-                break;
-            }
-            default: {
-                *buf_ptr++ = '%';
-                buf_remain--;
-                if (buf_remain > 0) {
-                    *buf_ptr++ = *p;
-                    buf_remain--;
-                }
-                written = 0;
-                break;
-            }
-        }
-        
-        if (written > 0) {
-            buf_ptr += written;
-            buf_remain -= (size_t)written;
-        }
-        p++;
-    }
-    
-    *buf_ptr = '\0';
-    return (int)(buf_ptr - buf);
-}
-
-int MRobot_Snprintf(char *buf, size_t size, const char *fmt, ...) {
-    va_list args;
-    va_start(args, fmt);
-    int len = format_float_va(buf, size, fmt, args);
-    va_end(args);
-    return len;
-}
-
-int MRobot_FormatFloat(char *buf, size_t size, float val, int precision) {
-    if (buf == NULL || size == 0) return 0;
-    
-    int offset = 0;
-    
-    /* 处理负数 */
-    if (val < 0) {
-        if (offset < (int)size - 1) buf[offset++] = '-';
-        val = -val;
-    }
-    
-    /* 限制精度范围 */
-    if (precision < 0) precision = 0;
-    if (precision > 6) precision = 6;
-    
-    /* 计算乘数 */
-    int multiplier = 1;
-    for (int i = 0; i < precision; i++) multiplier *= 10;
-    
-    int int_part = (int)val;
-    int frac_part = (int)((val - int_part) * multiplier + 0.5f);
-    
-    /* 处理进位 */
-    if (frac_part >= multiplier) {
-        int_part++;
-        frac_part -= multiplier;
-    }
-    
-    /* 格式化输出 */
-    int written;
-    if (precision > 0) {
-        written = snprintf(buf + offset, size - offset, "%d.%0*d", int_part, precision, frac_part);
-    } else {
-        written = snprintf(buf + offset, size - offset, "%d", int_part);
-    }
-    return (written > 0) ? (offset + written) : offset;
-}
-
-void MRobot_Run(void) {
-    if (!ctx.initialized) return;
-    
-    /* htop 模式 */
-    if (ctx.state == MROBOT_STATE_HTOP) {
-        handle_htop_mode();
-        return;
-    }
-    
-    /* 处理命令 */
-    if (ctx.cmd_ready) {
-        ctx.state = MROBOT_STATE_PROCESSING;
-        
-        /* 检查是否是 htop 命令 */
-        if (strcmp((char *)ctx.cmd_buffer, "htop") == 0) {
-            ctx.state = MROBOT_STATE_HTOP;
-            ctx.htop_exit = false;
-        } else {
-            /* 处理其他命令 */
-            BaseType_t more;
-            do {
-                ctx.output_buffer[0] = '\0';
-                more = FreeRTOS_CLIProcessCommand((char *)ctx.cmd_buffer,
-                                                   ctx.output_buffer,
-                                                   sizeof(ctx.output_buffer));
-                
-                if (ctx.output_buffer[0] != '\0') {
-                    send_string(ctx.output_buffer);
-                }
-            } while (more != pdFALSE);
-            
-            send_prompt();
-            ctx.state = MROBOT_STATE_IDLE;
-        }
-        
-        ctx.cmd_index = 0;
-        ctx.cmd_ready = false;
-    }
-    
-    osDelay(10);
-}

assets/User_code/device/mrobot/mrobot.h

@@ -1,313 +0,0 @@
-/**
- * @file mrobot.h
- * @brief MRobot CLI - 基于 FreeRTOS CLI 的嵌入式调试命令行系统
- * 
- * 功能特性:
- * - 设备注册与监控（IMU、电机、传感器等）
- * - 类 Unix 文件系统命令（cd, ls, pwd）
- * - htop 风格的任务监控
- * - 自定义命令扩展
- * - 线程安全设计
- * 
- * @example IMU 设备注册示例
- * @code
- * // 1. 定义 IMU 数据结构
- * typedef struct {
- *     bool online;
- *     float accl[3];
- *     float gyro[3];
- *     float euler[3];  // roll, pitch, yaw (deg)
- *     float temp;
- * } MyIMU_t;
- * 
- * MyIMU_t my_imu;
- * 
- * // 2. 实现打印回调
- * static int print_imu(const void *data, char *buf, size_t size) {
- *     const MyIMU_t *imu = (const MyIMU_t *)data;
- *     return MRobot_Snprintf(buf, size,
- *         "  Status: %s\r\n"
- *         "  Accel : X=%.3f Y=%.3f Z=%.3f\r\n"
- *         "  Euler : R=%.2f P=%.2f Y=%.2f\r\n"
- *         "  Temp  : %.1f C\r\n",
- *         imu->online ? "Online" : "Offline",
- *         imu->accl[0], imu->accl[1], imu->accl[2],
- *         imu->euler[0], imu->euler[1], imu->euler[2],
- *         imu->temp);
- * }
- * 
- * // 3. 注册设备
- * MRobot_RegisterDevice("imu", &my_imu, print_imu);
- * @endcode
- * 
- * @example 电机设备注册示例
- * @code
- * typedef struct {
- *     bool online;
- *     float angle;    // deg
- *     float speed;    // RPM
- *     float current;  // A
- * } MyMotor_t;
- * 
- * MyMotor_t motor[4];
- * 
- * static int print_motor(const void *data, char *buf, size_t size) {
- *     const MyMotor_t *m = (const MyMotor_t *)data;
- *     return MRobot_Snprintf(buf, size,
- *         "  Status : %s\r\n"
- *         "  Angle  : %.2f deg\r\n"
- *         "  Speed  : %.1f RPM\r\n"
- *         "  Current: %.3f A\r\n",
- *         m->online ? "Online" : "Offline",
- *         m->angle, m->speed, m->current);
- * }
- * 
- * // 注册 4 个电机
- * MRobot_RegisterDevice("motor0", &motor[0], print_motor);
- * MRobot_RegisterDevice("motor1", &motor[1], print_motor);
- * MRobot_RegisterDevice("motor2", &motor[2], print_motor);
- * MRobot_RegisterDevice("motor3", &motor[3], print_motor);
- * @endcode
- * 
- * @example 自定义校准命令示例
- * @code
- * // 校准数据
- * static float gyro_offset[3] = {0};
- * 
- * // 命令回调: cali gyro / cali accel / cali save
- * static long cmd_cali(char *buf, size_t size, const char *cmd) {
- *     const char *param = FreeRTOS_CLIGetParameter(cmd, 1, NULL);
- *     
- *     if (param == NULL) {
- *         return MRobot_Snprintf(buf, size, "Usage: cali <gyro|accel|save>\r\n");
- *     }
- *     if (strncmp(param, "gyro", 4) == 0) {
- *         // 采集 1000 次陀螺仪数据求平均
- *         MRobot_Snprintf(buf, size, "Calibrating gyro... keep IMU still!\r\n");
- *         // ... 校准逻辑 ...
- *         return 0;
- *     }
- *     if (strncmp(param, "save", 4) == 0) {
- *         // 保存到 Flash
- *         MRobot_Snprintf(buf, size, "Calibration saved to flash.\r\n");
- *         return 0;
- *     }
- *     return MRobot_Snprintf(buf, size, "Unknown: %s\r\n", param);
- * }
- * 
- * // 注册命令
- * MRobot_RegisterCommand("cali", "cali <gyro|accel|save>: IMU calibration\r\n", cmd_cali, -1);
- * @endcode
- */
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ----------------------------------------------------------------- */
-#include <stdint.h>
-#include <stdbool.h>
-#include <stddef.h>
-#include "bsp/uart.h"
-
-/* Configuration ------------------------------------------------------------ */
-/* 可在编译时通过 -D 选项覆盖这些默认值 */
-
-#ifndef MROBOT_MAX_DEVICES
-#define MROBOT_MAX_DEVICES          64      /* 最大设备数 */
-#endif
-
-#ifndef MROBOT_MAX_CUSTOM_COMMANDS
-#define MROBOT_MAX_CUSTOM_COMMANDS  16      /* 最大自定义命令数 */
-#endif
-
-#ifndef MROBOT_CMD_BUFFER_SIZE
-#define MROBOT_CMD_BUFFER_SIZE      128     /* 命令缓冲区大小 */
-#endif
-
-#ifndef MROBOT_OUTPUT_BUFFER_SIZE
-#define MROBOT_OUTPUT_BUFFER_SIZE   512     /* 输出缓冲区大小 */
-#endif
-
-#ifndef MROBOT_DEVICE_NAME_LEN
-#define MROBOT_DEVICE_NAME_LEN      32      /* 设备名最大长度 */
-#endif
-
-#ifndef MROBOT_PATH_MAX_LEN
-#define MROBOT_PATH_MAX_LEN         64      /* 路径最大长度 */
-#endif
-
-#ifndef MROBOT_HTOP_REFRESH_MS
-#define MROBOT_HTOP_REFRESH_MS      200     /* htop 刷新间隔 (ms) */
-#endif
-
-#ifndef MROBOT_USER_NAME
-#define MROBOT_USER_NAME            "root"         /* CLI 用户名 */
-#endif
-
-#ifndef MROBOT_HOST_NAME
-#define MROBOT_HOST_NAME            "MRobot"       /* CLI 主机名 */
-#endif
-
-/* Error codes -------------------------------------------------------------- */
-typedef enum {
-    MROBOT_OK               =  0,   /* 成功 */
-    MROBOT_ERR_FULL         = -1,   /* 容量已满 */
-    MROBOT_ERR_NULL_PTR     = -2,   /* 空指针 */
-    MROBOT_ERR_INVALID_ARG  = -3,   /* 无效参数 */
-    MROBOT_ERR_NOT_FOUND    = -4,   /* 未找到 */
-    MROBOT_ERR_ALLOC        = -5,   /* 内存分配失败 */
-    MROBOT_ERR_BUSY         = -6,   /* 设备忙 */
-    MROBOT_ERR_NOT_INIT     = -7,   /* 未初始化 */
-} MRobot_Error_t;
-
-/* CLI 运行状态 */
-typedef enum {
-    MROBOT_STATE_IDLE,              /* 空闲状态，等待输入 */
-    MROBOT_STATE_HTOP,              /* htop 模式 */
-    MROBOT_STATE_PROCESSING,        /* 正在处理命令 */
-} MRobot_State_t;
-
-/* Callback types ----------------------------------------------------------- */
-
-/**
- * @brief 设备打印回调函数类型
- * @param device_data 用户注册时传入的设备数据指针
- * @param buffer 输出缓冲区
- * @param buffer_size 缓冲区大小
- * @return 实际写入的字节数
- * @note 用户需要自行实现此函数来格式化设备数据
- */
-typedef int (*MRobot_PrintCallback_t)(const void *device_data, char *buffer, size_t buffer_size);
-
-/**
- * @brief 命令处理回调函数类型（与 FreeRTOS CLI 兼容）
- */
-typedef long (*MRobot_CommandCallback_t)(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
-
-/* Device structure --------------------------------------------------------- */
-typedef struct {
-    char name[MROBOT_DEVICE_NAME_LEN];  /* 设备名称 */
-    void *data;                         /* 用户设备数据指针 */
-    MRobot_PrintCallback_t print_cb;    /* 用户打印回调函数 */
-} MRobot_Device_t;
-
-/* Public API --------------------------------------------------------------- */
-
-/**
- * @brief 初始化 MRobot CLI 系统
- * @note 必须在 FreeRTOS 调度器启动后调用
- */
-void MRobot_Init(void);
-
-/**
- * @brief 反初始化 MRobot CLI 系统，释放资源
- */
-void MRobot_DeInit(void);
-
-/**
- * @brief 获取当前 CLI 状态
- * @return MRobot_State_t 当前状态
- */
-MRobot_State_t MRobot_GetState(void);
-
-/**
- * @brief 注册设备到 MRobot 系统
- * @param name 设备名称（会被截断到 MROBOT_DEVICE_NAME_LEN-1）
- * @param data 设备数据指针（不能为 NULL）
- * @param print_cb 打印回调函数（可为 NULL，但无法用 show 命令查看）
- * @return MRobot_Error_t 错误码
- */
-MRobot_Error_t MRobot_RegisterDevice(const char *name, void *data, MRobot_PrintCallback_t print_cb);
-
-/**
- * @brief 注销设备
- * @param name 设备名称
- * @return MRobot_Error_t 错误码
- */
-MRobot_Error_t MRobot_UnregisterDevice(const char *name);
-
-/**
- * @brief 注册自定义命令
- * @param command 命令名称
- * @param help_text 帮助文本
- * @param callback 命令回调函数
- * @param param_count 参数个数（-1 表示可变参数）
- * @return MRobot_Error_t 错误码
- */
-MRobot_Error_t MRobot_RegisterCommand(const char *command, const char *help_text,
-                                       MRobot_CommandCallback_t callback, int8_t param_count);
-
-/**
- * @brief 获取已注册设备数量
- * @return 设备数量
- */
-uint8_t MRobot_GetDeviceCount(void);
-
-/**
- * @brief 根据名称查找设备
- * @param name 设备名称
- * @return 设备指针，未找到返回 NULL
- */
-const MRobot_Device_t *MRobot_FindDevice(const char *name);
-
-/**
- * @brief MRobot 主循环，在 CLI 任务中周期性调用
- * @note 建议调用周期 10ms
- */
-void MRobot_Run(void);
-
-/**
- * @brief 格式化输出到 CLI 终端（线程安全，支持浮点数）
- * @param fmt 格式字符串
- * @param ... 可变参数
- * @return 实际输出的字符数，失败返回负数
- * 
- * @note 支持的格式说明符:
- *   - %d, %i, %u, %x, %X, %ld, %lu, %lx  : 整数
- *   - %s, %c   : 字符串/字符
- *   - %f       : 浮点数 (默认2位小数)
- *   - %.Nf     : 浮点数 (N位小数, N=0-6)
- *   - %%       : 百分号
- * 
- * @example
- *   MRobot_Printf("Euler: R=%.2f P=%.2f Y=%.2f\\r\\n", roll, pitch, yaw);
- */
-int MRobot_Printf(const char *fmt, ...);
-
-/**
- * @brief 格式化到缓冲区（用于回调函数，支持浮点数）
- * @note 格式说明符同 MRobot_Printf
- * 
- * @example
- *   static int print_imu(const void *data, char *buf, size_t size) {
- *       const BMI088_t *imu = (const BMI088_t *)data;
- *       return MRobot_Snprintf(buf, size,
- *           "  Accel: X=%.3f Y=%.3f Z=%.3f\\r\\n",
- *           imu->accl.x, imu->accl.y, imu->accl.z);
- *   }
- */
-int MRobot_Snprintf(char *buf, size_t size, const char *fmt, ...);
-
-/* Utility functions -------------------------------------------------------- */
-
-/**
- * @brief 格式化浮点数为字符串（嵌入式环境不支持 %f）
- * @param buf 输出缓冲区
- * @param size 缓冲区大小
- * @param val 要格式化的浮点数
- * @param precision 小数位数 (0-6)
- * @return 写入的字符数
- * 
- * @example
- *   char buf[16];
- *   MRobot_FormatFloat(buf, sizeof(buf), 3.14159f, 2);  // "3.14"
- *   MRobot_FormatFloat(buf, sizeof(buf), -0.001f, 4);   // "-0.0010"
- */
-int MRobot_FormatFloat(char *buf, size_t size, float val, int precision);
-
-#ifdef __cplusplus
-}
-#endif

assets/User_code/ioc/CtrBoard-H7_ALL.ioc

@@ -1,700 +0,0 @@
-#MicroXplorer Configuration settings - do not modify
-ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_4
-ADC1.Channel-1\#ChannelRegularConversion=ADC_CHANNEL_19
-ADC1.ClockPrescaler=ADC_CLOCK_ASYNC_DIV64
-ADC1.ContinuousConvMode=ENABLE
-ADC1.ConversionDataManagement=ADC_CONVERSIONDATA_DMA_CIRCULAR
-ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,OffsetNumber-0\#ChannelRegularConversion,OffsetSignedSaturation-0\#ChannelRegularConversion,NbrOfConversionFlag,master,ClockPrescaler,ContinuousConvMode,ConversionDataManagement,Rank-1\#ChannelRegularConversion,Channel-1\#ChannelRegularConversion,SamplingTime-1\#ChannelRegularConversion,OffsetNumber-1\#ChannelRegularConversion,OffsetSignedSaturation-1\#ChannelRegularConversion,NbrOfConversion
-ADC1.NbrOfConversion=2
-ADC1.NbrOfConversionFlag=1
-ADC1.OffsetNumber-0\#ChannelRegularConversion=ADC_OFFSET_NONE
-ADC1.OffsetNumber-1\#ChannelRegularConversion=ADC_OFFSET_NONE
-ADC1.OffsetSignedSaturation-0\#ChannelRegularConversion=DISABLE
-ADC1.OffsetSignedSaturation-1\#ChannelRegularConversion=DISABLE
-ADC1.Rank-0\#ChannelRegularConversion=1
-ADC1.Rank-1\#ChannelRegularConversion=2
-ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_32CYCLES_5
-ADC1.SamplingTime-1\#ChannelRegularConversion=ADC_SAMPLETIME_32CYCLES_5
-ADC1.master=1
-CAD.formats=
-CAD.pinconfig=
-CAD.provider=
-CORTEX_M7.BaseAddress-Cortex_Memory_Protection_Unit_Region0_Settings=0x24000000
-CORTEX_M7.CPU_DCache=Disabled
-CORTEX_M7.CPU_ICache=Disabled
-CORTEX_M7.Enable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_ENABLE
-CORTEX_M7.IPParameters=CPU_DCache,CPU_ICache,MPU_Control,Enable-Cortex_Memory_Protection_Unit_Region0_Settings,BaseAddress-Cortex_Memory_Protection_Unit_Region0_Settings,Size-Cortex_Memory_Protection_Unit_Region0_Settings,TypeExtField-Cortex_Memory_Protection_Unit_Region0_Settings,IsCacheable-Cortex_Memory_Protection_Unit_Region0_Settings,IsBufferable-Cortex_Memory_Protection_Unit_Region0_Settings
-CORTEX_M7.IsBufferable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_ACCESS_BUFFERABLE
-CORTEX_M7.IsCacheable-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_ACCESS_CACHEABLE
-CORTEX_M7.MPU_Control=__NULL
-CORTEX_M7.Size-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_REGION_SIZE_512B
-CORTEX_M7.TypeExtField-Cortex_Memory_Protection_Unit_Region0_Settings=MPU_TEX_LEVEL1
-Dma.ADC1.0.Direction=DMA_PERIPH_TO_MEMORY
-Dma.ADC1.0.EventEnable=DISABLE
-Dma.ADC1.0.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.ADC1.0.Instance=DMA1_Stream0
-Dma.ADC1.0.MemDataAlignment=DMA_MDATAALIGN_HALFWORD
-Dma.ADC1.0.MemInc=DMA_MINC_ENABLE
-Dma.ADC1.0.Mode=DMA_CIRCULAR
-Dma.ADC1.0.PeriphDataAlignment=DMA_PDATAALIGN_HALFWORD
-Dma.ADC1.0.PeriphInc=DMA_PINC_DISABLE
-Dma.ADC1.0.Polarity=HAL_DMAMUX_REQ_GEN_RISING
-Dma.ADC1.0.Priority=DMA_PRIORITY_LOW
-Dma.ADC1.0.RequestNumber=1
-Dma.ADC1.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
-Dma.ADC1.0.SignalID=NONE
-Dma.ADC1.0.SyncEnable=DISABLE
-Dma.ADC1.0.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
-Dma.ADC1.0.SyncRequestNumber=1
-Dma.ADC1.0.SyncSignalID=NONE
-Dma.Request0=ADC1
-Dma.Request1=SPI2_RX
-Dma.Request2=SPI2_TX
-Dma.Request3=UART5_RX
-Dma.RequestsNb=4
-Dma.SPI2_RX.1.Direction=DMA_PERIPH_TO_MEMORY
-Dma.SPI2_RX.1.EventEnable=DISABLE
-Dma.SPI2_RX.1.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.SPI2_RX.1.Instance=DMA1_Stream1
-Dma.SPI2_RX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.SPI2_RX.1.MemInc=DMA_MINC_ENABLE
-Dma.SPI2_RX.1.Mode=DMA_NORMAL
-Dma.SPI2_RX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.SPI2_RX.1.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI2_RX.1.Polarity=HAL_DMAMUX_REQ_GEN_RISING
-Dma.SPI2_RX.1.Priority=DMA_PRIORITY_LOW
-Dma.SPI2_RX.1.RequestNumber=1
-Dma.SPI2_RX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
-Dma.SPI2_RX.1.SignalID=NONE
-Dma.SPI2_RX.1.SyncEnable=DISABLE
-Dma.SPI2_RX.1.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
-Dma.SPI2_RX.1.SyncRequestNumber=1
-Dma.SPI2_RX.1.SyncSignalID=NONE
-Dma.SPI2_TX.2.Direction=DMA_MEMORY_TO_PERIPH
-Dma.SPI2_TX.2.EventEnable=DISABLE
-Dma.SPI2_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.SPI2_TX.2.Instance=DMA1_Stream2
-Dma.SPI2_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.SPI2_TX.2.MemInc=DMA_MINC_ENABLE
-Dma.SPI2_TX.2.Mode=DMA_NORMAL
-Dma.SPI2_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.SPI2_TX.2.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI2_TX.2.Polarity=HAL_DMAMUX_REQ_GEN_RISING
-Dma.SPI2_TX.2.Priority=DMA_PRIORITY_LOW
-Dma.SPI2_TX.2.RequestNumber=1
-Dma.SPI2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
-Dma.SPI2_TX.2.SignalID=NONE
-Dma.SPI2_TX.2.SyncEnable=DISABLE
-Dma.SPI2_TX.2.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
-Dma.SPI2_TX.2.SyncRequestNumber=1
-Dma.SPI2_TX.2.SyncSignalID=NONE
-Dma.UART5_RX.3.Direction=DMA_PERIPH_TO_MEMORY
-Dma.UART5_RX.3.EventEnable=DISABLE
-Dma.UART5_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.UART5_RX.3.Instance=DMA1_Stream3
-Dma.UART5_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.UART5_RX.3.MemInc=DMA_MINC_ENABLE
-Dma.UART5_RX.3.Mode=DMA_NORMAL
-Dma.UART5_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.UART5_RX.3.PeriphInc=DMA_PINC_DISABLE
-Dma.UART5_RX.3.Polarity=HAL_DMAMUX_REQ_GEN_RISING
-Dma.UART5_RX.3.Priority=DMA_PRIORITY_LOW
-Dma.UART5_RX.3.RequestNumber=1
-Dma.UART5_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode,SignalID,Polarity,RequestNumber,SyncSignalID,SyncPolarity,SyncEnable,EventEnable,SyncRequestNumber
-Dma.UART5_RX.3.SignalID=NONE
-Dma.UART5_RX.3.SyncEnable=DISABLE
-Dma.UART5_RX.3.SyncPolarity=HAL_DMAMUX_SYNC_NO_EVENT
-Dma.UART5_RX.3.SyncRequestNumber=1
-Dma.UART5_RX.3.SyncSignalID=NONE
-FDCAN1.AutoRetransmission=ENABLE
-FDCAN1.CalculateBaudRateNominal=1000000
-FDCAN1.CalculateTimeBitNominal=1000
-FDCAN1.CalculateTimeQuantumNominal=200.0
-FDCAN1.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission
-FDCAN1.NominalPrescaler=24
-FDCAN1.NominalTimeSeg1=3
-FDCAN1.RxFifo0ElmtsNbr=32
-FDCAN1.StdFiltersNbr=1
-FDCAN1.TxFifoQueueElmtsNbr=32
-FDCAN2.AutoRetransmission=ENABLE
-FDCAN2.CalculateBaudRateNominal=1000000
-FDCAN2.CalculateTimeBitNominal=1000
-FDCAN2.CalculateTimeQuantumNominal=200.0
-FDCAN2.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission,RxFifo1ElmtsNbr
-FDCAN2.MessageRAMOffset=0x406
-FDCAN2.NominalPrescaler=24
-FDCAN2.NominalTimeSeg1=3
-FDCAN2.RxFifo0ElmtsNbr=32
-FDCAN2.RxFifo1ElmtsNbr=32
-FDCAN2.StdFiltersNbr=1
-FDCAN2.TxFifoQueueElmtsNbr=32
-FDCAN3.AutoRetransmission=ENABLE
-FDCAN3.CalculateBaudRateNominal=1000000
-FDCAN3.CalculateTimeBitNominal=1000
-FDCAN3.CalculateTimeQuantumNominal=200.0
-FDCAN3.ExtFiltersNbr=1
-FDCAN3.IPParameters=CalculateTimeQuantumNominal,CalculateTimeBitNominal,CalculateBaudRateNominal,MessageRAMOffset,RxFifo0ElmtsNbr,TxFifoQueueElmtsNbr,NominalPrescaler,StdFiltersNbr,NominalTimeSeg1,AutoRetransmission,RxFifo1ElmtsNbr,ExtFiltersNbr
-FDCAN3.MessageRAMOffset=0x812
-FDCAN3.NominalPrescaler=24
-FDCAN3.NominalTimeSeg1=3
-FDCAN3.RxFifo0ElmtsNbr=32
-FDCAN3.RxFifo1ElmtsNbr=32
-FDCAN3.StdFiltersNbr=1
-FDCAN3.TxFifoQueueElmtsNbr=32
-FREERTOS.IPParameters=Tasks01,configTOTAL_HEAP_SIZE
-FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
-FREERTOS.configTOTAL_HEAP_SIZE=0x10000
-File.Version=6
-GPIO.groupedBy=Group By Peripherals
-KeepUserPlacement=false
-MMTAppRegionsCount=0
-MMTConfigApplied=false
-Mcu.CPN=STM32H723VGT6
-Mcu.Family=STM32H7
-Mcu.IP0=ADC1
-Mcu.IP1=CORTEX_M7
-Mcu.IP10=OCTOSPI1
-Mcu.IP11=RCC
-Mcu.IP12=SPI1
-Mcu.IP13=SPI2
-Mcu.IP14=SYS
-Mcu.IP15=TIM1
-Mcu.IP16=TIM2
-Mcu.IP17=TIM3
-Mcu.IP18=TIM12
-Mcu.IP19=UART5
-Mcu.IP2=DEBUG
-Mcu.IP20=UART7
-Mcu.IP21=USART1
-Mcu.IP22=USART2
-Mcu.IP23=USART3
-Mcu.IP24=USART10
-Mcu.IP25=USB_OTG_HS
-Mcu.IP3=DMA
-Mcu.IP4=FDCAN1
-Mcu.IP5=FDCAN2
-Mcu.IP6=FDCAN3
-Mcu.IP7=FREERTOS
-Mcu.IP8=MEMORYMAP
-Mcu.IP9=NVIC
-Mcu.IPNb=26
-Mcu.Name=STM32H723VGTx
-Mcu.Package=LQFP100
-Mcu.Pin0=PE2
-Mcu.Pin1=PE3
-Mcu.Pin10=PC3_C
-Mcu.Pin11=PA0
-Mcu.Pin12=PA1
-Mcu.Pin13=PA2
-Mcu.Pin14=PA3
-Mcu.Pin15=PA5
-Mcu.Pin16=PA7
-Mcu.Pin17=PC4
-Mcu.Pin18=PC5
-Mcu.Pin19=PB0
-Mcu.Pin2=PC13
-Mcu.Pin20=PB1
-Mcu.Pin21=PB2
-Mcu.Pin22=PE7
-Mcu.Pin23=PE8
-Mcu.Pin24=PE9
-Mcu.Pin25=PE10
-Mcu.Pin26=PE11
-Mcu.Pin27=PE12
-Mcu.Pin28=PE13
-Mcu.Pin29=PE15
-Mcu.Pin3=PC14-OSC32_IN
-Mcu.Pin30=PB10
-Mcu.Pin31=PB11
-Mcu.Pin32=PB12
-Mcu.Pin33=PB13
-Mcu.Pin34=PB14
-Mcu.Pin35=PB15
-Mcu.Pin36=PD8
-Mcu.Pin37=PD9
-Mcu.Pin38=PD10
-Mcu.Pin39=PD11
-Mcu.Pin4=PC15-OSC32_OUT
-Mcu.Pin40=PD12
-Mcu.Pin41=PD13
-Mcu.Pin42=PA8
-Mcu.Pin43=PA9
-Mcu.Pin44=PA10
-Mcu.Pin45=PA11
-Mcu.Pin46=PA12
-Mcu.Pin47=PA13(JTMS/SWDIO)
-Mcu.Pin48=PA14(JTCK/SWCLK)
-Mcu.Pin49=PA15(JTDI)
-Mcu.Pin5=PH0-OSC_IN
-Mcu.Pin50=PC12
-Mcu.Pin51=PD0
-Mcu.Pin52=PD1
-Mcu.Pin53=PD2
-Mcu.Pin54=PD4
-Mcu.Pin55=PD5
-Mcu.Pin56=PD6
-Mcu.Pin57=PD7
-Mcu.Pin58=PB3(JTDO/TRACESWO)
-Mcu.Pin59=PB5
-Mcu.Pin6=PH1-OSC_OUT
-Mcu.Pin60=PB6
-Mcu.Pin61=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin62=VP_OCTOSPI1_VS_octo
-Mcu.Pin63=VP_SYS_VS_tim23
-Mcu.Pin64=VP_MEMORYMAP_VS_MEMORYMAP
-Mcu.Pin7=PC0
-Mcu.Pin8=PC1
-Mcu.Pin9=PC2_C
-Mcu.PinsNb=65
-Mcu.ThirdPartyNb=0
-Mcu.UserConstants=
-Mcu.UserName=STM32H723VGTx
-MxCube.Version=6.15.0
-MxDb.Version=DB.6.0.150
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.DMA1_Stream0_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA1_Stream1_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA1_Stream3_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.EXTI15_10_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.FDCAN1_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.FDCAN1_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.FDCAN2_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.FDCAN2_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.FDCAN3_IT0_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.FDCAN3_IT1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.ForceEnableDMAVector=true
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
-NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SPI2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
-NVIC.SavedPendsvIrqHandlerGenerated=true
-NVIC.SavedSvcallIrqHandlerGenerated=true
-NVIC.SavedSystickIrqHandlerGenerated=true
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:true\:false
-NVIC.TIM23_IRQn=true\:15\:0\:false\:false\:true\:false\:false\:true\:true
-NVIC.TimeBase=TIM23_IRQn
-NVIC.TimeBaseIP=TIM23
-NVIC.UART5_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.UART7_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
-NVIC.USART10_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
-NVIC.USART1_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
-NVIC.USART2_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
-NVIC.USART3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
-NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-PA0.Locked=true
-PA0.Signal=S_TIM2_CH1_ETR
-PA1.Locked=true
-PA1.Mode=OCTOSPI1_IOL_Port1L
-PA1.Signal=OCTOSPIM_P1_IO3
-PA10.Locked=true
-PA10.Mode=Asynchronous
-PA10.Signal=USART1_RX
-PA11.Mode=Device_Only_FS
-PA11.Signal=USB_OTG_HS_DM
-PA12.Mode=Device_Only_FS
-PA12.Signal=USB_OTG_HS_DP
-PA13(JTMS/SWDIO).Locked=true
-PA13(JTMS/SWDIO).Mode=Serial_Wire
-PA13(JTMS/SWDIO).Signal=DEBUG_JTMS-SWDIO
-PA14(JTCK/SWCLK).Locked=true
-PA14(JTCK/SWCLK).Mode=Serial_Wire
-PA14(JTCK/SWCLK).Signal=DEBUG_JTCK-SWCLK
-PA15(JTDI).Locked=true
-PA15(JTDI).Signal=GPIO_Input
-PA2.Locked=true
-PA2.Signal=S_TIM2_CH3
-PA3.Locked=true
-PA3.Mode=OCTOSPI1_IOL_Port1L
-PA3.Signal=OCTOSPIM_P1_IO2
-PA5.Locked=true
-PA5.Signal=ADCx_INP19
-PA7.GPIOParameters=GPIO_Label
-PA7.GPIO_Label=WS2812
-PA7.Locked=true
-PA7.Signal=S_TIM3_CH2
-PA8.Locked=true
-PA8.Mode=Clock-out-1
-PA8.Signal=RCC_MCO_1
-PA9.Locked=true
-PA9.Mode=Asynchronous
-PA9.Signal=USART1_TX
-PB0.Locked=true
-PB0.Mode=OCTOSPI1_IOL_Port1L
-PB0.Signal=OCTOSPIM_P1_IO1
-PB1.GPIOParameters=GPIO_Label
-PB1.GPIO_Label=IMU_HEAT
-PB1.Locked=true
-PB1.Signal=S_TIM3_CH4
-PB10.GPIOParameters=GPIO_Label
-PB10.GPIO_Label=LCD_BLK
-PB10.Locked=true
-PB10.Signal=GPIO_Output
-PB11.GPIOParameters=GPIO_Label
-PB11.GPIO_Label=LCD_RES
-PB11.Locked=true
-PB11.Signal=GPIO_Output
-PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
-PB12.GPIO_Label=DCMI_REST
-PB12.GPIO_PuPd=GPIO_PULLUP
-PB12.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PB12.Locked=true
-PB12.PinState=GPIO_PIN_SET
-PB12.Signal=GPIO_Output
-PB13.GPIOParameters=GPIO_Speed
-PB13.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PB13.Locked=true
-PB13.Mode=Full_Duplex_Master
-PB13.Signal=SPI2_SCK
-PB14.Mode=Hardware Flow Control (RS485)
-PB14.Signal=USART3_DE
-PB15.GPIOParameters=GPIO_Label
-PB15.GPIO_Label=BUZZER
-PB15.Locked=true
-PB15.Signal=S_TIM12_CH2
-PB2.Locked=true
-PB2.Mode=O1_P1_CLK
-PB2.Signal=OCTOSPIM_P1_CLK
-PB3(JTDO/TRACESWO).GPIOParameters=GPIO_Speed
-PB3(JTDO/TRACESWO).GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PB3(JTDO/TRACESWO).Mode=TX_Only_Simplex_Unidirect_Master
-PB3(JTDO/TRACESWO).Signal=SPI1_SCK
-PB5.Locked=true
-PB5.Mode=FDCAN_Activate
-PB5.Signal=FDCAN2_RX
-PB6.Locked=true
-PB6.Mode=FDCAN_Activate
-PB6.Signal=FDCAN2_TX
-PC0.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
-PC0.GPIO_Label=ACCL_CS
-PC0.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PC0.Locked=true
-PC0.PinState=GPIO_PIN_SET
-PC0.Signal=GPIO_Output
-PC1.GPIOParameters=GPIO_Speed
-PC1.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PC1.Mode=Full_Duplex_Master
-PC1.Signal=SPI2_MOSI
-PC12.Mode=Asynchronous
-PC12.Signal=UART5_TX
-PC13.GPIOParameters=PinState,GPIO_Label
-PC13.GPIO_Label=POWER_24V_2
-PC13.Locked=true
-PC13.PinState=GPIO_PIN_SET
-PC13.Signal=GPIO_Output
-PC14-OSC32_IN.GPIOParameters=PinState,GPIO_Label
-PC14-OSC32_IN.GPIO_Label=POWER_24V_1
-PC14-OSC32_IN.Locked=true
-PC14-OSC32_IN.PinState=GPIO_PIN_SET
-PC14-OSC32_IN.Signal=GPIO_Output
-PC15-OSC32_OUT.GPIOParameters=PinState,GPIO_Label
-PC15-OSC32_OUT.GPIO_Label=POWER_5V
-PC15-OSC32_OUT.Locked=true
-PC15-OSC32_OUT.PinState=GPIO_PIN_SET
-PC15-OSC32_OUT.Signal=GPIO_Output
-PC2_C.GPIOParameters=GPIO_Speed
-PC2_C.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PC2_C.Mode=Full_Duplex_Master
-PC2_C.Signal=SPI2_MISO
-PC3_C.GPIOParameters=GPIO_Speed,PinState,GPIO_Label
-PC3_C.GPIO_Label=GYRO_CS
-PC3_C.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PC3_C.Locked=true
-PC3_C.PinState=GPIO_PIN_SET
-PC3_C.Signal=GPIO_Output
-PC4.Locked=true
-PC4.Signal=ADCx_INP4
-PC5.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
-PC5.GPIO_Label=DCMI_PWDN
-PC5.GPIO_PuPd=GPIO_NOPULL
-PC5.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PC5.Locked=true
-PC5.PinState=GPIO_PIN_SET
-PC5.Signal=GPIO_Output
-PD0.Mode=FDCAN_Activate
-PD0.Signal=FDCAN1_RX
-PD1.Locked=true
-PD1.Mode=FDCAN_Activate
-PD1.Signal=FDCAN1_TX
-PD10.GPIOParameters=GPIO_Label
-PD10.GPIO_Label=LCD_DC
-PD10.Locked=true
-PD10.Signal=GPIO_Output
-PD11.Locked=true
-PD11.Mode=OCTOSPI1_IOL_Port1L
-PD11.Signal=OCTOSPIM_P1_IO0
-PD12.Mode=FDCAN_Activate
-PD12.Signal=FDCAN3_RX
-PD13.Locked=true
-PD13.Mode=FDCAN_Activate
-PD13.Signal=FDCAN3_TX
-PD2.Mode=Asynchronous
-PD2.Signal=UART5_RX
-PD4.Locked=true
-PD4.Mode=Hardware Flow Control (RS485)
-PD4.Signal=USART2_DE
-PD5.Locked=true
-PD5.Mode=Asynchronous
-PD5.Signal=USART2_TX
-PD6.Locked=true
-PD6.Mode=Asynchronous
-PD6.Signal=USART2_RX
-PD7.GPIOParameters=GPIO_Speed
-PD7.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PD7.Locked=true
-PD7.Mode=TX_Only_Simplex_Unidirect_Master
-PD7.Signal=SPI1_MOSI
-PD8.Mode=Asynchronous
-PD8.Signal=USART3_TX
-PD9.Mode=Asynchronous
-PD9.Signal=USART3_RX
-PE10.GPIOParameters=GPIO_Label
-PE10.GPIO_Label=ACCL_INT
-PE10.Locked=true
-PE10.Signal=GPXTI10
-PE11.Locked=true
-PE11.Mode=OCTOSPI1_Port1_NCS
-PE11.Signal=OCTOSPIM_P1_NCS
-PE12.GPIOParameters=GPIO_Label
-PE12.GPIO_Label=GYRO_INT
-PE12.Locked=true
-PE12.Signal=GPXTI12
-PE13.Signal=S_TIM1_CH3
-PE15.GPIOParameters=GPIO_Label
-PE15.GPIO_Label=LCD_CS
-PE15.Locked=true
-PE15.Signal=GPIO_Output
-PE2.Mode=Asynchronous
-PE2.Signal=USART10_RX
-PE3.Mode=Asynchronous
-PE3.Signal=USART10_TX
-PE7.Mode=Asynchronous
-PE7.Signal=UART7_RX
-PE8.Mode=Asynchronous
-PE8.Signal=UART7_TX
-PE9.Locked=true
-PE9.Signal=S_TIM1_CH1
-PH0-OSC_IN.Mode=HSE-External-Oscillator
-PH0-OSC_IN.Signal=RCC_OSC_IN
-PH1-OSC_OUT.Mode=HSE-External-Oscillator
-PH1-OSC_OUT.Signal=RCC_OSC_OUT
-PinOutPanel.RotationAngle=0
-ProjectManager.AskForMigrate=true
-ProjectManager.BackupPrevious=false
-ProjectManager.CompilerLinker=GCC
-ProjectManager.CompilerOptimize=6
-ProjectManager.ComputerToolchain=false
-ProjectManager.CoupleFile=true
-ProjectManager.CustomerFirmwarePackage=
-ProjectManager.DefaultFWLocation=true
-ProjectManager.DeletePrevious=true
-ProjectManager.DeviceId=STM32H723VGTx
-ProjectManager.FirmwarePackage=STM32Cube FW_H7 V1.12.1
-ProjectManager.FreePins=false
-ProjectManager.HalAssertFull=false
-ProjectManager.HeapSize=0x1000
-ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=true
-ProjectManager.LibraryCopy=0
-ProjectManager.MainLocation=Core/Src
-ProjectManager.NoMain=false
-ProjectManager.PreviousToolchain=
-ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=CtrBoard-H7_ALL.ioc
-ProjectManager.ProjectName=CtrBoard-H7_ALL
-ProjectManager.ProjectStructure=
-ProjectManager.RegisterCallBack=
-ProjectManager.StackSize=0x2000
-ProjectManager.TargetToolchain=MDK-ARM V5.32
-ProjectManager.ToolChainLocation=
-ProjectManager.UAScriptAfterPath=
-ProjectManager.UAScriptBeforePath=
-ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-SystemClock_Config-RCC-false-HAL-false,2-MX_GPIO_Init-GPIO-false-HAL-true,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_TIM12_Init-TIM12-false-HAL-true,6-MX_SPI1_Init-SPI1-false-HAL-true,7-MX_SPI2_Init-SPI2-false-HAL-true,8-MX_TIM3_Init-TIM3-false-HAL-true,9-MX_USART1_UART_Init-USART1-false-HAL-true,10-MX_USART2_UART_Init-USART2-false-HAL-true,11-MX_USART3_UART_Init-USART3-false-HAL-true,12-MX_UART7_Init-UART7-false-HAL-true,13-MX_USART10_UART_Init-USART10-false-HAL-true,14-MX_FDCAN1_Init-FDCAN1-false-HAL-true,15-MX_FDCAN2_Init-FDCAN2-false-HAL-true,16-MX_FDCAN3_Init-FDCAN3-false-HAL-true,17-MX_TIM1_Init-TIM1-false-HAL-true,18-MX_TIM2_Init-TIM2-false-HAL-true,19-MX_OCTOSPI1_Init-OCTOSPI1-false-HAL-true,20-MX_USB_OTG_HS_PCD_Init-USB_OTG_HS-false-HAL-true,21-MX_UART5_Init-UART5-false-HAL-true,0-MX_CORTEX_M7_Init-CORTEX_M7-false-HAL-true
-RCC.ADCFreq_Value=96000000
-RCC.AHB12Freq_Value=240000000
-RCC.AHB4Freq_Value=240000000
-RCC.APB1Freq_Value=120000000
-RCC.APB2Freq_Value=120000000
-RCC.APB3Freq_Value=120000000
-RCC.APB4Freq_Value=120000000
-RCC.AXIClockFreq_Value=240000000
-RCC.CECFreq_Value=32000
-RCC.CKPERFreq_Value=64000000
-RCC.CortexFreq_Value=480000000
-RCC.CpuClockFreq_Value=480000000
-RCC.D1CPREFreq_Value=480000000
-RCC.D1PPRE=RCC_APB3_DIV2
-RCC.D2PPRE1=RCC_APB1_DIV2
-RCC.D2PPRE2=RCC_APB2_DIV2
-RCC.D3PPRE=RCC_APB4_DIV2
-RCC.DFSDMACLkFreq_Value=120000000
-RCC.DFSDMFreq_Value=120000000
-RCC.DIVM1=2
-RCC.DIVM2=2
-RCC.DIVN1=40
-RCC.DIVN2=16
-RCC.DIVP1=1
-RCC.DIVP1Freq_Value=480000000
-RCC.DIVP2Freq_Value=96000000
-RCC.DIVP3Freq_Value=48375000
-RCC.DIVQ1=4
-RCC.DIVQ1Freq_Value=120000000
-RCC.DIVQ2Freq_Value=96000000
-RCC.DIVQ3Freq_Value=48375000
-RCC.DIVR1Freq_Value=240000000
-RCC.DIVR2Freq_Value=96000000
-RCC.DIVR3Freq_Value=48375000
-RCC.EnbaleCSS=false
-RCC.FDCANFreq_Value=120000000
-RCC.FMCFreq_Value=240000000
-RCC.FamilyName=M
-RCC.HCLK3ClockFreq_Value=240000000
-RCC.HCLKFreq_Value=240000000
-RCC.HPRE=RCC_HCLK_DIV2
-RCC.HSE_VALUE=24000000
-RCC.I2C123Freq_Value=120000000
-RCC.I2C4Freq_Value=120000000
-RCC.IPParameters=ADCFreq_Value,AHB12Freq_Value,AHB4Freq_Value,APB1Freq_Value,APB2Freq_Value,APB3Freq_Value,APB4Freq_Value,AXIClockFreq_Value,CECFreq_Value,CKPERFreq_Value,CortexFreq_Value,CpuClockFreq_Value,D1CPREFreq_Value,D1PPRE,D2PPRE1,D2PPRE2,D3PPRE,DFSDMACLkFreq_Value,DFSDMFreq_Value,DIVM1,DIVM2,DIVN1,DIVN2,DIVP1,DIVP1Freq_Value,DIVP2Freq_Value,DIVP3Freq_Value,DIVQ1,DIVQ1Freq_Value,DIVQ2Freq_Value,DIVQ3Freq_Value,DIVR1Freq_Value,DIVR2Freq_Value,DIVR3Freq_Value,EnbaleCSS,FDCANFreq_Value,FMCFreq_Value,FamilyName,HCLK3ClockFreq_Value,HCLKFreq_Value,HPRE,HSE_VALUE,I2C123Freq_Value,I2C4Freq_Value,LPTIM1Freq_Value,LPTIM2Freq_Value,LPTIM345Freq_Value,LPUART1Freq_Value,LTDCFreq_Value,MCO1PinFreq_Value,MCO2PinFreq_Value,PLL2FRACN,PLL2_VCI_Range-AdvancedSettings,PLL2_VCO_SEL-AdvancedSettings,PLL3FRACN,PLL3_VCO_SEL-AdvancedSettings,PLLFRACN,PLLSourceVirtual,QSPIFreq_Value,RNGFreq_Value,RTCFreq_Value,SAI1Freq_Value,SAI4AFreq_Value,SAI4BFreq_Value,SDMMCFreq_Value,SPDIFRXFreq_Value,SPI123Freq_Value,SPI45Freq_Value,SPI6CLockSelection,SPI6Freq_Value,SWPMI1Freq_Value,SYSCLKFreq_VALUE,SYSCLKSource,Tim1OutputFreq_Value,Tim2OutputFreq_Value,TraceFreq_Value,USART16Freq_Value,USART234578Freq_Value,USBCLockSelection,USBFreq_Value,VCO1OutputFreq_Value,VCO2OutputFreq_Value,VCO3OutputFreq_Value,VCOInput1Freq_Value,VCOInput2Freq_Value,VCOInput3Freq_Value
-RCC.LPTIM1Freq_Value=120000000
-RCC.LPTIM2Freq_Value=120000000
-RCC.LPTIM345Freq_Value=120000000
-RCC.LPUART1Freq_Value=120000000
-RCC.LTDCFreq_Value=48375000
-RCC.MCO1PinFreq_Value=64000000
-RCC.MCO2PinFreq_Value=480000000
-RCC.PLL2FRACN=0
-RCC.PLL2_VCI_Range-AdvancedSettings=RCC_PLL2VCIRANGE_0
-RCC.PLL2_VCO_SEL-AdvancedSettings=RCC_PLL2VCOWIDE
-RCC.PLL3FRACN=0
-RCC.PLL3_VCO_SEL-AdvancedSettings=RCC_PLL3VCOMEDIUM
-RCC.PLLFRACN=0
-RCC.PLLSourceVirtual=RCC_PLLSOURCE_HSE
-RCC.QSPIFreq_Value=240000000
-RCC.RNGFreq_Value=48000000
-RCC.RTCFreq_Value=32000
-RCC.SAI1Freq_Value=120000000
-RCC.SAI4AFreq_Value=120000000
-RCC.SAI4BFreq_Value=120000000
-RCC.SDMMCFreq_Value=120000000
-RCC.SPDIFRXFreq_Value=120000000
-RCC.SPI123Freq_Value=120000000
-RCC.SPI45Freq_Value=120000000
-RCC.SPI6CLockSelection=RCC_SPI6CLKSOURCE_HSE
-RCC.SPI6Freq_Value=24000000
-RCC.SWPMI1Freq_Value=120000000
-RCC.SYSCLKFreq_VALUE=480000000
-RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.Tim1OutputFreq_Value=240000000
-RCC.Tim2OutputFreq_Value=240000000
-RCC.TraceFreq_Value=240000000
-RCC.USART16Freq_Value=120000000
-RCC.USART234578Freq_Value=120000000
-RCC.USBCLockSelection=RCC_USBCLKSOURCE_HSI48
-RCC.USBFreq_Value=48000000
-RCC.VCO1OutputFreq_Value=480000000
-RCC.VCO2OutputFreq_Value=192000000
-RCC.VCO3OutputFreq_Value=96750000
-RCC.VCOInput1Freq_Value=12000000
-RCC.VCOInput2Freq_Value=12000000
-RCC.VCOInput3Freq_Value=750000
-SH.ADCx_INP19.0=ADC1_INP19,IN19-Single-Ended
-SH.ADCx_INP19.ConfNb=1
-SH.ADCx_INP4.0=ADC1_INP4,IN4-Single-Ended
-SH.ADCx_INP4.ConfNb=1
-SH.GPXTI10.0=GPIO_EXTI10
-SH.GPXTI10.ConfNb=1
-SH.GPXTI12.0=GPIO_EXTI12
-SH.GPXTI12.ConfNb=1
-SH.S_TIM12_CH2.0=TIM12_CH2,PWM Generation2 CH2
-SH.S_TIM12_CH2.ConfNb=1
-SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
-SH.S_TIM1_CH1.ConfNb=1
-SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
-SH.S_TIM1_CH3.ConfNb=1
-SH.S_TIM2_CH1_ETR.0=TIM2_CH1,PWM Generation1 CH1
-SH.S_TIM2_CH1_ETR.ConfNb=1
-SH.S_TIM2_CH3.0=TIM2_CH3,PWM Generation3 CH3
-SH.S_TIM2_CH3.ConfNb=1
-SH.S_TIM3_CH2.0=TIM3_CH2,PWM Generation2 CH2
-SH.S_TIM3_CH2.ConfNb=1
-SH.S_TIM3_CH4.0=TIM3_CH4,PWM Generation4 CH4
-SH.S_TIM3_CH4.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_4
-SPI1.CLKPolarity=SPI_POLARITY_HIGH
-SPI1.CalculateBaudRate=30.0 MBits/s
-SPI1.DataSize=SPI_DATASIZE_8BIT
-SPI1.Direction=SPI_DIRECTION_2LINES_TXONLY
-SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity
-SPI1.Mode=SPI_MODE_MASTER
-SPI1.VirtualType=VM_MASTER
-SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_32
-SPI2.CLKPhase=SPI_PHASE_2EDGE
-SPI2.CLKPolarity=SPI_POLARITY_HIGH
-SPI2.CalculateBaudRate=3.75 MBits/s
-SPI2.DataSize=SPI_DATASIZE_8BIT
-SPI2.Direction=SPI_DIRECTION_2LINES
-SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,DataSize,BaudRatePrescaler,CLKPolarity,CLKPhase
-SPI2.Mode=SPI_MODE_MASTER
-SPI2.VirtualType=VM_MASTER
-TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
-TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
-TIM1.IPParameters=Channel-PWM Generation3 CH3,Channel-PWM Generation1 CH1,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation3 CH3,Prescaler
-TIM1.Period=10000
-TIM1.Prescaler=24
-TIM1.Pulse-PWM\ Generation1\ CH1=5000
-TIM1.Pulse-PWM\ Generation3\ CH3=5000
-TIM12.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
-TIM12.IPParameters=Channel-PWM Generation2 CH2,Prescaler,Period
-TIM12.Period=2000-1
-TIM12.Prescaler=24-1
-TIM2.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
-TIM2.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
-TIM2.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation3 CH3,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation3 CH3,Prescaler
-TIM2.Period=10000
-TIM2.Prescaler=24
-TIM2.Pulse-PWM\ Generation1\ CH1=5000
-TIM2.Pulse-PWM\ Generation3\ CH3=5000
-TIM3.AutoReloadPreload=TIM_AUTORELOAD_PRELOAD_ENABLE
-TIM3.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
-TIM3.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM3.IPParameters=Channel-PWM Generation4 CH4,Prescaler,Period,AutoReloadPreload,Channel-PWM Generation2 CH2
-TIM3.Period=10000-1
-TIM3.Prescaler=24-1
-UART5.BaudRate=100000
-UART5.IPParameters=Mode,WordLength,Parity,BaudRate
-UART5.Mode=MODE_RX
-UART5.Parity=PARITY_EVEN
-UART5.WordLength=WORDLENGTH_9B
-UART7.BaudRate=921600
-UART7.IPParameters=BaudRate
-USART1.BaudRate=921600
-USART1.IPParameters=VirtualMode-Asynchronous,BaudRate
-USART1.VirtualMode-Asynchronous=VM_ASYNC
-USART10.BaudRate=921600
-USART10.IPParameters=VirtualMode,BaudRate
-USART10.VirtualMode=VM_ASYNC
-USART2.BaudRate=921600
-USART2.IPParameters=VirtualMode-Asynchronous,VirtualMode-Hardware Flow Control (RS485),BaudRate
-USART2.VirtualMode-Asynchronous=VM_ASYNC
-USART2.VirtualMode-Hardware\ Flow\ Control\ (RS485)=VM_ASYNC
-USART3.BaudRate=921600
-USART3.IPParameters=VirtualMode-Asynchronous,VirtualMode-Hardware Flow Control (RS485),BaudRate
-USART3.VirtualMode-Asynchronous=VM_ASYNC
-USART3.VirtualMode-Hardware\ Flow\ Control\ (RS485)=VM_ASYNC
-USB_OTG_HS.IPParameters=VirtualMode-Device_Only_FS
-USB_OTG_HS.VirtualMode-Device_Only_FS=Device_Only_FS
-VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
-VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
-VP_MEMORYMAP_VS_MEMORYMAP.Mode=CurAppReg
-VP_MEMORYMAP_VS_MEMORYMAP.Signal=MEMORYMAP_VS_MEMORYMAP
-VP_OCTOSPI1_VS_octo.Mode=octo_mode
-VP_OCTOSPI1_VS_octo.Signal=OCTOSPI1_VS_octo
-VP_SYS_VS_tim23.Mode=TIM23
-VP_SYS_VS_tim23.Signal=SYS_VS_tim23
-board=custom
-rtos.0.ip=FREERTOS

assets/User_code/ioc/DevC.ioc

@@ -1,743 +0,0 @@
-#MicroXplorer Configuration settings - do not modify
-ADC1.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_TEMPSENSOR
-ADC1.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV6
-ADC1.IPParameters=Rank-0\#ChannelRegularConversion,master,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler
-ADC1.NbrOfConversionFlag=1
-ADC1.Rank-0\#ChannelRegularConversion=1
-ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
-ADC1.master=1
-ADC3.Channel-0\#ChannelRegularConversion=ADC_CHANNEL_8
-ADC3.ClockPrescaler=ADC_CLOCK_SYNC_PCLK_DIV6
-ADC3.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler
-ADC3.NbrOfConversionFlag=1
-ADC3.Rank-0\#ChannelRegularConversion=1
-ADC3.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
-CAD.formats=
-CAD.pinconfig=
-CAD.provider=
-CAN1.ABOM=DISABLE
-CAN1.BS1=CAN_BS1_6TQ
-CAN1.BS2=CAN_BS2_7TQ
-CAN1.CalculateBaudRate=1000000
-CAN1.CalculateTimeBit=1000
-CAN1.CalculateTimeQuantum=71.42857142857143
-CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,ABOM,CalculateTimeBit,CalculateBaudRate,NART
-CAN1.NART=ENABLE
-CAN1.Prescaler=3
-CAN1.TXFP=ENABLE
-CAN2.BS1=CAN_BS1_6TQ
-CAN2.BS2=CAN_BS2_7TQ
-CAN2.CalculateBaudRate=1000000
-CAN2.CalculateTimeBit=1000
-CAN2.CalculateTimeQuantum=71.42857142857143
-CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,CalculateTimeBit,CalculateBaudRate,NART
-CAN2.NART=ENABLE
-CAN2.Prescaler=3
-CAN2.TXFP=ENABLE
-Dma.I2C2_TX.2.Direction=DMA_MEMORY_TO_PERIPH
-Dma.I2C2_TX.2.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.I2C2_TX.2.Instance=DMA1_Stream7
-Dma.I2C2_TX.2.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.I2C2_TX.2.MemInc=DMA_MINC_ENABLE
-Dma.I2C2_TX.2.Mode=DMA_NORMAL
-Dma.I2C2_TX.2.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.I2C2_TX.2.PeriphInc=DMA_PINC_DISABLE
-Dma.I2C2_TX.2.Priority=DMA_PRIORITY_HIGH
-Dma.I2C2_TX.2.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.I2C3_RX.7.Direction=DMA_PERIPH_TO_MEMORY
-Dma.I2C3_RX.7.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.I2C3_RX.7.Instance=DMA1_Stream2
-Dma.I2C3_RX.7.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.I2C3_RX.7.MemInc=DMA_MINC_ENABLE
-Dma.I2C3_RX.7.Mode=DMA_NORMAL
-Dma.I2C3_RX.7.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.I2C3_RX.7.PeriphInc=DMA_PINC_DISABLE
-Dma.I2C3_RX.7.Priority=DMA_PRIORITY_LOW
-Dma.I2C3_RX.7.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.Request0=SPI1_RX
-Dma.Request1=SPI1_TX
-Dma.Request2=I2C2_TX
-Dma.Request3=USART3_RX
-Dma.Request4=USART6_RX
-Dma.Request5=USART6_TX
-Dma.Request6=USART1_TX
-Dma.Request7=I2C3_RX
-Dma.Request8=USART1_RX
-Dma.RequestsNb=9
-Dma.SPI1_RX.0.Direction=DMA_PERIPH_TO_MEMORY
-Dma.SPI1_RX.0.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.SPI1_RX.0.Instance=DMA2_Stream2
-Dma.SPI1_RX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.SPI1_RX.0.MemInc=DMA_MINC_ENABLE
-Dma.SPI1_RX.0.Mode=DMA_NORMAL
-Dma.SPI1_RX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.SPI1_RX.0.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI1_RX.0.Priority=DMA_PRIORITY_VERY_HIGH
-Dma.SPI1_RX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.SPI1_TX.1.Direction=DMA_MEMORY_TO_PERIPH
-Dma.SPI1_TX.1.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.SPI1_TX.1.Instance=DMA2_Stream3
-Dma.SPI1_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.SPI1_TX.1.MemInc=DMA_MINC_ENABLE
-Dma.SPI1_TX.1.Mode=DMA_NORMAL
-Dma.SPI1_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.SPI1_TX.1.PeriphInc=DMA_PINC_DISABLE
-Dma.SPI1_TX.1.Priority=DMA_PRIORITY_HIGH
-Dma.SPI1_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART1_RX.8.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART1_RX.8.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART1_RX.8.Instance=DMA2_Stream5
-Dma.USART1_RX.8.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART1_RX.8.MemInc=DMA_MINC_ENABLE
-Dma.USART1_RX.8.Mode=DMA_NORMAL
-Dma.USART1_RX.8.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART1_RX.8.PeriphInc=DMA_PINC_DISABLE
-Dma.USART1_RX.8.Priority=DMA_PRIORITY_MEDIUM
-Dma.USART1_RX.8.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART1_TX.6.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART1_TX.6.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART1_TX.6.Instance=DMA2_Stream7
-Dma.USART1_TX.6.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART1_TX.6.MemInc=DMA_MINC_ENABLE
-Dma.USART1_TX.6.Mode=DMA_NORMAL
-Dma.USART1_TX.6.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART1_TX.6.PeriphInc=DMA_PINC_DISABLE
-Dma.USART1_TX.6.Priority=DMA_PRIORITY_MEDIUM
-Dma.USART1_TX.6.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART3_RX.3.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART3_RX.3.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART3_RX.3.Instance=DMA1_Stream1
-Dma.USART3_RX.3.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART3_RX.3.MemInc=DMA_MINC_ENABLE
-Dma.USART3_RX.3.Mode=DMA_NORMAL
-Dma.USART3_RX.3.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART3_RX.3.PeriphInc=DMA_PINC_DISABLE
-Dma.USART3_RX.3.Priority=DMA_PRIORITY_HIGH
-Dma.USART3_RX.3.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART6_RX.4.Direction=DMA_PERIPH_TO_MEMORY
-Dma.USART6_RX.4.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART6_RX.4.Instance=DMA2_Stream1
-Dma.USART6_RX.4.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART6_RX.4.MemInc=DMA_MINC_ENABLE
-Dma.USART6_RX.4.Mode=DMA_NORMAL
-Dma.USART6_RX.4.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART6_RX.4.PeriphInc=DMA_PINC_DISABLE
-Dma.USART6_RX.4.Priority=DMA_PRIORITY_MEDIUM
-Dma.USART6_RX.4.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-Dma.USART6_TX.5.Direction=DMA_MEMORY_TO_PERIPH
-Dma.USART6_TX.5.FIFOMode=DMA_FIFOMODE_DISABLE
-Dma.USART6_TX.5.Instance=DMA2_Stream6
-Dma.USART6_TX.5.MemDataAlignment=DMA_MDATAALIGN_BYTE
-Dma.USART6_TX.5.MemInc=DMA_MINC_ENABLE
-Dma.USART6_TX.5.Mode=DMA_NORMAL
-Dma.USART6_TX.5.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
-Dma.USART6_TX.5.PeriphInc=DMA_PINC_DISABLE
-Dma.USART6_TX.5.Priority=DMA_PRIORITY_MEDIUM
-Dma.USART6_TX.5.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority,FIFOMode
-FREERTOS.FootprintOK=true
-FREERTOS.INCLUDE_pcTaskGetTaskName=1
-FREERTOS.INCLUDE_uxTaskGetStackHighWaterMark2=1
-FREERTOS.INCLUDE_vTaskCleanUpResources=1
-FREERTOS.INCLUDE_xEventGroupSetBitFromISR=1
-FREERTOS.INCLUDE_xSemaphoreGetMutexHolder=1
-FREERTOS.INCLUDE_xTaskAbortDelay=1
-FREERTOS.INCLUDE_xTaskGetCurrentTaskHandle=1
-FREERTOS.INCLUDE_xTaskGetHandle=1
-FREERTOS.IPParameters=Tasks01,FootprintOK,configENABLE_FPU,configENABLE_BACKWARD_COMPATIBILITY,configRECORD_STACK_HIGH_ADDRESS,configCHECK_FOR_STACK_OVERFLOW,configGENERATE_RUN_TIME_STATS,configUSE_STATS_FORMATTING_FUNCTIONS,configTOTAL_HEAP_SIZE,INCLUDE_xTaskGetCurrentTaskHandle,INCLUDE_xTaskGetHandle,INCLUDE_uxTaskGetStackHighWaterMark2,INCLUDE_xEventGroupSetBitFromISR,INCLUDE_xTaskAbortDelay,INCLUDE_pcTaskGetTaskName,INCLUDE_xSemaphoreGetMutexHolder,INCLUDE_vTaskCleanUpResources,configUSE_APPLICATION_TASK_TAG
-FREERTOS.Tasks01=defaultTask,24,128,StartDefaultTask,Default,NULL,Dynamic,NULL,NULL
-FREERTOS.configCHECK_FOR_STACK_OVERFLOW=2
-FREERTOS.configENABLE_BACKWARD_COMPATIBILITY=0
-FREERTOS.configENABLE_FPU=1
-FREERTOS.configGENERATE_RUN_TIME_STATS=1
-FREERTOS.configRECORD_STACK_HIGH_ADDRESS=1
-FREERTOS.configTOTAL_HEAP_SIZE=0x10000
-FREERTOS.configUSE_APPLICATION_TASK_TAG=0
-FREERTOS.configUSE_STATS_FORMATTING_FUNCTIONS=1
-File.Version=6
-GPIO.groupedBy=Group By Peripherals
-I2C1.I2C_Mode=I2C_Fast
-I2C1.IPParameters=I2C_Mode
-I2C2.I2C_Mode=I2C_Fast
-I2C2.IPParameters=I2C_Mode
-I2C3.I2C_Mode=I2C_Fast
-I2C3.IPParameters=I2C_Mode
-KeepUserPlacement=false
-Mcu.CPN=STM32F407IGH6
-Mcu.Family=STM32F4
-Mcu.IP0=ADC1
-Mcu.IP1=ADC3
-Mcu.IP10=NVIC
-Mcu.IP11=RCC
-Mcu.IP12=RNG
-Mcu.IP13=SPI1
-Mcu.IP14=SPI2
-Mcu.IP15=SYS
-Mcu.IP16=TIM1
-Mcu.IP17=TIM3
-Mcu.IP18=TIM4
-Mcu.IP19=TIM5
-Mcu.IP2=CAN1
-Mcu.IP20=TIM7
-Mcu.IP21=TIM8
-Mcu.IP22=TIM10
-Mcu.IP23=USART1
-Mcu.IP24=USART3
-Mcu.IP25=USART6
-Mcu.IP26=USB_DEVICE
-Mcu.IP27=USB_OTG_FS
-Mcu.IP3=CAN2
-Mcu.IP4=CRC
-Mcu.IP5=DMA
-Mcu.IP6=FREERTOS
-Mcu.IP7=I2C1
-Mcu.IP8=I2C2
-Mcu.IP9=I2C3
-Mcu.IPNb=28
-Mcu.Name=STM32F407I(E-G)Hx
-Mcu.Package=UFBGA176
-Mcu.Pin0=PB8
-Mcu.Pin1=PB5
-Mcu.Pin10=PD0
-Mcu.Pin11=PC11
-Mcu.Pin12=PC10
-Mcu.Pin13=PA12
-Mcu.Pin14=PI6
-Mcu.Pin15=PG9
-Mcu.Pin16=PD1
-Mcu.Pin17=PA11
-Mcu.Pin18=PF0
-Mcu.Pin19=PA9
-Mcu.Pin2=PG14
-Mcu.Pin20=PC9
-Mcu.Pin21=PA8
-Mcu.Pin22=PH0-OSC_IN
-Mcu.Pin23=PC8
-Mcu.Pin24=PH1-OSC_OUT
-Mcu.Pin25=PF1
-Mcu.Pin26=PC6
-Mcu.Pin27=PG6
-Mcu.Pin28=PF6
-Mcu.Pin29=PH12
-Mcu.Pin3=PB4
-Mcu.Pin30=PG3
-Mcu.Pin31=PF10
-Mcu.Pin32=PH11
-Mcu.Pin33=PH10
-Mcu.Pin34=PC0
-Mcu.Pin35=PC1
-Mcu.Pin36=PC2
-Mcu.Pin37=PD14
-Mcu.Pin38=PA0-WKUP
-Mcu.Pin39=PA4
-Mcu.Pin4=PB3
-Mcu.Pin40=PC4
-Mcu.Pin41=PE13
-Mcu.Pin42=PC5
-Mcu.Pin43=PE9
-Mcu.Pin44=PE11
-Mcu.Pin45=PE14
-Mcu.Pin46=PB12
-Mcu.Pin47=PB13
-Mcu.Pin48=PA7
-Mcu.Pin49=PB0
-Mcu.Pin5=PA14
-Mcu.Pin50=PB14
-Mcu.Pin51=PB15
-Mcu.Pin52=VP_ADC1_TempSens_Input
-Mcu.Pin53=VP_ADC1_Vref_Input
-Mcu.Pin54=VP_CRC_VS_CRC
-Mcu.Pin55=VP_FREERTOS_VS_CMSIS_V2
-Mcu.Pin56=VP_RNG_VS_RNG
-Mcu.Pin57=VP_SYS_VS_Systick
-Mcu.Pin58=VP_TIM1_VS_ClockSourceINT
-Mcu.Pin59=VP_TIM3_VS_ClockSourceINT
-Mcu.Pin6=PA13
-Mcu.Pin60=VP_TIM4_VS_ClockSourceINT
-Mcu.Pin61=VP_TIM5_VS_ClockSourceINT
-Mcu.Pin62=VP_TIM7_VS_ClockSourceINT
-Mcu.Pin63=VP_TIM8_VS_ClockSourceINT
-Mcu.Pin64=VP_TIM10_VS_ClockSourceINT
-Mcu.Pin65=VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS
-Mcu.Pin7=PB9
-Mcu.Pin8=PB7
-Mcu.Pin9=PB6
-Mcu.PinsNb=66
-Mcu.ThirdPartyNb=0
-Mcu.UserConstants=
-Mcu.UserName=STM32F407IGHx
-MxCube.Version=6.15.0
-MxDb.Version=DB.6.0.150
-NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
-NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
-NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.CAN2_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.DMA1_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
-NVIC.DMA1_Stream2_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA1_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream1_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream2_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream3_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream5_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream6_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
-NVIC.DMA2_Stream7_IRQn=true\:5\:0\:true\:false\:true\:true\:false\:true\:true
-NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.EXTI0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
-NVIC.EXTI3_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
-NVIC.EXTI4_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
-NVIC.EXTI9_5_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
-NVIC.ForceEnableDMAVector=true
-NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.NonMaskableInt_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
-NVIC.OTG_FS_IRQn=true\:5\:0\:false\:false\:true\:true\:false\:true\:true
-NVIC.PendSV_IRQn=true\:15\:0\:false\:false\:false\:true\:false\:false\:false
-NVIC.PriorityGroup=NVIC_PRIORITYGROUP_4
-NVIC.SVCall_IRQn=true\:0\:0\:false\:false\:false\:false\:false\:false\:false
-NVIC.SavedPendsvIrqHandlerGenerated=true
-NVIC.SavedSvcallIrqHandlerGenerated=true
-NVIC.SavedSystickIrqHandlerGenerated=true
-NVIC.SysTick_IRQn=true\:15\:0\:false\:false\:true\:true\:false\:true\:false
-NVIC.TIM1_BRK_TIM9_IRQn=true\:5\:0\:false\:false\:true\:false\:false\:true\:true
-NVIC.TIM7_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.USART1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.USART6_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
-NVIC.UsageFault_IRQn=true\:0\:0\:true\:false\:true\:false\:false\:false\:false
-PA0-WKUP.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
-PA0-WKUP.GPIO_Label=USER_KEY
-PA0-WKUP.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
-PA0-WKUP.GPIO_PuPd=GPIO_PULLUP
-PA0-WKUP.Locked=true
-PA0-WKUP.Signal=GPXTI0
-PA11.Mode=Device_Only
-PA11.Signal=USB_OTG_FS_DM
-PA12.Mode=Device_Only
-PA12.Signal=USB_OTG_FS_DP
-PA13.Mode=Serial_Wire
-PA13.Signal=SYS_JTMS-SWDIO
-PA14.Mode=Serial_Wire
-PA14.Signal=SYS_JTCK-SWCLK
-PA4.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
-PA4.GPIO_Label=ACCL_CS
-PA4.GPIO_PuPd=GPIO_PULLUP
-PA4.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
-PA4.Locked=true
-PA4.PinState=GPIO_PIN_SET
-PA4.Signal=GPIO_Output
-PA7.GPIOParameters=GPIO_PuPd
-PA7.GPIO_PuPd=GPIO_PULLUP
-PA7.Locked=true
-PA7.Mode=Full_Duplex_Master
-PA7.Signal=SPI1_MOSI
-PA8.GPIOParameters=GPIO_Pu
-PA8.GPIO_Pu=GPIO_PULLUP
-PA8.Locked=true
-PA8.Mode=I2C
-PA8.Signal=I2C3_SCL
-PA9.Locked=true
-PA9.Mode=Asynchronous
-PA9.Signal=USART1_TX
-PB0.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
-PB0.GPIO_Label=GYRO_CS
-PB0.GPIO_PuPd=GPIO_PULLUP
-PB0.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
-PB0.Locked=true
-PB0.PinState=GPIO_PIN_SET
-PB0.Signal=GPIO_Output
-PB12.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
-PB12.GPIO_Label=SPI2_CS
-PB12.GPIO_PuPd=GPIO_PULLUP
-PB12.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
-PB12.Locked=true
-PB12.PinState=GPIO_PIN_SET
-PB12.Signal=GPIO_Output
-PB13.GPIOParameters=GPIO_PuPd
-PB13.GPIO_PuPd=GPIO_PULLUP
-PB13.Locked=true
-PB13.Mode=Full_Duplex_Master
-PB13.Signal=SPI2_SCK
-PB14.GPIOParameters=GPIO_PuPd
-PB14.GPIO_PuPd=GPIO_PULLUP
-PB14.Locked=true
-PB14.Mode=Full_Duplex_Master
-PB14.Signal=SPI2_MISO
-PB15.GPIOParameters=GPIO_PuPd
-PB15.GPIO_PuPd=GPIO_PULLUP
-PB15.Locked=true
-PB15.Mode=Full_Duplex_Master
-PB15.Signal=SPI2_MOSI
-PB3.GPIOParameters=GPIO_PuPd
-PB3.GPIO_PuPd=GPIO_PULLUP
-PB3.Locked=true
-PB3.Mode=Full_Duplex_Master
-PB3.Signal=SPI1_SCK
-PB4.GPIOParameters=GPIO_PuPd
-PB4.GPIO_PuPd=GPIO_PULLUP
-PB4.Locked=true
-PB4.Mode=Full_Duplex_Master
-PB4.Signal=SPI1_MISO
-PB5.Locked=true
-PB5.Mode=CAN_Activate
-PB5.Signal=CAN2_RX
-PB6.Locked=true
-PB6.Mode=CAN_Activate
-PB6.Signal=CAN2_TX
-PB7.Locked=true
-PB7.Mode=Asynchronous
-PB7.Signal=USART1_RX
-PB8.GPIOParameters=GPIO_Pu
-PB8.GPIO_Pu=GPIO_PULLUP
-PB8.Locked=true
-PB8.Mode=I2C
-PB8.Signal=I2C1_SCL
-PB9.GPIOParameters=GPIO_Pu
-PB9.GPIO_Pu=GPIO_PULLUP
-PB9.Locked=true
-PB9.Mode=I2C
-PB9.Signal=I2C1_SDA
-PC0.GPIOParameters=GPIO_Label
-PC0.GPIO_Label=HW0
-PC0.Locked=true
-PC0.Signal=GPIO_Input
-PC1.GPIOParameters=GPIO_Label
-PC1.GPIO_Label=HW1
-PC1.Locked=true
-PC1.Signal=GPIO_Input
-PC10.Locked=true
-PC10.Mode=Asynchronous
-PC10.Signal=USART3_TX
-PC11.Locked=true
-PC11.Mode=Asynchronous
-PC11.Signal=USART3_RX
-PC2.GPIOParameters=GPIO_Label
-PC2.GPIO_Label=HW2
-PC2.Locked=true
-PC2.Signal=GPIO_Input
-PC4.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
-PC4.GPIO_Label=ACCL_INT
-PC4.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
-PC4.GPIO_PuPd=GPIO_PULLUP
-PC4.Locked=true
-PC4.Signal=GPXTI4
-PC5.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
-PC5.GPIO_Label=GYRO_INT
-PC5.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
-PC5.GPIO_PuPd=GPIO_PULLUP
-PC5.Locked=true
-PC5.Signal=GPXTI5
-PC6.GPIOParameters=GPIO_Speed,GPIO_PuPd
-PC6.GPIO_PuPd=GPIO_PULLUP
-PC6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PC6.Locked=true
-PC6.Signal=S_TIM8_CH1
-PC8.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
-PC8.GPIO_Label=LASER
-PC8.GPIO_PuPd=GPIO_PULLUP
-PC8.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PC8.Locked=true
-PC8.Signal=S_TIM3_CH3
-PC9.GPIOParameters=GPIO_Pu
-PC9.GPIO_Pu=GPIO_PULLUP
-PC9.Locked=true
-PC9.Mode=I2C
-PC9.Signal=I2C3_SDA
-PD0.Locked=true
-PD0.Mode=CAN_Activate
-PD0.Signal=CAN1_RX
-PD1.Locked=true
-PD1.Mode=CAN_Activate
-PD1.Signal=CAN1_TX
-PD14.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
-PD14.GPIO_Label=BUZZER
-PD14.GPIO_PuPd=GPIO_PULLUP
-PD14.GPIO_Speed=GPIO_SPEED_FREQ_VERY_HIGH
-PD14.Locked=true
-PD14.Signal=S_TIM4_CH3
-PE11.GPIOParameters=GPIO_Speed,GPIO_PuPd
-PE11.GPIO_PuPd=GPIO_PULLUP
-PE11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PE11.Locked=true
-PE11.Signal=S_TIM1_CH2
-PE13.GPIOParameters=GPIO_Speed,GPIO_PuPd
-PE13.GPIO_PuPd=GPIO_PULLUP
-PE13.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PE13.Locked=true
-PE13.Signal=S_TIM1_CH3
-PE14.GPIOParameters=GPIO_Speed,GPIO_PuPd
-PE14.GPIO_PuPd=GPIO_PULLUP
-PE14.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PE14.Locked=true
-PE14.Signal=S_TIM1_CH4
-PE9.GPIOParameters=GPIO_Speed,GPIO_PuPd
-PE9.GPIO_PuPd=GPIO_PULLUP
-PE9.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PE9.Locked=true
-PE9.Signal=S_TIM1_CH1
-PF0.GPIOParameters=GPIO_Pu
-PF0.GPIO_Pu=GPIO_PULLUP
-PF0.Locked=true
-PF0.Mode=I2C
-PF0.Signal=I2C2_SDA
-PF1.GPIOParameters=GPIO_Pu
-PF1.GPIO_Pu=GPIO_PULLUP
-PF1.Locked=true
-PF1.Mode=I2C
-PF1.Signal=I2C2_SCL
-PF10.GPIOParameters=GPIO_Label
-PF10.GPIO_Label=ADC_BAT
-PF10.Locked=true
-PF10.Mode=IN8
-PF10.Signal=ADC3_IN8
-PF6.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
-PF6.GPIO_Label=IMU_HEAT_PWM
-PF6.GPIO_PuPd=GPIO_PULLDOWN
-PF6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PF6.Locked=true
-PF6.Signal=S_TIM10_CH1
-PG14.Locked=true
-PG14.Mode=Asynchronous
-PG14.Signal=USART6_TX
-PG3.GPIOParameters=GPIO_PuPd,GPIO_Label,GPIO_ModeDefaultEXTI
-PG3.GPIO_Label=CMPS_INT
-PG3.GPIO_ModeDefaultEXTI=GPIO_MODE_IT_FALLING
-PG3.GPIO_PuPd=GPIO_PULLUP
-PG3.Locked=true
-PG3.Signal=GPXTI3
-PG6.GPIOParameters=GPIO_Speed,PinState,GPIO_PuPd,GPIO_Label
-PG6.GPIO_Label=CMPS_RST
-PG6.GPIO_PuPd=GPIO_PULLUP
-PG6.GPIO_Speed=GPIO_SPEED_FREQ_MEDIUM
-PG6.Locked=true
-PG6.PinState=GPIO_PIN_RESET
-PG6.Signal=GPIO_Output
-PG9.Locked=true
-PG9.Mode=Asynchronous
-PG9.Signal=USART6_RX
-PH0-OSC_IN.Mode=HSE-External-Oscillator
-PH0-OSC_IN.Signal=RCC_OSC_IN
-PH1-OSC_OUT.Mode=HSE-External-Oscillator
-PH1-OSC_OUT.Signal=RCC_OSC_OUT
-PH10.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
-PH10.GPIO_Label=LED_B
-PH10.GPIO_PuPd=GPIO_PULLUP
-PH10.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PH10.Locked=true
-PH10.Signal=S_TIM5_CH1
-PH11.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
-PH11.GPIO_Label=LED_G
-PH11.GPIO_PuPd=GPIO_PULLUP
-PH11.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PH11.Locked=true
-PH11.Signal=S_TIM5_CH2
-PH12.GPIOParameters=GPIO_Speed,GPIO_PuPd,GPIO_Label
-PH12.GPIO_Label=LED_R
-PH12.GPIO_PuPd=GPIO_PULLUP
-PH12.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PH12.Locked=true
-PH12.Signal=S_TIM5_CH3
-PI6.GPIOParameters=GPIO_Speed,GPIO_PuPd
-PI6.GPIO_PuPd=GPIO_PULLUP
-PI6.GPIO_Speed=GPIO_SPEED_FREQ_HIGH
-PI6.Signal=S_TIM8_CH2
-PinOutPanel.CurrentBGAView=Top
-PinOutPanel.RotationAngle=0
-ProjectManager.AskForMigrate=true
-ProjectManager.BackupPrevious=false
-ProjectManager.CompilerLinker=GCC
-ProjectManager.CompilerOptimize=6
-ProjectManager.ComputerToolchain=false
-ProjectManager.CoupleFile=true
-ProjectManager.CustomerFirmwarePackage=
-ProjectManager.DefaultFWLocation=true
-ProjectManager.DeletePrevious=true
-ProjectManager.DeviceId=STM32F407IGHx
-ProjectManager.FirmwarePackage=STM32Cube FW_F4 V1.28.3
-ProjectManager.FreePins=false
-ProjectManager.HalAssertFull=true
-ProjectManager.HeapSize=0x1000
-ProjectManager.KeepUserCode=true
-ProjectManager.LastFirmware=true
-ProjectManager.LibraryCopy=0
-ProjectManager.MainLocation=Core/Src
-ProjectManager.NoMain=false
-ProjectManager.PreviousToolchain=
-ProjectManager.ProjectBuild=false
-ProjectManager.ProjectFileName=DevC.ioc
-ProjectManager.ProjectName=DevC
-ProjectManager.ProjectStructure=
-ProjectManager.RegisterCallBack=
-ProjectManager.StackSize=0x1000
-ProjectManager.TargetToolchain=CMake
-ProjectManager.ToolChainLocation=
-ProjectManager.UAScriptAfterPath=
-ProjectManager.UAScriptBeforePath=
-ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_ADC3_Init-ADC3-false-HAL-true,6-MX_CAN1_Init-CAN1-false-HAL-true,7-MX_CAN2_Init-CAN2-false-HAL-true,8-MX_I2C1_Init-I2C1-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM4_Init-TIM4-false-HAL-true,11-MX_TIM5_Init-TIM5-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true,14-MX_CRC_Init-CRC-false-HAL-true,15-MX_RNG_Init-RNG-false-HAL-true,16-MX_I2C2_Init-I2C2-false-HAL-true,17-MX_I2C3_Init-I2C3-false-HAL-true,18-MX_SPI2_Init-SPI2-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM3_Init-TIM3-false-HAL-true,21-MX_TIM10_Init-TIM10-false-HAL-true,22-MX_USART1_UART_Init-USART1-false-HAL-true,23-MX_USART6_UART_Init-USART6-false-HAL-true,24-MX_TIM7_Init-TIM7-false-HAL-true,25-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false
-RCC.48MHZClocksFreq_Value=48000000
-RCC.AHBFreq_Value=168000000
-RCC.APB1CLKDivider=RCC_HCLK_DIV4
-RCC.APB1Freq_Value=42000000
-RCC.APB1TimFreq_Value=84000000
-RCC.APB2CLKDivider=RCC_HCLK_DIV2
-RCC.APB2Freq_Value=84000000
-RCC.APB2TimFreq_Value=168000000
-RCC.CortexFreq_Value=168000000
-RCC.EthernetFreq_Value=168000000
-RCC.FCLKCortexFreq_Value=168000000
-RCC.FamilyName=M
-RCC.HCLKFreq_Value=168000000
-RCC.HSE_VALUE=12000000
-RCC.HSI_VALUE=16000000
-RCC.I2SClocksFreq_Value=192000000
-RCC.IPParameters=48MHZClocksFreq_Value,AHBFreq_Value,APB1CLKDivider,APB1Freq_Value,APB1TimFreq_Value,APB2CLKDivider,APB2Freq_Value,APB2TimFreq_Value,CortexFreq_Value,EthernetFreq_Value,FCLKCortexFreq_Value,FamilyName,HCLKFreq_Value,HSE_VALUE,HSI_VALUE,I2SClocksFreq_Value,LSE_VALUE,LSI_VALUE,MCO2PinFreq_Value,PLLCLKFreq_Value,PLLM,PLLN,PLLQ,PLLQCLKFreq_Value,RCC_RTC_Clock_Source,RCC_RTC_Clock_SourceVirtual,RCC_RTC_Clock_Source_FROM_HSE,RTCFreq_Value,RTCHSEDivFreq_Value,SYSCLKFreq_VALUE,SYSCLKSource,VCOI2SOutputFreq_Value,VCOInputFreq_Value,VCOOutputFreq_Value,VcooutputI2S
-RCC.LSE_VALUE=32768
-RCC.LSI_VALUE=32000
-RCC.MCO2PinFreq_Value=168000000
-RCC.PLLCLKFreq_Value=168000000
-RCC.PLLM=6
-RCC.PLLN=168
-RCC.PLLQ=7
-RCC.PLLQCLKFreq_Value=48000000
-RCC.RCC_RTC_Clock_Source=RCC_RTCCLKSOURCE_LSI
-RCC.RCC_RTC_Clock_SourceVirtual=RCC_RTCCLKSOURCE_HSE_DIV30
-RCC.RCC_RTC_Clock_Source_FROM_HSE=RCC_RTCCLKSOURCE_HSE_DIV30
-RCC.RTCFreq_Value=32000
-RCC.RTCHSEDivFreq_Value=400000
-RCC.SYSCLKFreq_VALUE=168000000
-RCC.SYSCLKSource=RCC_SYSCLKSOURCE_PLLCLK
-RCC.VCOI2SOutputFreq_Value=384000000
-RCC.VCOInputFreq_Value=2000000
-RCC.VCOOutputFreq_Value=336000000
-RCC.VcooutputI2S=192000000
-SH.GPXTI0.0=GPIO_EXTI0
-SH.GPXTI0.ConfNb=1
-SH.GPXTI3.0=GPIO_EXTI3
-SH.GPXTI3.ConfNb=1
-SH.GPXTI4.0=GPIO_EXTI4
-SH.GPXTI4.ConfNb=1
-SH.GPXTI5.0=GPIO_EXTI5
-SH.GPXTI5.ConfNb=1
-SH.S_TIM10_CH1.0=TIM10_CH1,PWM Generation1 CH1
-SH.S_TIM10_CH1.ConfNb=1
-SH.S_TIM1_CH1.0=TIM1_CH1,PWM Generation1 CH1
-SH.S_TIM1_CH1.ConfNb=1
-SH.S_TIM1_CH2.0=TIM1_CH2,PWM Generation2 CH2
-SH.S_TIM1_CH2.ConfNb=1
-SH.S_TIM1_CH3.0=TIM1_CH3,PWM Generation3 CH3
-SH.S_TIM1_CH3.ConfNb=1
-SH.S_TIM1_CH4.0=TIM1_CH4,PWM Generation4 CH4
-SH.S_TIM1_CH4.ConfNb=1
-SH.S_TIM3_CH3.0=TIM3_CH3,PWM Generation3 CH3
-SH.S_TIM3_CH3.ConfNb=1
-SH.S_TIM4_CH3.0=TIM4_CH3,PWM Generation3 CH3
-SH.S_TIM4_CH3.ConfNb=1
-SH.S_TIM5_CH1.0=TIM5_CH1,PWM Generation1 CH1
-SH.S_TIM5_CH1.ConfNb=1
-SH.S_TIM5_CH2.0=TIM5_CH2,PWM Generation2 CH2
-SH.S_TIM5_CH2.ConfNb=1
-SH.S_TIM5_CH3.0=TIM5_CH3,PWM Generation3 CH3
-SH.S_TIM5_CH3.ConfNb=1
-SH.S_TIM8_CH1.0=TIM8_CH1,PWM Generation1 CH1
-SH.S_TIM8_CH1.ConfNb=1
-SH.S_TIM8_CH2.0=TIM8_CH2,PWM Generation2 CH2
-SH.S_TIM8_CH2.ConfNb=1
-SPI1.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_16
-SPI1.CLKPhase=SPI_PHASE_2EDGE
-SPI1.CLKPolarity=SPI_POLARITY_HIGH
-SPI1.CalculateBaudRate=5.25 MBits/s
-SPI1.Direction=SPI_DIRECTION_2LINES
-SPI1.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
-SPI1.Mode=SPI_MODE_MASTER
-SPI1.VirtualType=VM_MASTER
-SPI2.BaudRatePrescaler=SPI_BAUDRATEPRESCALER_64
-SPI2.CLKPhase=SPI_PHASE_1EDGE
-SPI2.CLKPolarity=SPI_POLARITY_LOW
-SPI2.CalculateBaudRate=656.25 KBits/s
-SPI2.Direction=SPI_DIRECTION_2LINES
-SPI2.IPParameters=VirtualType,Mode,Direction,CalculateBaudRate,BaudRatePrescaler,CLKPolarity,CLKPhase
-SPI2.Mode=SPI_MODE_MASTER
-SPI2.VirtualType=VM_MASTER
-TIM1.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
-TIM1.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
-TIM1.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
-TIM1.Channel-PWM\ Generation4\ CH4=TIM_CHANNEL_4
-TIM1.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Channel-PWM Generation4 CH4,Period,Prescaler,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2,Pulse-PWM Generation3 CH3,Pulse-PWM Generation4 CH4
-TIM1.Period=19999
-TIM1.Prescaler=167
-TIM1.Pulse-PWM\ Generation1\ CH1=0
-TIM1.Pulse-PWM\ Generation2\ CH2=0
-TIM1.Pulse-PWM\ Generation3\ CH3=0
-TIM1.Pulse-PWM\ Generation4\ CH4=1000
-TIM10.Channel=TIM_CHANNEL_1
-TIM10.IPParameters=Channel,Period
-TIM10.Period=4999
-TIM3.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
-TIM3.IPParameters=Channel-PWM Generation3 CH3,Period
-TIM3.Period=65535
-TIM4.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
-TIM4.IPParameters=Channel-PWM Generation3 CH3,Prescaler,Period
-TIM4.Period=65535
-TIM4.Prescaler=167
-TIM5.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
-TIM5.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
-TIM5.Channel-PWM\ Generation3\ CH3=TIM_CHANNEL_3
-TIM5.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Channel-PWM Generation3 CH3,Prescaler,Period
-TIM5.Period=65535
-TIM5.Prescaler=0
-TIM7.IPParameters=Period,Prescaler
-TIM7.Period=9
-TIM7.Prescaler=83
-TIM8.Channel-PWM\ Generation1\ CH1=TIM_CHANNEL_1
-TIM8.Channel-PWM\ Generation2\ CH2=TIM_CHANNEL_2
-TIM8.IPParameters=Channel-PWM Generation1 CH1,Channel-PWM Generation2 CH2,Prescaler,Period,Pulse-PWM Generation1 CH1,Pulse-PWM Generation2 CH2
-TIM8.Period=19999
-TIM8.Prescaler=167
-TIM8.Pulse-PWM\ Generation1\ CH1=1000
-TIM8.Pulse-PWM\ Generation2\ CH2=1000
-USART1.IPParameters=VirtualMode
-USART1.VirtualMode=VM_ASYNC
-USART3.BaudRate=100000
-USART3.IPParameters=VirtualMode,BaudRate,Parity,Mode
-USART3.Mode=MODE_RX
-USART3.Parity=PARITY_EVEN
-USART3.VirtualMode=VM_ASYNC
-USART6.IPParameters=VirtualMode
-USART6.VirtualMode=VM_ASYNC
-USB_DEVICE.CLASS_NAME_FS=CDC
-USB_DEVICE.IPParameters=VirtualMode-CDC_FS,VirtualModeFS,CLASS_NAME_FS
-USB_DEVICE.VirtualMode-CDC_FS=Cdc
-USB_DEVICE.VirtualModeFS=Cdc_FS
-USB_OTG_FS.IPParameters=VirtualMode
-USB_OTG_FS.VirtualMode=Device_Only
-VP_ADC1_TempSens_Input.Mode=IN-TempSens
-VP_ADC1_TempSens_Input.Signal=ADC1_TempSens_Input
-VP_ADC1_Vref_Input.Mode=IN-Vrefint
-VP_ADC1_Vref_Input.Signal=ADC1_Vref_Input
-VP_CRC_VS_CRC.Mode=CRC_Activate
-VP_CRC_VS_CRC.Signal=CRC_VS_CRC
-VP_FREERTOS_VS_CMSIS_V2.Mode=CMSIS_V2
-VP_FREERTOS_VS_CMSIS_V2.Signal=FREERTOS_VS_CMSIS_V2
-VP_RNG_VS_RNG.Mode=RNG_Activate
-VP_RNG_VS_RNG.Signal=RNG_VS_RNG
-VP_SYS_VS_Systick.Mode=SysTick
-VP_SYS_VS_Systick.Signal=SYS_VS_Systick
-VP_TIM10_VS_ClockSourceINT.Mode=Enable_Timer
-VP_TIM10_VS_ClockSourceINT.Signal=TIM10_VS_ClockSourceINT
-VP_TIM1_VS_ClockSourceINT.Mode=Internal
-VP_TIM1_VS_ClockSourceINT.Signal=TIM1_VS_ClockSourceINT
-VP_TIM3_VS_ClockSourceINT.Mode=Internal
-VP_TIM3_VS_ClockSourceINT.Signal=TIM3_VS_ClockSourceINT
-VP_TIM4_VS_ClockSourceINT.Mode=Internal
-VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
-VP_TIM5_VS_ClockSourceINT.Mode=Internal
-VP_TIM5_VS_ClockSourceINT.Signal=TIM5_VS_ClockSourceINT
-VP_TIM7_VS_ClockSourceINT.Mode=Enable_Timer
-VP_TIM7_VS_ClockSourceINT.Signal=TIM7_VS_ClockSourceINT
-VP_TIM8_VS_ClockSourceINT.Mode=Internal
-VP_TIM8_VS_ClockSourceINT.Signal=TIM8_VS_ClockSourceINT
-VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Mode=CDC_FS
-VP_USB_DEVICE_VS_USB_DEVICE_CDC_FS.Signal=USB_DEVICE_VS_USB_DEVICE_CDC_FS
-board=custom
-rtos.0.ip=FREERTOS

assets/User_code/module/cmd/cmd.c

@@ -197,7 +197,7 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
   }
   
   /* 自动仲裁：优先级 PC > RC > NUC */
-  CMD_InputSource_t candidates[] = {CMD_SRC_RC, CMD_SRC_PC, CMD_SRC_NUC};
+  CMD_InputSource_t candidates[] = {CMD_SRC_PC, CMD_SRC_RC, CMD_SRC_NUC};
   const int num_candidates = sizeof(candidates) / sizeof(candidates[0]);
   
   /* 如果当前输入源仍然在线且有效，保持使用 */

assets/User_code/module/cmd/cmd_adapter.c

@@ -10,7 +10,7 @@
 // static CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
 CMD_InputAdapter_t *g_adapters[CMD_SRC_NUM] = {0};
 /* ========================================================================== */
-/*                        DR16 适配器实现                                       */
+/*                        DR16 抽象实现                                       */
 /* ========================================================================== */
 #if CMD_RC_DEVICE_TYPE == 0
 
@@ -27,19 +27,19 @@ int8_t CMD_DR16_RC_GetInput(void *data, CMD_RawInput_t *output) {
     output->online[CMD_SRC_RC] = dr16->header.online;
     
     /* 遥控器摇杆映射 */
-    output->rc.joy_left.x  = dr16->data.ch_l_x;
+    output->rc.joy_left.x  = dr16->data.rc.ch_l_x;
-    output->rc.joy_left.y  = dr16->data.ch_l_y;
+    output->rc.joy_left.y  = dr16->data.rc.ch_l_y;
-    output->rc.joy_right.x = dr16->data.ch_r_x;
+    output->rc.joy_right.x = dr16->data.rc.ch_r_x;
-    output->rc.joy_right.y = dr16->data.ch_r_y;
+    output->rc.joy_right.y = dr16->data.rc.ch_r_y;
     
     /* 拨杆映射 */
-    switch (dr16->data.sw_l) {
+    switch (dr16->data.rc.sw_l) {
         case DR16_SW_UP:   output->rc.sw[0] = CMD_SW_UP;   break;
         case DR16_SW_MID:  output->rc.sw[0] = CMD_SW_MID;  break;
         case DR16_SW_DOWN: output->rc.sw[0] = CMD_SW_DOWN; break;
         default:           output->rc.sw[0] = CMD_SW_ERR;  break;
     }
-    switch (dr16->data.sw_r) {
+    switch (dr16->data.rc.sw_r) {
         case DR16_SW_UP:   output->rc.sw[1] = CMD_SW_UP;   break;
         case DR16_SW_MID:  output->rc.sw[1] = CMD_SW_MID;  break;
         case DR16_SW_DOWN: output->rc.sw[1] = CMD_SW_DOWN; break;
@@ -47,7 +47,7 @@ int8_t CMD_DR16_RC_GetInput(void *data, CMD_RawInput_t *output) {
     }
     
     /* 拨轮映射 */
-    output->rc.dial = dr16->data.ch_res;
+    output->rc.dial = dr16->data.rc.ch_res;
     
     return CMD_OK;
 }
@@ -60,10 +60,10 @@ int8_t CMD_DR16_PC_GetInput(void *data, CMD_RawInput_t *output) {
     output->online[CMD_SRC_PC] = dr16->header.online;
     
     /* PC端鼠标映射 */
-    output->pc.mouse.x = dr16->data.mouse.x;
+    output->pc.mouse.x = dr16->data.pc.mouse.x;
-    output->pc.mouse.y = dr16->data.mouse.y;
+    output->pc.mouse.y = dr16->data.pc.mouse.y;
-    output->pc.mouse.l_click = dr16->data.mouse.l_click;
+    output->pc.mouse.l_click = dr16->data.pc.mouse.l_click;
-    output->pc.mouse.r_click = dr16->data.mouse.r_click;
+    output->pc.mouse.r_click = dr16->data.pc.mouse.r_click;
     
     /* 键盘映射 */
     output->pc.keyboard.bitmap = dr16->raw_data.key;
@@ -83,7 +83,7 @@ CMD_DEFINE_ADAPTER(DR16_PC, cmd_dr16, CMD_SRC_PC, CMD_DR16_Init, CMD_DR16_PC_Get
 #endif /* CMD_RC_DEVICE_TYPE == 0 */
 
 /* ========================================================================== */
-/*                        AT9S 适配器实现 (示例框架)                            */
+/*                        AT9S 抽象实现 (示例框架)                            */
 /* ========================================================================== */
 #if CMD_RC_DEVICE_TYPE == 1
 
@@ -100,10 +100,10 @@ int8_t CMD_AT9S_GetInput(void *data, CMD_RawInput_t *output) {
     output->online[CMD_SRC_RC] = at9s->header.online;
     
     /* TODO: 按照AT9S的数据格式进行映射 */
-    output->joy_left.x  = at9s->data.ch_l_x;
+    output->joy_left.x  = at9s->data.rc.ch_l_x;
-    output->joy_left.y  = at9s->data.ch_l_y;
+    output->joy_left.y  = at9s->data.rc.ch_l_y;
-    output->joy_right.x = at9s->data.ch_r_x;
+    output->joy_right.x = at9s->data.rc.ch_r_x;
-    output->joy_right.y = at9s->data.ch_r_y;
+    output->joy_right.y = at9s->data.rc.ch_r_y;
     
     /* 拨杆映射需要根据AT9S的实际定义 */
     
@@ -142,6 +142,10 @@ int8_t CMD_Adapter_InitAll(void) {
     CMD_Adapter_Register(&g_adapter_AT9S);
 #endif
     
+    /* 注册NUC适配器 */
+
+    /* 注册REF适配器 */
+    
     /* 初始化所有已注册的适配器 */
     for (int i = 0; i < CMD_SRC_NUM; i++) {
         if (g_adapters[i] != NULL && g_adapters[i]->init != NULL) {

assets/User_code/module/cmd/cmd_example.c

@@ -6,7 +6,7 @@
 #include "cmd.h"
 
 /* ========================================================================== */
-/*                           config示例                                          */
+/*                           配置示例                                          */
 /* ========================================================================== */
 
 /* 默认配置 */
@@ -37,58 +37,35 @@
 // /* CMD上下文 */
 // static CMD_t g_cmd_ctx;
 
-/* ========================================================================== */
-/*                          队列创建示例                                       */
-/* ========================================================================== */
-// #if CMD_RCTypeTable_Index == 0
-//   task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(DR16_t), NULL);
-// #elif CMD_RCTypeTable_Index == 1
-//   task_runtime.msgq.cmd.rc= osMessageQueueNew(3u, sizeof(AT9S_t), NULL);
-// #endif
-
 /* ========================================================================== */
 /*                           任务示例                                          */
 /* ========================================================================== */
 
-// #if CMD_RCTypeTable_Index == 0
+/*
-// DR16_t cmd_dr16;
+ * 初始化示例
-// #elif CMD_RCTypeTable_Index == 1
+ */
-// AT9S_t cmd_at9s;
+// void Example_CMD_Init(void) {
-// #endif
+//     CMD_Init(&g_cmd_ctx, &g_cmd_config);
-// Shoot_CMD_t    *cmd_for_shoot;
+// }
-// Chassis_CMD_t  *cmd_for_chassis;
-// Gimbal_CMD_t   *cmd_for_gimbal;
 
-// static CMD_t cmd;
+// /*
-
+//  * 任务循环示例
-// void Task_cmd() {
+//  */
-
+// void Example_CMD_Task(void) {
-//   CMD_Init(&cmd, &Config_GetRobotParam()->cmd_param);
+//     /* 一键更新 */
-  
+//     CMD_Update(&g_cmd_ctx);
-//   while (1) {
-//     #if CMD_RCTypeTable_Index == 0
-//     osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_dr16, NULL, 0);
-//     #elif CMD_RCTypeTable_Index == 1
-//     osMessageQueueGet(task_runtime.msgq.cmd.rc, &cmd_at9s, NULL, 0);
-//     #endif
-//     CMD_Update(&cmd);
     
 //     /* 获取命令发送到各模块 */
-//     cmd_for_chassis = CMD_GetChassisCmd(&cmd);
+//     Chassis_CMD_t *chassis_cmd = CMD_GetChassisCmd(&g_cmd_ctx);
-//     cmd_for_gimbal = CMD_GetGimbalCmd(&cmd);
+//     Gimbal_CMD_t *gimbal_cmd = CMD_GetGimbalCmd(&g_cmd_ctx);
-//     cmd_for_shoot = CMD_GetShootCmd(&cmd);
+//     Shoot_CMD_t *shoot_cmd = CMD_GetShootCmd(&g_cmd_ctx);
-// 	osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
+    
-//     osMessageQueuePut(task_runtime.msgq.gimbal.cmd, cmd_for_gimbal, 0, 0);
+//     /* 使用命令... */
-// 	osMessageQueueReset(task_runtime.msgq.shoot.cmd);
+//     (void)chassis_cmd;
-//     osMessageQueuePut(task_runtime.msgq.shoot.cmd, cmd_for_shoot, 0, 0);
+//     (void)gimbal_cmd;
-// 	osMessageQueueReset(task_runtime.msgq.chassis.cmd);
+//     (void)shoot_cmd;
-//     osMessageQueuePut(task_runtime.msgq.chassis.cmd, cmd_for_chassis, 0, 0);
 // }
 
-// }
-
-
-
 /* ========================================================================== */
 /*                   架构说明                                                   */
 /* ========================================================================== */

assets/User_code/task/task.c.template

@@ -18,9 +18,6 @@
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
-/* USER PRIVATE CODE BEGIN */
-
-/* USER PRIVATE CODE END */
 /* Exported functions ------------------------------------------------------- */
 void {{task_function}}(void *argument) {
   (void)argument; /* 未使用argument，消除警告 */

assets/User_code/task/template_task/atti_esti.c

@@ -1,96 +0,0 @@
-/*
-  atti_esti Task
-  带有pwm温控的纯陀螺仪（BMI088）姿态解算任务（无磁力计，赛场环境一般不适用）。
-  控制IMU加热到指定温度防止温漂，收集IMU数据给AHRS算法。
-  收集BMI088的数据，解算后得到四元数，转换为欧拉角之后放到消息队列中，
-  等待其他任务取用。
-  陀螺仪使用前需要校准，校准结果保存在bmi088_cali结构体中，需要自行实现。
-*/
-
-/* Includes ----------------------------------------------------------------- */
-#include "task/user_task.h"
-/* USER INCLUDE BEGIN */
-
-#include "bsp/mm.h"
-#include "bsp/pwm.h"
-#include "component/ahrs.h"
-#include "component/pid.h"
-#include "device/bmi088.h"
-/* USER INCLUDE END */
-
-/* Private typedef ---------------------------------------------------------- */
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private variables -------------------------------------------------------- */
-/* USER STRUCT BEGIN */
-BMI088_t bmi088;
-AHRS_t gimbal_ahrs;
-AHRS_Magn_t magn;
-AHRS_Eulr_t eulr_to_send;
-KPID_t imu_temp_ctrl_pid;
-
-/*默认校准参数*/
-BMI088_Cali_t cali_bmi088 = {
-    .gyro_offset = {0.0f, 0.0f, 0.0f},
-};
-
-static const KPID_Params_t imu_temp_ctrl_pid_param = {
-    .k = 0.15f,
-    .p = 1.0f,
-    .i = 0.0f,
-    .d = 0.0f,
-    .i_limit = 1.0f,
-    .out_limit = 1.0f,
-};
-
-/* USER STRUCT END */
-
-/* Private function --------------------------------------------------------- */
-/* Exported functions ------------------------------------------------------- */
-void Task_atti_esti(void *argument) {
-  (void)argument; /* 未使用argument，消除警告 */
-
-  
-  osDelay(ATTI_ESTI_INIT_DELAY); /* 延时一段时间再开启任务 */
-
-  /* USER CODE INIT BEGIN */
-  BMI088_Init(&bmi088, &cali_bmi088);
-  AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
-  PID_Init(&imu_temp_ctrl_pid, KPID_MODE_NO_D,
-           1.0f / BMI088_GetUpdateFreq(&bmi088), &imu_temp_ctrl_pid_param);
-  BSP_PWM_Start(BSP_PWM_IMU_HEAT);
-
-  /* USER CODE INIT END */
-
-  while (1) {
-    /* USER CODE BEGIN */
-    BMI088_WaitNew();
-    BMI088_AcclStartDmaRecv();
-    BMI088_AcclWaitDmaCplt();
-
-    BMI088_GyroStartDmaRecv();
-    BMI088_GyroWaitDmaCplt();
-
-    /* 锁住RTOS内核防止数据解析过程中断，造成错误 */
-    osKernelLock();
-    /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */
-    BMI088_ParseAccl(&bmi088);
-    BMI088_ParseGyro(&bmi088);
-
-    /* 根据设备接收到的数据进行姿态解析 */
-    AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn);
-
-    /* 根据解析出来的四元数计算欧拉角 */
-    AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
-    osKernelUnlock();
-
-    /* 在此处用消息队列传递imu数据 */
-    /* osMessageQueuePut( ... ); */
-  
-    /* 控制IMU加热器 */
-    BSP_PWM_SetComp(BSP_PWM_IMU_HEAT, PID_Calc(&imu_temp_ctrl_pid, 40.5f,
-                                               bmi088.temp, 0.0f, 0.0f));
-    /* USER CODE END */
-  }
-  
-}

assets/User_code/task/template_task/cli.c

@@ -1,52 +0,0 @@
-/*
-    cli Task
-    
-*/
-
-/* Includes ----------------------------------------------------------------- */
-#include "task/user_task.h"
-/* USER INCLUDE BEGIN */
-#include "device/mrobot.h"
-/* USER INCLUDE END */
-
-/* Private typedef ---------------------------------------------------------- */
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private variables -------------------------------------------------------- */
-/* USER STRUCT BEGIN */
-
-/* USER STRUCT END */
-
-/* Private function --------------------------------------------------------- */
-/* USER PRIVATE CODE BEGIN */
-/**
- * @brief hello 命令回调
- * @note 命令回调必须返回 0 (pdFALSE) 表示完成，返回非0会继续调用
- */
-static long Cli_Hello(char *buffer, size_t size, const char *cmd) {
-  (void)cmd; /* 未使用cmd，消除警告 */
-  MRobot_Snprintf(buffer, size, "Ciallo～(∠・ω< )⌒★\r\n");
-  return 0;  /* 返回0表示命令执行完成 */
-}
-/* USER PRIVATE CODE END */
-/* Exported functions ------------------------------------------------------- */
-void Task_cli(void *argument) {
-  (void)argument; /* 未使用argument，消除警告 */
-
-  
-  osDelay(CLI_INIT_DELAY); /* 延时一段时间再开启任务 */
-
-  /* USER CODE INIT BEGIN */
-  /* 初始化 MRobot CLI 系统 */
-  MRobot_Init();
-  MRobot_RegisterCommand("hello", " --hello: 打印问候语\r\n", Cli_Hello, -1);
-  /* USER CODE INIT END */
-
-  while (1) {
-    /* USER CODE BEGIN */
-    /* 运行 MRobot 主循环 */
-    MRobot_Run();
-    /* USER CODE END */
-  }
-  
-}

assets/User_code/task/template_task/task.yaml

@@ -1,28 +0,0 @@
-atti_esti:
-  name: "atti_esti"
-  frequency: 1000
-  delay: 0
-  stack: 512
-  freq_control: false
-  description: |
-    带有PWM温控的纯陀螺仪（BMI088）姿态解算任务
-    功能特点：
-    - 控制IMU加热到指定温度防止温漂
-    - 收集BMI088数据给AHRS算法进行姿态解算
-    - 解算后得到四元数，转换为欧拉角放到消息队列
-    - 使用PID控制IMU温度到40.5°C
-    - 运行频率1000Hz，提供高精度姿态信息
-    注意事项：
-    - 陀螺仪使用前需要校准，校准结果保存在bmi088_cali结构体中
-    - 无磁力计版本，适用于干净的电磁环境
-    - 需要配置PWM通道用于IMU加热控制
-cli:
-  name: "cli"
-  frequency: 500
-  delay: 0
-  stack: 1024
-  freq_control: false
-  description: |
-    命令行接口任务
-    通过串口实现的虚拟终端，配合putty食用更佳
-    需要freertos_cli组件支持，还有mrobot设备驱动