修改版本号

app/about_interface.py

@@ -8,7 +8,7 @@ from qfluentwidgets import InfoBar, InfoBarPosition, SubtitleLabel
 from .function_fit_interface import FunctionFitInterface
 from app.tools.check_update import check_update
 
-__version__ = "1.0.3"
+__version__ = "1.0.4"
 
 class AboutInterface(QWidget):
     def __init__(self, parent=None):

app/code_generate_interface.py

@@ -4,6 +4,7 @@ from qfluentwidgets import TitleLabel, BodyLabel, PushButton, TreeWidget, Fluent
 from app.tools.analyzing_ioc import analyzing_ioc
 from app.code_page.bsp_interface import bsp
 from app.data_interface import DataInterface
+from app.tools.code_generator import CodeGenerator
 
 import os
 import csv
@@ -159,9 +160,7 @@ class CodeGenerateInterface(QWidget):
         """生成所有代码，包括未加载页面"""
         try:
             # 先收集所有页面名（从CSV配置文件读取）
-            script_dir = os.path.dirname(os.path.abspath(__file__))
-            csv_path = os.path.join(script_dir, "../assets/User_code/config.csv")
-            csv_path = os.path.abspath(csv_path)
+            csv_path = os.path.join(CodeGenerator.get_assets_dir("User_code"), "config.csv")
             all_class_names = []
             if os.path.exists(csv_path):
                 with open(csv_path, newline='', encoding='utf-8') as f:
@@ -238,9 +237,7 @@ class CodeGenerateInterface(QWidget):
         return "未找到.ioc文件"
 
     def _load_csv_and_build_tree(self):
-        script_dir = os.path.dirname(os.path.abspath(__file__))
-        csv_path = os.path.join(script_dir, "../assets/User_code/config.csv")
-        csv_path = os.path.abspath(csv_path)
+        csv_path = os.path.join(CodeGenerator.get_assets_dir("User_code"), "config.csv")
         print(f"加载CSV路径: {csv_path}")
         if not os.path.exists(csv_path):
             print(f"配置文件未找到: {csv_path}")

app/code_page/bsp_interface.py

@@ -37,6 +37,8 @@ def save_with_preserve(path, new_code):
         with open(path, "r", encoding="utf-8") as f:
             old_code = f.read()
         new_code = preserve_all_user_regions(new_code, old_code)
+    # 确保目录存在
+    os.makedirs(os.path.dirname(path), exist_ok=True)
     with open(path, "w", encoding="utf-8") as f:
         f.write(new_code)
 
@@ -47,7 +49,7 @@ class BspSimplePeripheral(QWidget):
         self.peripheral_name = peripheral_name
         self.template_names = template_names
         # 加载描述
-        describe_path = os.path.join(os.path.dirname(__file__), "../../assets/User_code/bsp/describe.csv")
+        describe_path = os.path.join(CodeGenerator.get_assets_dir("User_code/bsp"), "describe.csv")
         self.descriptions = load_descriptions(describe_path)
         self._init_ui()
         self._load_config()
@@ -123,7 +125,7 @@ class BspPeripheralBase(QWidget):
         self.get_available_func = get_available_func
         self.available_list = []
         # 新增：加载描述
-        describe_path = os.path.join(os.path.dirname(__file__), "../../assets/User_code/bsp/describe.csv")
+        describe_path = os.path.join(CodeGenerator.get_assets_dir("User_code/bsp"), "describe.csv")
         self.descriptions = load_descriptions(describe_path)
         self._init_ui()
         self._load_config()
@@ -388,6 +390,7 @@ class bsp_i2c(BspPeripheralBase):
             get_available_i2c
         )
 
+
 class bsp_can(BspPeripheralBase):
     def __init__(self, project_path):
         super().__init__(
@@ -400,7 +403,6 @@ class bsp_can(BspPeripheralBase):
             get_available_can
         )
 
-
     def _generate_source_file(self, configs, template_dir):
         template_path = os.path.join(template_dir, self.template_names['source'])
         template_content = CodeGenerator.load_template(template_path)
@@ -436,90 +438,20 @@ class bsp_can(BspPeripheralBase):
         init_lines.append("    inited = true;")
         init_lines.append("")
         
-        # 检查是否同时有CAN1和CAN2
-        has_can1 = any(instance == 'CAN1' for _, instance in configs)
-        has_can2 = any(instance == 'CAN2' for _, instance in configs)
+        # 按照新的FIFO分配策略
+        can_instances = [instance for _, instance in configs]
+        can_count = len(can_instances)
         
-        if has_can1 and has_can2:
-            # 同时配置CAN1和CAN2的情况 - 统一使用FIFO0
-            init_lines.extend([
-                "    // 初始化 CAN1 - 使用 FIFO0",
-                "    CAN_FilterTypeDef can1_filter = {0};",
-                "    can1_filter.FilterBank = 0;",
-                "    can1_filter.FilterIdHigh = 0;",
-                "    can1_filter.FilterIdLow = 0;",
-                "    can1_filter.FilterMode = CAN_FILTERMODE_IDMASK;",
-                "    can1_filter.FilterScale = CAN_FILTERSCALE_32BIT;",
-                "    can1_filter.FilterMaskIdHigh = 0;",
-                "    can1_filter.FilterMaskIdLow = 0;",
-                "    can1_filter.FilterActivation = ENABLE;",
-                "    can1_filter.SlaveStartFilterBank = 14;  // 重要：设置从过滤器起始组",
-                "    can1_filter.FilterFIFOAssignment = CAN_RX_FIFO0;",
-                "    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);",
-                "    HAL_CAN_Start(&hcan1);",
-                "    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);",
-                "",
-                "    // 初始化 CAN2 - 使用 FIFO0（注意：通过 CAN1 配置 CAN2 的过滤器）",
-                "    CAN_FilterTypeDef can2_filter = {0};",
-                "    can2_filter.FilterBank = 14;  // CAN2 使用过滤器组 14",
-                "    can2_filter.FilterIdHigh = 0;",
-                "    can2_filter.FilterIdLow = 0;",
-                "    can2_filter.FilterMode = CAN_FILTERMODE_IDMASK;",
-                "    can2_filter.FilterScale = CAN_FILTERSCALE_32BIT;",
-                "    can2_filter.FilterMaskIdHigh = 0;",
-                "    can2_filter.FilterMaskIdLow = 0;",
-                "    can2_filter.FilterActivation = ENABLE;",
-                "    can2_filter.FilterFIFOAssignment = CAN_RX_FIFO0;  // 改为 FIFO0",
-                "    HAL_CAN_ConfigFilter(&hcan1, &can2_filter);  // 通过 CAN1 配置",
-                "    HAL_CAN_Start(&hcan2);",
-                "    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);  // 激活 FIFO0 中断",
-                "",
-                "    // 注册回调函数",
-                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);",
-            ])
-        else:
-            # 只有单个CAN的情况
-            for idx, (name, instance) in enumerate(configs):
-                can_num = instance[-1]  # CAN1 -> 1, CAN2 -> 2
-                
-                init_lines.append(f"    // 初始化 {instance}")
-                init_lines.append(f"    CAN_FilterTypeDef can{can_num}_filter = {{0}};")
-                
-                if instance == 'CAN1':
-                    init_lines.extend([
-                        f"    can{can_num}_filter.FilterBank = 0;",
-                        f"    can{can_num}_filter.SlaveStartFilterBank = 14;",
-                        f"    can{can_num}_filter.FilterFIFOAssignment = CAN_RX_FIFO0;",
-                    ])
-                else:  # CAN2
-                    init_lines.extend([
-                        f"    can{can_num}_filter.FilterBank = 14;",
-                        f"    can{can_num}_filter.FilterFIFOAssignment = CAN_RX_FIFO0;",
-                    ])
-                
-                init_lines.extend([
-                    f"    can{can_num}_filter.FilterIdHigh = 0;",
-                    f"    can{can_num}_filter.FilterIdLow = 0;",
-                    f"    can{can_num}_filter.FilterMode = CAN_FILTERMODE_IDMASK;",
-                    f"    can{can_num}_filter.FilterScale = CAN_FILTERSCALE_32BIT;",
-                    f"    can{can_num}_filter.FilterMaskIdHigh = 0;",
-                    f"    can{can_num}_filter.FilterMaskIdLow = 0;",
-                    f"    can{can_num}_filter.FilterActivation = ENABLE;",
-                ])
-                
-                if instance == 'CAN2':
-                    init_lines.append(f"    HAL_CAN_ConfigFilter(&hcan1, &can{can_num}_filter);  // 通过 CAN1 配置")
-                else:
-                    init_lines.append(f"    HAL_CAN_ConfigFilter(&hcan{can_num}, &can{can_num}_filter);")
-                
-                init_lines.extend([
-                    f"    HAL_CAN_Start(&hcan{can_num});",
-                    f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING);",
-                    "",
-                    f"    // 注册回调函数",
-                    f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);",
-                    ""
-                ])
+        # 根据CAN数量分配FIFO
+        if can_count == 1:
+            # 只有CAN1 -> 用FIFO0
+            self._generate_single_can_init(init_lines, configs, "CAN_RX_FIFO0")
+        elif can_count == 2:
+            # CAN1和CAN2 -> CAN1用FIFO0，CAN2用FIFO1
+            self._generate_dual_can_init(init_lines, configs)
+        elif can_count >= 3:
+            # CAN1,2,3+ -> CAN1和CAN2用FIFO0，CAN3用FIFO1
+            self._generate_multi_can_init(init_lines, configs)
         
         content = CodeGenerator.replace_auto_generated(
             content, "AUTO GENERATED CAN_INIT", "\n".join(init_lines)
@@ -529,7 +461,167 @@ class bsp_can(BspPeripheralBase):
         save_with_preserve(output_path, content)
         return True
 
+    def _generate_single_can_init(self, init_lines, configs, fifo_assignment):
+        """单个CAN的初始化（使用FIFO0）"""
+        name, instance = configs[0]
+        can_num = instance[-1]  # CAN1 -> 1
+        
+        init_lines.extend([
+            f"    // 初始化 {instance} - 使用 FIFO0",
+            f"    CAN_FilterTypeDef can{can_num}_filter = {{0}};",
+            f"    can{can_num}_filter.FilterBank = 0;",
+            f"    can{can_num}_filter.FilterIdHigh = 0;",
+            f"    can{can_num}_filter.FilterIdLow = 0;",
+            f"    can{can_num}_filter.FilterMode = CAN_FILTERMODE_IDMASK;",
+            f"    can{can_num}_filter.FilterScale = CAN_FILTERSCALE_32BIT;",
+            f"    can{can_num}_filter.FilterMaskIdHigh = 0;",
+            f"    can{can_num}_filter.FilterMaskIdLow = 0;",
+            f"    can{can_num}_filter.FilterActivation = ENABLE;",
+            f"    can{can_num}_filter.SlaveStartFilterBank = 14;",
+            f"    can{can_num}_filter.FilterFIFOAssignment = {fifo_assignment};",
+            f"    HAL_CAN_ConfigFilter(&hcan{can_num}, &can{can_num}_filter);",
+            f"    HAL_CAN_Start(&hcan{can_num});",
+            f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING);",
+            "",
+            f"    // 注册回调函数",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);",
+            ""
+        ])
 
+    def _generate_dual_can_init(self, init_lines, configs):
+        """双CAN初始化（CAN1用FIFO0，CAN2用FIFO1）"""
+        # 找到CAN1和CAN2
+        can1_config = next((cfg for cfg in configs if cfg[1] == 'CAN1'), None)
+        can2_config = next((cfg for cfg in configs if cfg[1] == 'CAN2'), None)
+        
+        if can1_config:
+            name, instance = can1_config
+            init_lines.extend([
+                f"    // 初始化 CAN1 - 使用 FIFO0",
+                f"    CAN_FilterTypeDef can1_filter = {{0}};",
+                f"    can1_filter.FilterBank = 0;",
+                f"    can1_filter.FilterIdHigh = 0;",
+                f"    can1_filter.FilterIdLow = 0;",
+                f"    can1_filter.FilterMode = CAN_FILTERMODE_IDMASK;",
+                f"    can1_filter.FilterScale = CAN_FILTERSCALE_32BIT;",
+                f"    can1_filter.FilterMaskIdHigh = 0;",
+                f"    can1_filter.FilterMaskIdLow = 0;",
+                f"    can1_filter.FilterActivation = ENABLE;",
+                f"    can1_filter.SlaveStartFilterBank = 14;",
+                f"    can1_filter.FilterFIFOAssignment = CAN_RX_FIFO0;",
+                f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);",
+                f"    HAL_CAN_Start(&hcan1);",
+                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);",
+                "",
+                f"    // 注册CAN1回调函数",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);",
+                ""
+            ])
+        
+        if can2_config:
+            name, instance = can2_config
+            init_lines.extend([
+                f"    // 初始化 CAN2 - 使用 FIFO1",
+                f"    CAN_FilterTypeDef can2_filter = {{0}};",
+                f"    can2_filter.FilterBank = 14;",
+                f"    can2_filter.FilterIdHigh = 0;",
+                f"    can2_filter.FilterIdLow = 0;",
+                f"    can2_filter.FilterMode = CAN_FILTERMODE_IDMASK;",
+                f"    can2_filter.FilterScale = CAN_FILTERSCALE_32BIT;",
+                f"    can2_filter.FilterMaskIdHigh = 0;",
+                f"    can2_filter.FilterMaskIdLow = 0;",
+                f"    can2_filter.FilterActivation = ENABLE;",
+                f"    can2_filter.FilterFIFOAssignment = CAN_RX_FIFO1;",
+                f"    HAL_CAN_ConfigFilter(&hcan1, &can2_filter);  // 通过 CAN1 配置",
+                f"    HAL_CAN_Start(&hcan2);",
+                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);",
+                "",
+                f"    // 注册CAN2回调函数",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);",
+                ""
+            ])
+
+    def _generate_multi_can_init(self, init_lines, configs):
+        """多CAN初始化（CAN1和CAN2用FIFO0，CAN3+用FIFO1）"""
+        can1_config = next((cfg for cfg in configs if cfg[1] == 'CAN1'), None)
+        can2_config = next((cfg for cfg in configs if cfg[1] == 'CAN2'), None)
+        other_configs = [cfg for cfg in configs if cfg[1] not in ['CAN1', 'CAN2']]
+        
+        # CAN1 - FIFO0
+        if can1_config:
+            name, instance = can1_config
+            init_lines.extend([
+                f"    // 初始化 CAN1 - 使用 FIFO0",
+                f"    CAN_FilterTypeDef can1_filter = {{0}};",
+                f"    can1_filter.FilterBank = 0;",
+                f"    can1_filter.FilterIdHigh = 0;",
+                f"    can1_filter.FilterIdLow = 0;",
+                f"    can1_filter.FilterMode = CAN_FILTERMODE_IDMASK;",
+                f"    can1_filter.FilterScale = CAN_FILTERSCALE_32BIT;",
+                f"    can1_filter.FilterMaskIdHigh = 0;",
+                f"    can1_filter.FilterMaskIdLow = 0;",
+                f"    can1_filter.FilterActivation = ENABLE;",
+                f"    can1_filter.SlaveStartFilterBank = 14;",
+                f"    can1_filter.FilterFIFOAssignment = CAN_RX_FIFO0;",
+                f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);",
+                f"    HAL_CAN_Start(&hcan1);",
+                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);",
+                "",
+                f"    // 注册CAN1回调函数",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);",
+                ""
+            ])
+        
+        # CAN2 - FIFO0
+        if can2_config:
+            name, instance = can2_config
+            init_lines.extend([
+                f"    // 初始化 CAN2 - 使用 FIFO0",
+                f"    CAN_FilterTypeDef can2_filter = {{0}};",
+                f"    can2_filter.FilterBank = 14;",
+                f"    can2_filter.FilterIdHigh = 0;",
+                f"    can2_filter.FilterIdLow = 0;",
+                f"    can2_filter.FilterMode = CAN_FILTERMODE_IDMASK;",
+                f"    can2_filter.FilterScale = CAN_FILTERSCALE_32BIT;",
+                f"    can2_filter.FilterMaskIdHigh = 0;",
+                f"    can2_filter.FilterMaskIdLow = 0;",
+                f"    can2_filter.FilterActivation = ENABLE;",
+                f"    can2_filter.FilterFIFOAssignment = CAN_RX_FIFO0;",
+                f"    HAL_CAN_ConfigFilter(&hcan1, &can2_filter);  // 通过 CAN1 配置",
+                f"    HAL_CAN_Start(&hcan2);",
+                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);",
+                "",
+                f"    // 注册CAN2回调函数",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);",
+                ""
+            ])
+        
+        # CAN3+ - FIFO1
+        filter_bank = 20  # 从过滤器组20开始分配给CAN3+
+        for config in other_configs:
+            name, instance = config
+            can_num = ''.join(filter(str.isdigit, instance))
+            init_lines.extend([
+                f"    // 初始化 {instance} - 使用 FIFO1",
+                f"    CAN_FilterTypeDef can{can_num}_filter = {{0}};",
+                f"    can{can_num}_filter.FilterBank = {filter_bank};",
+                f"    can{can_num}_filter.FilterIdHigh = 0;",
+                f"    can{can_num}_filter.FilterIdLow = 0;",
+                f"    can{can_num}_filter.FilterMode = CAN_FILTERMODE_IDMASK;",
+                f"    can{can_num}_filter.FilterScale = CAN_FILTERSCALE_32BIT;",
+                f"    can{can_num}_filter.FilterMaskIdHigh = 0;",
+                f"    can{can_num}_filter.FilterMaskIdLow = 0;",
+                f"    can{can_num}_filter.FilterActivation = ENABLE;",
+                f"    can{can_num}_filter.FilterFIFOAssignment = CAN_RX_FIFO1;",
+                f"    HAL_CAN_ConfigFilter(&hcan1, &can{can_num}_filter);  // 通过 CAN1 配置",
+                f"    HAL_CAN_Start(&hcan{can_num});",
+                f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO1_MSG_PENDING);",
+                "",
+                f"    // 注册{instance}回调函数",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifoCallback);",
+                ""
+            ])
+            filter_bank += 1  # 为下一个CAN分配不同的过滤器组
 
 class bsp_spi(BspPeripheralBase):
     def __init__(self, project_path):

app/code_page/component_interface.py

@@ -105,7 +105,7 @@ class ComponentSimple(QWidget):
         self.component_manager = component_manager
         
         # 加载描述和依赖信息
-        component_dir = os.path.dirname(__file__) + "/../../assets/User_code/component"
+        component_dir = CodeGenerator.get_assets_dir("User_code/component")
         describe_path = os.path.join(component_dir, "describe.csv")
         dependencies_path = os.path.join(component_dir, "dependencies.csv")
         self.descriptions = load_descriptions(describe_path)
@@ -172,13 +172,7 @@ class ComponentSimple(QWidget):
         return True
     
     def _get_component_template_dir(self):
-        current_dir = os.path.dirname(os.path.abspath(__file__))
-        while os.path.basename(current_dir) != 'MRobot' and current_dir != '/':
-            current_dir = os.path.dirname(current_dir)
-        if os.path.basename(current_dir) == 'MRobot':
-            return os.path.join(current_dir, "assets/User_code/component")
-        else:
-            return os.path.join(os.path.dirname(os.path.dirname(os.path.dirname(__file__))), "assets/User_code/component")
+        return CodeGenerator.get_assets_dir("User_code/component")
     
     def _save_config(self):
         config_path = os.path.join(self.project_path, "User/component/component_config.yaml")
@@ -286,7 +280,7 @@ class component(QWidget):
     def generate_component(project_path, pages):
         """生成所有组件代码，处理依赖关系"""
         # 自动添加 component.h
-        src_component_h = os.path.join(os.path.dirname(__file__), "../../assets/User_code/component/component.h")
+        src_component_h = os.path.join(CodeGenerator.get_assets_dir("User_code/component"), "component.h")
         dst_component_h = os.path.join(project_path, "User/component/component.h")
         os.makedirs(os.path.dirname(dst_component_h), exist_ok=True)
         if os.path.exists(src_component_h):

app/code_page/device_interface.py

@@ -37,7 +37,7 @@ def get_available_bsp_devices(project_path, bsp_type, gpio_type=None):
 
 def generate_device_header(project_path, enabled_devices):
     """生成device.h文件"""
-    device_dir = os.path.join(os.path.dirname(__file__), "../../assets/User_code/device")
+    device_dir = CodeGenerator.get_assets_dir("User_code/device")
     template_path = os.path.join(device_dir, "device.h")
     
     # 读取模板文件
@@ -274,16 +274,7 @@ class DeviceSimple(QWidget):
 
     def _get_device_template_dir(self):
         """获取设备模板目录"""
-        current_dir = os.path.dirname(os.path.abspath(__file__))
-        # 向上找到 MRobot 根目录
-        while os.path.basename(current_dir) != 'MRobot' and current_dir != '/':
-            current_dir = os.path.dirname(current_dir)
-        
-        if os.path.basename(current_dir) == 'MRobot':
-            return os.path.join(current_dir, "assets/User_code/device")
-        else:
-            # 如果找不到，使用相对路径作为备选
-            return os.path.join(os.path.dirname(os.path.dirname(os.path.dirname(__file__))), "assets/User_code/device")
+        return CodeGenerator.get_assets_dir("User_code/device")
     
     def _save_config(self):
         """保存配置"""
@@ -316,7 +307,7 @@ class DeviceSimple(QWidget):
 def get_device_page(device_name, project_path):
     """根据设备名返回对应的页面类"""
     # 加载设备配置
-    device_dir = os.path.join(os.path.dirname(__file__), "../../assets/User_code/device")
+    device_dir = CodeGenerator.get_assets_dir("User_code/device")
     config_path = os.path.join(device_dir, "config.yaml")
     device_configs = load_device_config(config_path)
     

app/tools/code_generator.py

@@ -78,4 +78,33 @@ class CodeGenerator:
         if not os.path.exists(template_dir):
             print(f"警告：模板目录不存在: {template_dir}")
         
-        return template_dir
+        return template_dir
+    
+    @staticmethod
+    def get_assets_dir(sub_path=""):
+        """获取assets目录路径，兼容打包环境
+        Args:
+            sub_path: 子路径，如 "User_code/component" 或 "User_code/device"
+        Returns:
+            str: 完整的assets路径
+        """
+        if getattr(sys, 'frozen', False):
+            # 打包后的环境
+            base_path = sys._MEIPASS
+            assets_dir = os.path.join(base_path, "assets")
+        else:
+            # 开发环境
+            current_dir = os.path.dirname(os.path.abspath(__file__))
+            while os.path.basename(current_dir) != 'MRobot' and current_dir != '/':
+                current_dir = os.path.dirname(current_dir)
+            assets_dir = os.path.join(current_dir, "assets")
+        
+        if sub_path:
+            full_path = os.path.join(assets_dir, sub_path)
+        else:
+            full_path = assets_dir
+            
+        if not os.path.exists(full_path):
+            print(f"警告：资源目录不存在: {full_path}")
+        
+        return full_path

assets/User_code/config.csv

@@ -1,4 +1,4 @@
 bsp,can,dwt,gpio,i2c,mm,spi,uart,pwm,time
 component,ahrs,ballistics,capacity,cmd,crc8,crc16,error_detect,filter,FreeRTOS_CLI,limiter,mixer,pid,ui,user_math
-device,dr16,bmi088,ist8310,motor,motor_rm
+device,dr16,bmi088,ist8310,motor,motor_rm,motor_vesc,motor_odrive
 module,

assets/User_code/device/config.yaml

@@ -73,4 +73,38 @@ devices:
       - name: "SIGNAL_IST8310_MAGN_NEW_DATA"
     files:
       header: "ist8310.h"
-      source: "ist8310.c"
+      source: "ist8310.c"
+
+  motor_vesc:
+    name: "VESC 电调"
+    description: "VESC 电调驱动"
+    dependencies:
+      bsp: ["can", "time"]
+    files:
+      header: "motor_vesc.h"
+      source: "motor_vesc.c"
+  
+  motor_odrive:
+    name: "ODrive 电机"
+    description: "ODrive 电机驱动"
+    dependencies:
+      bsp: ["can", "time"]
+    files:
+      header: "motor_odrive.h"
+      source: "motor_odrive.c"
+
+  motor_rm:
+    name: "RM 电机" 
+    description: "RM 电机驱动"
+    dependencies:
+      bsp: ["can", "time"]
+    files:
+      header: "motor_rm.h"
+      source: "motor_rm.c"
+
+  motor:
+    name: "通用电机"
+    description: "通用电机驱动"
+    files:
+      header: "motor.h"
+      source: "motor.c"

assets/User_code/device/motor_odrive.c

@@ -0,0 +1,328 @@
+/*
+  CAN总线上的设备
+  将所有CAN总线上挂载的设备抽象成一个设备进行配置和控制
+*/
+/* Includes ----------------------------------------------------------------- */
+#include "motor_odrive.h"
+#include <stdbool.h>
+#include <string.h>
+#include "bsp/can.h"
+#include "bsp/mm.h"
+#include "bsp/time.h"
+#include "component/user_math.h"
+
+/* Private define ----------------------------------------------------------- */
+
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+static ODrive_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
+
+
+// 获取指定CAN总线的电机管理器指针
+static ODrive_CANManager_t* MOTOR_GetCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return NULL;
+    return can_managers[can];
+}
+
+// 为指定CAN总线创建电机管理器
+static int8_t MOTOR_CreateCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return DEVICE_ERR;
+    if (can_managers[can] != NULL) return DEVICE_OK;
+    can_managers[can] = (ODrive_CANManager_t*)BSP_Malloc(sizeof(ODrive_CANManager_t));
+    if (can_managers[can] == NULL) return DEVICE_ERR;
+    memset(can_managers[can], 0, sizeof(ODrive_CANManager_t));
+    can_managers[can]->can = can;
+    return DEVICE_OK;
+}
+
+// 解析CAN报文，更新电机反馈信息
+static void Motor_Decode(ODrive_t *motor, BSP_CAN_Message_t *msg)
+{
+    uint8_t axis_id = (msg->original_id >> 5) & 0x3F;   // 提取电机号（0~63）
+    uint8_t cmd_id  = msg->original_id & 0x1F;          // 提取命令 ID（低 5 位）
+
+    motor->param.id = axis_id; // 保存电机 ID
+
+    // 解析帧类型（数据帧或远程帧）
+    if (msg->frame_type == BSP_CAN_FRAME_STD_DATA) {
+        // 数据帧处理
+        switch (cmd_id)
+        {
+        case ODRIVE_HEARTBEAT_MESSAGE: // 0x001 ODrive心跳消息
+            // motor->motor.feedback.axis_error      = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24);
+            // motor->motor.feedback.axis_state      = msg->data[4];
+            // motor->motor.feedback.controller_status = msg->data[5];
+            break;
+
+        case ENCODER_ESTIMATES: // 0x009
+            {
+                uint32_t raw_pos = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24);
+                uint32_t raw_vel = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24);
+                memcpy(&motor->motor.feedback.rotor_abs_angle, &raw_pos, sizeof(float));
+                memcpy(&motor->motor.feedback.rotor_speed, &raw_vel, sizeof(float));
+            }
+            break;
+
+        case GET_ENCODER_COUNT: // 0x014
+            // motor->motor.feedback.encoder_shadow = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24);
+            // motor->motor.feedback.encoder_cpr    = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24);
+            break;
+
+        case GET_BUS_VOLTAGE_CURRENT: // 0x017
+            {
+                uint32_t raw_vbus, raw_ibus;
+                raw_vbus = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24);
+                raw_ibus = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24);
+                // memcpy(&motor->motor.feedback.bus_voltage, &raw_vbus, sizeof(float));
+                memcpy(&motor->motor.feedback.torque_current, &raw_ibus, sizeof(float));
+            }
+            break;
+
+        case GET_IQ: // 0x018
+            {
+                uint32_t raw_iq_set, raw_iq_meas;
+                raw_iq_set  = (msg->data[0] | msg->data[1]<<8 | msg->data[2]<<16 | msg->data[3]<<24);
+                raw_iq_meas = (msg->data[4] | msg->data[5]<<8 | msg->data[6]<<16 | msg->data[7]<<24);
+                // memcpy(&motor->motor.feedback.iq_setpoint, &raw_iq_set, sizeof(float));
+                // memcpy(&motor->motor.feedback.iq_measured, &raw_iq_meas, sizeof(float));
+            }
+            break;
+
+        default:
+            
+            break;
+        }
+    }
+}
+
+
+/* Exported functions ------------------------------------------------------- */
+
+// 注册一个新的电机实例到管理器
+int8_t ODrive_Register(ODrive_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    if (MOTOR_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR;
+    ODrive_CANManager_t *manager = MOTOR_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR;
+    // 检查是否已注册
+    for (int i = 0; i < manager->motor_count; i++) {
+        if (manager->motors[i] && manager->motors[i]->param.id == param->id) {
+            return DEVICE_ERR_INITED;
+        }
+    }
+    // 检查数量
+    if (manager->motor_count >= ODRIVE_MAX_MOTORS) return DEVICE_ERR;
+    // 创建新电机实例
+    ODrive_t *new_motor = (ODrive_t*)BSP_Malloc(sizeof(ODrive_t));
+    if (new_motor == NULL) return DEVICE_ERR;
+    memcpy(&new_motor->param, param, sizeof(ODrive_Param_t));
+    memset(&new_motor->motor, 0, sizeof(MOTOR_t));
+    new_motor->motor.reverse = param->reverse;
+    // 注册CAN接收ID
+    if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) {
+        BSP_Free(new_motor);
+        return DEVICE_ERR;
+    }
+    manager->motors[manager->motor_count] = new_motor;
+    manager->motor_count++;
+    return DEVICE_OK;
+}
+
+// 更新指定电机的反馈数据
+int8_t ODrive_Update(ODrive_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    ODrive_CANManager_t *manager = MOTOR_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR_NO_DEV;
+    for (int i = 0; i < manager->motor_count; i++) {
+        ODrive_t *motor = manager->motors[i];
+        if (motor && motor->param.id == param->id) {
+            BSP_CAN_Message_t rx_msg;
+            if (BSP_CAN_GetMessage(param->can, param->id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+                uint64_t now_time = BSP_TIME_Get();
+                if (now_time - motor->motor.header.last_online_time > 1000) {
+                    motor->motor.header.online = false;
+                    return DEVICE_ERR_NO_DEV;
+                }
+                return DEVICE_ERR;
+            }
+            motor->motor.header.online = true;
+            motor->motor.header.last_online_time = BSP_TIME_Get();
+            Motor_Decode(motor, &rx_msg);
+            return DEVICE_OK;
+        }
+    }
+    return DEVICE_ERR_NO_DEV;
+}
+
+// 更新所有CAN总线下所有电机的反馈数据
+int8_t ODrive_UpdateAll(void) {
+    int8_t ret = DEVICE_OK;
+    for (int can = 0; can < BSP_CAN_NUM; can++) {
+        ODrive_CANManager_t *manager = MOTOR_GetCANManager((BSP_CAN_t)can);
+        if (manager == NULL) continue;
+        for (int i = 0; i < manager->motor_count; i++) {
+            ODrive_t *motor = manager->motors[i];
+            if (motor != NULL) {
+                if (ODrive_Update(&motor->param) != DEVICE_OK) {
+                    ret = DEVICE_ERR;
+                }
+            }
+        }
+    }
+    return ret;
+}
+
+// 获取指定参数对应的电机实例指针
+ODrive_t* ODrive_GetMotor(ODrive_Param_t *param) {
+    if (param == NULL) return NULL;
+    ODrive_CANManager_t *manager = MOTOR_GetCANManager(param->can);
+    if (manager == NULL) return NULL;
+    for (int i = 0; i < manager->motor_count; i++) {
+        ODrive_t *motor = manager->motors[i];
+        if (motor && motor->param.id == param->id) {
+            return motor;
+        }
+    }
+    return NULL;
+}
+
+// 设置指定电机的输出值
+int8_t ODrive_SetOutput(ODrive_Param_t *param, float value) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    // 如果电机反转标志为 true，则反向值
+    if (param->reverse) {
+        value = -value;
+    }
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id;
+    uint8_t *pVal = (uint8_t *)&value;
+
+    // 选择命令 ID 和数据打包方式
+    switch (param->mode) {
+        case POSITION_CONTROL: {
+            command_id = SET_INPUT_POS;
+            float pos = value;
+            int16_t vel_ff = 0;     // 可扩展为参数传入  0就行
+            int16_t torque_ff = 0;  // 可扩展为参数传入  0就行
+            uint8_t *pPos = (uint8_t *)&pos;
+            uint8_t *pVel = (uint8_t *)&vel_ff;
+            uint8_t *pTor = (uint8_t *)&torque_ff;
+            memcpy(&tx_frame.data[0], pPos, 4);
+            memcpy(&tx_frame.data[4], pVel, 2);
+            memcpy(&tx_frame.data[6], pTor, 2);
+            tx_frame.dlc = 8;
+            break;
+        }
+        case VELOCITY_CONTROL: {
+            command_id = SET_INPUT_VEL;
+            float vel = value;
+            float torque_ff = 0.0f; // 可扩展为参数传入
+            uint8_t *pVel = (uint8_t *)&vel;
+            uint8_t *pTor = (uint8_t *)&torque_ff;
+            memcpy(&tx_frame.data[0], pVel, 4);
+            memcpy(&tx_frame.data[4], pTor, 4);
+            tx_frame.dlc = 8;
+            break;
+        }
+        case TORQUE_CONTROL: {
+            command_id = SET_INPUT_TORQUE;
+            memcpy(&tx_frame.data[0], pVal, 4);
+            tx_frame.dlc = 4;
+            break;
+        }
+        case VOLTAGE_CONTROL:
+        default:
+            return DEVICE_ERR; // 暂不支持电压模式
+    }
+
+    // 组装 CAN ID（标准帧）
+    tx_frame.id = (param->id << 5) | command_id;
+
+    // 标准数据帧
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+// 设置加速度和减速度
+int8_t ODrive_SetAccel(ODrive_Param_t *param, float accel, float decel) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id = SET_TRAJ_ACCEL_LIMITS;
+
+    uint8_t *pAccel = (uint8_t *)&accel;
+    uint8_t *pDecel = (uint8_t *)&decel;
+    memcpy(&tx_frame.data[0], pAccel, 4);
+    memcpy(&tx_frame.data[4], pDecel, 4);
+    tx_frame.dlc = 8;
+
+    tx_frame.id = (param->id << 5) | command_id;
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+// 获取位置和速度反馈
+int8_t ODrive_RequestEncoderEstimates(ODrive_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id = ENCODER_ESTIMATES;  // 请求编码器估计值命令
+    uint8_t zero_data[8] = {0};               // 发送全 0 数据（ODrive 协议要求）
+
+    memcpy(tx_frame.data, zero_data, 8);
+    tx_frame.dlc = 8;
+    tx_frame.id = (param->id << 5) | command_id;
+
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+// 设置轴请求状态（一般用来重启 ODrive 的某个轴）
+// ODrive_SetAxisRequestedState(odrive_axis[0], CLOSED_LOOP_CONTROL);
+int8_t ODrive_SetAxisRequestedState(ODrive_Param_t *param, Axis_State state) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id = SET_AXIS_REQUESTED_STATE;
+
+    // 将 state 转为 4 字节
+    memcpy(tx_frame.data, &state, 4);
+    memset(&tx_frame.data[4], 0, 4);  
+    tx_frame.dlc = 4;
+
+    // 组装 CAN ID
+    tx_frame.id = (param->id << 5) | command_id;
+
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+// 清除错误
+int8_t ODrive_ClearErrors(ODrive_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id = CLEAR_ERRORS;
+
+    memset(tx_frame.data, 0, 8);  
+    tx_frame.dlc = 0;
+
+    tx_frame.id = (param->id << 5) | command_id;
+
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+// 重启 ODrive
+int8_t ODrive_Reboot(ODrive_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id = REBOOT_ODRIVE;
+
+    memset(tx_frame.data, 0, 8); 
+    tx_frame.dlc = 0;
+
+    tx_frame.id = (param->id << 5) | command_id;
+
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}

assets/User_code/device/motor_odrive.h

@@ -0,0 +1,162 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/device.h"
+#include "device/motor.h"
+#include "bsp/can.h"
+
+/* Private define ----------------------------------------------------------- */
+
+//ODrive型号根据实际情况调整
+#define ODRIVE_MAX_MOTORS 2
+
+//COMMAND ID
+#define ODRIVE_HEARTBEAT_MESSAGE		0x001 // ODrive心跳消息
+#define SET_AXIS_NODE_ID				0x006 // 设置电机节点ID
+#define GET_ENCODER_ESTIMATES			0x008 // 获取编码器估计值
+#define GET_ENCODER_COUNT				0x00A // 获取编码器计数
+#define SET_AXIS_REQUESTED_STATE 		0x007 // 设置电机请求状态
+#define ENCODER_ESTIMATES				0x009 // 编码器估计值
+#define GET_ENCODER_COUNT				0x00A // 获取编码器计数
+#define SET_CONTROLLER_MODES			0x00B // 设置控制器模式
+#define SET_INPUT_POS					0x00C // 设置输入位置
+#define SET_INPUT_VEL					0x00D // 设置输入速度
+#define SET_INPUT_TORQUE				0x00E // 设置输入转矩
+#define SET_LIMITS						0x00F // 设置限制
+#define GET_IQ							0x014 // 获取电流
+#define REBOOT_ODRIVE					0x016 // 重启ODrive
+#define GET_BUS_VOLTAGE_CURRENT			0x017 // 获取总线电压和电流
+#define CLEAR_ERRORS					0x018 // 清除错误
+#define SET_POSITION_GAIN				0x01A // 设置位置增益
+#define SET_VEL_GAINS					0x01B // 设置速度增益
+#define SET_TRAJ_ACCEL_LIMITS      0x012 // 设置轨迹加速度限制
+/* Exported constants ------------------------------------------------------- */
+
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+//Axis States
+typedef enum {
+    UNDEFINED = 0x0,
+    IDLE = 0x1,
+    STARTUP_SEQUENCE = 0x2,
+    FULL_CALIBRATION_SEQUENCE = 0x3,
+    MOTOR_CALIBRATION = 0x4,
+    ENCODER_INDEX_SEARCH = 0x6,
+    ENCODER_OFFSET_CALIBRATION = 0x7,
+    CLOSED_LOOP_CONTROL = 0x8,
+    LOCKIN_SPIN = 0x9,
+    ENCODER_DIR_FIND = 0xA,
+    HOMING = 0xB,
+    ENCODER_HALL_POLARITY_CALIBRATION = 0xC,
+    ENCODER_HALL_PHASE_CALIBRATION = 0xD
+} Axis_State;
+
+//Control Modes
+typedef enum{
+	VOLTAGE_CONTROL = 0x0,
+	TORQUE_CONTROL = 0x1,
+	VELOCITY_CONTROL = 0x2,
+	POSITION_CONTROL = 0x3
+} Control_Mode;
+
+
+/*每个电机需要的参数*/
+typedef struct {
+    BSP_CAN_t can;
+    uint16_t id;
+    uint16_t mode;
+    bool reverse;
+} ODrive_Param_t;
+
+/*电机实例*/
+typedef struct ODrive_t {
+    ODrive_Param_t param;
+    MOTOR_t motor;
+} ODrive_t;
+
+/*CAN管理器，管理一个CAN总线上所有的电机*/
+typedef struct {
+    BSP_CAN_t can;
+    ODrive_t *motors[ODRIVE_MAX_MOTORS];
+    uint8_t motor_count;
+} ODrive_CANManager_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 注册一个odrive电机
+ * @param param 电机参数
+ * @return 
+ */
+int8_t ODrive_Register(ODrive_Param_t *param);
+
+/**
+ * @brief 更新指定电机数据
+ * @param param 电机参数
+ * @return 
+ */
+
+int8_t ODrive_Update(ODrive_Param_t *param);
+
+/** * @brief 更新所有ODrive电机状态
+ * @return 
+ */
+int8_t ODrive_UpdateAll(void);
+
+/**
+ * @brief 设置一个电机的输出
+ * @param param 电机参数
+ * @param value 输出值
+ * @return 
+ */
+int8_t ODrive_SetOutput(ODrive_Param_t *param, float value);
+
+/** * @brief 设置电机加速度和减速度限制
+ * @param param 电机参数
+ * @param accel 加速度  
+ * @param decel 减速度
+ * @return 
+ */
+int8_t ODrive_SetAccel(ODrive_Param_t *param, float accel, float decel);
+
+/**
+ * @brief 获取指定电机的实例指针
+ * @param param 电机参数
+ * @return 
+ */
+ODrive_t* ODrive_GetMotor(ODrive_Param_t *param);
+
+/** * @brief 获取指定电机的编码器估计值
+ * @param param 电机参数
+ * @return 
+ */
+int8_t ODrive_RequestEncoderEstimates(ODrive_Param_t *param); 
+
+
+/** * @brief 设置轴请求状态（一般用来重启 ODrive 的某个轴）
+ * @param param 电机参数
+ * @return 
+ */
+int8_t ODrive_SetAxisRequestedState(ODrive_Param_t *param, Axis_State state);
+
+/** * @brief 清除错误
+ * @param param 电机参数
+ * @return 
+ */
+int8_t ODrive_ClearErrors(ODrive_Param_t *param); 
+
+/**  * @brief 重启 ODrive
+ * @param param 电机参数
+ * @return 
+ */
+int8_t ODrive_Reboot(ODrive_Param_t *param);
+
+#ifdef __cplusplus
+}
+#endif

assets/User_code/device/motor_vesc.c

@@ -0,0 +1,250 @@
+/*
+  CAN总线上的设备
+  将所有CAN总线上挂载的设备抽象成一个设备进行配置和控制
+*/
+/* Includes ----------------------------------------------------------------- */
+#include "motor_vesc.h"
+#include <stdbool.h>
+#include <string.h>
+#include "bsp/can.h"
+#include "bsp/mm.h"
+#include "bsp/time.h"
+#include "component/user_math.h"
+
+/* Private define ----------------------------------------------------------- */
+
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* Private variables -------------------------------------------------------- */
+
+/**************************************
+ * 限幅函数
+ **************************************/
+void assert_param_duty(float *duty){
+    // 如果 duty 是 -1.0 ~ 1.0，则最大值用 wtrcfg_VESC_COMMAND_DUTY_MAX / 100
+    float max_duty = wtrcfg_VESC_COMMAND_DUTY_MAX / 100.0f;
+    if (fabsf(*duty) > max_duty) {
+        *duty = (*duty > 0) ? max_duty : -max_duty;
+    }
+}
+
+void assert_param_current(float *current){
+	if( fabsf(*current) > wtrcfg_VESC_COMMAND_CURRENT_MAX )
+		*current = *current > 0 ? wtrcfg_VESC_COMMAND_CURRENT_MAX : - wtrcfg_VESC_COMMAND_CURRENT_MAX ;
+}
+void assert_param_rpm(float *rpm){
+	if( fabsf(*rpm) > wtrcfg_VESC_COMMAND_ERPM_MAX )
+		*rpm = *rpm > 0 ? wtrcfg_VESC_COMMAND_ERPM_MAX : - wtrcfg_VESC_COMMAND_ERPM_MAX ;
+}
+void assert_param_pos(float *pos){
+	if( fabsf(*pos) > wtrcfg_VESC_COMMAND_POS_MAX )
+		*pos = *pos > 0 ? wtrcfg_VESC_COMMAND_POS_MAX : - wtrcfg_VESC_COMMAND_POS_MAX ;
+}
+
+static VESC_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
+
+
+// 获取指定CAN总线的电机管理器指针
+static VESC_CANManager_t* MOTOR_GetCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return NULL;
+    return can_managers[can];
+}
+
+// 为指定CAN总线创建电机管理器
+static int8_t MOTOR_CreateCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return DEVICE_ERR;
+    if (can_managers[can] != NULL) return DEVICE_OK;
+    can_managers[can] = (VESC_CANManager_t*)BSP_Malloc(sizeof(VESC_CANManager_t));
+    if (can_managers[can] == NULL) return DEVICE_ERR;
+    memset(can_managers[can], 0, sizeof(VESC_CANManager_t));
+    can_managers[can]->can = can;
+    return DEVICE_OK;
+}
+
+// 解析CAN报文，更新电机反馈信息
+static void Motor_VESC_Decode(VESC_t *motor, BSP_CAN_Message_t *msg)
+{
+    if (motor == NULL || msg == NULL) return;
+    motor->motor.feedback.rotor_speed = 
+        ((int32_t)msg->data[0] << 24) |
+        ((int32_t)msg->data[1] << 16) |
+        ((int32_t)msg->data[2] << 8)  |
+        ((int32_t)msg->data[3]);
+
+    // torque_current: 低 2 字节 (data[4], data[5])
+    int16_t raw_current = (int16_t)((msg->data[5] << 8) | msg->data[4]);
+    motor->motor.feedback.torque_current = raw_current / 1000.0f;  // 从 0.1A -> A
+
+    // duty_cycle: 低 2 字节 (data[6], data[7])
+    int16_t raw_duty = (int16_t)((msg->data[7] << 8) | msg->data[6]);
+    //motor->motor.feedback.duty_cycle = raw_duty / 1000.0f;  // 从千分之一 -> (-1.0 ~ 1.0)
+
+}
+
+
+/* Exported functions ------------------------------------------------------- */
+
+// 注册一个新的电机实例到管理器
+int8_t VESC_Register(VESC_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    if (MOTOR_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR;
+    VESC_CANManager_t *manager = MOTOR_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR;
+    // 检查是否已注册
+    for (int i = 0; i < manager->motor_count; i++) {
+        if (manager->motors[i] && manager->motors[i]->param.id == param->id) {
+            return DEVICE_ERR_INITED;
+        }
+    }
+    // 检查数量
+    if (manager->motor_count >= VESC_MAX_MOTORS) return DEVICE_ERR;
+    // 创建新电机实例
+    VESC_t *new_motor = (VESC_t*)BSP_Malloc(sizeof(VESC_t));
+    if (new_motor == NULL) return DEVICE_ERR;
+    memcpy(&new_motor->param, param, sizeof(VESC_Param_t));
+    memset(&new_motor->motor, 0, sizeof(MOTOR_t));
+    new_motor->motor.reverse = param->reverse;
+    // 注册CAN接收ID
+    if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) {
+        BSP_Free(new_motor);
+        return DEVICE_ERR;
+    }
+    manager->motors[manager->motor_count] = new_motor;
+    manager->motor_count++;
+    return DEVICE_OK;
+}
+
+// 更新指定电机的反馈数据（扩展帧方式）
+int8_t VESC_Update(VESC_Param_t *param)
+{
+    if (param == NULL) return DEVICE_ERR_NULL;
+    VESC_CANManager_t *manager = MOTOR_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR_NO_DEV;
+    VESC_t *motor = NULL;
+    for (int i = 0; i < manager->motor_count; i++) {
+        if (manager->motors[i] && manager->motors[i]->param.id == param->id) {
+            motor = manager->motors[i];
+            break;
+        }
+    }
+    if (motor == NULL) return DEVICE_ERR_NO_DEV;
+    // 根据电机 ID 获取对应扩展帧 ID
+    uint32_t ext_id = 0;
+    switch (param->id) {
+        case VESC_1: ext_id = CAN_VESC5065_M1_MSG1; break;
+        case VESC_2: ext_id = CAN_VESC5065_M2_MSG1; break;
+        case VESC_4: ext_id = CAN_VESC5065_M3_MSG1; break;
+        default: return DEVICE_ERR_NO_DEV;
+    }
+    BSP_CAN_Message_t rx_msg;
+    if (BSP_CAN_GetMessage(param->can, ext_id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+        uint64_t now_time = BSP_TIME_Get();
+        if (now_time - motor->motor.header.last_online_time > 1000) {
+            motor->motor.header.online = false;
+            return DEVICE_ERR_NO_DEV;
+        }
+        return DEVICE_ERR;
+    }
+    motor->motor.header.online = true;
+    motor->motor.header.last_online_time = BSP_TIME_Get();
+    Motor_VESC_Decode(motor, &rx_msg);
+    return DEVICE_OK;
+}
+
+// 更新所有CAN总线下所有电机的反馈数据
+int8_t VESC_UpdateAll(void) {
+    int8_t ret = DEVICE_OK;
+    for (int can = 0; can < BSP_CAN_NUM; can++) {
+        VESC_CANManager_t *manager = MOTOR_GetCANManager((BSP_CAN_t)can);
+        if (manager == NULL) continue;
+        for (int i = 0; i < manager->motor_count; i++) {
+            VESC_t *motor = manager->motors[i];
+            if (motor != NULL) {
+                if (VESC_Update(&motor->param) != DEVICE_OK) {
+                    ret = DEVICE_ERR;
+                }
+            }
+        }
+    }
+    return ret;
+}
+
+// 获取指定参数对应的电机实例指针
+VESC_t* VESC_GetMotor(VESC_Param_t *param) {
+    if (param == NULL) return NULL;
+    VESC_CANManager_t *manager = MOTOR_GetCANManager(param->can);
+    if (manager == NULL) return NULL;
+    for (int i = 0; i < manager->motor_count; i++) {
+        VESC_t *motor = manager->motors[i];
+        if (motor && motor->param.id == param->id) {
+            return motor;
+        }
+    }
+    return NULL;
+}
+
+// 设置指定电机的输出值
+int8_t VESC_SetOutput(VESC_Param_t *param, float value)
+{
+    if (param == NULL) return DEVICE_ERR_NULL;
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t command_id;
+
+    if (param->reverse) {
+        value = -value;
+    }
+
+    switch (param->mode)
+    {
+        case DUTY_CONTROL: {
+            assert_param_duty(&value); // 调用你现有的限幅函数
+            command_id = CAN_PACKET_SET_DUTY;
+            int32_t duty_val = (int32_t)(value * 1e5f); // duty 放大 1e5
+            memcpy(&tx_frame.data[0], &duty_val, 4);
+            tx_frame.dlc = 4;
+            break;
+        }
+        case RPM_CONTROL: {
+            assert_param_rpm(&value); 
+            command_id = CAN_PACKET_SET_RPM;
+            int32_t rpm_val = (int32_t)value;
+            memcpy(&tx_frame.data[0], &rpm_val, 4);
+            tx_frame.dlc = 4;
+            break;
+        }
+        case CURRENT_CONTROL: {
+            assert_param_current(&value); 
+            command_id = CAN_PACKET_SET_CURRENT;
+            int32_t cur_val = (int32_t)(value * 1e3f); // A -> mA （0-50A）
+            memcpy(&tx_frame.data[0], &cur_val, 4);
+            tx_frame.dlc = 4;
+            break;
+        }
+        case POSITION_CONTROL: {
+            assert_param_pos(&value); 
+            command_id = CAN_PACKET_SET_POS;
+            memcpy(&tx_frame.data[0], &value, 4); 
+            tx_frame.dlc = 4;
+            break;
+        }
+        default:
+            return DEVICE_ERR;
+    }
+    tx_frame.id = (param->id << 5) | command_id;
+    return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+  }
+
+int8_t VESC_Relax(VESC_Param_t *param) {
+    return VESC_SetOutput(param, 0.0f);
+}
+
+
+int8_t VESC_Offine(VESC_Param_t *param) {
+    VESC_t *motor = VESC_GetMotor(param);
+    if (motor) {
+        motor->motor.header.online = false;
+        return DEVICE_OK;
+    }
+    return DEVICE_ERR_NO_DEV;
+}

assets/User_code/device/motor_vesc.h

@@ -0,0 +1,146 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/device.h"
+#include "device/motor.h"
+#include "bsp/can.h"
+
+/* Private define ----------------------------------------------------------- */
+#define wtrcfg_VESC_COMMAND_DUTY_MAX 100
+#define wtrcfg_VESC_COMMAND_CURRENT_MAX 10
+#define wtrcfg_VESC_COMMAND_POS_MAX 360
+#define wtrcfg_VESC_COMMAND_ERPM_MAX 35000
+#define wtrcfg_VESC_UART_TIMEOUT 0xff
+
+// VESC数量根据实际情况调整
+#define VESC_MAX_MOTORS 4
+
+	/* Exported constants ------------------------------------------------------- */
+
+	/* Exported macro ----------------------------------------------------------- */
+	/* Exported types ----------------------------------------------------------- */
+
+	typedef enum
+	{
+		VESC_1 = 1,
+		VESC_2 = 2,
+		VESC_3 = 3,
+		VESC_4 = 4,
+		CAN_VESC5065_M1_MSG1 = 0x901, // vesc的数据回传使用了扩展id，[0:7]为驱动器id，[8:15]为帧类型
+		CAN_VESC5065_M2_MSG1 = 0x902,
+		CAN_VESC5065_M3_MSG1 = 0x903,
+		CAN_VESC5065_M4_MSG1 = 0x904, 
+	}VESC_ID;
+
+	typedef enum
+	{
+		CAN_PACKET_SET_DUTY = 0,
+		CAN_PACKET_SET_CURRENT = 1,
+		CAN_PACKET_SET_CURRENT_BRAKE = 2,
+		CAN_PACKET_SET_RPM = 3,
+		CAN_PACKET_SET_POS = 4,
+		CAN_PACKET_FILL_RX_BUFFER = 5,
+		CAN_PACKET_FILL_RX_BUFFER_LONG = 6,
+		CAN_PACKET_PROCESS_RX_BUFFER = 7,
+		CAN_PACKET_PROCESS_SHORT_BUFFER = 8,
+		CAN_PACKET_STATUS = 9,
+		CAN_PACKET_SET_CURRENT_REL = 10,
+		CAN_PACKET_SET_CURRENT_BRAKE_REL = 11,
+		CAN_PACKET_SET_CURRENT_HANDBRAKE = 12,
+		CAN_PACKET_SET_CURRENT_HANDBRAKE_REL = 13
+	} CAN_PACKET_ID;
+
+	// Control Modes
+	typedef enum
+	{
+		DUTY_CONTROL = 0x0,
+		RPM_CONTROL = 0x1,
+		CURRENT_CONTROL = 0x2,
+		POSITION_CONTROL = 0x3
+	} Control_Mode;
+
+	/*每个电机需要的参数*/
+	typedef struct
+	{
+		BSP_CAN_t can;
+		uint16_t id;
+		uint16_t mode;
+		bool reverse;
+	} VESC_Param_t;
+
+	/*电机实例*/
+	typedef struct ODrive_t
+	{
+		VESC_Param_t param;
+		MOTOR_t motor;
+	} VESC_t;
+
+	/*CAN管理器，管理一个CAN总线上所有的电机*/
+	typedef struct
+	{
+		BSP_CAN_t can;
+		VESC_t *motors[VESC_MAX_MOTORS];
+		uint8_t motor_count;
+	} VESC_CANManager_t;
+
+	/* Exported functions prototypes -------------------------------------------- */
+
+	/**
+	 * @brief 注册一个vesc电机
+	 * @param param 电机参数
+	 * @return
+	 */
+	int8_t VESC_Register(VESC_Param_t *param);
+
+	/**
+	 * @brief 更新指定电机数据
+	 * @param param 电机参数
+	 * @return
+	 */
+	int8_t VESC_Update(VESC_Param_t *param);
+
+	/**
+	 * @brief 更新所有电机数据
+	 * @return
+	 */
+	int8_t VESC_UpdateAll(void);
+	
+	/**
+	 * @brief 设置一个电机的输出
+	 * @param param 电机参数
+	 * @param value 输出值
+	 * @return
+	 */
+
+    int8_t VESC_SetOutput(VESC_Param_t *param, float value);
+
+	/**
+	 * @brief 获取指定电机的实例指针
+	 * @param param 电机参数
+	 * @return
+	 */
+
+	VESC_t* VESC_GetMotor(VESC_Param_t *param);
+
+	/**
+	 * @brief 使电机松弛（设置输出为0）
+	 * @param param
+	 * @return
+	 */
+	int8_t VESC_Relax(VESC_Param_t *param);
+	/**
+	 * @brief 使电机离线（设置在线状态为false）
+	 * @param param
+	 * @return
+	 */
+	int8_t VESC_Offine(VESC_Param_t *param);
+
+
+#ifdef __cplusplus
+}
+#endif