修改music

app/about_interface.py

@@ -1,65 +1,522 @@
-from PyQt5.QtWidgets import QWidget, QVBoxLayout, QMessageBox
-from PyQt5.QtCore import Qt, QUrl
+import os
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout
+from PyQt5.QtCore import Qt, QUrl, QTimer
 from PyQt5.QtGui import QDesktopServices
 
-from qfluentwidgets import PrimaryPushSettingCard, FluentIcon
-from qfluentwidgets import InfoBar, InfoBarPosition, SubtitleLabel
+from qfluentwidgets import (
+    PrimaryPushSettingCard, FluentIcon, InfoBar, InfoBarPosition, 
+    SubtitleLabel, BodyLabel, CaptionLabel, StrongBodyLabel,
+    ElevatedCardWidget, PrimaryPushButton, PushButton, 
+    ProgressBar, TextEdit
+)
 
 from .function_fit_interface import FunctionFitInterface
 from app.tools.check_update import check_update
+from app.tools.auto_updater import AutoUpdater, check_update_availability
+from app.tools.update_check_thread import UpdateCheckThread
 
-__version__ = "1.0.5"
+__version__ = "1.0.6"
 
 class AboutInterface(QWidget):
     def __init__(self, parent=None):
         super().__init__(parent)
         self.setObjectName("aboutInterface")
-
+        
+        # 初始化更新相关变量
+        self.updater = None
+        self.update_info = None
+        
+        self._setup_ui()
+    
+    def _setup_ui(self):
+        """设置用户界面"""
         layout = QVBoxLayout(self)
-        layout.setAlignment(Qt.AlignTop)
-        layout.setContentsMargins(20, 30, 20, 20)  # 添加边距
+        layout.setAlignment(Qt.AlignmentFlag.AlignTop)
+        layout.setContentsMargins(20, 30, 20, 20)
 
-        title = SubtitleLabel("MRobot 帮助页面", self)
-        title.setAlignment(Qt.AlignCenter)
-        layout.addWidget(title)
-        # 添加空间隔
-        layout.addSpacing(10)
+        # 版本信息卡片
+        version_card = ElevatedCardWidget()
+        version_layout = QVBoxLayout(version_card)
+        version_layout.setContentsMargins(24, 20, 24, 20)
+        
+        version_title = StrongBodyLabel("版本信息")
+        version_layout.addWidget(version_title)
+        
+        current_version_label = BodyLabel(f"当前版本：v{__version__}")
+        version_layout.addWidget(current_version_label)
 
-        card = PrimaryPushSettingCard(
+        
+        layout.addWidget(version_card)
+        
+        # 检查更新按钮
+        self.check_update_card = PrimaryPushSettingCard(
             text="检查更新",
-            icon=FluentIcon.DOWNLOAD,
-            title="更新",
-            content=f"MRobot_Toolbox 当前版本：{__version__}",
+            icon=FluentIcon.SYNC,
+            title="检查更新",
+            content="检查是否有新版本可用（需要能够连接github）",
         )
-        card.clicked.connect(self.on_check_update_clicked)
-        layout.addWidget(card)
+        self.check_update_card.clicked.connect(self.check_for_updates)
+        layout.addWidget(self.check_update_card)
+        
+        # 更新信息卡片（初始隐藏）
+        self.update_info_card = ElevatedCardWidget()
+        self.update_info_card.hide()
+        self._setup_update_info_card()
+        layout.addWidget(self.update_info_card)
+        
+        layout.addStretch()
+    
+    def _setup_update_info_card(self):
+        """设置更新信息卡片"""
+        layout = QVBoxLayout(self.update_info_card)
+        layout.setContentsMargins(24, 20, 24, 20)
+        layout.setSpacing(16)
+        
+        # 标题
+        self.update_title = StrongBodyLabel("发现新版本")
+        layout.addWidget(self.update_title)
+        
+        # 版本对比
+        version_layout = QHBoxLayout()
+        
+        current_layout = QVBoxLayout()
+        current_layout.addWidget(CaptionLabel("当前版本"))
+        self.current_version_label = SubtitleLabel(f"v{__version__}")
+        current_layout.addWidget(self.current_version_label)
+        
+        arrow_label = SubtitleLabel("→")
+        arrow_label.setAlignment(Qt.AlignmentFlag.AlignCenter)
+        arrow_label.setFixedWidth(30)
+        
+        latest_layout = QVBoxLayout()
+        latest_layout.addWidget(CaptionLabel("最新版本"))
+        self.latest_version_label = SubtitleLabel("v--")
+        latest_layout.addWidget(self.latest_version_label)
+        
+        version_layout.addLayout(current_layout)
+        version_layout.addWidget(arrow_label)
+        version_layout.addLayout(latest_layout)
+        
+        layout.addLayout(version_layout)
+        
+        # 更新信息
+        info_layout = QHBoxLayout()
+        self.file_size_label = BodyLabel("文件大小: --")
+        self.release_date_label = BodyLabel("发布时间: --")
+        
+        info_layout.addWidget(self.file_size_label)
+        info_layout.addStretch()
+        info_layout.addWidget(self.release_date_label)
+        
+        layout.addLayout(info_layout)
+        
+        # 更新说明
+        layout.addWidget(CaptionLabel("更新说明:"))
+        
+        self.notes_display = TextEdit()
+        self.notes_display.setReadOnly(True)
+        self.notes_display.setMaximumHeight(200)
+        self.notes_display.setMinimumHeight(80)
+        self.notes_display.setText("暂无更新说明")
+        layout.addWidget(self.notes_display)
+        
+        # 进度条（初始隐藏）
+        self.progress_widget = QWidget()
+        progress_layout = QVBoxLayout(self.progress_widget)
+        
+        self.progress_label = BodyLabel("准备更新...")
+        progress_layout.addWidget(self.progress_label)
+        
+        self.progress_bar = ProgressBar()
+        self.progress_bar.setRange(0, 100)
+        self.progress_bar.setValue(0)
+        progress_layout.addWidget(self.progress_bar)
+        
+        # 详细下载信息
+        self.download_info = BodyLabel("")
+        self.download_info.setWordWrap(True)
+        progress_layout.addWidget(self.download_info)
+        
+        self.progress_widget.hide()
+        layout.addWidget(self.progress_widget)
+        
+        # 按钮区域
+        button_layout = QHBoxLayout()
+        
+        self.manual_btn = PushButton("手动下载")
+        self.manual_btn.setIcon(FluentIcon.LINK)
+        self.manual_btn.clicked.connect(self.open_manual_download)
+        
+        self.update_btn = PrimaryPushButton("开始更新")
+        self.update_btn.setIcon(FluentIcon.DOWNLOAD)
+        self.update_btn.clicked.connect(self.start_update)
+        
+        self.cancel_btn = PushButton("取消")
+        self.cancel_btn.clicked.connect(self.cancel_update)
+        
+        button_layout.addWidget(self.manual_btn)
+        button_layout.addStretch()
+        button_layout.addWidget(self.update_btn)
+        button_layout.addWidget(self.cancel_btn)
+        
+        layout.addLayout(button_layout)
 
-    def on_check_update_clicked(self):
+    def check_for_updates(self):
+        """检查更新"""
+        self.check_update_card.setEnabled(False)
+        self.check_update_card.setContent("正在检查更新...")
+        
+        # 延迟执行检查，避免阻塞UI
+        QTimer.singleShot(100, self._perform_check)
+    
+    def _perform_check(self):
+        """执行更新检查"""
         try:
-            latest = check_update(__version__)
-            if latest:
-                # 直接用浏览器打开下载链接
-                QDesktopServices.openUrl(QUrl("https://github.com/goldenfishs/MRobot/releases/latest"))
-                InfoBar.success(
-                    title="发现新版本",
-                    content=f"检测到新版本：{latest}，已为你打开下载页面。",
-                    parent=self,
-                    position=InfoBarPosition.TOP,
-                    duration=5000
-                )
-            elif latest is None:
-                InfoBar.info(
-                    title="已是最新版本",
-                    content="当前已是最新版本，无需更新。",
-                    parent=self,
-                    position=InfoBarPosition.TOP,
-                    duration=3000
-                )
-        except Exception:
+            # 获取最新版本信息（包括当前版本的详细信息）
+            latest_info = self._get_latest_release_info()
+            
+            # 检查是否有可用更新
+            self.update_info = check_update_availability(__version__)
+            
+            if self.update_info:
+                self._show_update_available()
+            else:
+                self._show_no_update(latest_info)
+                
+        except Exception as e:
+            self._show_error(f"检查更新失败: {str(e)}")
+    
+    def _get_latest_release_info(self):
+        """获取最新发布信息，不论版本是否需要更新"""
+        try:
+            import requests
+            from packaging.version import parse as vparse
+            
+            url = f"https://api.github.com/repos/goldenfishs/MRobot/releases/latest"
+            response = requests.get(url, timeout=10)
+            
+            if response.status_code == 200:
+                release_data = response.json()
+                latest_version = release_data["tag_name"].lstrip("v")
+                
+                # 获取下载URL和文件大小
+                assets = release_data.get('assets', [])
+                asset_size = 0
+                download_url = None
+                
+                if assets:
+                    # 选择第一个资源文件
+                    asset = assets[0]
+                    asset_size = asset.get('size', 0)
+                    download_url = asset.get('browser_download_url', '')
+                
+                return {
+                    'version': latest_version,
+                    'release_notes': release_data.get('body', '暂无更新说明'),
+                    'release_date': release_data.get('published_at', ''),
+                    'asset_size': asset_size,
+                    'download_url': download_url
+                }
+            else:
+                return None
+                
+        except Exception as e:
+            print(f"获取发布信息失败: {e}")
+            return None
+    
+    def _show_update_available(self):
+        """显示发现更新"""
+        # 更新按钮状态
+        self.check_update_card.setEnabled(True)
+        self.check_update_card.setContent("发现新版本！")
+        
+        # 显示更新信息卡片
+        self.update_info_card.show()
+        
+        # 设置版本信息
+        if self.update_info:
+            version = self.update_info.get('version', 'Unknown')
+            self.latest_version_label.setText(f"v{version}")
+            
+            # 设置文件信息
+            asset_size = self.update_info.get('asset_size', 0)
+            file_size = self._format_file_size(asset_size)
+            self.file_size_label.setText(f"文件大小: {file_size}")
+            
+            # 设置发布时间
+            release_date = self.update_info.get('release_date', '')
+            formatted_date = self._format_date(release_date)
+            self.release_date_label.setText(f"发布时间: {formatted_date}")
+            
+            # 设置更新说明
+            notes = self.update_info.get('release_notes', '暂无更新说明')
+            self.notes_display.setText(notes[:500] + ('...' if len(notes) > 500 else ''))
+        
+        InfoBar.success(
+            title="发现新版本",
+            content=f"检测到新版本 v{version}",
+            parent=self,
+            position=InfoBarPosition.TOP,
+            duration=3000
+        )
+    
+    def _show_no_update(self, latest_info=None):
+        """显示无更新，但展示最新版本信息"""
+        self.check_update_card.setEnabled(True)
+        self.check_update_card.setContent("已是最新版本")
+        
+        # 如果有最新版本信息，显示详情卡片
+        if latest_info:
+            self.update_info_card.show()
+            
+            # 显示版本信息（当前版本就是最新版本）
+            self.latest_version_label.setText(f"v{__version__}")
+            
+            # 设置文件信息
+            asset_size = latest_info.get('asset_size', 0)
+            file_size = self._format_file_size(asset_size)
+            self.file_size_label.setText(f"文件大小: {file_size}")
+            
+            # 设置发布时间
+            release_date = latest_info.get('release_date', '')
+            formatted_date = self._format_date(release_date)
+            self.release_date_label.setText(f"发布时间: {formatted_date}")
+            
+            # 设置更新说明
+            notes = latest_info.get('release_notes', '暂无更新说明')
+            self.notes_display.setText(notes[:500] + ('...' if len(notes) > 500 else ''))
+            
+            # 修改标题和按钮
+            self.update_title.setText("版本信息")
+            self.update_btn.setText("手动下载")
+            self.update_btn.setIcon(FluentIcon.DOWNLOAD)
+            self.update_btn.setEnabled(True)
+            self.manual_btn.setEnabled(True)
+            
+            # 连接手动下载功能
+            self.update_btn.clicked.disconnect()
+            self.update_btn.clicked.connect(self.open_manual_download)
+        
+        InfoBar.info(
+            title="已是最新版本",
+            content="当前已是最新版本，无需更新。",
+            parent=self,
+            position=InfoBarPosition.TOP,
+            duration=3000
+        )
+    
+    def _show_error(self, error_msg: str):
+        """显示错误"""
+        self.check_update_card.setEnabled(True)
+        self.check_update_card.setContent("检查更新失败")
+        
+        InfoBar.error(
+            title="检查更新失败",
+            content=error_msg,
+            parent=self,
+            position=InfoBarPosition.TOP,
+            duration=4000
+        )
+    
+    def start_update(self):
+        """开始更新"""
+        if not self.update_info:
+            return
+        
+        # 显示进度UI
+        self.progress_widget.show()
+        self.update_btn.setEnabled(False)
+        self.manual_btn.setEnabled(False)
+        
+        # 启动更新器（使用简化的单线程下载）
+        self.updater = AutoUpdater(__version__)
+        self.updater.signals.progress_changed.connect(self.update_progress)
+        self.updater.signals.download_progress.connect(self.update_download_progress)
+        self.updater.signals.status_changed.connect(self.update_status)
+        self.updater.signals.error_occurred.connect(self.update_error)
+        self.updater.signals.update_completed.connect(self.update_completed)
+        
+        # 开始更新流程
+        self.updater.start()
+    
+    def update_progress(self, value: int):
+        """更新进度"""
+        self.progress_bar.setValue(value)
+    
+    def update_download_progress(self, downloaded: int, total: int, speed: float, remaining: float):
+        """更新下载进度详情"""
+        if total > 0:
+            downloaded_str = self._format_bytes(downloaded)
+            total_str = self._format_bytes(total)
+            percentage = (downloaded / total) * 100
+            
+            info_text = f"已下载: {downloaded_str} / {total_str} ({percentage:.1f}%)"
+            
+            self.download_info.setText(info_text)
+    
+    def _format_bytes(self, size_bytes: int) -> str:
+        """格式化字节大小"""
+        if size_bytes == 0:
+            return "0 B"
+        
+        size = float(size_bytes)
+        for unit in ['B', 'KB', 'MB', 'GB']:
+            if size < 1024.0:
+                return f"{size:.1f} {unit}"
+            size /= 1024.0
+        return f"{size:.1f} TB"
+    
+    def update_status(self, status: str):
+        """更新状态"""
+        self.progress_label.setText(status)
+    
+    def update_error(self, error_msg: str):
+        """更新错误"""
+        self.progress_widget.hide()
+        self.update_btn.setEnabled(True)
+        self.manual_btn.setEnabled(True)
+        
+        # 如果是平台兼容性问题，提供更友好的提示
+        if "Windows 安装程序" in error_msg and "当前系统是" in error_msg:
+            InfoBar.warning(
+                title="平台不兼容",
+                content="检测到 Windows 安装程序，请点击'手动下载'获取适合 macOS 的版本",
+                parent=self,
+                position=InfoBarPosition.TOP,
+                duration=6000
+            )
+        else:
             InfoBar.error(
-                title="检查更新失败",
-                content="无法获取最新版本，请检查网络连接。",
+                title="更新失败",
+                content=error_msg,
                 parent=self,
                 position=InfoBarPosition.TOP,
                 duration=4000
-            )
+            )
+    
+    def update_completed(self, file_path=None):
+        """更新完成 - 显示下载文件位置"""
+        print(f"update_completed called with file_path: {file_path}")  # 调试输出
+        
+        self.progress_label.setText("下载完成！")
+        self.progress_bar.setValue(100)
+        
+        # 重新启用按钮
+        self.update_btn.setEnabled(True)
+        self.manual_btn.setEnabled(True)
+        
+        if file_path and os.path.exists(file_path):
+            print(f"File exists: {file_path}")  # 调试输出
+            InfoBar.success(
+                title="下载完成",
+                content="安装文件已下载完成，点击下方按钮打开文件位置",
+                parent=self,
+                position=InfoBarPosition.TOP,
+                duration=5000
+            )
+            
+            # 添加打开文件夹按钮
+            self._add_open_folder_button(file_path)
+        else:
+            print(f"File does not exist or file_path is None: {file_path}")  # 调试输出
+            InfoBar.success(
+                title="下载完成",
+                content="文件下载完成",
+                parent=self,
+                position=InfoBarPosition.TOP,
+                duration=3000
+            )
+    
+    def _add_open_folder_button(self, file_path):
+        """添加打开文件夹按钮"""        
+        def open_file_location():
+            folder_path = os.path.dirname(file_path)
+            # 在 macOS 上使用 Finder 打开文件夹
+            QDesktopServices.openUrl(QUrl.fromLocalFile(folder_path))
+            
+            InfoBar.info(
+                title="已打开文件夹",
+                content=f"文件位置: {folder_path}",
+                parent=self,
+                position=InfoBarPosition.TOP,
+                duration=3000
+            )
+        
+        # 直接替换更新按钮的文本和功能
+        self.update_btn.setText("打开文件位置")
+        self.update_btn.setIcon(FluentIcon.FOLDER)
+        # 断开原有连接
+        self.update_btn.clicked.disconnect()
+        # 连接新功能
+        self.update_btn.clicked.connect(open_file_location)
+        
+        # 修改取消按钮为清理按钮
+        self.cancel_btn.setText("清理临时文件")
+        self.cancel_btn.setIcon(FluentIcon.DELETE)
+        self.cancel_btn.clicked.disconnect()
+        
+        def cleanup_temp_files():
+            if self.updater:
+                self.updater.cleanup()
+            InfoBar.success(
+                title="已清理",
+                content="临时文件已清理完成",
+                parent=self,
+                position=InfoBarPosition.TOP,
+                duration=2000
+            )
+            # 重置界面
+            self.update_info_card.hide()
+            self.check_update_card.setContent("检查是否有新版本可用")
+        
+        self.cancel_btn.clicked.connect(cleanup_temp_files)
+    
+    def cancel_update(self):
+        """取消更新"""
+        if hasattr(self, 'updater') and self.updater and self.updater.isRunning():
+            self.updater.cancel_update()
+            self.updater.cleanup()
+        
+        self.update_info_card.hide()
+        self.check_update_card.setContent("检查是否有新版本可用")
+    
+    def open_manual_download(self):
+        """打开手动下载页面"""
+        QDesktopServices.openUrl(QUrl("https://github.com/goldenfishs/MRobot/releases/latest"))
+        
+        InfoBar.info(
+            title="手动下载",
+            content="已为您打开下载页面",
+            parent=self,
+            position=InfoBarPosition.TOP,
+            duration=2000
+        )
+    
+    def _restart_app(self):
+        """重启应用程序"""
+        if self.updater:
+            self.updater.restart_application()
+    
+    def _format_file_size(self, size_bytes: int) -> str:
+        """格式化文件大小"""
+        if size_bytes == 0:
+            return "--"
+        
+        size = float(size_bytes)
+        for unit in ['B', 'KB', 'MB', 'GB']:
+            if size < 1024.0:
+                return f"{size:.1f} {unit}"
+            size /= 1024.0
+        return f"{size:.1f} TB"
+    
+    def _format_date(self, date_str: str) -> str:
+        """格式化日期"""
+        if not date_str:
+            return "--"
+        
+        try:
+            from datetime import datetime
+            date_obj = datetime.fromisoformat(date_str.replace('Z', '+00:00'))
+            return date_obj.strftime('%Y-%m-%d')
+        except:
+            return date_str[:10] if len(date_str) >= 10 else date_str

app/code_generate_interface.py

@@ -166,9 +166,13 @@ class CodeGenerateInterface(QWidget):
             from app.tools.update_cmake_sources import find_user_c_files, update_cmake_sources,update_cmake_includes
             from pathlib import Path
             
-            # 构建User目录和CMakeLists.txt路径
-            user_dir = os.path.join(self.project_path, "User")
-            cmake_file = os.path.join(self.project_path, "CMakeLists.txt")
+            # 构建User目录和CMakeLists.txt路径，规范化路径分隔符
+            user_dir = os.path.normpath(os.path.join(self.project_path, "User"))
+            cmake_file = os.path.normpath(os.path.join(self.project_path, "CMakeLists.txt"))
+            
+            print(f"项目路径: {self.project_path}")
+            print(f"User目录路径: {user_dir}")
+            print(f"CMakeLists.txt路径: {cmake_file}")
             
             # 检查User目录是否存在
             if not os.path.exists(user_dir):
@@ -191,7 +195,9 @@ class CodeGenerateInterface(QWidget):
                 return
             
             # 查找User目录下的所有.c文件
+            print("开始查找.c文件...")
             c_files = find_user_c_files(user_dir)
+            print(f"找到 {len(c_files)} 个.c文件")
             
             if not c_files:
                 InfoBar.warning(
@@ -203,16 +209,31 @@ class CodeGenerateInterface(QWidget):
                 return
             
             # 更新CMakeLists.txt
-            success = update_cmake_sources(cmake_file, c_files)
-            success = update_cmake_includes(cmake_file, user_dir)
+            print("开始更新CMakeLists.txt...")
+            sources_success = update_cmake_sources(cmake_file, c_files)
+            includes_success = update_cmake_includes(cmake_file, user_dir)
             
-            if success:
+            if sources_success and includes_success:
                 InfoBar.success(
                     title="配置成功",
                     content=f"已成功更新CMakeLists.txt，共添加了 {len(c_files)} 个源文件",
                     parent=self,
                     duration=3000
                 )
+            elif sources_success:
+                InfoBar.warning(
+                    title="部分成功",
+                    content=f"源文件更新成功，但include路径更新失败",
+                    parent=self,
+                    duration=3000
+                )
+            elif includes_success:
+                InfoBar.warning(
+                    title="部分成功", 
+                    content=f"include路径更新成功，但源文件更新失败",
+                    parent=self,
+                    duration=3000
+                )
             else:
                 InfoBar.error(
                     title="配置失败",
@@ -222,6 +243,7 @@ class CodeGenerateInterface(QWidget):
                 )
                 
         except ImportError as e:
+            print(f"导入错误: {e}")
             InfoBar.error(
                 title="导入错误",
                 content=f"无法导入cmake配置模块: {str(e)}",
@@ -229,6 +251,9 @@ class CodeGenerateInterface(QWidget):
                 duration=3000
             )
         except Exception as e:
+            print(f"cmake配置错误: {e}")
+            import traceback
+            traceback.print_exc()
             InfoBar.error(
                 title="配置失败",
                 content=f"cmake配置过程中出现错误: {str(e)}",
@@ -242,6 +267,7 @@ 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）
+            from app.tools.code_generator import CodeGenerator  # 在方法内重新导入确保可用
             csv_path = os.path.join(CodeGenerator.get_assets_dir("User_code"), "config.csv")
             all_class_names = []
             if os.path.exists(csv_path):
@@ -319,6 +345,7 @@ class CodeGenerateInterface(QWidget):
         return "未找到.ioc文件"
 
     def _load_csv_and_build_tree(self):
+        from app.tools.code_generator import CodeGenerator  # 在方法内重新导入确保可用
         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):

app/code_page/bsp_interface.py

@@ -6,42 +6,8 @@ from app.tools.analyzing_ioc import analyzing_ioc
 from app.tools.code_generator import CodeGenerator
 import os
 import csv
-import shutil
 import re
 
-def preserve_all_user_regions(new_code, old_code):
-    """ Preserves all user-defined regions in the new code based on the old code.
-    This function uses regex to find user-defined regions in the old code and replaces them in the new code.
-    Args:
-        new_code (str): The new code content.
-        old_code (str): The old code content.
-    Returns:
-        str: The new code with preserved user-defined regions.  
-    """
-    import re
-    pattern = re.compile(
-        r"/\*\s*(USER [A-Z0-9_ ]+)\s*BEGIN\s*\*/(.*?)/\*\s*\1\s*END\s*\*/",
-        re.DOTALL
-    )
-    old_regions = {m.group(1): m.group(2) for m in pattern.finditer(old_code or "")}
-    def repl(m):
-        region = m.group(1)
-        old_content = old_regions.get(region)
-        if old_content is not None:
-            return m.group(0).replace(m.group(2), old_content)
-        return m.group(0)
-    return pattern.sub(repl, new_code)
-
-def save_with_preserve(path, new_code):
-    if os.path.exists(path):
-        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)
-
 class BspSimplePeripheral(QWidget):
     def __init__(self, project_path, peripheral_name, template_names):
         super().__init__()
@@ -50,7 +16,7 @@ class BspSimplePeripheral(QWidget):
         self.template_names = template_names
         # 加载描述
         describe_path = os.path.join(CodeGenerator.get_assets_dir("User_code/bsp"), "describe.csv")
-        self.descriptions = load_descriptions(describe_path)
+        self.descriptions = CodeGenerator.load_descriptions(describe_path)
         self._init_ui()
         self._load_config()
 
@@ -102,7 +68,7 @@ class BspSimplePeripheral(QWidget):
             if not template_content:
                 return False
             output_path = os.path.join(self.project_path, f"User/bsp/{filename}")
-            save_with_preserve(output_path, template_content)  # 使用保留用户区域的写入
+            CodeGenerator.save_with_preserve(output_path, template_content)  # 使用保留用户区域的写入
         self._save_config()
         return True
 
@@ -133,7 +99,7 @@ class BspPeripheralBase(QWidget):
         self.available_list = []
         # 新增：加载描述
         describe_path = os.path.join(CodeGenerator.get_assets_dir("User_code/bsp"), "describe.csv")
-        self.descriptions = load_descriptions(describe_path)
+        self.descriptions = CodeGenerator.load_descriptions(describe_path)
         self._init_ui()
         self._load_config()
 
@@ -249,7 +215,7 @@ class BspPeripheralBase(QWidget):
             template_content, f"AUTO GENERATED {self.enum_prefix}_NAME", "\n".join(enum_lines)
         )
         output_path = os.path.join(self.project_path, f"User/bsp/{self.template_names['header']}")
-        save_with_preserve(output_path, content)  # 使用保留用户区域的写入
+        CodeGenerator.save_with_preserve(output_path, content)  # 使用保留用户区域的写入
         return True
 
     def _generate_source_file(self, configs, template_dir):
@@ -283,7 +249,7 @@ class BspPeripheralBase(QWidget):
             content, f"AUTO GENERATED {self.enum_prefix}_GET_HANDLE", "\n".join(handle_lines)
         )
         output_path = os.path.join(self.project_path, f"User/bsp/{self.template_names['source']}")
-        save_with_preserve(output_path, content)  # 使用保留用户区域的写入
+        CodeGenerator.save_with_preserve(output_path, content)  # 使用保留用户区域的写入
         return True
 
     def _save_config(self, configs):
@@ -337,17 +303,6 @@ class BspPeripheralBase(QWidget):
         self._save_config(configs)
         return True
 
-def load_descriptions(csv_path):
-    descriptions = {}
-    if os.path.exists(csv_path):
-        with open(csv_path, encoding='utf-8') as f:
-            reader = csv.reader(f)
-            for row in reader:
-                if len(row) >= 2:
-                    key, desc = row[0].strip(), row[1].strip()
-                    descriptions[key.lower()] = desc
-    return descriptions
-
 # 各外设的可用列表获取函数
 def get_available_i2c(project_path):
     ioc_files = [f for f in os.listdir(project_path) if f.endswith('.ioc')]
@@ -474,7 +429,7 @@ class bsp_can(BspPeripheralBase):
         )
         
         output_path = os.path.join(self.project_path, f"User/bsp/{self.template_names['source']}")
-        save_with_preserve(output_path, content)
+        CodeGenerator.save_with_preserve(output_path, content)
         return True
 
     def _generate_single_can_init(self, init_lines, configs, fifo_assignment):
@@ -500,9 +455,12 @@ class bsp_can(BspPeripheralBase):
             "",
             f"    // 自动注册{instance}接收回调函数",
             f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+            f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
             "",
             f"    // 激活{instance}中断",
-            f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING);",
+            f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_TX_MAILBOX_EMPTY);",
             ""
         ])
 
@@ -532,6 +490,9 @@ class bsp_can(BspPeripheralBase):
                 "",
                 f"    // 自动注册CAN1接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
                 "",
                 f"    // 激活CAN1中断",
                 f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | ",
@@ -550,9 +511,13 @@ class bsp_can(BspPeripheralBase):
                 "",
                 f"    // 自动注册CAN2接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
                 "",
                 f"    // 激活CAN2中断", 
-                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
 
@@ -583,9 +548,13 @@ class bsp_can(BspPeripheralBase):
                 "",
                 f"    // 自动注册CAN1接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
                 "",
                 f"    // 激活CAN1中断",
-                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);",
+                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
         
@@ -599,11 +568,15 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan2, &can1_filter);  // 通过 CAN1 配置",
                 f"    HAL_CAN_Start(&hcan2);",
                 "",
-                f"    // 自动注册CAN2接收回调函数",
+                f"    // 自动注册CAN1接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO0_MSG_PENDING_CB, BSP_CAN_RxFifo0Callback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
                 "",
-                f"    // 激活CAN2中断",
-                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO0_MSG_PENDING);",
+                f"    // 激活CAN1中断",
+                f"    HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
         
@@ -619,11 +592,15 @@ class bsp_can(BspPeripheralBase):
                 f"    HAL_CAN_ConfigFilter(&hcan1, &can1_filter);  // 通过 CAN1 配置",
                 f"    HAL_CAN_Start(&hcan{can_num});",
                 "",
-                f"    // 自动注册{instance}接收回调函数",
+                f"    // 自动注册CAN2接收回调函数",
                 f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_RX_FIFO1_MSG_PENDING_CB, BSP_CAN_RxFifo1Callback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX0_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX1_CPLT_CB, BSP_CAN_TxCompleteCallback);",
+                f"    BSP_CAN_RegisterCallback({self.enum_prefix}_{name}, HAL_CAN_TX_MAILBOX2_CPLT_CB, BSP_CAN_TxCompleteCallback);",
                 "",
-                f"    // 激活{instance}中断",
-                f"    HAL_CAN_ActivateNotification(&hcan{can_num}, CAN_IT_RX_FIFO1_MSG_PENDING);",
+                f"    // 激活CAN2中断", 
+                f"    HAL_CAN_ActivateNotification(&hcan2, CAN_IT_RX_FIFO1_MSG_PENDING | ",
+                f"                                        CAN_IT_TX_MAILBOX_EMPTY);  // 激活发送邮箱空中断",
                 ""
             ])
             filter_bank += 1  # 为下一个CAN分配不同的过滤器组
@@ -684,8 +661,8 @@ def patch_uart_interrupts(project_path, uart_instances):
                 flags=re.DOTALL
             )
 
-    with open(it_path, "w", encoding="utf-8") as f:
-        f.write(code)
+    # 使用save_with_preserve保存文件以保留用户区域
+    CodeGenerator.save_with_preserve(it_path, code)
 
 
 class bsp_uart(BspPeripheralBase):
@@ -721,8 +698,8 @@ class bsp_gpio(QWidget):
         self.project_path = project_path
         self.available_list = self._get_all_gpio_list()
         # 加载描述
-        describe_path = os.path.join(os.path.dirname(__file__), "../../assets/User_code/bsp/describe.csv")
-        self.descriptions = load_descriptions(describe_path)
+        describe_path = os.path.join(CodeGenerator.get_assets_dir("User_code/bsp"), "describe.csv")
+        self.descriptions = CodeGenerator.load_descriptions(describe_path)
         self._init_ui()
         self._load_config()
 
@@ -869,7 +846,7 @@ class bsp_gpio(QWidget):
         )
         
         output_path = os.path.join(self.project_path, "User/bsp/gpio.h")
-        save_with_preserve(output_path, content)
+        CodeGenerator.save_with_preserve(output_path, content)
         return True
 
     def _generate_source_file(self, configs, template_dir):
@@ -910,7 +887,7 @@ class bsp_gpio(QWidget):
         )
         
         output_path = os.path.join(self.project_path, "User/bsp/gpio.c")
-        save_with_preserve(output_path, content)
+        CodeGenerator.save_with_preserve(output_path, content)
         return True
 
 
@@ -960,8 +937,8 @@ class bsp_pwm(QWidget):
         self.project_path = project_path
         self.available_list = self._get_pwm_channels()
         # 加载描述
-        describe_path = os.path.join(os.path.dirname(__file__), "../../assets/User_code/bsp/describe.csv")
-        self.descriptions = load_descriptions(describe_path)
+        describe_path = os.path.join(CodeGenerator.get_assets_dir("User_code/bsp"), "describe.csv")
+        self.descriptions = CodeGenerator.load_descriptions(describe_path)
         self._init_ui()
         self._load_config()
 
@@ -1126,7 +1103,7 @@ class bsp_pwm(QWidget):
         )
         
         output_path = os.path.join(self.project_path, "User/bsp/pwm.h")
-        save_with_preserve(output_path, content)
+        CodeGenerator.save_with_preserve(output_path, content)
         return True
 
     def _generate_source_file(self, configs, template_dir):
@@ -1147,7 +1124,7 @@ class bsp_pwm(QWidget):
         )
         
         output_path = os.path.join(self.project_path, "User/bsp/pwm.c")
-        save_with_preserve(output_path, content)
+        CodeGenerator.save_with_preserve(output_path, content)
         return True
 
     def _save_config(self, configs):
@@ -1213,12 +1190,17 @@ class bsp(QWidget):
     @staticmethod
     def generate_bsp(project_path, pages):
         """生成所有BSP代码"""
+        # 在方法开始时导入CodeGenerator以确保可用
+        from app.tools.code_generator import CodeGenerator
+        
         # 自动添加 bsp.h
-        src_bsp_h = os.path.join(os.path.dirname(__file__), "../../assets/User_code/bsp/bsp.h")
+        src_bsp_h = os.path.join(CodeGenerator.get_assets_dir("User_code/bsp"), "bsp.h")
         dst_bsp_h = os.path.join(project_path, "User/bsp/bsp.h")
         os.makedirs(os.path.dirname(dst_bsp_h), exist_ok=True)
         if os.path.exists(src_bsp_h):
-            shutil.copyfile(src_bsp_h, dst_bsp_h)
+            with open(src_bsp_h, 'r', encoding='utf-8') as f:
+                content = f.read()
+            CodeGenerator.save_with_preserve(dst_bsp_h, content)
         
         total = 0
         success_count = 0

app/code_page/component_interface.py

@@ -4,66 +4,7 @@ from qfluentwidgets import InfoBar
 from PyQt5.QtCore import Qt, pyqtSignal
 from app.tools.code_generator import CodeGenerator
 import os
-import csv
 import shutil
-import re
-
-def preserve_all_user_regions(new_code, old_code):
-    """ Preserves all user-defined regions in the new code based on the old code.
-    This function uses regex to find user-defined regions in the old code and replaces them in the new code.
-    Args:
-        new_code (str): The new code content.
-        old_code (str): The old code content.
-    Returns:
-        str: The new code with preserved user-defined regions.  
-    """
-    pattern = re.compile(
-        r"/\*\s*(USER [A-Z0-9_ ]+)\s*BEGIN\s*\*/(.*?)/\*\s*\1\s*END\s*\*/",
-        re.DOTALL
-    )
-    old_regions = {m.group(1): m.group(2) for m in pattern.finditer(old_code or "")}
-    def repl(m):
-        region = m.group(1)
-        old_content = old_regions.get(region)
-        if old_content is not None:
-            return m.group(0).replace(m.group(2), old_content)
-        return m.group(0)
-    return pattern.sub(repl, new_code)
-
-def save_with_preserve(path, new_code):
-    """保存文件并保留用户区域"""
-    if os.path.exists(path):
-        with open(path, "r", encoding="utf-8") as f:
-            old_code = f.read()
-        new_code = preserve_all_user_regions(new_code, old_code)
-    os.makedirs(os.path.dirname(path), exist_ok=True)
-    with open(path, "w", encoding="utf-8") as f:
-        f.write(new_code)
-
-def load_descriptions(csv_path):
-    """加载组件描述信息"""
-    descriptions = {}
-    if os.path.exists(csv_path):
-        with open(csv_path, encoding='utf-8') as f:
-            reader = csv.reader(f)
-            for row in reader:
-                if len(row) >= 2:
-                    key, desc = row[0].strip(), row[1].strip()
-                    descriptions[key.lower()] = desc
-    return descriptions
-
-def load_dependencies(csv_path):
-    """加载组件依赖关系"""
-    dependencies = {}
-    if os.path.exists(csv_path):
-        with open(csv_path, encoding='utf-8') as f:
-            reader = csv.reader(f)
-            for row in reader:
-                if len(row) >= 2:
-                    component = row[0].strip()
-                    deps = [dep.strip() for dep in row[1:] if dep.strip()]
-                    dependencies[component] = deps
-    return dependencies
 
 
 def get_component_page(component_name, project_path, component_manager=None):
@@ -108,8 +49,8 @@ class ComponentSimple(QWidget):
         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)
-        self.dependencies = load_dependencies(dependencies_path)
+        self.descriptions = CodeGenerator.load_descriptions(describe_path)
+        self.dependencies = CodeGenerator.load_dependencies(dependencies_path)
         
         self._init_ui()
         self._load_config()
@@ -174,7 +115,7 @@ class ComponentSimple(QWidget):
                 print(f"模板文件不存在或为空: {template_path}")
                 continue
             output_path = os.path.join(self.project_path, f"User/component/{filename}")
-            save_with_preserve(output_path, template_content)
+            CodeGenerator.save_with_preserve(output_path, template_content)
         self._save_config()
         return True
     
@@ -286,12 +227,17 @@ class component(QWidget):
     @staticmethod
     def generate_component(project_path, pages):
         """生成所有组件代码，处理依赖关系"""
+        # 在方法开始时导入CodeGenerator以确保可用
+        from app.tools.code_generator import CodeGenerator
+        
         # 自动添加 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):
-            shutil.copyfile(src_component_h, dst_component_h)
+            with open(src_component_h, 'r', encoding='utf-8') as f:
+                content = f.read()
+            CodeGenerator.save_with_preserve(dst_component_h, content)
         
         # 收集所有需要生成的组件和它们的依赖
         components_to_generate = set()
@@ -318,7 +264,7 @@ class component(QWidget):
                             components_to_generate.add(dep_name)
         
         # 为没有对应页面但需要生成的依赖组件创建临时页面
-        user_code_dir = os.path.join(os.path.dirname(__file__), "../../assets/User_code")
+        user_code_dir = CodeGenerator.get_assets_dir("User_code")
         for comp_name in components_to_generate:
             if comp_name not in component_pages:
                 # 创建临时组件页面
@@ -364,9 +310,11 @@ class component(QWidget):
                         shutil.rmtree(dst_path)
                     shutil.copytree(src_path, dst_path)
                 elif os.path.isfile(src_path):
-                    # 如果是文件，复制单个文件
+                    # 如果是文件，复制单个文件并保留用户区域
                     os.makedirs(os.path.dirname(dst_path), exist_ok=True)
-                    shutil.copyfile(src_path, dst_path)
+                    with open(src_path, 'r', encoding='utf-8') as f:
+                        new_content = f.read()
+                    CodeGenerator.save_with_preserve(dst_path, new_content)
                 else:
                     # 如果既不是文件也不是目录，跳过
                     print(f"跳过不存在的依赖: {dep_path}")

app/code_page/device_interface.py

@@ -3,17 +3,9 @@ from qfluentwidgets import BodyLabel, CheckBox, ComboBox, SubtitleLabel
 from PyQt5.QtCore import Qt
 from app.tools.code_generator import CodeGenerator
 import os
-import shutil
 import yaml
 import re
 
-def load_device_config(config_path):
-    """加载设备配置"""
-    if os.path.exists(config_path):
-        with open(config_path, 'r', encoding='utf-8') as f:
-            return yaml.safe_load(f)
-    return {}
-
 def get_available_bsp_devices(project_path, bsp_type, gpio_type=None):
     """获取可用的BSP设备，GPIO可选类型过滤"""
     bsp_config_path = os.path.join(project_path, "User/bsp/bsp_config.yaml")
@@ -41,12 +33,20 @@ 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"""
+    from app.tools.code_generator import CodeGenerator
     device_dir = CodeGenerator.get_assets_dir("User_code/device")
     template_path = os.path.join(device_dir, "device.h")
+    dst_path = os.path.join(project_path, "User/device/device.h")
     
-    # 读取模板文件
-    with open(template_path, 'r', encoding='utf-8') as f:
-        content = f.read()
+    # 优先读取项目中已存在的文件，如果不存在则使用模板
+    if os.path.exists(dst_path):
+        # 读取现有文件以保留用户区域
+        with open(dst_path, 'r', encoding='utf-8') as f:
+            content = f.read()
+    else:
+        # 文件不存在时从模板创建
+        with open(template_path, 'r', encoding='utf-8') as f:
+            content = f.read()
     
     # 收集所有需要的信号定义
     signals = []
@@ -54,7 +54,7 @@ def generate_device_header(project_path, enabled_devices):
     
     # 加载设备配置来获取信号信息
     config_path = os.path.join(device_dir, "config.yaml")
-    device_configs = load_device_config(config_path)
+    device_configs = CodeGenerator.load_device_config(config_path)
     
     for device_name in enabled_devices:
         device_key = device_name.lower()
@@ -70,16 +70,13 @@ def generate_device_header(project_path, enabled_devices):
     # 生成信号定义文本
     signals_text = '\n'.join(signals) if signals else '/* No signals defined */'
     
-    # 替换AUTO GENERATED SIGNALS部分
+    # 替换AUTO GENERATED SIGNALS部分，保留其他所有用户区域
     pattern = r'/\* AUTO GENERATED SIGNALS BEGIN \*/(.*?)/\* AUTO GENERATED SIGNALS END \*/'
     replacement = f'/* AUTO GENERATED SIGNALS BEGIN */\n{signals_text}\n/* AUTO GENERATED SIGNALS END */'
     content = re.sub(pattern, replacement, content, flags=re.DOTALL)
     
-    # 保存文件
-    dst_path = os.path.join(project_path, "User/device/device.h")
-    os.makedirs(os.path.dirname(dst_path), exist_ok=True)
-    with open(dst_path, 'w', encoding='utf-8') as f:
-        f.write(content)
+    # 使用save_with_preserve保存文件以保留用户区域
+    CodeGenerator.save_with_preserve(dst_path, content)
 
 
 
@@ -252,30 +249,20 @@ class DeviceSimple(QWidget):
             dst_path = os.path.join(self.project_path, f"User/device/{filename}")
 
             if os.path.exists(src_path):
-                # 头文件和源文件都做变量替换
+                # 读取模板文件内容
                 with open(src_path, 'r', encoding='utf-8') as f:
                     content = f.read()
+                
+                # 替换BSP设备名称
                 for var_name, device_name in bsp_config.items():
                     content = content.replace(var_name, device_name)
-                os.makedirs(os.path.dirname(dst_path), exist_ok=True)
-                with open(dst_path, 'w', encoding='utf-8') as f:
-                    f.write(content)
-
+                
+                # 根据文件类型选择保存方式
                 if file_type == 'header':
-                    # 头文件直接复制，不做修改
-                    os.makedirs(os.path.dirname(dst_path), exist_ok=True)
-                    shutil.copy2(src_path, dst_path)
-                    
-                elif file_type == 'source':
-                    # 源文件需要替换BSP设备名称
-                    with open(src_path, 'r', encoding='utf-8') as f:
-                        content = f.read()
-                    
-                    # 替换BSP设备名称
-                    for var_name, device_name in bsp_config.items():
-                        content = content.replace(var_name, device_name)
-                    
-                    # 保存文件
+                    # 头文件需要保留用户区域
+                    CodeGenerator.save_with_preserve(dst_path, content)
+                else:
+                    # 源文件直接保存（不需要保留用户区域）
                     os.makedirs(os.path.dirname(dst_path), exist_ok=True)
                     with open(dst_path, 'w', encoding='utf-8') as f:
                         f.write(content)
@@ -318,9 +305,10 @@ 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
+    from app.tools.code_generator import CodeGenerator
     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)
+    device_configs = CodeGenerator.load_device_config(config_path)
     
     devices = device_configs.get('devices', {})
     device_key = device_name.lower()

app/data_interface.py

@@ -262,43 +262,31 @@ class DataInterface(QWidget):
         self.stacked_layout.setCurrentWidget(self.home_page)
 
     def update_user_template(self):
-        url = "http://gitea.qutrobot.top/robofish/MRobot/archive/User_code.zip"
-        local_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../assets/User_code")
-        try:
-            resp = requests.get(url, timeout=30)
-            resp.raise_for_status()
-            z = zipfile.ZipFile(io.BytesIO(resp.content))
-            if os.path.exists(local_dir):
-                shutil.rmtree(local_dir)
-            for member in z.namelist():
-                rel_path = os.path.relpath(member, z.namelist()[0])
-                if rel_path == ".":
-                    continue
-                target_path = os.path.join(local_dir, rel_path)
-                if member.endswith('/'):
-                    os.makedirs(target_path, exist_ok=True)
-                else:
-                    os.makedirs(os.path.dirname(target_path), exist_ok=True)
-                    with open(target_path, "wb") as f:
-                        f.write(z.read(member))
+        from app.tools.update_code import update_code
+        
+        def info_callback(parent):
             InfoBar.success(
                 title="更新成功",
                 content="用户模板已更新到最新版本！",
-                parent=self,
+                parent=parent,
                 duration=2000
             )
-        except Exception as e:
+        
+        def error_callback(parent, msg):
             InfoBar.error(
                 title="更新失败",
-                content=f"用户模板更新失败: {e}",
-                parent=self,
+                content=f"用户模板更新失败: {msg}",
+                parent=parent,
                 duration=3000
             )
+        
+        update_code(parent=self, info_callback=info_callback, error_callback=error_callback)
 
     def show_user_code_files(self):
+        from app.tools.code_generator import CodeGenerator
         file_tree = self.codegen_page.file_tree
         file_tree.clear()
-        base_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../assets/User_code")
+        base_dir = CodeGenerator.get_assets_dir("User_code")
         user_dir = os.path.join(self.project_path, "User")
         sub_dirs = ["bsp", "component", "device", "module"]
 
@@ -412,7 +400,8 @@ class DataInterface(QWidget):
 
     def generate_code(self):
         import shutil
-        base_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../assets/User_code")
+        from app.tools.code_generator import CodeGenerator
+        base_dir = CodeGenerator.get_assets_dir("User_code")
         user_dir = os.path.join(self.project_path, "User")
         copied = []
         files = self.get_checked_files()
@@ -427,14 +416,18 @@ class DataInterface(QWidget):
                 skipped.append(dst_c)
             else:
                 os.makedirs(os.path.dirname(dst_c), exist_ok=True)
-                shutil.copy2(src_c, dst_c)
+                with open(src_c, 'r', encoding='utf-8') as f:
+                    content = f.read()
+                save_with_preserve(dst_c, content)
                 copied.append(dst_c)
             if os.path.exists(src_h):
                 if os.path.exists(dst_h):
                     skipped.append(dst_h)
                 else:
                     os.makedirs(os.path.dirname(dst_h), exist_ok=True)
-                    shutil.copy2(src_h, dst_h)
+                    with open(src_h, 'r', encoding='utf-8') as f:
+                        content = f.read()
+                    save_with_preserve(dst_h, content)
                     copied.append(dst_h)
         msg = f"已拷贝 {len(copied)} 个文件到 User 目录"
         if skipped:
@@ -563,8 +556,8 @@ class DataInterface(QWidget):
                 )
 
     def generate_task_code(self, task_list):
-        base_dir = os.path.dirname(os.path.abspath(__file__))
-        template_dir = os.path.join(base_dir, "../assets/User_code/task")
+        from app.tools.code_generator import CodeGenerator
+        template_dir = CodeGenerator.get_assets_dir("User_code/task")
         output_dir = os.path.join(self.project_path, "User", "task")
         os.makedirs(output_dir, exist_ok=True)
 

app/main_window.py

@@ -25,9 +25,8 @@ class MainWindow(FluentWindow):
         self.initInterface()
         self.initNavigation()
 
-        # 检查更新
-        # checkUpdate(self, flag=True)
-        # checkAnnouncement(self) # 检查公告
+        # 后台检查更新（不弹窗，只显示通知）
+        # self.check_updates_in_background()
 
     def initWindow(self):
         self.setMicaEffectEnabled(False)
@@ -74,6 +73,14 @@ class MainWindow(FluentWindow):
             None,
             NavigationItemPosition.BOTTOM
         )
+    
+    def check_updates_in_background(self):
+        """后台检查更新"""
+        try:
+            # 后台更新检查已移至关于页面手动触发
+            pass
+        except Exception as e:
+            print(f"初始化完成: {e}")
 
     # main_window.py 只需修改关闭事件
     def closeEvent(self, e):

app/tools/auto_updater.py

@@ -0,0 +1,462 @@
+"""
+自动更新模块
+实现软件的自动更新功能，包括下载、解压、安装等完整流程
+"""
+
+import os
+import sys
+import shutil
+import tempfile
+import zipfile
+import subprocess
+import platform
+from pathlib import Path
+from typing import Optional, Callable
+from urllib.parse import urlparse
+
+import requests
+from packaging.version import parse as vparse
+from PyQt5.QtCore import QThread, pyqtSignal, QObject
+
+# 移除多线程下载器依赖
+
+
+class UpdaterSignals(QObject):
+    """更新器信号类"""
+    progress_changed = pyqtSignal(int)  # 进度变化信号 (0-100)
+    download_progress = pyqtSignal(int, int, float, float)  # 下载进度: 已下载字节, 总字节, 速度MB/s, 剩余时间秒
+    status_changed = pyqtSignal(str)    # 状态变化信号
+    error_occurred = pyqtSignal(str)    # 错误信号
+    update_completed = pyqtSignal(str)  # 更新完成信号，可选包含文件路径
+    update_cancelled = pyqtSignal()     # 更新取消信号
+
+
+class AutoUpdater(QThread):
+    """自动更新器类"""
+    
+    def __init__(self, current_version: str, repo: str = "goldenfishs/MRobot"):
+        super().__init__()
+        self.current_version = current_version
+        self.repo = repo
+        self.signals = UpdaterSignals()
+        self.cancelled = False
+        
+        # 获取当前程序信息
+        self.is_frozen = getattr(sys, 'frozen', False)
+        self.app_dir = self._get_app_directory()
+        self.temp_dir = None
+        
+        # 多线程下载器
+        self.downloader = None
+        
+    def _get_app_directory(self) -> str:
+        """获取应用程序目录"""
+        if self.is_frozen:
+            # 如果是打包的exe，返回exe所在目录
+            return os.path.dirname(sys.executable)
+        else:
+            # 如果是Python脚本，返回项目根目录
+            return os.path.dirname(os.path.dirname(os.path.dirname(__file__)))
+    
+    def cancel_update(self):
+        """取消更新"""
+        self.cancelled = True
+        if self.downloader:
+            self.downloader.cancel()
+        self.signals.update_cancelled.emit()
+    
+    def check_for_updates(self) -> Optional[dict]:
+        """检查是否有新版本可用"""
+        try:
+            self.signals.status_changed.emit("正在检查更新...")
+            
+            url = f"https://api.github.com/repos/{self.repo}/releases/latest"
+            response = requests.get(url, timeout=10)
+            
+            if response.status_code == 200:
+                release_data = response.json()
+                latest_version = release_data["tag_name"].lstrip("v")
+                
+                if vparse(latest_version) > vparse(self.current_version):
+                    download_url = self._get_download_url(release_data)
+                    asset_size = self._get_asset_size(release_data, download_url) if download_url else 0
+                    return {
+                        'version': latest_version,
+                        'download_url': download_url,
+                        'release_notes': release_data.get('body', ''),
+                        'release_date': release_data.get('published_at', ''),
+                        'asset_name': self._get_asset_name(release_data),
+                        'asset_size': asset_size
+                    }
+                return None
+            else:
+                raise Exception(f"GitHub API请求失败: {response.status_code}")
+                
+        except Exception as e:
+            self.signals.error_occurred.emit(f"检查更新失败: {str(e)}")
+            return None
+    
+    def _get_download_url(self, release_data: dict) -> Optional[str]:
+        """从release数据中获取适合当前平台的下载链接"""
+        assets = release_data.get('assets', [])
+        system = platform.system().lower()
+        
+        # 根据操作系统选择合适的安装包
+        for asset in assets:
+            name = asset['name'].lower()
+            
+            if system == 'windows':
+                if 'installer' in name and name.endswith('.exe'):
+                    return asset['browser_download_url']
+                if name.endswith('.exe') or name.endswith('.zip'):
+                    return asset['browser_download_url']
+            elif system == 'darwin':  # macOS
+                # 优先选择 dmg 或 zip 文件
+                if name.endswith('.dmg'):
+                    return asset['browser_download_url']
+                if name.endswith('.zip') and 'macos' in name:
+                    return asset['browser_download_url']
+            elif system == 'linux':
+                if name.endswith('.tar.gz') or (name.endswith('.zip') and 'linux' in name):
+                    return asset['browser_download_url']
+        
+        # 如果没找到特定平台的，在 macOS 上避免选择 .exe 文件
+        for asset in assets:
+            name = asset['name'].lower()
+            if system == 'darwin':
+                # macOS 优先选择非 exe 文件
+                if name.endswith('.zip') or name.endswith('.dmg') or name.endswith('.tar.gz'):
+                    return asset['browser_download_url']
+            else:
+                if any(name.endswith(ext) for ext in ['.zip', '.exe', '.dmg', '.tar.gz']):
+                    return asset['browser_download_url']
+        
+        # 最后才选择 exe 文件（如果没有其他选择）
+        if system == 'darwin':
+            for asset in assets:
+                name = asset['name'].lower()
+                if name.endswith('.exe'):
+                    return asset['browser_download_url']
+        
+        return None
+    
+    def _get_asset_name(self, release_data: dict) -> Optional[str]:
+        """获取资源文件名"""
+        download_url = self._get_download_url(release_data)
+        if download_url:
+            return os.path.basename(urlparse(download_url).path)
+        return None
+    
+    def _get_asset_size(self, release_data: dict, download_url: str) -> int:
+        """获取资源文件大小"""
+        if not download_url:
+            return 0
+        
+        assets = release_data.get('assets', [])
+        for asset in assets:
+            if asset.get('browser_download_url') == download_url:
+                return asset.get('size', 0)
+        return 0
+    
+    def download_update(self, download_url: str, filename: str) -> Optional[str]:
+        """下载更新文件 - 使用简单的单线程下载"""
+        try:
+            self.signals.status_changed.emit("开始下载...")
+            
+            # 创建临时目录
+            self.temp_dir = tempfile.mkdtemp(prefix="MRobot_update_")
+            file_path = os.path.join(self.temp_dir, filename)
+            
+            print(f"Downloading to: {file_path}")
+            
+            # 使用简单的requests下载
+            import requests
+            headers = {
+                'User-Agent': 'MRobot-Updater/1.0',
+                'Accept': '*/*',
+            }
+            
+            response = requests.get(download_url, headers=headers, stream=True, timeout=30)
+            response.raise_for_status()
+            
+            # 获取文件总大小
+            total_size = int(response.headers.get('Content-Length', 0))
+            downloaded_size = 0
+            
+            # 确保目录存在
+            os.makedirs(os.path.dirname(file_path), exist_ok=True)
+            
+            # 下载文件
+            with open(file_path, 'wb') as f:
+                for chunk in response.iter_content(chunk_size=8192):
+                    if self.cancelled:
+                        print("Download cancelled by user")
+                        return None
+                    
+                    if chunk:
+                        f.write(chunk)
+                        downloaded_size += len(chunk)
+                        
+                        # 更新进度
+                        if total_size > 0:
+                            progress = int((downloaded_size / total_size) * 100)
+                            self.signals.progress_changed.emit(progress)
+                            
+                            # 发送详细进度信息
+                            speed = 0  # 简化版本不计算速度
+                            remaining = 0
+                            self.signals.download_progress.emit(downloaded_size, total_size, speed, remaining)
+            
+            # 验证下载的文件
+            if os.path.exists(file_path) and os.path.getsize(file_path) > 0:
+                print(f"Download completed successfully: {file_path}")
+                self.signals.status_changed.emit("下载完成！")
+                return file_path
+            else:
+                raise Exception("下载的文件不存在或为空")
+            
+        except Exception as e:
+            error_msg = f"下载失败: {str(e)}"
+            print(f"Download error: {error_msg}")
+            self.signals.error_occurred.emit(error_msg)
+            return None
+    
+    def _on_download_progress(self, downloaded: int, total: int, speed: float, remaining: float):
+        """处理下载进度"""
+        # 转发详细下载进度
+        self.signals.download_progress.emit(downloaded, total, speed, remaining)
+        
+        # 计算总体进度 (下载占80%，其他操作占20%)
+        if total > 0:
+            download_progress = int((downloaded / total) * 80)
+            self.signals.progress_changed.emit(download_progress)
+    
+    def extract_update(self, file_path: str) -> Optional[str]:
+        """解压更新文件"""
+        try:
+            self.signals.status_changed.emit("正在解压文件...")
+            self.signals.progress_changed.emit(85)
+            
+            if not self.temp_dir:
+                raise Exception("临时目录未初始化")
+                
+            extract_dir = os.path.join(self.temp_dir, "extracted")
+            os.makedirs(extract_dir, exist_ok=True)
+            
+            # 根据文件扩展名选择解压方法
+            if file_path.endswith('.zip'):
+                with zipfile.ZipFile(file_path, 'r') as zip_ref:
+                    zip_ref.extractall(extract_dir)
+            elif file_path.endswith('.tar.gz'):
+                import tarfile
+                with tarfile.open(file_path, 'r:gz') as tar_ref:
+                    tar_ref.extractall(extract_dir)
+            elif file_path.endswith('.exe'):
+                # 对于 .exe 文件，在非 Windows 系统上提示手动安装
+                current_system = platform.system()
+                if current_system != 'Windows':
+                    self.signals.error_occurred.emit(f"下载的是 Windows 安装程序，当前系统是 {current_system}。\n请手动下载适合您系统的版本。")
+                    return None
+                else:
+                    # Windows 系统直接返回文件路径，由安装函数处理
+                    return file_path
+            else:
+                raise Exception(f"不支持的文件格式: {file_path}")
+            
+            self.signals.progress_changed.emit(90)
+            self.signals.status_changed.emit("解压完成")
+            return extract_dir
+            
+        except Exception as e:
+            self.signals.error_occurred.emit(f"解压失败: {str(e)}")
+            return None
+    
+    def install_update(self, extract_dir: str) -> bool:
+        """安装更新"""
+        try:
+            self.signals.status_changed.emit("正在安装更新...")
+            self.signals.progress_changed.emit(95)
+            
+            if not self.temp_dir:
+                raise Exception("临时目录未初始化")
+            
+            # 创建备份目录
+            backup_dir = os.path.join(self.temp_dir, "backup")
+            os.makedirs(backup_dir, exist_ok=True)
+            
+            # 备份当前程序文件
+            self._backup_current_files(backup_dir)
+            
+            # 复制新文件
+            self._copy_update_files(extract_dir)
+            
+            self.signals.progress_changed.emit(99)
+            self.signals.status_changed.emit("安装完成")
+            
+            return True
+            
+        except Exception as e:
+            self.signals.error_occurred.emit(f"安装失败: {str(e)}")
+            # 尝试恢复备份
+            self._restore_backup(backup_dir)
+            return False
+    
+    def _backup_current_files(self, backup_dir: str):
+        """备份当前程序文件"""
+        important_files = ['MRobot.py', 'MRobot.exe', 'app/', 'assets/']
+        
+        for item in important_files:
+            src_path = os.path.join(self.app_dir, item)
+            if os.path.exists(src_path):
+                dst_path = os.path.join(backup_dir, item)
+                if os.path.isdir(src_path):
+                    shutil.copytree(src_path, dst_path, dirs_exist_ok=True)
+                else:
+                    os.makedirs(os.path.dirname(dst_path), exist_ok=True)
+                    shutil.copy2(src_path, dst_path)
+    
+    def _copy_update_files(self, extract_dir: str):
+        """复制更新文件到应用程序目录"""
+        # 查找解压目录中的主要文件/文件夹
+        extract_contents = os.listdir(extract_dir)
+        
+        # 如果解压后只有一个文件夹，进入该文件夹
+        if len(extract_contents) == 1 and os.path.isdir(os.path.join(extract_dir, extract_contents[0])):
+            extract_dir = os.path.join(extract_dir, extract_contents[0])
+        
+        # 复制文件到应用程序目录
+        for item in os.listdir(extract_dir):
+            src_path = os.path.join(extract_dir, item)
+            dst_path = os.path.join(self.app_dir, item)
+            
+            if os.path.isdir(src_path):
+                if os.path.exists(dst_path):
+                    shutil.rmtree(dst_path)
+                shutil.copytree(src_path, dst_path)
+            else:
+                shutil.copy2(src_path, dst_path)
+    
+    def _restore_backup(self, backup_dir: str):
+        """恢复备份文件"""
+        try:
+            for item in os.listdir(backup_dir):
+                src_path = os.path.join(backup_dir, item)
+                dst_path = os.path.join(self.app_dir, item)
+                
+                if os.path.isdir(src_path):
+                    if os.path.exists(dst_path):
+                        shutil.rmtree(dst_path)
+                    shutil.copytree(src_path, dst_path)
+                else:
+                    shutil.copy2(src_path, dst_path)
+        except Exception as e:
+            print(f"恢复备份失败: {e}")
+    
+    def restart_application(self):
+        """重启应用程序"""
+        try:
+            self.signals.status_changed.emit("正在重启应用程序...")
+            
+            if self.is_frozen:
+                # 如果是打包的exe
+                executable = sys.executable
+            else:
+                # 如果是Python脚本
+                executable = sys.executable
+                script_path = os.path.join(self.app_dir, "MRobot.py")
+                
+            # 启动新进程
+            if platform.system() == 'Windows':
+                subprocess.Popen([executable] + ([script_path] if not self.is_frozen else []))
+            else:
+                subprocess.Popen([executable] + ([script_path] if not self.is_frozen else []))
+            
+            # 退出当前进程
+            sys.exit(0)
+            
+        except Exception as e:
+            self.signals.error_occurred.emit(f"重启失败: {str(e)}")
+    
+    def cleanup(self):
+        """清理临时文件"""
+        print(f"cleanup() called, temp_dir: {self.temp_dir}")  # 调试输出
+        if self.temp_dir and os.path.exists(self.temp_dir):
+            try:
+                print(f"Removing temp directory: {self.temp_dir}")  # 调试输出
+                shutil.rmtree(self.temp_dir)
+                print("Temp directory removed successfully")  # 调试输出
+            except Exception as e:
+                print(f"清理临时文件失败: {e}")
+        else:
+            print("No temp directory to clean up")  # 调试输出
+    
+    def run(self):
+        """执行更新流程"""
+        try:
+            self.signals.status_changed.emit("开始更新流程...")
+            
+            # 检查更新
+            self.signals.status_changed.emit("正在获取更新信息...")
+            update_info = self.check_for_updates()
+            if not update_info or self.cancelled:
+                self.signals.status_changed.emit("未找到更新信息或已取消")
+                return
+            
+            self.signals.status_changed.emit(f"准备下载版本 {update_info['version']}")
+            
+            # 下载更新
+            downloaded_file = self.download_update(
+                update_info['download_url'], 
+                update_info['asset_name']
+            )
+            if not downloaded_file or self.cancelled:
+                self.signals.status_changed.emit("下载失败或已取消")
+                return
+            
+            self.signals.status_changed.emit("下载完成！")
+            self.signals.progress_changed.emit(100)
+            
+            # 检查是否为exe文件且当前系统非Windows
+            current_system = platform.system()
+            print(f"Downloaded file: {downloaded_file}")  # 调试输出
+            print(f"Current system: {current_system}")  # 调试输出
+            if downloaded_file.endswith('.exe') and current_system != 'Windows':
+                # 直接完成，返回文件路径
+                print(f"Emitting update_completed signal with file path: {downloaded_file}")  # 调试输出
+                self.signals.update_completed.emit(downloaded_file)
+                # 不要立即清理，让用户有时间访问文件
+                print("Skipping cleanup to preserve downloaded file")  # 调试输出
+                return
+            
+            # 对于其他情况，继续原有流程
+            self.signals.status_changed.emit("下载完成，开始解压...")
+            
+            # 解压更新
+            extract_dir = self.extract_update(downloaded_file)
+            if not extract_dir or self.cancelled:
+                self.signals.status_changed.emit("解压失败或已取消")
+                return
+            
+            # 安装更新
+            self.signals.status_changed.emit("开始安装更新...")
+            if self.install_update(extract_dir) and not self.cancelled:
+                self.signals.progress_changed.emit(100)
+                self.signals.status_changed.emit("更新安装完成")
+                self.signals.update_completed.emit("")  # 传递空字符串表示正常安装完成
+            else:
+                self.signals.status_changed.emit("安装失败或已取消")
+            
+        except Exception as e:
+            error_msg = f"更新过程中发生错误: {str(e)}"
+            print(f"AutoUpdater error: {error_msg}")  # 调试输出
+            self.signals.error_occurred.emit(error_msg)
+        finally:
+            # 对于下载完成的情况，延迟清理临时文件
+            # 这样用户有时间访问下载的文件
+            pass  # 暂时不在这里清理
+
+
+def check_update_availability(current_version: str, repo: str = "goldenfishs/MRobot") -> Optional[dict]:
+    """快速检查是否有新版本可用（不下载）"""
+    updater = AutoUpdater(current_version, repo)
+    return updater.check_for_updates()

app/tools/check_update.py

@@ -1,5 +1,7 @@
 import requests
+import platform
 from packaging.version import parse as vparse
+from typing import Optional
 
 def check_update(local_version, repo="goldenfishs/MRobot"):
     url = f"https://api.github.com/repos/{repo}/releases/latest"
@@ -11,4 +13,62 @@ def check_update(local_version, repo="goldenfishs/MRobot"):
         else:
             return None
     else:
-        raise RuntimeError("GitHub API 请求失败")
+        raise RuntimeError("GitHub API 请求失败")
+
+def check_update_availability(current_version: str, repo: str = "goldenfishs/MRobot") -> Optional[dict]:
+    """检查更新并返回详细信息"""
+    try:
+        url = f"https://api.github.com/repos/{repo}/releases/latest"
+        response = requests.get(url, timeout=10)
+        
+        if response.status_code == 200:
+            release_data = response.json()
+            latest_version = release_data["tag_name"].lstrip("v")
+            
+            if vparse(latest_version) > vparse(current_version):
+                # 获取适合当前平台的下载链接和文件大小
+                download_url, asset_size, asset_name = _get_platform_asset(release_data)
+                
+                return {
+                    'version': latest_version,
+                    'download_url': download_url,
+                    'asset_size': asset_size,
+                    'asset_name': asset_name,
+                    'release_notes': release_data.get('body', ''),
+                    'release_date': release_data.get('published_at', ''),
+                }
+            return None
+        else:
+            raise Exception(f"GitHub API请求失败: {response.status_code}")
+            
+    except Exception as e:
+        raise Exception(f"检查更新失败: {str(e)}")
+
+def _get_platform_asset(release_data: dict) -> tuple:
+    """获取适合当前平台的资源文件信息"""
+    assets = release_data.get('assets', [])
+    system = platform.system().lower()
+    
+    # 根据操作系统选择合适的安装包
+    for asset in assets:
+        name = asset['name'].lower()
+        
+        if system == 'windows':
+            if 'installer' in name and name.endswith('.exe'):
+                return asset['browser_download_url'], asset.get('size', 0), asset['name']
+            if name.endswith('.exe') or name.endswith('.zip'):
+                return asset['browser_download_url'], asset.get('size', 0), asset['name']
+        elif system == 'darwin':  # macOS
+            if name.endswith('.dmg') or name.endswith('.zip'):
+                return asset['browser_download_url'], asset.get('size', 0), asset['name']
+        elif system == 'linux':
+            if name.endswith('.tar.gz') or name.endswith('.zip'):
+                return asset['browser_download_url'], asset.get('size', 0), asset['name']
+    
+    # 如果没找到特定平台的，返回第一个可用文件
+    for asset in assets:
+        name = asset['name'].lower()
+        if any(name.endswith(ext) for ext in ['.zip', '.exe', '.dmg', '.tar.gz']):
+            return asset['browser_download_url'], asset.get('size', 0), asset['name']
+    
+    return None, 0, None

app/tools/code_generator.py

@@ -1,12 +1,18 @@
 import os
 import yaml
 import shutil
-from typing import Dict, List, Tuple
+from typing import Dict, List, Tuple, Optional
 import sys
-import os
+import re
+import csv
 class CodeGenerator:
     """通用代码生成器"""
     
+    # 添加类级别的缓存
+    _assets_dir_cache = None
+    _assets_dir_initialized = False
+    _template_dir_logged = False
+    
     @staticmethod
     def load_template(template_path: str) -> str:
         """加载代码模板"""
@@ -29,7 +35,9 @@ class CodeGenerator:
     def save_file(content: str, file_path: str) -> bool:
         """保存文件"""
         try:
-            os.makedirs(os.path.dirname(file_path), exist_ok=True)
+            dir_path = os.path.dirname(file_path)
+            if dir_path:  # 只有当目录路径不为空时才创建
+                os.makedirs(dir_path, exist_ok=True)
             with open(file_path, 'w', encoding='utf-8') as f:
                 f.write(content)
             return True
@@ -63,19 +71,15 @@ class CodeGenerator:
     @staticmethod
     def get_template_dir():
         """获取模板目录路径，兼容打包环境"""
-        if getattr(sys, 'frozen', False):
-            # 打包后的环境
-            base_path = sys._MEIPASS
-            template_dir = os.path.join(base_path, "assets", "User_code", "bsp")
-        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)
-            template_dir = os.path.join(current_dir, "assets", "User_code", "bsp")
+        # 使用统一的get_assets_dir方法来获取路径
+        template_dir = CodeGenerator.get_assets_dir("User_code/bsp")
         
-        print(f"模板目录路径: {template_dir}")
-        if not os.path.exists(template_dir):
+        # 只在第一次或出现问题时打印日志
+        if not hasattr(CodeGenerator, '_template_dir_logged'):
+            print(f"模板目录路径: {template_dir}")
+            CodeGenerator._template_dir_logged = True
+            
+        if template_dir and not os.path.exists(template_dir):
             print(f"警告：模板目录不存在: {template_dir}")
         
         return template_dir
@@ -88,23 +92,466 @@ class CodeGenerator:
         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")
+        # 使用缓存机制，避免重复计算和日志输出
+        if not CodeGenerator._assets_dir_initialized:
+            assets_dir = ""
+            
+            if getattr(sys, 'frozen', False):
+                # 打包后的环境
+                print("检测到打包环境")
+                
+                # 优先使用sys._MEIPASS（PyInstaller的临时解包目录）
+                if hasattr(sys, '_MEIPASS'):
+                    base_path = getattr(sys, '_MEIPASS')
+                    assets_dir = os.path.join(base_path, "assets")
+                    print(f"使用PyInstaller临时目录: {assets_dir}")
+                else:
+                    # 后备方案：使用可执行文件所在目录
+                    exe_dir = os.path.dirname(sys.executable)
+                    assets_dir = os.path.join(exe_dir, "assets")
+                    print(f"使用可执行文件目录: {assets_dir}")
+                
+                # 如果都不存在，尝试其他可能的位置
+                if not os.path.exists(assets_dir):
+                    # 尝试从当前工作目录查找
+                    cwd_assets = os.path.join(os.getcwd(), "assets")
+                    if os.path.exists(cwd_assets):
+                        assets_dir = cwd_assets
+                        print(f"从工作目录找到assets: {assets_dir}")
+                    else:
+                        print(f"警告：无法找到assets目录，使用默认路径: {assets_dir}")
+            else:
+                # 开发环境
+                current_dir = os.path.dirname(os.path.abspath(__file__))
+                
+                # 向上查找直到找到MRobot目录或到达根目录
+                while current_dir != os.path.dirname(current_dir):  # 防止无限循环
+                    if os.path.basename(current_dir) == 'MRobot':
+                        break
+                    parent = os.path.dirname(current_dir)
+                    if parent == current_dir:  # 已到达根目录
+                        break
+                    current_dir = parent
+                
+                assets_dir = os.path.join(current_dir, "assets")
+                print(f"开发环境：使用路径: {assets_dir}")
+                
+                # 如果找不到，尝试从当前工作目录
+                if not os.path.exists(assets_dir):
+                    cwd_assets = os.path.join(os.getcwd(), "assets")
+                    if os.path.exists(cwd_assets):
+                        assets_dir = cwd_assets
+                        print(f"开发环境后备：使用工作目录: {assets_dir}")
+            
+            # 缓存基础assets目录
+            CodeGenerator._assets_dir_cache = assets_dir
+            CodeGenerator._assets_dir_initialized = True
         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")
+            # 使用缓存的路径
+            assets_dir = CodeGenerator._assets_dir_cache or ""
         
+        # 构建完整路径
         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}")
+        # 规范化路径（处理路径分隔符）
+        full_path = os.path.normpath(full_path)
         
-        return full_path
+        # 只在第一次访问某个路径时检查并警告
+        safe_sub_path = sub_path.replace('/', '_').replace('\\', '_')
+        warning_key = f"_warned_{safe_sub_path}"
+        if full_path and not os.path.exists(full_path) and not hasattr(CodeGenerator, warning_key):
+            print(f"警告：资源目录不存在: {full_path}")
+            setattr(CodeGenerator, warning_key, True)
+        
+        return full_path
+    
+    @staticmethod
+    def preserve_all_user_regions(new_code: str, old_code: str) -> str:
+        """保留用户定义的代码区域
+        
+        在新代码中保留旧代码中所有用户定义的区域。
+        用户区域使用如下格式标记：
+        /* USER REGION_NAME BEGIN */
+        用户代码...
+        /* USER REGION_NAME END */
+        
+        支持的格式示例：
+        - /* USER REFEREE BEGIN */ ... /* USER REFEREE END */
+        - /* USER CODE BEGIN */ ... /* USER CODE END */
+        - /* USER CUSTOM_NAME BEGIN */ ... /* USER CUSTOM_NAME END */
+        
+        Args:
+            new_code: 新的代码内容
+            old_code: 旧的代码内容
+            
+        Returns:
+            str: 保留了用户区域的新代码
+        """
+        if not old_code:
+            return new_code
+            
+        # 更灵活的正则表达式，支持更多格式的用户区域标记
+        # 匹配 /* USER 任意字符 BEGIN */ ... /* USER 相同字符 END */
+        pattern = re.compile(
+            r"/\*\s*USER\s+([A-Za-z0-9_\s]+?)\s+BEGIN\s*\*/(.*?)/\*\s*USER\s+\1\s+END\s*\*/",
+            re.DOTALL | re.IGNORECASE
+        )
+        
+        # 提取旧代码中的所有用户区域
+        old_regions = {}
+        for match in pattern.finditer(old_code):
+            region_name = match.group(1).strip()
+            region_content = match.group(2)
+            old_regions[region_name.upper()] = region_content
+        
+        # 替换函数
+        def repl(match):
+            region_name = match.group(1).strip().upper()
+            current_content = match.group(2)
+            old_content = old_regions.get(region_name)
+            
+            if old_content is not None:
+                # 直接替换中间的内容，保持原有的注释标记不变
+                return match.group(0).replace(current_content, old_content)
+            
+            return match.group(0)
+        
+        # 应用替换
+        result = pattern.sub(repl, new_code)
+        
+        # 调试信息：记录找到的用户区域
+        if old_regions:
+            print(f"保留了 {len(old_regions)} 个用户区域: {list(old_regions.keys())}")
+        
+        return result
+    
+    @staticmethod
+    def save_with_preserve(file_path: str, new_code: str) -> bool:
+        """保存文件并保留用户代码区域
+        
+        如果文件已存在，会先读取旧文件内容，保留其中的用户代码区域，
+        然后将新代码与保留的用户区域合并后保存。
+        
+        Args:
+            file_path: 文件路径
+            new_code: 新的代码内容
+            
+        Returns:
+            bool: 保存是否成功
+        """
+        try:
+            # 如果文件已存在，先读取旧内容
+            old_code = ""
+            if os.path.exists(file_path):
+                with open(file_path, "r", encoding="utf-8") as f:
+                    old_code = f.read()
+            
+            # 保留用户区域
+            final_code = CodeGenerator.preserve_all_user_regions(new_code, old_code)
+            
+            # 确保目录存在
+            dir_path = os.path.dirname(file_path)
+            if dir_path:  # 只有当目录路径不为空时才创建
+                os.makedirs(dir_path, exist_ok=True)
+            
+            # 保存文件
+            with open(file_path, "w", encoding="utf-8") as f:
+                f.write(final_code)
+                
+            return True
+            
+        except Exception as e:
+            print(f"保存文件失败: {file_path}, 错误: {e}")
+            return False
+    
+    @staticmethod
+    def load_descriptions(csv_path: str) -> Dict[str, str]:
+        """从CSV文件加载组件或设备的描述信息
+        
+        CSV格式：第一列为组件/设备名称，第二列为描述
+        
+        Args:
+            csv_path: CSV文件路径
+            
+        Returns:
+            Dict[str, str]: 名称到描述的映射字典
+        """
+        descriptions = {}
+        if os.path.exists(csv_path):
+            try:
+                with open(csv_path, encoding='utf-8') as f:
+                    reader = csv.reader(f)
+                    for row in reader:
+                        if len(row) >= 2:
+                            key, desc = row[0].strip(), row[1].strip()
+                            descriptions[key.lower()] = desc
+            except Exception as e:
+                print(f"加载描述文件失败: {csv_path}, 错误: {e}")
+        return descriptions
+    
+    @staticmethod
+    def load_dependencies(csv_path: str) -> Dict[str, List[str]]:
+        """从CSV文件加载组件依赖关系
+        
+        CSV格式：第一列为组件名，后续列为依赖的组件
+        
+        Args:
+            csv_path: CSV文件路径
+            
+        Returns:
+            Dict[str, List[str]]: 组件名到依赖列表的映射字典
+        """
+        dependencies = {}
+        if os.path.exists(csv_path):
+            try:
+                with open(csv_path, encoding='utf-8') as f:
+                    reader = csv.reader(f)
+                    for row in reader:
+                        if len(row) >= 2:
+                            component = row[0].strip()
+                            deps = [dep.strip() for dep in row[1:] if dep.strip()]
+                            dependencies[component] = deps
+            except Exception as e:
+                print(f"加载依赖文件失败: {csv_path}, 错误: {e}")
+        return dependencies
+    
+    @staticmethod
+    def load_device_config(config_path: str) -> Dict:
+        """加载设备配置文件
+        
+        Args:
+            config_path: YAML配置文件路径
+            
+        Returns:
+            Dict: 配置数据字典
+        """
+        return CodeGenerator.load_config(config_path)
+    
+    @staticmethod
+    def copy_dependency_file(src_path: str, dst_path: str) -> bool:
+        """复制依赖文件
+        
+        Args:
+            src_path: 源文件路径
+            dst_path: 目标文件路径
+            
+        Returns:
+            bool: 复制是否成功
+        """
+        try:
+            os.makedirs(os.path.dirname(dst_path), exist_ok=True)
+            shutil.copy2(src_path, dst_path)
+            return True
+        except Exception as e:
+            print(f"复制文件失败: {src_path} -> {dst_path}, 错误: {e}")
+            return False
+    
+    @staticmethod
+    def generate_code_from_template(template_path: str, output_path: str, 
+                                  replacements: Optional[Dict[str, str]] = None,
+                                  preserve_user_code: bool = True) -> bool:
+        """从模板生成代码文件
+        
+        Args:
+            template_path: 模板文件路径
+            output_path: 输出文件路径
+            replacements: 要替换的标记字典，如 {'MARKER': 'replacement_content'}
+            preserve_user_code: 是否保留用户代码区域
+            
+        Returns:
+            bool: 生成是否成功
+        """
+        try:
+            # 加载模板
+            template_content = CodeGenerator.load_template(template_path)
+            if not template_content:
+                print(f"模板文件不存在或为空: {template_path}")
+                return False
+            
+            # 执行替换
+            if replacements:
+                for marker, replacement in replacements.items():
+                    template_content = CodeGenerator.replace_auto_generated(
+                        template_content, marker, replacement
+                    )
+            
+            # 保存文件
+            if preserve_user_code:
+                return CodeGenerator.save_with_preserve(output_path, template_content)
+            else:
+                return CodeGenerator.save_file(template_content, output_path)
+                
+        except Exception as e:
+            print(f"从模板生成代码失败: {template_path} -> {output_path}, 错误: {e}")
+            return False
+    
+    @staticmethod
+    def read_file_content(file_path: str) -> Optional[str]:
+        """读取文件内容
+        
+        Args:
+            file_path: 文件路径
+            
+        Returns:
+            str: 文件内容，如果失败返回None
+        """
+        try:
+            with open(file_path, 'r', encoding='utf-8') as f:
+                return f.read()
+        except Exception as e:
+            print(f"读取文件失败: {file_path}, 错误: {e}")
+            return None
+    
+    @staticmethod
+    def write_file_content(file_path: str, content: str) -> bool:
+        """写入文件内容
+        
+        Args:
+            file_path: 文件路径
+            content: 文件内容
+            
+        Returns:
+            bool: 写入是否成功
+        """
+        try:
+            os.makedirs(os.path.dirname(file_path), exist_ok=True)
+            with open(file_path, 'w', encoding='utf-8') as f:
+                f.write(content)
+            return True
+        except Exception as e:
+            print(f"写入文件失败: {file_path}, 错误: {e}")
+            return False
+    
+    @staticmethod
+    def update_file_with_pattern(file_path: str, pattern: str, replacement: str, 
+                               use_regex: bool = True) -> bool:
+        """更新文件中匹配模式的内容
+        
+        Args:
+            file_path: 文件路径
+            pattern: 要匹配的模式
+            replacement: 替换内容
+            use_regex: 是否使用正则表达式
+            
+        Returns:
+            bool: 更新是否成功
+        """
+        try:
+            content = CodeGenerator.read_file_content(file_path)
+            if content is None:
+                return False
+            
+            if use_regex:
+                import re
+                updated_content = re.sub(pattern, replacement, content, flags=re.DOTALL)
+            else:
+                updated_content = content.replace(pattern, replacement)
+            
+            return CodeGenerator.write_file_content(file_path, updated_content)
+            
+        except Exception as e:
+            print(f"更新文件失败: {file_path}, 错误: {e}")
+            return False
+    
+    @staticmethod
+    def replace_multiple_markers(content: str, replacements: Dict[str, str]) -> str:
+        """批量替换内容中的多个标记
+        
+        Args:
+            content: 要处理的内容
+            replacements: 替换字典，如 {'MARKER1': 'content1', 'MARKER2': 'content2'}
+            
+        Returns:
+            str: 替换后的内容
+        """
+        result = content
+        for marker, replacement in replacements.items():
+            result = CodeGenerator.replace_auto_generated(result, marker, replacement)
+        return result
+    
+    @staticmethod
+    def extract_user_regions(code: str) -> Dict[str, str]:
+        """从代码中提取所有用户区域
+        
+        支持提取各种格式的用户区域：
+        - /* USER REFEREE BEGIN */ ... /* USER REFEREE END */
+        - /* USER CODE BEGIN */ ... /* USER CODE END */
+        - /* USER CUSTOM_NAME BEGIN */ ... /* USER CUSTOM_NAME END */
+        
+        Args:
+            code: 要提取的代码内容
+            
+        Returns:
+            Dict[str, str]: 区域名称到区域内容的映射
+        """
+        if not code:
+            return {}
+            
+        # 使用与preserve_all_user_regions相同的正则表达式
+        pattern = re.compile(
+            r"/\*\s*USER\s+([A-Za-z0-9_\s]+?)\s+BEGIN\s*\*/(.*?)/\*\s*USER\s+\1\s+END\s*\*/",
+            re.DOTALL | re.IGNORECASE
+        )
+        
+        regions = {}
+        for match in pattern.finditer(code):
+            region_name = match.group(1).strip().upper()
+            region_content = match.group(2)
+            regions[region_name] = region_content
+        
+        return regions
+    
+    @staticmethod
+    def debug_user_regions(new_code: str, old_code: str, verbose: bool = False) -> Dict[str, Dict[str, str]]:
+        """调试用户区域，显示新旧内容的对比
+        
+        Args:
+            new_code: 新的代码内容
+            old_code: 旧的代码内容
+            verbose: 是否输出详细信息
+            
+        Returns:
+            Dict: 包含所有用户区域信息的字典
+        """
+        if verbose:
+            print("=== 用户区域调试信息 ===")
+        
+        new_regions = CodeGenerator.extract_user_regions(new_code)
+        old_regions = CodeGenerator.extract_user_regions(old_code)
+        
+        all_region_names = set(new_regions.keys()) | set(old_regions.keys())
+        
+        result = {}
+        
+        for region_name in sorted(all_region_names):
+            new_content = new_regions.get(region_name, "")
+            old_content = old_regions.get(region_name, "")
+            
+            result[region_name] = {
+                "new_content": new_content,
+                "old_content": old_content,
+                "will_preserve": bool(old_content),
+                "exists_in_new": region_name in new_regions,
+                "exists_in_old": region_name in old_regions
+            }
+            
+            if verbose:
+                status = "保留旧内容" if old_content else "使用新内容"
+                print(f"\n区域: {region_name} ({status})")
+                print(f"  新模板中存在: {'是' if region_name in new_regions else '否'}")
+                print(f"  旧文件中存在: {'是' if region_name in old_regions else '否'}")
+                
+                if new_content.strip():
+                    print(f"  新内容预览: {repr(new_content.strip()[:50])}...")
+                if old_content.strip():
+                    print(f"  旧内容预览: {repr(old_content.strip()[:50])}...")
+        
+        if verbose:
+            print(f"\n总计: {len(all_region_names)} 个用户区域")
+            preserve_count = sum(1 for info in result.values() if info["will_preserve"])
+            print(f"将保留: {preserve_count} 个区域的旧内容")
+        
+        return result

app/tools/update_check_thread.py

@@ -0,0 +1,34 @@
+"""
+更新检查线程
+避免阻塞UI界面的更新检查
+"""
+
+from PyQt5.QtCore import QThread, pyqtSignal
+from app.tools.check_update import check_update_availability
+
+
+class UpdateCheckThread(QThread):
+    """更新检查线程"""
+    
+    # 信号定义
+    update_found = pyqtSignal(dict)  # 发现更新
+    no_update = pyqtSignal()  # 无更新
+    error_occurred = pyqtSignal(str)  # 检查出错
+    
+    def __init__(self, current_version: str, repo: str = "goldenfishs/MRobot"):
+        super().__init__()
+        self.current_version = current_version
+        self.repo = repo
+    
+    def run(self):
+        """执行更新检查"""
+        try:
+            update_info = check_update_availability(self.current_version, self.repo)
+            
+            if update_info:
+                self.update_found.emit(update_info)
+            else:
+                self.no_update.emit()
+                
+        except Exception as e:
+            self.error_occurred.emit(str(e))

app/tools/update_cmake_sources.py

@@ -21,7 +21,8 @@ def find_user_c_files(user_dir):
     for c_file in user_path.rglob("*.c"):
         # 获取相对于项目根目录的路径
         relative_path = c_file.relative_to(user_path.parent)
-        c_files.append(str(relative_path))
+        # 使用正斜杠确保跨平台兼容性，避免转义字符问题
+        c_files.append(str(relative_path).replace('\\', '/'))
     
     # 按目录和文件名排序
     c_files.sort()
@@ -44,31 +45,37 @@ def update_cmake_sources(cmake_file, c_files):
     # 按目录分组
     current_dir = ""
     for c_file in c_files:
-        file_dir = str(Path(c_file).parent)
+        # 确保路径使用正斜杠，避免转义字符问题
+        normalized_file = c_file.replace('\\', '/')
+        file_dir = str(Path(normalized_file).parent).replace('\\', '/')
         if file_dir != current_dir:
             if current_dir:  # 不是第一个目录，添加空行
                 sources_section += "\n"
             sources_section += f"    # {file_dir} sources\n"
             current_dir = file_dir
         
-        sources_section += f"    {c_file}\n"
+        sources_section += f"    {normalized_file}\n"
     
     sources_section += ")"
     
-    # 使用正则表达式替换target_sources部分
-    pattern = r'# Add sources to executable\s*\ntarget_sources\(\$\{CMAKE_PROJECT_NAME\}\s+PRIVATE\s*\n.*?\)'
+    # 使用原始字符串避免转义问题，并使用更精确的正则表达式
+    pattern = r'# Add sources to executable\s*\ntarget_sources\(\$\{CMAKE_PROJECT_NAME\}\s+PRIVATE\s*\n(?:.*?\n)*?\)'
     
-    if re.search(pattern, content, re.DOTALL):
-        new_content = re.sub(pattern, sources_section, content, flags=re.DOTALL)
-        
-        # 写回文件
-        with open(cmake_file, 'w', encoding='utf-8') as f:
-            f.write(new_content)
-        
-        print("✅ 成功更新CMakeLists.txt中的源文件列表")
-        return True
-    else:
-        print("❌ 错误: 在CMakeLists.txt中找不到target_sources部分")
+    try:
+        if re.search(pattern, content, re.DOTALL | re.MULTILINE):
+            new_content = re.sub(pattern, sources_section, content, flags=re.DOTALL | re.MULTILINE)
+            
+            # 写回文件
+            with open(cmake_file, 'w', encoding='utf-8') as f:
+                f.write(new_content)
+            
+            print("✅ 成功更新CMakeLists.txt中的源文件列表")
+            return True
+        else:
+            print("❌ 错误: 在CMakeLists.txt中找不到target_sources部分")
+            return False
+    except re.error as e:
+        print(f"❌ 正则表达式错误: {e}")
         return False
     
 def update_cmake_includes(cmake_file, user_dir):
@@ -89,16 +96,20 @@ def update_cmake_includes(cmake_file, user_dir):
         ")"
     )
 
-    # 正则匹配并替换include部分
-    pattern = r'# Add include paths\s*\ntarget_include_directories\(\$\{CMAKE_PROJECT_NAME\}\s+PRIVATE\s*\n.*?\)'
-    if re.search(pattern, content, re.DOTALL):
-        new_content = re.sub(pattern, include_section, content, flags=re.DOTALL)
-        with open(cmake_file, 'w', encoding='utf-8') as f:
-            f.write(new_content)
-        print("✅ 成功更新CMakeLists.txt中的include路径")
-        return True
-    else:
-        print("❌ 错误: 在CMakeLists.txt中找不到target_include_directories部分")
+    # 使用更安全的正则表达式匹配include部分
+    pattern = r'# Add include paths\s*\ntarget_include_directories\(\$\{CMAKE_PROJECT_NAME\}\s+PRIVATE\s*\n(?:.*?\n)*?\)'
+    try:
+        if re.search(pattern, content, re.DOTALL | re.MULTILINE):
+            new_content = re.sub(pattern, include_section, content, flags=re.DOTALL | re.MULTILINE)
+            with open(cmake_file, 'w', encoding='utf-8') as f:
+                f.write(new_content)
+            print("✅ 成功更新CMakeLists.txt中的include路径")
+            return True
+        else:
+            print("❌ 错误: 在CMakeLists.txt中找不到target_include_directories部分")
+            return False
+    except re.error as e:
+        print(f"❌ 正则表达式错误: {e}")
         return False
 
 def main():

app/tools/update_code.py

@@ -1,32 +1,113 @@
 import os
+import sys
 import requests
 import zipfile
 import io
 import shutil
+import tempfile
+import time
 
 def update_code(parent=None, info_callback=None, error_callback=None):
     url = "http://gitea.qutrobot.top/robofish/MRobot/archive/User_code.zip"
-    local_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../assets/User_code")
+    
+    # 使用与CodeGenerator.get_assets_dir相同的逻辑确定assets目录
+    if getattr(sys, 'frozen', False):
+        # 打包后的环境 - 使用可执行文件所在目录
+        exe_dir = os.path.dirname(sys.executable)
+        assets_dir = os.path.join(exe_dir, "assets")
+        print(f"更新代码：打包环境，使用路径: {assets_dir}")
+        
+        # 如果exe_dir/assets不存在，尝试使用相对路径作为后备
+        if not os.path.exists(assets_dir):
+            assets_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../assets")
+            print(f"更新代码：后备路径: {assets_dir}")
+    else:
+        # 开发环境
+        assets_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), "../../assets")
+        print(f"更新代码：开发环境，使用路径: {assets_dir}")
+    
+    local_dir = os.path.join(assets_dir, "User_code")
+    print(f"更新代码：最终目标目录: {local_dir}")
+    
     try:
+        # 下载远程代码库
         resp = requests.get(url, timeout=30)
         resp.raise_for_status()
-        z = zipfile.ZipFile(io.BytesIO(resp.content))
-        if os.path.exists(local_dir):
-            shutil.rmtree(local_dir)
-        for member in z.namelist():
-            rel_path = os.path.relpath(member, z.namelist()[0])
-            if rel_path == ".":
-                continue
-            target_path = os.path.join(local_dir, rel_path)
-            if member.endswith('/'):
-                os.makedirs(target_path, exist_ok=True)
-            else:
-                os.makedirs(os.path.dirname(target_path), exist_ok=True)
-                with open(target_path, "wb") as f:
-                    f.write(z.read(member))
-        if info_callback:
-            info_callback(parent)
-        return True
+        
+        # 创建临时目录进行操作
+        with tempfile.TemporaryDirectory() as temp_dir:
+            # 解压到临时目录
+            z = zipfile.ZipFile(io.BytesIO(resp.content))
+            extract_path = os.path.join(temp_dir, "extracted")
+            z.extractall(extract_path)
+            
+            # 获取解压后的根目录
+            extracted_items = os.listdir(extract_path)
+            if not extracted_items:
+                raise Exception("下载的压缩包为空")
+            
+            source_root = os.path.join(extract_path, extracted_items[0])
+            
+            # 确保本地目录的父目录存在
+            parent_dir = os.path.dirname(local_dir)
+            if not os.path.exists(parent_dir):
+                os.makedirs(parent_dir, exist_ok=True)
+            
+            # 创建备份（如果原目录存在）
+            backup_dir = None
+            if os.path.exists(local_dir):
+                backup_dir = f"{local_dir}_backup_{int(time.time())}"
+                try:
+                    shutil.move(local_dir, backup_dir)
+                except Exception as e:
+                    # 如果移动失败，尝试强制删除
+                    shutil.rmtree(local_dir, ignore_errors=True)
+            
+            try:
+                # 复制新文件到目标位置
+                shutil.copytree(source_root, local_dir)
+                
+                # 验证复制是否成功
+                if not os.path.exists(local_dir):
+                    raise Exception("复制失败，目标目录不存在")
+                
+                # 设置正确的文件权限，确保文件可以被正常访问和修改
+                for root, dirs, files in os.walk(local_dir):
+                    # 设置目录权限为755 (rwxr-xr-x)
+                    for dir_name in dirs:
+                        dir_path = os.path.join(root, dir_name)
+                        try:
+                            os.chmod(dir_path, 0o755)
+                        except:
+                            pass
+                    
+                    # 设置文件权限为644 (rw-r--r--)
+                    for file_name in files:
+                        file_path = os.path.join(root, file_name)
+                        try:
+                            os.chmod(file_path, 0o644)
+                        except:
+                            pass
+                
+                # 删除备份目录（更新成功）
+                if backup_dir and os.path.exists(backup_dir):
+                    shutil.rmtree(backup_dir, ignore_errors=True)
+                
+                if info_callback:
+                    info_callback(parent)
+                return True
+                
+            except Exception as copy_error:
+                # 恢复备份
+                if backup_dir and os.path.exists(backup_dir):
+                    if os.path.exists(local_dir):
+                        shutil.rmtree(local_dir, ignore_errors=True)
+                    try:
+                        shutil.move(backup_dir, local_dir)
+                    except:
+                        pass
+                raise copy_error
+                
     except Exception as e:
         if error_callback:
             error_callback(parent, str(e))

assets/User_code/bsp/can.c

@@ -37,16 +37,21 @@ static osMutexId_t queue_mutex = NULL;
 static void (*CAN_Callback[BSP_CAN_NUM][BSP_CAN_CB_NUM])(void);
 static bool inited = false;
 static BSP_CAN_IdParser_t id_parser = NULL; /* ID解析器 */
+static BSP_CAN_TxQueue_t tx_queues[BSP_CAN_NUM]; /* 每个CAN的发送队列 */
 
 /* Private function prototypes ---------------------------------------------- */
 static BSP_CAN_t CAN_Get(CAN_HandleTypeDef *hcan);
 static osMessageQueueId_t BSP_CAN_FindQueue(BSP_CAN_t can, uint32_t can_id);
 static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
-static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id);
 static void BSP_CAN_RxFifo0Callback(void);
 static void BSP_CAN_RxFifo1Callback(void);
+static void BSP_CAN_TxCompleteCallback(void);
 static BSP_CAN_FrameType_t BSP_CAN_GetFrameType(CAN_RxHeaderTypeDef *header);
 static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
+static void BSP_CAN_TxQueueInit(BSP_CAN_t can);
+static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
+static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg);
+static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can);
 
 /* Private functions -------------------------------------------------------- */
 /* USER FUNCTION BEGIN */
@@ -118,29 +123,7 @@ static int8_t BSP_CAN_CreateIdQueue(BSP_CAN_t can, uint32_t can_id, uint8_t queu
     return BSP_OK;
 }
 
-/**
- * @brief 删除指定CAN ID的消息队列
- * @note 内部函数，已包含互斥锁保护
- */
-static int8_t BSP_CAN_DeleteIdQueue(BSP_CAN_t can, uint32_t can_id) {
-    if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) != osOK) {
-        return BSP_ERR_TIMEOUT;
-    }
-    BSP_CAN_QueueNode_t **current = &queue_list;
-    while (*current != NULL) {
-        if ((*current)->can == can && (*current)->can_id == can_id) {
-            BSP_CAN_QueueNode_t *to_delete = *current;
-            *current = (*current)->next;
-            osMessageQueueDelete(to_delete->queue);
-            BSP_Free(to_delete);
-            osMutexRelease(queue_mutex);
-            return BSP_OK;
-        }
-        current = &(*current)->next;
-    }
-    osMutexRelease(queue_mutex);
-    return BSP_ERR;  // 未找到
-}
+
 /**
  * @brief 获取帧类型
  */
@@ -160,6 +143,106 @@ static uint32_t BSP_CAN_DefaultIdParser(uint32_t original_id, BSP_CAN_FrameType_
     return original_id;
 }
 
+/**
+ * @brief 初始化发送队列
+ */
+static void BSP_CAN_TxQueueInit(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return;
+    
+    tx_queues[can].head = 0;
+    tx_queues[can].tail = 0;
+}
+
+/**
+ * @brief 向发送队列添加消息（无锁）
+ */
+static bool BSP_CAN_TxQueuePush(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
+    if (can >= BSP_CAN_NUM || msg == NULL) return false;
+    
+    BSP_CAN_TxQueue_t *queue = &tx_queues[can];
+    uint32_t next_head = (queue->head + 1) % BSP_CAN_TX_QUEUE_SIZE;
+    
+    // 队列满
+    if (next_head == queue->tail) {
+        return false;
+    }
+    
+    // 复制消息
+    queue->buffer[queue->head] = *msg;
+    
+    // 更新头指针（原子操作）
+    queue->head = next_head;
+    
+    return true;
+}
+
+
+/**
+ * @brief 从发送队列取出消息（无锁）
+ */
+static bool BSP_CAN_TxQueuePop(BSP_CAN_t can, BSP_CAN_TxMessage_t *msg) {
+    if (can >= BSP_CAN_NUM || msg == NULL) return false;
+    
+    BSP_CAN_TxQueue_t *queue = &tx_queues[can];
+    
+    // 队列空
+    if (queue->head == queue->tail) {
+        return false;
+    }
+    
+    // 复制消息
+    *msg = queue->buffer[queue->tail];
+    
+    // 更新尾指针（原子操作）
+    queue->tail = (queue->tail + 1) % BSP_CAN_TX_QUEUE_SIZE;
+    
+    return true;
+}
+
+/**
+ * @brief 检查发送队列是否为空
+ */
+static bool BSP_CAN_TxQueueIsEmpty(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return true;
+    
+    return tx_queues[can].head == tx_queues[can].tail;
+}
+
+/**
+ * @brief 处理所有CAN实例的发送队列
+ */
+static void BSP_CAN_TxCompleteCallback(void) {
+    // 处理所有CAN实例的发送队列
+    for (int i = 0; i < BSP_CAN_NUM; i++) {
+        BSP_CAN_t can = (BSP_CAN_t)i;
+        CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
+        if (hcan == NULL) continue;
+        
+        BSP_CAN_TxMessage_t msg;
+        uint32_t mailbox;
+        
+        // 尝试发送队列中的消息
+        while (!BSP_CAN_TxQueueIsEmpty(can)) {
+            // 检查是否有空闲邮箱
+            if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0) {
+                break; // 没有空闲邮箱，等待下次中断
+            }
+            
+            // 从队列中取出消息
+            if (!BSP_CAN_TxQueuePop(can, &msg)) {
+                break;
+            }
+            
+            // 发送消息
+            if (HAL_CAN_AddTxMessage(hcan, &msg.header, msg.data, &mailbox) != HAL_OK) {
+                // 发送失败，消息已经从队列中移除，直接丢弃
+                break;
+            }
+        }
+    }
+}
+
+
 /**
  * @brief FIFO0接收处理函数
  */
@@ -344,7 +427,12 @@ int8_t BSP_CAN_Init(void) {
     
     // 清零回调函数数组
     memset(CAN_Callback, 0, sizeof(CAN_Callback));
-    
+        
+    // 初始化发送队列
+    for (int i = 0; i < BSP_CAN_NUM; i++) {
+        BSP_CAN_TxQueueInit((BSP_CAN_t)i);
+    }
+
     // 初始化ID解析器为默认解析器
     id_parser = BSP_CAN_DefaultIdParser;
     
@@ -360,39 +448,6 @@ int8_t BSP_CAN_Init(void) {
     return BSP_OK;
 }
 
-int8_t BSP_CAN_DeInit(void) {
-    if (!inited) {
-        return BSP_ERR;
-    }
-    
-    // 删除所有队列
-    if (osMutexAcquire(queue_mutex, CAN_QUEUE_MUTEX_TIMEOUT) == osOK) {
-        BSP_CAN_QueueNode_t *current = queue_list;
-        while (current != NULL) {
-            BSP_CAN_QueueNode_t *next = current->next;
-            osMessageQueueDelete(current->queue);
-            BSP_Free(current);
-            current = next;
-        }
-        queue_list = NULL;
-        osMutexRelease(queue_mutex);
-    }
-    
-    // 删除互斥锁
-    if (queue_mutex != NULL) {
-        osMutexDelete(queue_mutex);
-        queue_mutex = NULL;
-    }
-    
-    // 清零回调函数数组
-    memset(CAN_Callback, 0, sizeof(CAN_Callback));
-    
-    // 重置ID解析器
-    id_parser = NULL;
-    
-    inited = false;
-    return BSP_OK;
-}
 
 CAN_HandleTypeDef *BSP_CAN_GetHandle(BSP_CAN_t can) {
     if (can >= BSP_CAN_NUM) {
@@ -445,44 +500,58 @@ int8_t BSP_CAN_Transmit(BSP_CAN_t can, BSP_CAN_Format_t format,
         return BSP_ERR_NULL;
     }
     
-    CAN_TxHeaderTypeDef header = {0};
-    uint32_t mailbox;
+    // 准备发送消息
+    BSP_CAN_TxMessage_t tx_msg = {0};
     
     switch (format) {
         case BSP_CAN_FORMAT_STD_DATA:
-            header.StdId = id;
-            header.IDE = CAN_ID_STD;
-            header.RTR = CAN_RTR_DATA;
+            tx_msg.header.StdId = id;
+            tx_msg.header.IDE = CAN_ID_STD;
+            tx_msg.header.RTR = CAN_RTR_DATA;
             break;
         case BSP_CAN_FORMAT_EXT_DATA:
-            header.ExtId = id;
-            header.IDE = CAN_ID_EXT;
-            header.RTR = CAN_RTR_DATA;
+            tx_msg.header.ExtId = id;
+            tx_msg.header.IDE = CAN_ID_EXT;
+            tx_msg.header.RTR = CAN_RTR_DATA;
             break;
         case BSP_CAN_FORMAT_STD_REMOTE:
-            header.StdId = id;
-            header.IDE = CAN_ID_STD;
-            header.RTR = CAN_RTR_REMOTE;
+            tx_msg.header.StdId = id;
+            tx_msg.header.IDE = CAN_ID_STD;
+            tx_msg.header.RTR = CAN_RTR_REMOTE;
             break;
         case BSP_CAN_FORMAT_EXT_REMOTE:
-            header.ExtId = id;
-            header.IDE = CAN_ID_EXT;
-            header.RTR = CAN_RTR_REMOTE;
+            tx_msg.header.ExtId = id;
+            tx_msg.header.IDE = CAN_ID_EXT;
+            tx_msg.header.RTR = CAN_RTR_REMOTE;
             break;
         default:
             return BSP_ERR;
     }
     
-    header.DLC = dlc;
-    header.TransmitGlobalTime = DISABLE;
+    tx_msg.header.DLC = dlc;
+    tx_msg.header.TransmitGlobalTime = DISABLE;
     
-    HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &header, data, &mailbox);
-    
-    if (result != HAL_OK) {
-        return BSP_ERR;
+    // 复制数据
+    if (data != NULL && dlc > 0) {
+        memcpy(tx_msg.data, data, dlc);
     }
     
-    return BSP_OK;
+    // 尝试直接发送到邮箱
+    uint32_t mailbox;
+    if (HAL_CAN_GetTxMailboxesFreeLevel(hcan) > 0) {
+        HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(hcan, &tx_msg.header, tx_msg.data, &mailbox);
+        if (result == HAL_OK) {
+            return BSP_OK; // 发送成功
+        }
+    }
+    
+    // 邮箱满，尝试放入队列
+    if (BSP_CAN_TxQueuePush(can, &tx_msg)) {
+        return BSP_OK; // 成功放入队列
+    }
+    
+    // 队列也满，丢弃数据
+    return BSP_ERR; // 数据丢弃
 }
 
 int8_t BSP_CAN_TransmitStdDataFrame(BSP_CAN_t can, BSP_CAN_StdDataFrame_t *frame) {
@@ -514,12 +583,6 @@ int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size) {
     return BSP_CAN_CreateIdQueue(can, can_id, queue_size);
 }
 
-int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id) {
-    if (!inited) {
-        return BSP_ERR_INITED;
-    }
-    return BSP_CAN_DeleteIdQueue(can, can_id);
-}
 
 int8_t BSP_CAN_GetMessage(BSP_CAN_t can, uint32_t can_id, BSP_CAN_Message_t *msg, uint32_t timeout) {
     if (!inited) {
@@ -586,15 +649,6 @@ int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser) {
     return BSP_OK;
 }
 
-int8_t BSP_CAN_UnregisterIdParser(void) {
-    if (!inited) {
-        return BSP_ERR_INITED;
-    }
-    
-    id_parser = BSP_CAN_DefaultIdParser;
-    return BSP_OK;
-}
-
 uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
     if (id_parser != NULL) {
         return id_parser(original_id, frame_type);
@@ -602,43 +656,4 @@ uint32_t BSP_CAN_ParseId(uint32_t original_id, BSP_CAN_FrameType_t frame_type) {
     return BSP_CAN_DefaultIdParser(original_id, frame_type);
 }
 
-int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout) {
-    if (!inited) {
-        return BSP_ERR_INITED;
-    }
-    if (can >= BSP_CAN_NUM) {
-        return BSP_ERR;
-    }
-    
-    CAN_HandleTypeDef *hcan = BSP_CAN_GetHandle(can);
-    if (hcan == NULL) {
-        return BSP_ERR_NULL;
-    }
-    
-    uint32_t start_time = HAL_GetTick();
-    
-    // 如果超时时间为0，立即检查并返回
-    if (timeout == 0) {
-        uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
-        return (free_level > 0) ? BSP_OK : BSP_ERR_TIMEOUT;
-    }
-    
-    // 等待至少有一个邮箱空闲
-    while (true) {
-        uint32_t free_level = HAL_CAN_GetTxMailboxesFreeLevel(hcan);
-        if (free_level > 0) {
-            return BSP_OK;
-        }
-        
-        // 检查超时
-        if (timeout != BSP_CAN_TIMEOUT_FOREVER) {
-            uint32_t elapsed = HAL_GetTick() - start_time;
-            if (elapsed >= timeout) {
-                return BSP_ERR_TIMEOUT;
-            }
-        }
-        
-        // 短暂延时，避免占用过多CPU
-        osDelay(1);
-    }
-}
+

assets/User_code/bsp/can.h

@@ -21,6 +21,7 @@ extern "C" {
 #define BSP_CAN_DEFAULT_QUEUE_SIZE      10
 #define BSP_CAN_TIMEOUT_IMMEDIATE       0
 #define BSP_CAN_TIMEOUT_FOREVER         osWaitForever
+#define BSP_CAN_TX_QUEUE_SIZE           32    /* 发送队列大小 */
 
 /* USER DEFINE BEGIN */
 
@@ -29,7 +30,8 @@ extern "C" {
 /* Exported macro ----------------------------------------------------------- */
 /* Exported types ----------------------------------------------------------- */
 typedef enum {
-/* AUTO GENERATED BSP_CAN_NAME */
+  BSP_CAN_1,
+  BSP_CAN_2,
   BSP_CAN_NUM,
   BSP_CAN_ERR,
 } BSP_CAN_t;
@@ -101,6 +103,19 @@ typedef struct {
 /* ID解析回调函数类型 */
 typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t frame_type);
 
+/* CAN发送消息结构体 */
+typedef struct {
+    CAN_TxHeaderTypeDef header;         /* 发送头 */
+    uint8_t data[BSP_CAN_MAX_DLC];      /* 数据 */
+} BSP_CAN_TxMessage_t;
+
+/* 无锁环形队列结构体 */
+typedef struct {
+    BSP_CAN_TxMessage_t buffer[BSP_CAN_TX_QUEUE_SIZE];  /* 缓冲区 */
+    volatile uint32_t head;             /* 队列头 */
+    volatile uint32_t tail;             /* 队列尾 */
+} BSP_CAN_TxQueue_t;
+
 /* USER STRUCT BEGIN */
 
 /* USER STRUCT END */
@@ -113,12 +128,6 @@ typedef uint32_t (*BSP_CAN_IdParser_t)(uint32_t original_id, BSP_CAN_FrameType_t
  */
 int8_t BSP_CAN_Init(void);
 
-/**
- * @brief 反初始化 CAN 模块
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_DeInit(void);
-
 /**
  * @brief 获取 CAN 句柄
  * @param can CAN 枚举
@@ -172,13 +181,20 @@ int8_t BSP_CAN_TransmitExtDataFrame(BSP_CAN_t can, BSP_CAN_ExtDataFrame_t *frame
  */
 int8_t BSP_CAN_TransmitRemoteFrame(BSP_CAN_t can, BSP_CAN_RemoteFrame_t *frame);
 
+
 /**
- * @brief 等待CAN发送邮箱空闲
+ * @brief 获取发送队列中待发送消息数量
+ * @param can CAN 枚举
+ * @return 队列中消息数量，-1表示错误
+ */
+int32_t BSP_CAN_GetTxQueueCount(BSP_CAN_t can);
+
+/**
+ * @brief 清空发送队列
  * @param can CAN 枚举
- * @param timeout 超时时间（毫秒），0为立即返回，osWaitForever为永久等待
  * @return BSP_OK 成功，其他值失败
  */
-int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
+int8_t BSP_CAN_FlushTxQueue(BSP_CAN_t can);
 
 /**
  * @brief 注册 CAN ID 接收队列
@@ -189,13 +205,7 @@ int8_t BSP_CAN_WaitTxMailboxEmpty(BSP_CAN_t can, uint32_t timeout);
  */
 int8_t BSP_CAN_RegisterId(BSP_CAN_t can, uint32_t can_id, uint8_t queue_size);
 
-/**
- * @brief 注销 CAN ID 接收队列
- * @param can CAN 枚举
- * @param can_id 解析后的CAN ID
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_UnregisterIdQueue(BSP_CAN_t can, uint32_t can_id);
+
 
 /**
  * @brief 获取 CAN 消息
@@ -230,11 +240,6 @@ int8_t BSP_CAN_FlushQueue(BSP_CAN_t can, uint32_t can_id);
  */
 int8_t BSP_CAN_RegisterIdParser(BSP_CAN_IdParser_t parser);
 
-/**
- * @brief 注销ID解析器
- * @return BSP_OK 成功，其他值失败
- */
-int8_t BSP_CAN_UnregisterIdParser(void);
 
 /**
  * @brief 解析CAN ID

assets/User_code/bsp/describe.csv

@@ -1,5 +1,5 @@
 uart,请开启uart的dma和中断
-can,请开启can中断，使用函数前请确保can已经初始化。
+can,请开启can中断，使用函数前请确保can已经初始化。一定要开启can发送中断！！！
 gpio,会自动读取cubemx中配置为gpio的引脚，并自动区分输入输出和中断。
 spi,请开启spi的dma和中断
 i2c,要求开始spi中断

assets/User_code/component/cmd.c

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

assets/User_code/component/cmd.h

@@ -1,318 +0,0 @@
-/*
-  控制命令
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include "component/ahrs.h"
-
-/* USER INCLUDE BEGIN */
-
-/* USER INCLUDE END */
-
-#define CMD_REFEREE_MAX_NUM (3) /* Lines 16 omitted */
-
-/* USER DEFINE BEGIN */
-
-/* USER DEFINE END */
-
-/* 机器人型号 */
-typedef enum {
-  ROBOT_MODEL_INFANTRY = 0, /* 步兵机器人 */
-  ROBOT_MODEL_HERO,         /* 英雄机器人 */
-  ROBOT_MODEL_ENGINEER,     /* 工程机器人 */
-  ROBOT_MODEL_DRONE,        /* 空中机器人 */
-  ROBOT_MODEL_SENTRY,       /* 哨兵机器人 */
-  ROBOT_MODEL_NUM,          /* 型号数量 */
-} CMD_RobotModel_t;
-
-/* 底盘运行模式 */
-typedef enum {
-  CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
-  CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */
-  CHASSIS_MODE_FOLLOW_GIMBAL, /* 通过闭环控制使车头方向跟随云台 */
-  CHASSIS_MODE_FOLLOW_GIMBAL_35, /* 通过闭环控制使车头方向35度跟随云台 */
-  CHASSIS_MODE_ROTOR, /* 小陀螺模式，通过闭环控制使底盘不停旋转 */
-  CHASSIS_MODE_INDENPENDENT, /* 独立模式。底盘运行不受云台影响 */
-  CHASSIS_MODE_OPEN, /* 开环模式。底盘运行不受PID控制，直接输出到电机 */
-} CMD_ChassisMode_t;
-
-/* 云台运行模式 */
-typedef enum {
-  GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
-  GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
-  GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
-} CMD_GimbalMode_t;
-
-/* 射击运行模式 */
-typedef enum {
-  SHOOT_MODE_RELAX,  /* 放松模式，电机不输出 */
-  SHOOT_MODE_SAFE,   /* 保险模式，电机闭环控制保持静止 */
-  SHOOT_MODE_LOADED, /* 上膛模式，摩擦轮开启。随时准备开火 */
-} CMD_ShootMode_t;
-
-typedef enum {
-  FIRE_MODE_SINGLE, /* 单发开火模式  */
-  FIRE_MODE_BURST,  /* N连发开火模式 */
-  FIRE_MODE_CONT,   /* 持续开火模式 */
-  FIRE_MODE_NUM,
-} CMD_FireMode_t;
-
-/* 小陀螺转动模式 */
-typedef enum {
-  ROTOR_MODE_CW,   /* 顺时针转动 */
-  ROTOR_MODE_CCW,  /* 逆时针转动 */
-  ROTOR_MODE_RAND, /* 随机转动 */
-} CMD_RotorMode_t;
-
-/* 底盘控制命令 */
-typedef struct {
-  CMD_ChassisMode_t mode;     /* 底盘运行模式 */
-  CMD_RotorMode_t mode_rotor; /* 小陀螺转动模式 */
-  MoveVector_t ctrl_vec;      /* 底盘控制向量 */
-} CMD_ChassisCmd_t;
-
-/* 云台控制命令 */
-typedef struct {
-  CMD_GimbalMode_t mode;  /* 云台运行模式 */
-  AHRS_Eulr_t delta_eulr; /* 欧拉角变化角度 */
-} CMD_GimbalCmd_t;
-
-/* 射击控制命令 */
-typedef struct {
-  CMD_ShootMode_t mode;     /* 射击运行模式 */
-  CMD_FireMode_t fire_mode; /* 开火模式 */
-  bool fire;                /*开火*/
-  bool cover_open;          /* 弹舱盖开关 */
-  bool reverse_trig;        /* 拨弹电机状态 */
-} CMD_ShootCmd_t;
-
-/* 拨杆位置 */
-typedef enum {
-  CMD_SW_ERR = 0,
-  CMD_SW_UP = 1,
-  CMD_SW_MID = 3,
-  CMD_SW_DOWN = 2,
-} CMD_SwitchPos_t;
-
-/* 键盘按键值 */
-typedef enum {
-  CMD_KEY_W = 0,
-  CMD_KEY_S,
-  CMD_KEY_A,
-  CMD_KEY_D,
-  CMD_KEY_SHIFT,
-  CMD_KEY_CTRL,
-  CMD_KEY_Q,
-  CMD_KEY_E,
-  CMD_KEY_R,
-  CMD_KEY_F,
-  CMD_KEY_G,
-  CMD_KEY_Z,
-  CMD_KEY_X,
-  CMD_KEY_C,
-  CMD_KEY_V,
-  CMD_KEY_B,
-  CMD_L_CLICK,
-  CMD_R_CLICK,
-  CMD_KEY_NUM,
-} CMD_KeyValue_t;
-
-/* 行为值序列 */
-typedef enum {
-  CMD_BEHAVIOR_FORE = 0,       /* 向前 */
-  CMD_BEHAVIOR_BACK,           /* 向后 */
-  CMD_BEHAVIOR_LEFT,           /* 向左 */
-  CMD_BEHAVIOR_RIGHT,          /* 向右 */
-  CMD_BEHAVIOR_ACCELERATE,     /* 加速 */
-  CMD_BEHAVIOR_DECELEBRATE,    /* 减速 */
-  CMD_BEHAVIOR_FIRE,           /* 开火 */
-  CMD_BEHAVIOR_FIRE_MODE,      /* 切换开火模式 */
-  CMD_BEHAVIOR_BUFF,           /* 打符模式 */
-  CMD_BEHAVIOR_AUTOAIM,        /* 自瞄模式 */
-  CMD_BEHAVIOR_OPENCOVER,      /* 弹舱盖开关 */
-  CMD_BEHAVIOR_ROTOR,          /* 小陀螺模式 */
-  CMD_BEHAVIOR_REVTRIG,        /* 反转拨弹 */
-  CMD_BEHAVIOR_FOLLOWGIMBAL35, /* 跟随云台呈35度 */
-  CMD_BEHAVIOR_NUM,
-} CMD_Behavior_t;
-
-typedef enum {
-  CMD_ACTIVE_PRESSING, /* 按下时触发 */
-  CMD_ACTIVE_RASING,   /* 抬起时触发 */
-  CMD_ACTIVE_PRESSED,  /* 按住时触发 */
-} CMD_ActiveType_t;
-
-typedef struct {
-  CMD_ActiveType_t active;
-  CMD_KeyValue_t key;
-} CMD_KeyMapItem_t;
-
-/* 行为映射的对应按键数组 */
-typedef struct {
-  CMD_KeyMapItem_t key_map[CMD_BEHAVIOR_NUM];
-} CMD_KeyMap_Params_t;
-
-/* 位移灵敏度参数 */
-typedef struct {
-  float move_sense;      /* 移动灵敏度 */
-  float move_fast_sense; /* 加速灵敏度 */
-  float move_slow_sense; /* 减速灵敏度 */
-} CMD_Move_Params_t;
-
-typedef struct {
-  uint16_t width;
-  uint16_t height;
-} CMD_Screen_t;
-
-/* 命令参数 */
-typedef struct {
-  float sens_mouse;        /* 鼠标灵敏度 */
-  float sens_rc;           /* 遥控器摇杆灵敏度 */
-  CMD_KeyMap_Params_t map; /* 按键映射行为命令 */
-  CMD_Move_Params_t move;  /* 位移灵敏度参数 */
-  CMD_Screen_t screen;     /* 屏幕分辨率参数 */
-} CMD_Params_t;
-
-/* AI行为状态 */
-typedef enum {
-  AI_STATUS_STOP,      /* 停止状态 */
-  AI_STATUS_AUTOAIM,   /* 自瞄状态 */
-  AI_STATUS_HITSWITCH, /* 打符状态 */
-  AI_STATUS_AUTOMATIC  /* 自动状态 */
-} CMD_AI_Status_t;
-
-/* UI所用行为状态 */
-typedef enum {
-  CMD_UI_NOTHING,          /* 当前无状态 */
-  CMD_UI_AUTO_AIM_START,   /* 自瞄状态开启 */
-  CMD_UI_AUTO_AIM_STOP,    /* 自瞄状态关闭 */
-  CMD_UI_HIT_SWITCH_START, /* 打符状态开启 */
-  CMD_UI_HIT_SWITCH_STOP   /* 打符状态关闭 */
-} CMD_UI_t;
-
-/*裁判系统发送的命令*/
-typedef struct {
-  CMD_UI_t cmd[CMD_REFEREE_MAX_NUM]; /* 命令数组 */
-  uint8_t counter;                   /* 命令计数 */
-} CMD_RefereeCmd_t;
-
-typedef struct {
-  bool pc_ctrl;        /* 是否使用键鼠控制 */
-  bool host_overwrite; /* 是否Host控制 */
-  uint16_t key_last;   /* 上次按键键值 */
-
-  struct {
-    int16_t x;
-    int16_t y;
-    int16_t z;
-    bool l_click; /* 左键 */
-    bool r_click; /* 右键 */
-  } mouse_last;   /* 鼠标值 */
-
-  CMD_AI_Status_t ai_status; /* AI状态 */
-
-  const CMD_Params_t *param; /* 命令参数 */
-
-  CMD_ChassisCmd_t chassis; /* 底盘控制命令 */
-  CMD_GimbalCmd_t gimbal;   /* 云台控制命令 */
-  CMD_ShootCmd_t shoot;     /* 射击控制命令 */
-  CMD_RefereeCmd_t referee; /* 裁判系统发送命令 */
-} CMD_t;
-
-typedef struct {
-  float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
-  float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
-  float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
-  float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
-
-  float ch_res; /* 第五通道值 */
-
-  CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
-  CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
-
-  struct {
-    int16_t x;
-    int16_t y;
-    int16_t z;
-    bool l_click; /* 左键 */
-    bool r_click; /* 右键 */
-  } mouse;        /* 鼠标值 */
-
-  uint16_t key; /* 按键值 */
-
-  uint16_t res; /* 保留，未启用 */
-} CMD_RC_t;
-
-typedef struct {
-  AHRS_Eulr_t gimbal_delta; /* 欧拉角的变化量 */
-
-  struct {
-    float vx;         /* x轴移动速度 */
-    float vy;         /* y轴移动速度 */
-    float wz;         /* z轴转动速度 */
-  } chassis_move_vec; /* 底盘移动向量 */
-
-  bool fire; /* 开火状态 */
-} CMD_Host_t;
-
-/**
- * @brief 解析行为命令
- *
- * @param rc 遥控器数据
- * @param cmd 主结构体
- */
-int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param);
-
-/**
- * @brief 检查是否启用上位机控制指令覆盖
- *
- * @param cmd 主结构体
- * @return true 启用
- * @return false 不启用
- */
-bool CMD_CheckHostOverwrite(CMD_t *cmd);
-
-/**
- * @brief 解析命令
- *
- * @param rc 遥控器数据
- * @param cmd 命令
- * @param dt_sec 两次解析的间隔
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec);
-
-/**
- * @brief 解析上位机命令
- *
- * @param host host数据
- * @param cmd 命令
- * @param dt_sec 两次解析的间隔
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec);
-
-/**
- * @brief 添加向Referee发送的命令
- *
- * @param ref 命令队列
- * @param cmd 要添加的命令
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd);
-
-/* USER FUNCTION BEGIN */
-
-/* USER FUNCTION END */
-
-#ifdef __cplusplus
-}
-#endif

assets/User_code/component/user_math.c

@@ -48,13 +48,11 @@ inline float Sign(float in) { return (in > 0) ? 1.0f : 0.0f; }
 inline void ResetMoveVector(MoveVector_t *mv) { memset(mv, 0, sizeof(*mv)); }
 
 /**
- * \brief 计算循环值的误差，用于没有负数值，并在一定范围内变化的值
- * 例如编码器：相差1.5PI其实等于相差-0.5PI
- *
- * \param sp 被操作的值
- * \param fb 变化量
+ * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
+ * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
+ * \param sp 设定值
+ * \param fb 反馈值
  * \param range 被操作的值变化范围，正数时起效
- *
  * \return 函数运行结果
  */
 inline float CircleError(float sp, float fb, float range) {
@@ -71,9 +69,7 @@ inline float CircleError(float sp, float fb, float range) {
 }
 
 /**
- * \brief 循环加法，用于没有负数值，并在一定范围内变化的值
- * 例如编码器，在0-2PI内变化，1.5PI + 1.5PI = 1PI
- *
+ * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况
  * \param origin 被操作的值
  * \param delta 变化量
  * \param range 被操作的值变化范围，正数时起效

assets/User_code/component/user_math.h

@@ -21,6 +21,10 @@ extern "C" {
 #define M_DEG2RAD_MULT (0.01745329251f)
 #define M_RAD2DEG_MULT (57.2957795131f)
 
+#ifndef M_PI_2
+#define M_PI_2 1.57079632679f
+#endif
+
 #ifndef M_PI
 #define M_PI 3.14159265358979323846f
 #endif
@@ -82,21 +86,17 @@ float Sign(float in);
 void ResetMoveVector(MoveVector_t *mv);
 
 /**
- * \brief 计算循环值的误差，用于没有负数值，并在一定范围内变化的值
- * 例如编码器：相差1.5PI其实等于相差-0.5PI
- *
- * \param sp 被操作的值
- * \param fb 变化量
+ * \brief 计算循环值的误差，适用于设定值与反馈值均在（x,y）范围内循环的情况，range应设定为y-x
+ * 例如：（-M_PI,M_PI）range=M_2PI;(0,M_2PI)range=M_2PI;（a,a+b）range=b;
+ * \param sp 设定值
+ * \param fb 反馈值
  * \param range 被操作的值变化范围，正数时起效
- *
  * \return 函数运行结果
  */
 float CircleError(float sp, float fb, float range);
 
 /**
- * \brief 循环加法，用于没有负数值，并在一定范围内变化的值
- * 例如编码器，在0-2PI内变化，1.5PI + 1.5PI = 1PI
- *
+ * \brief 循环加法，适用于被操作的值在（0,range）范围内循环的情况
  * \param origin 被操作的值
  * \param delta 变化量
  * \param range 被操作的值变化范围，正数时起效

assets/User_code/config.csv

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

assets/User_code/device/ai.c

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

assets/User_code/device/ai.h

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

assets/User_code/device/buzzer.c

@@ -1,4 +1,6 @@
 #include "device/buzzer.h"
+#include "bsp/time.h"
+#include <math.h>
 
 /* USER INCLUDE BEGIN */
 
@@ -8,6 +10,85 @@
 
 /* USER DEFINE END */
 
+#define MUSIC_DEFAULT_VOLUME 0.5f
+#define MUSIC_A4_FREQ 440.0f  // A4音符频率
+
+/* USER MUSIC MENU BEGIN */
+// RM音乐
+const Tone_t RM[] = {
+    {NOTE_B, 5, 200},
+    {NOTE_G, 4, 200},
+    {NOTE_B, 5, 400},
+    {NOTE_G, 4, 200},
+    {NOTE_B, 5, 400},
+    {NOTE_G, 4, 200},
+    {NOTE_D, 5, 400},
+    {NOTE_G, 4, 200},
+    {NOTE_C, 5, 200},
+    {NOTE_C, 5, 200},
+    {NOTE_G, 4, 200},
+    {NOTE_B, 5, 200},
+    {NOTE_C, 5, 200}
+};
+
+// Nokia 经典铃声音符
+const Tone_t NOKIA[] = {
+    {NOTE_E, 5, 125}, {NOTE_D, 5, 125}, {NOTE_FS, 4, 250}, {NOTE_GS, 4, 250},
+    {NOTE_CS, 5, 125}, {NOTE_B, 4, 125}, {NOTE_D, 4, 250}, {NOTE_E, 4, 250},
+    {NOTE_B, 4, 125}, {NOTE_A, 4, 125}, {NOTE_CS, 4, 250}, {NOTE_E, 4, 250},
+    {NOTE_A, 4, 500}
+};
+/* USER MUSIC MENU END */
+
+static void BUZZER_Update(BUZZER_t *buzzer){
+    buzzer->header.online = true;
+    buzzer->header.last_online_time = BSP_TIME_Get_ms();
+}
+
+// 根据音符和八度计算频率的辅助函数
+static float BUZZER_CalcFreq(NOTE_t note, uint8_t octave) {
+    if (note == NOTE_REST) {
+        return 0.0f; // 休止符返回0频率
+    }
+    
+    // 将音符和八度转换为MIDI音符编号
+    int midi_num = (int)note + (int)((octave + 1) * 12);
+    
+    // 使用A4 (440Hz) 作为参考，计算频率
+    // 公式: freq = 440 * 2^((midi_num - 69)/12)
+    float freq = 440.0f * powf(2.0f, ((float)midi_num - 69.0f) / 12.0f);
+    
+    return freq;
+}
+
+// 播放单个音符
+static int8_t BUZZER_PlayTone(BUZZER_t *buzzer, NOTE_t note, uint8_t octave, uint16_t duration_ms) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    
+    float freq = BUZZER_CalcFreq(note, octave);
+    
+    if (freq > 0.0f) {
+        // 播放音符
+        if (BUZZER_Set(buzzer, freq, MUSIC_DEFAULT_VOLUME) != DEVICE_OK) 
+            return DEVICE_ERR;
+        
+        if (BUZZER_Start(buzzer) != DEVICE_OK) 
+            return DEVICE_ERR;
+    } else {
+        // 休止符，停止播放
+        BUZZER_Stop(buzzer);
+    }
+    
+    // 等待指定时间
+    BSP_TIME_Delay_ms(duration_ms);
+    
+    // 停止当前音符，为下一个音符做准备
+    BUZZER_Stop(buzzer);
+    BSP_TIME_Delay_ms(20); // 短暂间隔
+    
+    return DEVICE_OK;
+}
 
 int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) {
     if (buzzer == NULL) return DEVICE_ERR;
@@ -23,7 +104,7 @@ int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel) {
 int8_t BUZZER_Start(BUZZER_t *buzzer) {
     if (buzzer == NULL || !buzzer->header.online) 
         return DEVICE_ERR;
-    
+    BUZZER_Update(buzzer);
     return (BSP_PWM_Start(buzzer->channel) == BSP_OK) ? 
            DEVICE_OK  : DEVICE_ERR;
 }
@@ -31,7 +112,7 @@ int8_t BUZZER_Start(BUZZER_t *buzzer) {
 int8_t BUZZER_Stop(BUZZER_t *buzzer) {
     if (buzzer == NULL || !buzzer->header.online) 
         return DEVICE_ERR;
-    
+    BUZZER_Update(buzzer);
     return (BSP_PWM_Stop(buzzer->channel) == BSP_OK) ? 
            DEVICE_OK  : DEVICE_ERR;
 }
@@ -41,7 +122,7 @@ int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle) {
         return DEVICE_ERR;
     
     int result = DEVICE_OK ;
-    
+    BUZZER_Update(buzzer);
     if (BSP_PWM_SetFreq(buzzer->channel, freq) != BSP_OK) 
         result = DEVICE_ERR;
     
@@ -51,6 +132,40 @@ int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle) {
     return result;
 }
 
+int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music) {
+    if (buzzer == NULL || !buzzer->header.online) 
+        return DEVICE_ERR;
+    
+    const Tone_t *melody = NULL;
+    size_t melody_length = 0;
+    
+    // 根据音乐类型选择对应的音符数组
+    switch (music) {
+        case MUSIC_RM:
+            melody = RM;
+            melody_length = sizeof(RM) / sizeof(Tone_t);
+            break;
+        case MUSIC_NOKIA:
+            melody = NOKIA;
+            melody_length = sizeof(NOKIA) / sizeof(Tone_t);
+            break;
+        default:
+            return DEVICE_ERR;
+    }
+    
+    // 播放整首音乐
+    for (size_t i = 0; i < melody_length; i++) {
+        if (BUZZER_PlayTone(buzzer, melody[i].note, melody[i].octave, melody[i].duration_ms) != DEVICE_OK) {
+            BUZZER_Stop(buzzer); // 出错时停止播放
+            return DEVICE_ERR;
+        }
+    }
+    
+    // 音乐播放完成后停止
+    BUZZER_Stop(buzzer);
+    return DEVICE_OK;
+}
+
 /* USER FUNCTION BEGIN */
 
 /* USER FUNCTION END */

assets/User_code/device/buzzer.h

@@ -1,3 +1,11 @@
+/**
+ * @file buzzer.h
+ * @brief 蜂鸣器设备驱动头文件
+ * @details 提供蜂鸣器音频播放功能，支持单音符播放和预设音乐播放
+ * @author Generated by STM32CubeMX
+ * @date 2025年10月23日
+ */
+
 #pragma once
 
 #ifdef __cplusplus
@@ -5,9 +13,10 @@ extern "C" {
 #endif
 
 /* Includes ----------------------------------------------------------------- */
-#include "device.h"          
-#include "bsp/pwm.h"         
-#include <stddef.h>
+#include "bsp/pwm.h"    // PWM底层硬件抽象层
+#include "device.h"     // 设备通用头文件
+#include <stddef.h>     // 标准定义
+#include <stdint.h>     // 标准整型定义
 
 /* USER INCLUDE BEGIN */
 
@@ -20,9 +29,55 @@ extern "C" {
 /* USER DEFINE END */
 
 /* Exported types ----------------------------------------------------------- */
+
+/**
+ * @brief 音符枚举类型
+ * @details 定义标准十二平均律音符，用于音乐播放
+ */
+typedef enum {
+  NOTE_C = 0,       ///< Do音符
+  NOTE_CS = 1,      ///< Do#音符 (升Do)
+  NOTE_D = 2,       ///< Re音符
+  NOTE_DS = 3,      ///< Re#音符 (升Re)
+  NOTE_E = 4,       ///< Mi音符
+  NOTE_F = 5,       ///< Fa音符
+  NOTE_FS = 6,      ///< Fa#音符 (升Fa)
+  NOTE_G = 7,       ///< Sol音符
+  NOTE_GS = 8,      ///< Sol#音符 (升Sol)
+  NOTE_A = 9,       ///< La音符
+  NOTE_AS = 10,     ///< La#音符 (升La)
+  NOTE_B = 11,      ///< Si音符
+  NOTE_REST = 255   ///< 休止符 (无声音)
+} NOTE_t;
+
+/**
+ * @brief 音调结构体
+ * @details 定义一个完整的音调信息，包括音符、八度和持续时间
+ */
 typedef struct {
-    DEVICE_Header_t header;    
-    BSP_PWM_Channel_t channel; 
+  NOTE_t note;          ///< 音符名称 (使用NOTE_t枚举)
+  uint8_t octave;       ///< 八度 (0-8，通常使用3-7)
+  uint16_t duration_ms; ///< 持续时间，单位毫秒
+} Tone_t;
+
+/**
+ * @brief 预设音乐枚举类型
+ * @details 定义可播放的预设音乐类型
+ */
+typedef enum {
+  /* USER MUSIC MENU BEGIN */
+  MUSIC_RM,     ///< RM战队音乐
+  MUSIC_NOKIA,  ///< 诺基亚经典铃声
+  /* USER MUSIC MENU END */
+} MUSIC_t;
+
+/**
+ * @brief 蜂鸣器设备结构体
+ * @details 蜂鸣器设备的完整描述，包含设备头信息和PWM通道
+ */
+typedef struct {
+  DEVICE_Header_t header;     ///< 设备通用头信息 (在线状态、时间戳等)
+  BSP_PWM_Channel_t channel;  ///< PWM输出通道
 } BUZZER_t;
 
 /* USER STRUCT BEGIN */
@@ -31,17 +86,49 @@ typedef struct {
 
 /* Exported functions prototypes -------------------------------------------- */
 
+/**
+ * @brief 初始化蜂鸣器设备
+ * @param buzzer 蜂鸣器设备结构体指针
+ * @param channel PWM输出通道
+ * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败
+ * @note 初始化后蜂鸣器处于停止状态
+ */
 int8_t BUZZER_Init(BUZZER_t *buzzer, BSP_PWM_Channel_t channel);
 
-
+/**
+ * @brief 启动蜂鸣器播放
+ * @param buzzer 蜂鸣器设备结构体指针
+ * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败
+ * @note 需要先调用BUZZER_Set设置频率和占空比
+ */
 int8_t BUZZER_Start(BUZZER_t *buzzer);
 
-
+/**
+ * @brief 停止蜂鸣器播放
+ * @param buzzer 蜂鸣器设备结构体指针
+ * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败
+ */
 int8_t BUZZER_Stop(BUZZER_t *buzzer);
 
-
+/**
+ * @brief 设置蜂鸣器频率和占空比
+ * @param buzzer 蜂鸣器设备结构体指针
+ * @param freq 频率 (Hz)，通常范围20Hz-20kHz
+ * @param duty_cycle 占空比 (0.0-1.0)，影响音量大小
+ * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败
+ * @note 设置后需要调用BUZZER_Start才能听到声音
+ */
 int8_t BUZZER_Set(BUZZER_t *buzzer, float freq, float duty_cycle);
 
+/**
+ * @brief 播放预设音乐
+ * @param buzzer 蜂鸣器设备结构体指针
+ * @param music 音乐类型 (使用MUSIC_t枚举)
+ * @return int8_t 返回值：DEVICE_OK(0) 成功，DEVICE_ERR(-1) 失败
+ * @note 这是一个阻塞函数，会播放完整首音乐后返回
+ */
+int8_t BUZZER_PlayMusic(BUZZER_t *buzzer, MUSIC_t music);
+
 /* USER FUNCTION BEGIN */
 
 /* USER FUNCTION END */

assets/User_code/device/dm_imu.c

@@ -166,7 +166,6 @@ int8_t DM_IMU_Request(DM_IMU_t *imu, DM_IMU_RID_t rid) {
         .dlc = 4,
     };
     memcpy(frame.data, tx_data, 4);
-    BSP_CAN_WaitTxMailboxEmpty(imu->param.can, 1); // 等待发送邮箱空闲
     int8_t result = BSP_CAN_TransmitStdDataFrame(imu->param.can, &frame);
     return (result == BSP_OK) ? DEVICE_OK : DEVICE_ERR;
 }
@@ -253,8 +252,9 @@ int8_t DM_IMU_AutoUpdateAll(DM_IMU_t *imu){
     count++;
     if (count >= 4) {
         count = 0; // 重置计数器
+        return DEVICE_OK;
     }
-    return DEVICE_OK;
+    return DEVICE_ERR;
 }
 
 /**

assets/User_code/device/dr16.c

@@ -1,14 +1,27 @@
 /*
     DR16接收机
+    Example：
+
+  DR16_Init(&dr16);
+  
+  while (1) {
+    DR16_StartDmaRecv(&dr16);
+    if (DR16_WaitDmaCplt(20)) {
+      DR16_ParseData(&dr16);
+    } else {
+      DR16_Offline(&dr16);
+    }
+}
 */
 
 /* Includes ----------------------------------------------------------------- */
 #include "dr16.h"
-
-#include <string.h>
-
 #include "bsp/uart.h"
 #include "bsp/time.h"
+#include "device.h"
+
+#include <string.h>
+#include <stdbool.h>
 
 /* USER INCLUDE BEGIN */
 
@@ -37,27 +50,27 @@ static void DR16_RxCpltCallback(void) {
 static bool DR16_DataCorrupted(const DR16_t *dr16) {
   if (dr16 == NULL) return DEVICE_ERR_NULL;
 
-  if ((dr16->data.ch_r_x < DR16_CH_VALUE_MIN) ||
-      (dr16->data.ch_r_x > DR16_CH_VALUE_MAX))
-    return true;
+  if ((dr16->raw_data.ch_r_x < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_r_x > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
 
-  if ((dr16->data.ch_r_y < DR16_CH_VALUE_MIN) ||
-      (dr16->data.ch_r_y > DR16_CH_VALUE_MAX))
-    return true;
+  if ((dr16->raw_data.ch_r_y < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_r_y > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
 
-  if ((dr16->data.ch_l_x < DR16_CH_VALUE_MIN) ||
-      (dr16->data.ch_l_x > DR16_CH_VALUE_MAX))
-    return true;
+  if ((dr16->raw_data.ch_l_x < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_l_x > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
 
-  if ((dr16->data.ch_l_y < DR16_CH_VALUE_MIN) ||
-      (dr16->data.ch_l_y > DR16_CH_VALUE_MAX))
-    return true;
+  if ((dr16->raw_data.ch_l_y < DR16_CH_VALUE_MIN) ||
+      (dr16->raw_data.ch_l_y > DR16_CH_VALUE_MAX))
+    return DEVICE_ERR;
 
-  if (dr16->data.sw_l == 0) return true;
+  if (dr16->raw_data.sw_l == 0) return DEVICE_ERR;
 
-  if (dr16->data.sw_r == 0) return true;
+  if (dr16->raw_data.sw_r == 0) return DEVICE_ERR;
 
-  return false;
+  return DEVICE_OK;
 }
 
 /* Exported functions ------------------------------------------------------- */
@@ -81,8 +94,8 @@ int8_t DR16_Restart(void) {
 
 int8_t DR16_StartDmaRecv(DR16_t *dr16) {
   if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_DR16),
-                           (uint8_t *)&(dr16->data),
-                           sizeof(dr16->data)) == HAL_OK)
+                           (uint8_t *)&(dr16->raw_data),
+                           sizeof(dr16->raw_data)) == HAL_OK)
     return DEVICE_OK;
   return DEVICE_ERR;
 }
@@ -92,6 +105,65 @@ bool DR16_WaitDmaCplt(uint32_t timeout) {
           SIGNAL_DR16_RAW_REDY);
 }
 
+int8_t DR16_ParseData(DR16_t *dr16){
+  if (dr16 == NULL) return DEVICE_ERR_NULL;
+
+  if (DR16_DataCorrupted(dr16)) {
+    return DEVICE_ERR;
+  }
+
+  dr16->header.online = true;
+  dr16->header.last_online_time = BSP_TIME_Get_us();
+  
+  memset(&(dr16->data), 0, sizeof(dr16->data));
+
+  float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
+
+  // 解析摇杆数据
+  dr16->data.ch_r_x = 2.0f * ((float)dr16->raw_data.ch_r_x - DR16_CH_VALUE_MID) / full_range;
+  dr16->data.ch_r_y = 2.0f * ((float)dr16->raw_data.ch_r_y - DR16_CH_VALUE_MID) / full_range;
+  dr16->data.ch_l_x = 2.0f * ((float)dr16->raw_data.ch_l_x - DR16_CH_VALUE_MID) / full_range;
+  dr16->data.ch_l_y = 2.0f * ((float)dr16->raw_data.ch_l_y - DR16_CH_VALUE_MID) / full_range;
+
+  // 解析拨杆位置
+  dr16->data.sw_l = (DR16_SwitchPos_t)dr16->raw_data.sw_l;
+  dr16->data.sw_r = (DR16_SwitchPos_t)dr16->raw_data.sw_r;
+
+  // 解析鼠标数据
+  dr16->data.mouse.x = dr16->raw_data.x;
+  dr16->data.mouse.y = dr16->raw_data.y;
+  dr16->data.mouse.z = dr16->raw_data.z;
+
+  dr16->data.mouse.l_click = dr16->raw_data.press_l;
+  dr16->data.mouse.r_click = dr16->raw_data.press_r;
+
+  // 解析键盘按键 - 使用union简化代码
+  uint16_t key_value = dr16->raw_data.key;
+  
+  // 解析键盘位映射（W-B键，位0-15）
+  for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) {
+    dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
+  }
+
+  // 解析鼠标点击
+  dr16->data.keyboard.key[DR16_L_CLICK] = dr16->data.mouse.l_click;
+  dr16->data.keyboard.key[DR16_R_CLICK] = dr16->data.mouse.r_click;
+
+  // 解析第五通道
+  dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
+  
+  return DEVICE_OK;
+}
+
+int8_t DR16_Offline(DR16_t *dr16){
+  if (dr16 == NULL) return DEVICE_ERR_NULL;
+
+  dr16->header.online = false;
+  memset(&(dr16->data), 0, sizeof(dr16->data));
+
+  return DEVICE_OK;
+}
+
 /* USER FUNCTION BEGIN */
 
 /* USER FUNCTION END */

assets/User_code/device/dr16.h

@@ -8,7 +8,7 @@ extern "C" {
 #include <cmsis_os2.h>
 
 #include "component/user_math.h"
-#include "device/device.h"
+#include "device.h"
 
 /* USER INCLUDE BEGIN */
 
@@ -35,19 +35,78 @@ typedef struct __packed {
   uint8_t press_r;
   uint16_t key;
   uint16_t res;
+} DR16_RawData_t;
+
+typedef enum {
+  DR16_SW_ERR = 0,
+  DR16_SW_UP = 1,
+  DR16_SW_MID = 3,
+  DR16_SW_DOWN = 2,
+} DR16_SwitchPos_t;
+
+/* 键盘按键值 */
+typedef enum {
+  DR16_KEY_W = 0,
+  DR16_KEY_S,
+  DR16_KEY_A,
+  DR16_KEY_D,
+  DR16_KEY_SHIFT,
+  DR16_KEY_CTRL,
+  DR16_KEY_Q,
+  DR16_KEY_E,
+  DR16_KEY_R,
+  DR16_KEY_F,
+  DR16_KEY_G,
+  DR16_KEY_Z,
+  DR16_KEY_X,
+  DR16_KEY_C,
+  DR16_KEY_V,
+  DR16_KEY_B,
+  DR16_L_CLICK,
+  DR16_R_CLICK,
+  DR16_KEY_NUM,
+} DR16_Key_t;
+
+typedef struct {
+  float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
+  float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
+  float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
+  float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
+
+  float ch_res; /* 第五通道值 */
+
+   DR16_SwitchPos_t sw_r; /* 右侧拨杆位置 */
+   DR16_SwitchPos_t sw_l; /* 左侧拨杆位置 */
+
+  struct {
+    int16_t x;
+    int16_t y;
+    int16_t z;
+    bool l_click; /* 左键 */
+    bool r_click; /* 右键 */
+  } mouse;        /* 鼠标值 */
+
+  union {
+    bool key[DR16_KEY_NUM]; /* 键盘按键值 */
+    uint16_t value;        /* 键盘按键值的位映射 */
+  } keyboard;
+
+  uint16_t res; /* 保留，未启用 */
 } DR16_Data_t;
 
 typedef struct {
   DEVICE_Header_t header;
+  DR16_RawData_t raw_data;
   DR16_Data_t data;
 } DR16_t;
 
 /* Exported functions prototypes -------------------------------------------- */
 int8_t DR16_Init(DR16_t *dr16);
 int8_t DR16_Restart(void);
-
 int8_t DR16_StartDmaRecv(DR16_t *dr16);
 bool DR16_WaitDmaCplt(uint32_t timeout);
+int8_t DR16_ParseData(DR16_t *dr16);
+int8_t DR16_Offline(DR16_t *dr16);
 
 /* USER FUNCTION BEGIN */
 

assets/User_code/device/motor_dm.c

@@ -0,0 +1,496 @@
+#define MOTOR_DM_FLOAT_TO_INT_SIGNED(x, x_min, x_max, bits) \
+    ((int32_t)roundf(((x) / ((x_max) - (x_min))) * (1 << (bits)) + (1 << ((bits) - 1))))
+
+#define MOTOR_DM_INT_TO_FLOAT_SIGNED(x_int, x_min, x_max, bits) \
+    (((float)((int32_t)(x_int) - (1 << ((bits) - 1))) * ((x_max) - (x_min)) / (float)(1 << (bits))))
+/* Includes ----------------------------------------------------------------- */
+#include "device/motor_dm.h"
+#include "bsp/mm.h"
+#include "bsp/time.h"
+#include "component/user_math.h"
+#include "string.h"
+#include "math.h"
+
+/* Private constants -------------------------------------------------------- */
+/* DM电机数据映射范围 */
+#define DM_P_MIN   (-12.56637f)
+#define DM_P_MAX   (12.56637f)
+#define DM_V_MIN   (-30.0f)
+#define DM_V_MAX   (30.0f)
+#define DM_T_MIN   (-12.0f)
+#define DM_T_MAX   (12.0f)
+#define DM_KP_MIN  (0.0f)
+#define DM_KP_MAX  (500.0f)
+#define DM_KD_MIN  (0.0f)
+#define DM_KD_MAX  (5.0f)
+
+/* CAN ID偏移量 */
+#define DM_CAN_ID_OFFSET_POS_VEL  0x100
+#define DM_CAN_ID_OFFSET_VEL      0x200
+
+/* Private macro ------------------------------------------------------------ */
+#define FLOAT_TO_UINT(x, x_min, x_max, bits) \
+    (uint32_t)((x - x_min) * ((1 << bits) - 1) / (x_max - x_min))
+
+#define UINT_TO_FLOAT(x_int, x_min, x_max, bits) \
+    ((float)(x_int) * (x_max - x_min) / ((1 << bits) - 1) + x_min)
+
+
+/* Private variables -------------------------------------------------------- */
+static MOTOR_DM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
+
+static int float_to_uint(float x_float, float x_min, float x_max, int bits)
+{
+	/* Converts a float to an unsigned int, given range and number of bits */
+	float span = x_max - x_min;
+	float offset = x_min;
+	return (int) ((x_float-offset)*((float)((1<<bits)-1))/span);
+}
+
+static float uint_to_float(int x_int, float x_min, float x_max, int bits)
+{
+	/* converts unsigned int to float, given range and number of bits */
+	float span = x_max - x_min;
+	float offset = x_min;
+	return ((float)x_int)*span/((float)((1<<bits)-1)) + offset;
+}
+/* Private function prototypes ---------------------------------------------- */
+static int8_t MOTOR_DM_ParseFeedbackFrame(MOTOR_DM_t *motor, const uint8_t *data);
+static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output);
+static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel);
+static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel);
+static MOTOR_DM_CANManager_t* MOTOR_DM_GetCANManager(BSP_CAN_t can);
+
+/* Private functions -------------------------------------------------------- */
+
+/**
+ * @brief 解析DM电机反馈帧
+ * @param motor 电机实例
+ * @param data CAN数据
+ * @return 解析结果
+ */
+static int8_t MOTOR_DM_ParseFeedbackFrame(MOTOR_DM_t *motor, const uint8_t *data) {
+    if (motor == NULL || data == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    uint16_t p_int=(data[1]<<8)|data[2];
+    motor->motor.feedback.rotor_abs_angle = uint_to_float(p_int, DM_P_MIN, DM_P_MAX, 16); // (-12.5,12.5)
+    uint16_t v_int=(data[3]<<4)|(data[4]>>4);
+    motor->motor.feedback.rotor_speed = uint_to_float(v_int, DM_V_MIN, DM_V_MAX, 12); // (-30.0,30.0)
+    uint16_t t_int=((data[4]&0xF)<<8)|data[5];
+    motor->motor.feedback.torque_current = uint_to_float(t_int, DM_T_MIN, DM_T_MAX, 12);  // (-12.0,12.0)
+    motor->motor.feedback.temp = (float)(data[6]);
+
+    while (motor->motor.feedback.rotor_abs_angle < 0) {
+        motor->motor.feedback.rotor_abs_angle += M_2PI;
+    }
+    while (motor->motor.feedback.rotor_abs_angle >= M_2PI) {
+        motor->motor.feedback.rotor_abs_angle -= M_2PI;
+    }
+
+    if (motor->param.reverse) {
+        motor->motor.feedback.rotor_abs_angle = M_2PI - motor->motor.feedback.rotor_abs_angle;
+        motor->motor.feedback.rotor_speed = -motor->motor.feedback.rotor_speed;
+        motor->motor.feedback.torque_current = -motor->motor.feedback.torque_current;
+    }
+    return DEVICE_OK;
+}
+
+/**
+ * @brief 发送MIT模式控制命令
+ * @param motor 电机实例
+ * @param output MIT控制参数
+ * @return 发送结果
+ */
+static int8_t MOTOR_DM_SendMITCmd(MOTOR_DM_t *motor, MOTOR_MIT_Output_t *output) {
+    if (motor == NULL || output == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+	uint8_t data[8];
+	uint16_t pos_tmp,vel_tmp,kp_tmp,kd_tmp,tor_tmp;
+	uint16_t id = motor->param.can_id;
+
+	pos_tmp = float_to_uint(output->angle, DM_P_MIN , DM_P_MAX, 16);
+	vel_tmp = float_to_uint(output->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(output->torque, DM_T_MIN , DM_T_MAX, 12);
+
+    /* 打包数据 */
+	data[0] = (pos_tmp >> 8);
+	data[1] = pos_tmp;
+	data[2] = (vel_tmp >> 4);
+	data[3] = ((vel_tmp&0xF)<<4)|(kp_tmp>>8);
+	data[4] = kp_tmp;
+	data[5] = (kd_tmp >> 4);
+	data[6] = ((kd_tmp&0xF)<<4)|(tor_tmp>>8);
+	data[7] = tor_tmp;
+    
+    /* 发送CAN消息 */
+    BSP_CAN_StdDataFrame_t frame;
+    frame.id = motor->param.can_id;
+    frame.dlc = 8;
+    memcpy(frame.data, data, 8);
+    
+
+    return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+/**
+ * @brief 发送位置速度模式控制命令
+ * @param motor 电机实例
+ * @param pos 目标位置
+ * @param vel 目标速度
+ * @return 发送结果
+ */
+static int8_t MOTOR_DM_SendPosVelCmd(MOTOR_DM_t *motor, float pos, float vel) {
+    if (motor == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    uint8_t data[8] = {0};
+
+    
+    /* 直接发送浮点数数据 */
+    memcpy(&data[0], &pos, 4);  // 位置，低位在前
+    memcpy(&data[4], &vel, 4);  // 速度，低位在前
+    
+    /* 发送CAN消息，ID为原ID+0x100 */
+    uint32_t can_id = DM_CAN_ID_OFFSET_POS_VEL + motor->param.can_id;
+    BSP_CAN_StdDataFrame_t frame;
+    frame.id = can_id;
+    frame.dlc = 8;
+    memcpy(frame.data, data, 8);
+    
+    return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+/**
+ * @brief 发送速度模式控制命令
+ * @param motor 电机实例
+ * @param vel 目标速度
+ * @return 发送结果
+ */
+static int8_t MOTOR_DM_SendVelCmd(MOTOR_DM_t *motor, float vel) {
+    if (motor == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    uint8_t data[4] = {0};
+    
+    /* 直接发送浮点数数据 */
+    memcpy(&data[0], &vel, 4);  // 速度，低位在前
+    
+    /* 发送CAN消息，ID为原ID+0x200 */
+    uint32_t can_id = DM_CAN_ID_OFFSET_VEL + motor->param.can_id;
+    BSP_CAN_StdDataFrame_t frame;
+    frame.id = can_id;
+    frame.dlc = 4;
+    memcpy(frame.data, data, 4);
+    
+    return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+/**
+ * @brief 获取指定CAN总线的管理器
+ * @param can CAN总线
+ * @return CAN管理器指针
+ */
+static MOTOR_DM_CANManager_t* MOTOR_DM_GetCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) {
+        return NULL;
+    }
+    
+    return can_managers[can];
+}
+
+/**
+ * @brief 创建CAN管理器
+ * @param can CAN总线
+ * @return 创建结果
+ */
+static int8_t MOTOR_DM_CreateCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return DEVICE_ERR;
+    if (can_managers[can] != NULL) return DEVICE_OK;
+    
+    can_managers[can] = (MOTOR_DM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_DM_CANManager_t));
+    if (can_managers[can] == NULL) return DEVICE_ERR;
+    
+    memset(can_managers[can], 0, sizeof(MOTOR_DM_CANManager_t));
+    can_managers[can]->can = can;
+    return DEVICE_OK;
+}
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * @brief 注册一个DM电机
+ * @param param 电机参数
+ * @return 注册结果
+ */
+int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    /* 创建CAN管理器 */
+    if (MOTOR_DM_CreateCANManager(param->can) != DEVICE_OK) {
+        return DEVICE_ERR;
+    }
+    
+    /* 获取CAN管理器 */
+    MOTOR_DM_CANManager_t *manager = MOTOR_DM_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.master_id == param->master_id) {
+            return DEVICE_ERR_INITED;
+        }
+    }
+    
+    /* 检查是否已达到最大数量 */
+    if (manager->motor_count >= MOTOR_DM_MAX_MOTORS) {
+        return DEVICE_ERR;
+    }
+    
+    /* 分配内存 */
+    MOTOR_DM_t *motor = (MOTOR_DM_t *)BSP_Malloc(sizeof(MOTOR_DM_t));
+    if (motor == NULL) {
+        return DEVICE_ERR;
+    }
+    
+    /* 初始化电机 */
+    memset(motor, 0, sizeof(MOTOR_DM_t));
+    memcpy(&motor->param, param, sizeof(MOTOR_DM_Param_t));
+    motor->motor.header.online = false;
+    motor->motor.reverse = param->reverse;
+    
+    /* 注册CAN接收ID - DM电机使用Master ID接收反馈 */
+    uint16_t feedback_id = param->master_id;
+    if (BSP_CAN_RegisterId(param->can, feedback_id, 3) != BSP_OK) {
+        BSP_Free(motor);
+        return DEVICE_ERR;
+    }
+    
+    /* 添加到管理器 */
+    manager->motors[manager->motor_count] = motor;
+    manager->motor_count++;
+    
+    return DEVICE_OK;
+}
+
+/**
+ * @brief 更新指定电机数据
+ * @param param 电机参数
+ * @return 更新结果
+ */
+int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can);
+    if (manager == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    /* 查找电机 */
+    MOTOR_DM_t *motor = NULL;
+    for (int i = 0; i < manager->motor_count; i++) {
+        if (manager->motors[i] && manager->motors[i]->param.master_id == param->master_id) {
+            motor = manager->motors[i];
+            break;
+        }
+    }
+    
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    /* 主动接收CAN消息 */
+    uint16_t feedback_id = param->master_id;
+    BSP_CAN_Message_t rx_msg;
+    if (BSP_CAN_GetMessage(param->can, feedback_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 > 100000) {  // 100ms超时，单位微秒
+            motor->motor.header.online = false;
+        }
+        return DEVICE_ERR;
+    }
+    
+    motor->motor.header.online = true;
+    motor->motor.header.last_online_time = BSP_TIME_Get();
+    MOTOR_DM_ParseFeedbackFrame(motor, rx_msg.data);
+    
+    return DEVICE_OK;
+}
+
+/**
+ * @brief 更新所有电机数据
+ * @return 更新结果
+ */
+int8_t MOTOR_DM_UpdateAll(void) {
+    int8_t ret = DEVICE_OK;
+    for (int can = 0; can < BSP_CAN_NUM; can++) {
+        MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager((BSP_CAN_t)can);
+        if (manager == NULL) continue;
+        
+        for (int i = 0; i < manager->motor_count; i++) {
+            MOTOR_DM_t *motor = manager->motors[i];
+            if (motor != NULL) {
+                if (MOTOR_DM_Update(&motor->param) != DEVICE_OK) {
+                    ret = DEVICE_ERR;
+                }
+            }
+        }
+    }
+    return ret;
+}
+
+/**
+ * @brief MIT模式控制
+ * @param param 电机参数
+ * @param output MIT控制参数
+ * @return 控制结果
+ */
+int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output) {
+    if (param == NULL || output == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    return MOTOR_DM_SendMITCmd(motor, output);
+}
+
+/**
+ * @brief 位置速度模式控制
+ * @param param 电机参数
+ * @param target_pos 目标位置
+ * @param target_vel 目标速度
+ * @return 控制结果
+ */
+int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    return MOTOR_DM_SendPosVelCmd(motor, target_pos, target_vel);
+}
+
+/**
+ * @brief 速度模式控制
+ * @param param 电机参数
+ * @param target_vel 目标速度
+ * @return 控制结果
+ */
+int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    return MOTOR_DM_SendVelCmd(motor, target_vel);
+}
+
+/**
+ * @brief 获取指定电机的实例指针
+ * @param param 电机参数
+ * @return 电机实例指针
+ */
+MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param) {
+    if (param == NULL) {
+        return NULL;
+    }
+    
+    MOTOR_DM_CANManager_t *manager = MOTOR_DM_GetCANManager(param->can);
+    if (manager == NULL) {
+        return NULL;
+    }
+    
+    /* 查找对应的电机 */
+    for (int i = 0; i < manager->motor_count; i++) {
+        MOTOR_DM_t *motor = manager->motors[i];
+        if (motor && motor->param.can == param->can && 
+            motor->param.master_id == param->master_id) {
+            return motor;
+        }
+    }
+    
+    return NULL;
+}
+
+
+int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param){
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+
+    BSP_CAN_StdDataFrame_t frame;
+    frame.id = motor->param.can_id;
+    frame.dlc = 8;
+    frame.data[0] = 0XFF;
+    frame.data[1] = 0xFF;
+    frame.data[2] = 0xFF;
+    frame.data[3] = 0xFF;
+    frame.data[4] = 0xFF;
+    frame.data[5] = 0xFF;
+    frame.data[6] = 0xFF;
+    frame.data[7] = 0xFC;
+
+    return BSP_CAN_TransmitStdDataFrame(motor->param.can, &frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
+}
+
+/**
+ * @brief 使电机松弛（设置输出为0）
+ * @param param 电机参数
+ * @return 操作结果
+ */
+int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_MIT_Output_t output = {0};
+    return MOTOR_DM_MITCtrl(param, &output);
+}
+
+/**
+ * @brief 使电机离线（设置在线状态为false）
+ * @param param 电机参数
+ * @return 操作结果
+ */
+int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param) {
+    if (param == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    
+    MOTOR_DM_t *motor = MOTOR_DM_GetMotor(param);
+    if (motor == NULL) {
+        return DEVICE_ERR_NO_DEV;
+    }
+    
+    motor->motor.header.online = false;
+    return DEVICE_OK;
+}

assets/User_code/device/motor_dm.h

@@ -0,0 +1,98 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/device.h"
+#include "device/motor.h"
+#include "bsp/can.h"
+
+/* Exported constants ------------------------------------------------------- */
+#define MOTOR_DM_MAX_MOTORS 32
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+    MOTOR_DM_J4310,
+} MOTOR_DM_Module_t;
+
+/*每个电机需要的参数*/
+typedef struct {
+    BSP_CAN_t can;
+    uint16_t master_id;    /* 主站ID，用于发送控制命令 */
+    uint16_t can_id;       /* 反馈ID，用于接收电机反馈 */
+    MOTOR_DM_Module_t module;
+    bool reverse;
+} MOTOR_DM_Param_t;
+
+/*电机实例*/
+typedef struct{
+    MOTOR_DM_Param_t param;
+    MOTOR_t motor;
+} MOTOR_DM_t;
+
+/*CAN管理器，管理一个CAN总线上所有的电机*/
+typedef struct {
+    BSP_CAN_t can;
+    MOTOR_DM_t *motors[MOTOR_DM_MAX_MOTORS];
+    uint8_t motor_count;
+} MOTOR_DM_CANManager_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 注册一个LK电机
+ * @param param 电机参数
+ * @return 
+ */
+int8_t MOTOR_DM_Register(MOTOR_DM_Param_t *param);
+
+/**
+ * @brief 更新指定电机数据
+ * @param param 电机参数
+ * @return 
+ */
+int8_t MOTOR_DM_Update(MOTOR_DM_Param_t *param);
+
+/**
+ * @brief 更新所有电机数据
+ * @return 
+ */
+int8_t MOTOR_DM_UpdateAll(void);
+
+int8_t MOTOR_DM_MITCtrl(MOTOR_DM_Param_t *param, MOTOR_MIT_Output_t *output);
+
+int8_t MOTOR_DM_PosVelCtrl(MOTOR_DM_Param_t *param, float target_pos, float target_vel);
+
+int8_t MOTOR_DM_VelCtrl(MOTOR_DM_Param_t *param, float target_vel);
+
+/**
+ * @brief 获取指定电机的实例指针
+ * @param param 电机参数
+ * @return 
+ */
+MOTOR_DM_t* MOTOR_DM_GetMotor(MOTOR_DM_Param_t *param);
+
+int8_t MOTOR_DM_Enable(MOTOR_DM_Param_t *param);
+
+/**
+ * @brief 使电机松弛（设置输出为0）
+ * @param param 
+ * @return 
+ */
+int8_t MOTOR_DM_Relax(MOTOR_DM_Param_t *param);
+
+/**
+ * @brief 使电机离线（设置在线状态为false）
+ * @param param 
+ * @return 
+ */
+int8_t MOTOR_DM_Offine(MOTOR_DM_Param_t *param);
+
+
+
+#ifdef __cplusplus
+}
+#endif

assets/User_code/device/motor_lk.c

@@ -253,7 +253,6 @@ int8_t MOTOR_LK_SetOutput(MOTOR_LK_Param_t *param, float value) {
     tx_frame.data[5] = (uint8_t)((torque_control >> 8) & 0xFF);
     tx_frame.data[6] = 0x00;
     tx_frame.data[7] = 0x00;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -279,7 +278,6 @@ int8_t MOTOR_LK_MotorOn(MOTOR_LK_Param_t *param) {
     tx_frame.data[5] = 0x00;
     tx_frame.data[6] = 0x00;
     tx_frame.data[7] = 0x00;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -299,7 +297,6 @@ int8_t MOTOR_LK_MotorOff(MOTOR_LK_Param_t *param) {
     tx_frame.data[5] = 0x00;
     tx_frame.data[6] = 0x00;
     tx_frame.data[7] = 0x00;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 

assets/User_code/device/motor_lz.c

@@ -134,7 +134,6 @@ static int8_t MOTOR_LZ_SendExtFrame(BSP_CAN_t can, uint32_t ext_id, uint8_t *dat
     } else {
         memset(tx_frame.data, 0, dlc);
     }
-    BSP_CAN_WaitTxMailboxEmpty(can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitExtDataFrame(can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
@@ -244,14 +243,6 @@ int8_t MOTOR_LZ_Init(void) {
     return BSP_CAN_RegisterIdParser(MOTOR_LZ_IdParser) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 
-/**
- * @brief 反初始化灵足电机驱动系统
- * @return 设备状态码
- */
-int8_t MOTOR_LZ_DeInit(void) {
-    // 注销ID解析器
-    return BSP_CAN_UnregisterIdParser() == BSP_OK ? DEVICE_OK : DEVICE_ERR;
-}
 
 int8_t MOTOR_LZ_Register(MOTOR_LZ_Param_t *param) {
     if (param == NULL) return DEVICE_ERR_NULL;
@@ -369,7 +360,6 @@ int8_t MOTOR_LZ_MotionControl(MOTOR_LZ_Param_t *param, MOTOR_LZ_MotionParam_t *m
     uint16_t raw_kd = MOTOR_LZ_FloatToRawPositive(send_param.kd, LZ_KD_MAX);
     data[6] = (raw_kd >> 8) & 0xFF;
     data[7] = raw_kd & 0xFF;
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return MOTOR_LZ_SendExtFrame(param->can, ext_id, data, 8);
 }
 

assets/User_code/device/motor_lz.h

@@ -111,12 +111,6 @@ typedef struct {
  */
 int8_t MOTOR_LZ_Init(void);
 
-/**
- * @brief 反初始化灵足电机驱动系统
- * @return 设备状态码
- */
-int8_t MOTOR_LZ_DeInit(void);
-
 /**
  * @brief 注册一个灵足电机
  * @param param 电机参数

assets/User_code/device/motor_rm.c

@@ -74,7 +74,7 @@ static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module
 static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) {
     switch (module) {
         case MOTOR_M2006: return 36.0f;
-        case MOTOR_M3508: return 19.0f;
+        case MOTOR_M3508: return 3591.0f / 187.0f;
         case MOTOR_GM6020: return 1.0f;
         default: return 1.0f;
     }
@@ -139,13 +139,13 @@ static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
         motor->feedback.rotor_speed = rotor_speed;
         motor->feedback.torque_current = torque_current;
     }
-    if (motor->motor.reverse) {
         while (motor->feedback.rotor_abs_angle < 0) {
             motor->feedback.rotor_abs_angle += M_2PI;
         }
         while (motor->feedback.rotor_abs_angle >= M_2PI) {
             motor->feedback.rotor_abs_angle -= M_2PI;
         }
+    if (motor->motor.reverse) {
         motor->feedback.rotor_abs_angle = M_2PI - motor->feedback.rotor_abs_angle;
         motor->feedback.rotor_speed = -motor->feedback.rotor_speed;
         motor->feedback.torque_current = -motor->feedback.torque_current;
@@ -291,7 +291,6 @@ int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
         default:
             return DEVICE_ERR;
     }
-    BSP_CAN_WaitTxMailboxEmpty(param->can, 1); // 等待发送邮箱空闲
     return BSP_CAN_TransmitStdDataFrame(param->can, &tx_frame) == BSP_OK ? DEVICE_OK : DEVICE_ERR;
 }
 

assets/User_code/device/rc_can.c

@@ -0,0 +1,328 @@
+/* Includes ----------------------------------------------------------------- */
+#include "device/rc_can.h"
+#include "bsp/time.h"
+#include "device/device.h"
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private constants -------------------------------------------------------- */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Private macro ------------------------------------------------------------ */
+/* Private types ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+
+/* USER VARIABLE BEGIN */
+
+/* USER VARIABLE END */
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+/* Private function prototypes ---------------------------------------------- */
+static int8_t RC_CAN_ValidateParams(const RC_CAN_Param_t *param);
+static int8_t RC_CAN_RegisterIds(RC_CAN_t *rc_can);
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * @brief 初始化RC CAN发送模块
+ * @param rc_can RC_CAN结构体指针
+ * @param param 初始化参数
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_Init(RC_CAN_t *rc_can, RC_CAN_Param_t *param) {
+  if (rc_can == NULL || param == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+
+  // 参数验证
+  if (RC_CAN_ValidateParams(param) != DEVICE_OK) {
+    return DEVICE_ERR;
+  }
+
+  rc_can->param = *param;
+
+  // 初始化header
+  rc_can->header.online = false;
+  rc_can->header.last_online_time = 0;
+
+  // 手动初始化数据结构
+  rc_can->data.joy.ch_l_x = 0.0f;
+  rc_can->data.joy.ch_l_y = 0.0f;
+  rc_can->data.joy.ch_r_x = 0.0f;
+  rc_can->data.joy.ch_r_y = 0.0f;
+  rc_can->data.sw.sw_l = RC_CAN_SW_ERR;
+  rc_can->data.sw.sw_r = RC_CAN_SW_ERR;
+  rc_can->data.sw.ch_res = 0.0f;
+  rc_can->data.mouse.x = 0.0f;
+  rc_can->data.mouse.y = 0.0f;
+  rc_can->data.mouse.z = 0.0f;
+  rc_can->data.mouse.mouse_l = false;
+  rc_can->data.mouse.mouse_r = false;
+  rc_can->data.keyboard.key_value = 0;
+  for (int i = 0; i < 6; i++) {
+    rc_can->data.keyboard.keys[i] = RC_CAN_KEY_NONE;
+  }
+
+  // 注册CAN ID队列（从机模式需要接收数据）
+  if (rc_can->param.mode == RC_CAN_MODE_SLAVE) {
+    return RC_CAN_RegisterIds(rc_can);
+  }
+
+  return DEVICE_OK;
+}
+
+/**
+ * @brief 更新并发送数据到CAN总线
+ * @param rc_can RC_CAN结构体指针
+ * @param data_type 数据类型
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) {
+  if (rc_can == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+  if (rc_can->param.mode != RC_CAN_MODE_MASTER) {
+    return DEVICE_ERR;
+  }
+  BSP_CAN_StdDataFrame_t frame;
+  frame.dlc = 8;
+  // 边界裁剪宏
+  #define RC_CAN_CLAMP(x, min, max) ((x) < (min) ? (min) : ((x) > (max) ? (max) : (x)))
+  switch (data_type) {
+  case RC_CAN_DATA_JOYSTICK: {
+    frame.id = rc_can->param.joy_id;
+    float l_x = RC_CAN_CLAMP(rc_can->data.joy.ch_l_x, -0.999969f, 0.999969f);
+    float l_y = RC_CAN_CLAMP(rc_can->data.joy.ch_l_y, -0.999969f, 0.999969f);
+    float r_x = RC_CAN_CLAMP(rc_can->data.joy.ch_r_x, -0.999969f, 0.999969f);
+    float r_y = RC_CAN_CLAMP(rc_can->data.joy.ch_r_y, -0.999969f, 0.999969f);
+    int16_t l_x_i = (int16_t)(l_x * 32768.0f);
+    int16_t l_y_i = (int16_t)(l_y * 32768.0f);
+    int16_t r_x_i = (int16_t)(r_x * 32768.0f);
+    int16_t r_y_i = (int16_t)(r_y * 32768.0f);
+    frame.data[0] = (uint8_t)(l_x_i & 0xFF);
+    frame.data[1] = (uint8_t)((l_x_i >> 8) & 0xFF);
+    frame.data[2] = (uint8_t)(l_y_i & 0xFF);
+    frame.data[3] = (uint8_t)((l_y_i >> 8) & 0xFF);
+    frame.data[4] = (uint8_t)(r_x_i & 0xFF);
+    frame.data[5] = (uint8_t)((r_x_i >> 8) & 0xFF);
+    frame.data[6] = (uint8_t)(r_y_i & 0xFF);
+    frame.data[7] = (uint8_t)((r_y_i >> 8) & 0xFF);
+    break;
+  }
+  case RC_CAN_DATA_SWITCH: {
+    frame.id = rc_can->param.sw_id;
+    frame.data[0] = (uint8_t)(rc_can->data.sw.sw_l);
+    frame.data[1] = (uint8_t)(rc_can->data.sw.sw_r);
+    float ch_res = RC_CAN_CLAMP(rc_can->data.sw.ch_res, -0.999969f, 0.999969f);
+    int16_t ch_res_i = (int16_t)(ch_res * 32768.0f);
+    frame.data[2] = (uint8_t)(ch_res_i & 0xFF);
+    frame.data[3] = (uint8_t)((ch_res_i >> 8) & 0xFF);
+    frame.data[4] = 0; // 保留字节
+    frame.data[5] = 0; // 保留字节
+    frame.data[6] = 0; // 保留字节
+    frame.data[7] = 0; // 保留字节
+    break;
+  }
+  case RC_CAN_DATA_MOUSE: {
+    frame.id = rc_can->param.mouse_id;
+    // 鼠标x/y/z一般为增量，若有极限也可加clamp
+    int16_t x = (int16_t)(rc_can->data.mouse.x);
+    int16_t y = (int16_t)(rc_can->data.mouse.y);
+    int16_t z = (int16_t)(rc_can->data.mouse.z);
+    frame.data[0] = (uint8_t)(x & 0xFF);
+    frame.data[1] = (uint8_t)((x >> 8) & 0xFF);
+    frame.data[2] = (uint8_t)(y & 0xFF);
+    frame.data[3] = (uint8_t)((y >> 8) & 0xFF);
+    frame.data[4] = (uint8_t)(z & 0xFF);
+    frame.data[5] = (uint8_t)((z >> 8) & 0xFF);
+    frame.data[6] = (uint8_t)(rc_can->data.mouse.mouse_l ? 1 : 0);
+    frame.data[7] = (uint8_t)(rc_can->data.mouse.mouse_r ? 1 : 0);
+    break;
+  }
+  case RC_CAN_DATA_KEYBOARD: {
+    frame.id = rc_can->param.keyboard_id;
+    frame.data[0] = (uint8_t)(rc_can->data.keyboard.key_value & 0xFF);
+    frame.data[1] = (uint8_t)((rc_can->data.keyboard.key_value >> 8) & 0xFF);
+    for (int i = 0; i < 6; i++) {
+      frame.data[2 + i] = (i < 6) ? (uint8_t)(rc_can->data.keyboard.keys[i]) : 0;
+    }
+    break;
+  }
+  default:
+    return DEVICE_ERR;
+  }
+  #undef RC_CAN_CLAMP
+  if (BSP_CAN_Transmit(rc_can->param.can, BSP_CAN_FORMAT_STD_DATA, frame.id,
+                       frame.data, frame.dlc) != BSP_OK) {
+    return DEVICE_ERR;
+  }
+  return DEVICE_OK;
+}
+
+/**
+ * @brief 接收并更新CAN数据
+ * @param rc_can RC_CAN结构体指针
+ * @param data_type 数据类型
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_Update(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) {
+  if (rc_can == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+
+  // 只有从机模式才能接收数据
+  if (rc_can->param.mode != RC_CAN_MODE_SLAVE) {
+    return DEVICE_ERR;
+  }
+  BSP_CAN_Message_t msg;
+  
+  switch (data_type) {
+  case RC_CAN_DATA_JOYSTICK:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.joy_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    int16_t ch_l_x = (int16_t)((msg.data[1] << 8) | msg.data[0]);
+    int16_t ch_l_y = (int16_t)((msg.data[3] << 8) | msg.data[2]);
+    int16_t ch_r_x = (int16_t)((msg.data[5] << 8) | msg.data[4]);
+    int16_t ch_r_y = (int16_t)((msg.data[7] << 8) | msg.data[6]);
+
+    // 转换为浮点数（范围：-1.0到1.0）
+    rc_can->data.joy.ch_l_x = (float)ch_l_x / 32768.0f;
+    rc_can->data.joy.ch_l_y = (float)ch_l_y / 32768.0f;
+    rc_can->data.joy.ch_r_x = (float)ch_r_x / 32768.0f;
+    rc_can->data.joy.ch_r_y = (float)ch_r_y / 32768.0f;
+    break;
+  case RC_CAN_DATA_SWITCH:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.sw_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    rc_can->data.sw.sw_l = (RC_CAN_SW_t)msg.data[0];
+    rc_can->data.sw.sw_r = (RC_CAN_SW_t)msg.data[1];
+
+    int16_t ch_res = (int16_t)((msg.data[3] << 8) | msg.data[2]);
+    rc_can->data.sw.ch_res = (float)ch_res / 32768.0f;
+    break;
+  case RC_CAN_DATA_MOUSE:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.mouse_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    int16_t x = (int16_t)((msg.data[1] << 8) | msg.data[0]);
+    int16_t y = (int16_t)((msg.data[3] << 8) | msg.data[2]);
+    int16_t z = (int16_t)((msg.data[5] << 8) | msg.data[4]);
+    rc_can->data.mouse.x = (float)x;
+    rc_can->data.mouse.y = (float)y;
+    rc_can->data.mouse.z = (float)z;
+    rc_can->data.mouse.mouse_l = (msg.data[6] & 0x01) ? true : false;
+    rc_can->data.mouse.mouse_r = (msg.data[7] & 0x01) ? true : false;
+    break;
+  case RC_CAN_DATA_KEYBOARD:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.keyboard_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    if (msg.dlc < 2) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    rc_can->data.keyboard.key_value =
+        (uint16_t)((msg.data[1] << 8) | msg.data[0]);
+    for (int i = 0; i < 6 && (i + 2) < msg.dlc; i++) {
+      rc_can->data.keyboard.keys[i] = (RC_CAN_Key_t)(msg.data[2 + i]);
+    }
+    // 清空未使用的按键位置
+    for (int i = (msg.dlc > 2 ? msg.dlc - 2 : 0); i < 6; i++) {
+      rc_can->data.keyboard.keys[i] = RC_CAN_KEY_NONE;
+    }
+    break;
+  default:
+    return DEVICE_ERR;
+  }
+
+  // 更新header状态
+  rc_can->header.online = true;
+  rc_can->header.last_online_time = BSP_TIME_Get_us();
+
+  return DEVICE_OK;
+}
+
+/* Private functions -------------------------------------------------------- */
+
+/**
+ * @brief 验证RC_CAN参数
+ * @param param 参数指针
+ * @return DEVICE_OK 成功，其他值失败
+ */
+static int8_t RC_CAN_ValidateParams(const RC_CAN_Param_t *param) {
+  if (param == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+
+  // 检查CAN总线有效性
+  if (param->can >= BSP_CAN_NUM) {
+    return DEVICE_ERR;
+  }
+
+  // 检查工作模式有效性
+  if (param->mode != RC_CAN_MODE_MASTER && param->mode != RC_CAN_MODE_SLAVE) {
+    return DEVICE_ERR;
+  }
+
+  // 检查CAN ID是否重复
+  if (param->joy_id == param->sw_id || param->joy_id == param->mouse_id ||
+      param->joy_id == param->keyboard_id || param->sw_id == param->mouse_id ||
+      param->sw_id == param->keyboard_id ||
+      param->mouse_id == param->keyboard_id) {
+    return DEVICE_ERR;
+  }
+
+  return DEVICE_OK;
+}
+
+/**
+ * @brief 注册CAN ID
+ * @param rc_can RC_CAN结构体指针
+ * @return DEVICE_OK 成功，其他值失败
+ */
+static int8_t RC_CAN_RegisterIds(RC_CAN_t *rc_can) {
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.joy_id, 0) !=
+      BSP_OK) {
+    return DEVICE_ERR;
+  }
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.sw_id, 0) != BSP_OK) {
+    return DEVICE_ERR;
+  }
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.mouse_id, 0) !=
+      BSP_OK) {
+    return DEVICE_ERR;
+  }
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.keyboard_id, 0) !=
+      BSP_OK) {
+    return DEVICE_ERR;
+  }
+
+  return DEVICE_OK;
+}
+
+int8_t RC_CAN_OFFLINE(RC_CAN_t *rc_can){
+    if (rc_can == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    rc_can->header.online = false;
+    return DEVICE_OK;
+}
+/* USER CODE BEGIN */
+
+/* USER CODE END */

assets/User_code/device/rc_can.h

@@ -0,0 +1,157 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/can.h"
+#include "device/device.h"
+#include <stdint.h>
+#include <stdbool.h>
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Exported constants ------------------------------------------------------- */
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+  RC_CAN_SW_ERR = 0,
+  RC_CAN_SW_UP = 1,
+  RC_CAN_SW_MID = 3,
+  RC_CAN_SW_DOWN = 2,
+} RC_CAN_SW_t;
+
+typedef enum {
+    RC_CAN_MODE_MASTER = 0, // 主机模式
+    RC_CAN_MODE_SLAVE = 1, // 从机模式
+} RC_CAN_Mode_t;
+
+typedef enum {
+    RC_CAN_DATA_JOYSTICK = 0,
+    RC_CAN_DATA_SWITCH,
+    RC_CAN_DATA_MOUSE,
+    RC_CAN_DATA_KEYBOARD
+} RC_CAN_DataType_t;
+
+typedef enum {
+  RC_CAN_KEY_NONE = 0xFF,  // 无按键
+  RC_CAN_KEY_W = 0,
+  RC_CAN_KEY_S,
+  RC_CAN_KEY_A,
+  RC_CAN_KEY_D,
+  RC_CAN_KEY_SHIFT,
+  RC_CAN_KEY_CTRL,
+  RC_CAN_KEY_Q,
+  RC_CAN_KEY_E,
+  RC_CAN_KEY_R,
+  RC_CAN_KEY_F,
+  RC_CAN_KEY_G,
+  RC_CAN_KEY_Z,
+  RC_CAN_KEY_X,
+  RC_CAN_KEY_C,
+  RC_CAN_KEY_V,
+  RC_CAN_KEY_B,
+  RC_CAN_KEY_NUM,
+} RC_CAN_Key_t;
+
+// 遥杆数据包
+typedef struct {
+    float ch_l_x;
+    float ch_l_y;
+    float ch_r_x;
+    float ch_r_y;
+} RC_CAN_JoyData_t;
+
+// 拨杆数据包
+typedef struct {
+    RC_CAN_SW_t sw_l;     // 左拨杆状态
+    RC_CAN_SW_t sw_r;     // 右拨杆状态 
+    float ch_res;   // 第五通道
+} RC_CAN_SwitchData_t;
+
+// 鼠标数据包
+typedef struct {
+    float x;  // 鼠标X轴移动
+    float y;  // 鼠标Y轴移动
+    float z;  // 鼠标Z轴(滚轮)
+    bool mouse_l;  // 鼠标左键
+    bool mouse_r;  // 鼠标右键
+} RC_CAN_MouseData_t;
+
+// 键盘数据包
+typedef struct {
+    uint16_t key_value; // 键盘按键位映射
+    RC_CAN_Key_t keys[16];
+} RC_CAN_KeyboardData_t;
+
+
+typedef struct {
+    RC_CAN_JoyData_t joy;
+    RC_CAN_SwitchData_t sw;
+    RC_CAN_MouseData_t mouse;
+    RC_CAN_KeyboardData_t keyboard;
+} RC_CAN_Data_t;
+
+// RC_CAN 参数结构
+typedef struct {
+    BSP_CAN_t can;         // 使用的CAN总线
+    RC_CAN_Mode_t mode;    // 工作模式
+    uint16_t joy_id;      // 遥杆CAN ID
+    uint16_t sw_id;   // 拨杆CAN ID
+    uint16_t mouse_id; // 鼠标CAN ID
+    uint16_t keyboard_id; // 键盘CAN ID
+} RC_CAN_Param_t;
+
+// RC_CAN 主结构
+typedef struct {
+    DEVICE_Header_t header;
+    RC_CAN_Param_t param;
+    RC_CAN_Data_t data;
+} RC_CAN_t;
+
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 初始化RC CAN发送模块
+ * @param rc_can RC_CAN结构体指针
+ * @param param 初始化参数
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_Init(RC_CAN_t *rc_can, RC_CAN_Param_t *param);
+
+/**
+ * @brief 更新并发送数据到CAN总线
+ * @param rc_can RC_CAN结构体指针
+ * @param data_type 数据类型
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type);
+
+/**
+ * @brief 接收并更新CAN数据
+ * @param rc_can RC_CAN结构体指针
+ * @param data_type 数据类型
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_Update(RC_CAN_t *rc_can , RC_CAN_DataType_t data_type);
+
+int8_t RC_CAN_OFFLINE(RC_CAN_t *rc_can);
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+#ifdef __cplusplus
+}
+#endif

assets/User_code/module/config.c

@@ -0,0 +1,31 @@
+/*
+ * 配置相关
+ */
+
+/* Includes ----------------------------------------------------------------- */
+#include "module/config.h"
+
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+
+/* Exported variables ------------------------------------------------------- */
+
+// 机器人参数配置
+Config_RobotParam_t robot_config = {
+
+
+};
+
+/* Private function prototypes ---------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * @brief 获取机器人配置参数
+ * @return 机器人配置参数指针
+ */
+Config_RobotParam_t* Config_GetRobotParam(void) {
+    return &robot_config;
+}

assets/User_code/module/config.h

@@ -0,0 +1,27 @@
+/*
+ * 配置相关
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+
+typedef struct {
+    
+} Config_RobotParam_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 获取机器人配置参数
+ * @return 机器人配置参数指针
+ */
+Config_RobotParam_t* Config_GetRobotParam(void);
+
+#ifdef __cplusplus
+}
+#endif

assets/User_code/module/gimbal/2_axis_gimbal/2_axis_gimbal.c

@@ -0,0 +1,259 @@
+/*
+ * 云台模组
+ */
+
+/* Includes ----------------------------------------------------------------- */
+#include "bsp/can.h"
+#include "bsp/time.h"
+#include "component/filter.h"
+#include "component/pid.h"
+#include "device/motor_dm.h"
+#include "device/motor_rm.h"
+#include "gimbal.h"
+#include <math.h>
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* Private function  -------------------------------------------------------- */
+
+/**
+ * \brief 设置云台模式
+ *
+ * \param c 包含云台数据的结构体
+ * \param mode 要设置的模式
+ *
+ * \return 函数运行结果
+ */
+static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
+  if (g == NULL)
+    return -1;
+  if (mode == g->mode)
+    return GIMBAL_OK;
+
+  PID_Reset(&g->pid.yaw_angle);
+  PID_Reset(&g->pid.yaw_omega);
+  PID_Reset(&g->pid.pit_angle);
+  PID_Reset(&g->pid.pit_omega);
+  LowPassFilter2p_Reset(&g->filter_out.yaw, 0.0f);
+  LowPassFilter2p_Reset(&g->filter_out.pit, 0.0f);
+
+  MOTOR_DM_Enable(&(g->param->yaw_motor));
+
+  AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
+  // if (g->mode == GIMBAL_MODE_RELAX) {
+  //   if (mode == GIMBAL_MODE_ABSOLUTE) {
+  //     g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
+  //   } else if (mode == GIMBAL_MODE_RELATIVE) {
+  //     g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
+  //   }
+  // }
+  g->setpoint.eulr.pit = g->feedback.imu.eulr.rol;
+  g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
+
+  g->mode = mode;
+  return 0;
+}
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * \brief 初始化云台
+ *
+ * \param g 包含云台数据的结构体
+ * \param param 包含云台参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param,
+                   float target_freq) {
+  if (g == NULL)
+    return -1;
+
+  g->param = param;
+  g->mode = GIMBAL_MODE_RELAX; /* 设置默认模式 */
+
+  /* 初始化云台电机控制PID和LPF */
+  PID_Init(&(g->pid.yaw_angle), KPID_MODE_NO_D, target_freq,
+           &(g->param->pid.yaw_angle));
+  PID_Init(&(g->pid.yaw_omega), KPID_MODE_CALC_D, target_freq,
+           &(g->param->pid.yaw_omega));
+  PID_Init(&(g->pid.pit_angle), KPID_MODE_NO_D, target_freq,
+           &(g->param->pid.pit_angle));
+  PID_Init(&(g->pid.pit_omega), KPID_MODE_CALC_D, target_freq,
+           &(g->param->pid.pit_omega));
+
+  LowPassFilter2p_Init(&g->filter_out.yaw, target_freq,
+                       g->param->low_pass_cutoff_freq.out);
+  LowPassFilter2p_Init(&g->filter_out.pit, target_freq,
+                       g->param->low_pass_cutoff_freq.out);
+  g->limit.yaw.max = g->param->mech_zero.yaw + g->param->travel.yaw;
+  g->limit.yaw.min = g->param->mech_zero.yaw;
+  g->limit.pit.max = g->param->mech_zero.pit + g->param->travel.pit;
+  g->limit.pit.min = g->param->mech_zero.pit;
+  BSP_CAN_Init();
+
+  MOTOR_RM_Register(&(g->param->pit_motor));
+  MOTOR_DM_Register(&(g->param->yaw_motor));
+
+  MOTOR_DM_Enable(&(g->param->yaw_motor));
+  return 0;
+}
+
+/**
+ * \brief 通过CAN设备更新云台反馈信息
+ *
+ * \param gimbal 云台
+ * \param can CAN设备
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal) {
+  if (gimbal == NULL)
+    return -1;
+
+  /* 更新RM电机反馈数据（pitch轴） */
+  MOTOR_RM_Update(&(gimbal->param->pit_motor));
+  MOTOR_RM_t *rm_motor = MOTOR_RM_GetMotor(&(gimbal->param->pit_motor));
+  if (rm_motor != NULL) {
+    gimbal->feedback.motor.pit = rm_motor->feedback;
+  }
+
+  /* 更新DM电机反馈数据（yaw轴） */
+  MOTOR_DM_Update(&(gimbal->param->yaw_motor));
+  MOTOR_DM_t *dm_motor = MOTOR_DM_GetMotor(&(gimbal->param->yaw_motor));
+  if (dm_motor != NULL) {
+    gimbal->feedback.motor.yaw = dm_motor->motor.feedback;
+  }
+
+  return 0;
+}
+
+int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu) {
+
+  if (gimbal == NULL) {
+    return -1;
+  }
+  gimbal->feedback.imu.gyro = imu->gyro;
+  gimbal->feedback.imu.eulr = imu->eulr;
+}
+
+/**
+ * \brief 运行云台控制逻辑
+ *
+ * \param g 包含云台数据的结构体
+ * \param g_cmd 云台控制指令
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
+  if (g == NULL || g_cmd == NULL) {
+    return -1;
+  }
+
+  g->dt = (BSP_TIME_Get_us() - g->lask_wakeup) / 1000000.0f;
+  g->lask_wakeup = BSP_TIME_Get_us();
+
+  Gimbal_SetMode(g, g_cmd->mode);
+
+  /* 处理yaw控制命令，软件限位 - 使用电机绝对角度 */
+  float delta_yaw = g_cmd->delta_yaw * g->dt * 1.5f;
+  if (g->param->travel.yaw > 0) {
+    /* 计算当前电机角度与IMU角度的偏差 */
+    float motor_imu_offset =
+        g->feedback.motor.yaw.rotor_abs_angle - g->feedback.imu.eulr.yaw;
+    /* 处理跨越±π的情况 */
+    if (motor_imu_offset > M_PI)
+      motor_imu_offset -= M_2PI;
+    if (motor_imu_offset < -M_PI)
+      motor_imu_offset += M_2PI;
+
+    /* 计算到限位边界的距离 */
+    const float delta_max = CircleError(
+        g->limit.yaw.max, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw),
+        M_2PI);
+    const float delta_min = CircleError(
+        g->limit.yaw.min, (g->setpoint.eulr.yaw + motor_imu_offset + delta_yaw),
+        M_2PI);
+
+    /* 限制控制命令 */
+    if (delta_yaw > delta_max)
+      delta_yaw = delta_max;
+    if (delta_yaw < delta_min)
+      delta_yaw = delta_min;
+  }
+  CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw, M_2PI);
+
+  /* 处理pitch控制命令，软件限位 - 使用电机绝对角度 */
+  float delta_pit = g_cmd->delta_pit * g->dt;
+  if (g->param->travel.pit > 0) {
+    /* 计算当前电机角度与IMU角度的偏差 */
+    float motor_imu_offset =
+        g->feedback.motor.pit.rotor_abs_angle - g->feedback.imu.eulr.rol;
+    /* 处理跨越±π的情况 */
+    if (motor_imu_offset > M_PI)
+      motor_imu_offset -= M_2PI;
+    if (motor_imu_offset < -M_PI)
+      motor_imu_offset += M_2PI;
+
+    /* 计算到限位边界的距离 */
+    const float delta_max = CircleError(
+        g->limit.pit.max, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit),
+        M_2PI);
+    const float delta_min = CircleError(
+        g->limit.pit.min, (g->setpoint.eulr.pit + motor_imu_offset + delta_pit),
+        M_2PI);
+
+    /* 限制控制命令 */
+    if (delta_pit > delta_max)
+      delta_pit = delta_max;
+    if (delta_pit < delta_min)
+      delta_pit = delta_min;
+  }
+  CircleAdd(&(g->setpoint.eulr.pit), delta_pit, M_2PI);
+
+  /* 控制相关逻辑 */
+  float yaw_omega_set_point, pit_omega_set_point;
+  switch (g->mode) {
+  case GIMBAL_MODE_RELAX:
+    g->out.yaw = 0.0f;
+    g->out.pit = 0.0f;
+    break;
+
+  case GIMBAL_MODE_ABSOLUTE:
+    yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
+                                   g->feedback.imu.eulr.yaw, 0.0f, g->dt);
+    g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
+                          g->feedback.imu.gyro.z, 0.f, g->dt);
+
+    pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
+                                   g->feedback.imu.eulr.rol, 0.0f, g->dt);
+    g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
+                          g->feedback.imu.gyro.y, 0.f, g->dt);
+
+    break;
+
+    /* 输出滤波 */
+    g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
+    g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);
+
+    return 0;
+  }
+}
+
+/**
+ * \brief 云台输出
+ *
+ * \param s 包含云台数据的结构体
+ * \param out CAN设备云台输出结构体
+ */
+void Gimbal_Output(Gimbal_t *g) {
+  MOTOR_RM_SetOutput(&g->param->pit_motor, g->out.pit);
+  MOTOR_MIT_Output_t output = {0};
+  output.torque = g->out.yaw * 5.0f; // 乘以减速比
+  output.kd = 0.3f;
+  MOTOR_RM_Ctrl(&g->param->pit_motor);
+  MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output);
+}

assets/User_code/module/gimbal/2_axis_gimbal/2_axis_gimbal.h

@@ -0,0 +1,179 @@
+/*
+ * 云台模组
+ */
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "component/ahrs.h"
+#include "component/filter.h"
+#include "component/pid.h"
+#include "device/motor.h"
+#include "device/motor_dm.h"
+#include "device/motor_rm.h"
+
+/* Exported constants ------------------------------------------------------- */
+#define GIMBAL_OK (0)        /* 运行正常 */
+#define GIMBAL_ERR (-1)      /* 运行时发现了其他错误 */
+#define GIMBAL_ERR_NULL (-2) /* 运行时发现NULL指针 */
+#define GIMBAL_ERR_MODE (-3) /* 运行时配置了错误的CMD_GimbalMode_t */
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+
+typedef enum {
+  GIMBAL_MODE_RELAX,    /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
+  GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
+  GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
+} Gimbal_Mode_t;
+
+typedef struct {
+  Gimbal_Mode_t mode;
+  float delta_yaw;
+  float delta_pit;
+} Gimbal_CMD_t;
+
+/* 软件限位 */
+typedef struct {
+  float max;
+  float min;
+} Gimbal_Limit_t;
+
+/* 云台参数的结构体，包含所有初始化用的参数，通常是const，存好几组。*/
+typedef struct {
+  MOTOR_RM_Param_t pit_motor; /* pitch轴电机参数 */
+  MOTOR_DM_Param_t yaw_motor; /* yaw轴电机参数 */
+  struct {
+    KPID_Params_t yaw_omega; /* yaw轴角速度环PID参数 */
+    KPID_Params_t yaw_angle; /* yaw轴角位置环PID参数 */
+    KPID_Params_t pit_omega; /* pitch轴角速度环PID参数 */
+    KPID_Params_t pit_angle; /* pitch轴角位置环PID参数 */
+  } pid;
+
+  /* 低通滤波器截止频率 */
+  struct {
+    float out;  /* 电机输出 */
+    float gyro; /* 陀螺仪数据 */
+  } low_pass_cutoff_freq;
+
+  struct {
+    float yaw; /* yaw轴机械限位 */
+    float pit; /* pitch轴机械限位 */
+  } mech_zero;
+
+  struct {
+    float yaw; /* yaw轴机械限位行程 -1表示无限位 */
+    float pit; /* pitch轴机械限位行程 -1表示无限位*/
+  } travel;
+
+} Gimbal_Params_t;
+
+typedef struct {
+  AHRS_Gyro_t gyro;
+  AHRS_Eulr_t eulr;
+} Gimbal_IMU_t;
+/* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */
+typedef struct {
+  Gimbal_IMU_t imu;
+  struct {
+    MOTOR_Feedback_t yaw; /* yaw轴电机反馈 */
+    MOTOR_Feedback_t pit; /* pitch轴电机反馈 */
+  } motor;
+} Gimbal_Feedback_t;
+
+/* 云台输出数据的结构体*/
+typedef struct {
+  float yaw; /* yaw轴电机输出 */
+  float pit; /* pitch轴电机输出 */
+} Gimbal_Output_t;
+/*
+ * 运行的主结构体，所有这个文件里的函数都在操作这个结构体。
+ * 包含了初始化参数，中间变量，输出变量。
+ */
+typedef struct {
+  uint64_t lask_wakeup;
+  float dt;
+
+  Gimbal_Params_t *param; /* 云台的参数，用Gimbal_Init设定 */
+  /* 模块通用 */
+  Gimbal_Mode_t mode; /* 云台模式 */
+
+  /* PID计算的目标值 */
+  struct {
+    AHRS_Eulr_t eulr; /* 表示云台姿态的欧拉角 */
+  } setpoint;
+
+  struct {
+    KPID_t yaw_angle; /* yaw轴角位置环PID */
+    KPID_t yaw_omega; /* yaw轴角速度环PID */
+    KPID_t pit_angle; /* pitch轴角位置环PID */
+    KPID_t pit_omega; /* pitch轴角速度环PID */
+  } pid;
+
+  struct {
+    Gimbal_Limit_t yaw;
+    Gimbal_Limit_t pit;
+  } limit;
+
+  struct {
+    LowPassFilter2p_t yaw;
+    LowPassFilter2p_t pit;
+  } filter_out;
+
+  Gimbal_Output_t out;        /* 云台输出 */
+  Gimbal_Feedback_t feedback; /* 反馈 */
+
+} Gimbal_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * \brief 初始化云台
+ *
+ * \param g 包含云台数据的结构体
+ * \param param 包含云台参数的结构体指针
+ * \param target_freq 任务预期的运行频率
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param,
+                   float target_freq);
+
+/**
+ * \brief 通过CAN设备更新云台反馈信息
+ *
+ * \param gimbal 云台
+ * \param can CAN设备
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal);
+
+int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu);
+/**
+ * \brief 运行云台控制逻辑
+ *
+ * \param g 包含云台数据的结构体
+ * \param fb 云台反馈信息
+ * \param g_cmd 云台控制指令
+ * \param dt_sec 两次调用的时间间隔
+ *
+ * \return 函数运行结果
+ */
+int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd);
+
+/**
+ * \brief 云台输出
+ *
+ * \param s 包含云台数据的结构体
+ * \param out CAN设备云台输出结构体
+ */
+void Gimbal_Output(Gimbal_t *g);
+
+#ifdef __cplusplus
+}
+#endif