正常的英雄

.vscode/settings.json

@@ -1,5 +0,0 @@
-{
-    "files.associations": {
-        "functional": "cpp"
-    }
-}

MDK-ARM/DevC.uvoptx

@@ -347,7 +347,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO7 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(2BA01477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -360,7 +360,7 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>param_default</ItemText>
+          <ItemText>chassis</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
@@ -370,32 +370,49 @@
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>shoot</ItemText>
+          <ItemText>gimbal_out</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>param_hero</ItemText>
+          <ItemText>for_chassis</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ref</ItemText>
+          <ItemText>task_runtime</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>for_chassis</ItemText>
+          <ItemText>ref</ItemText>
+        </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>shoot</ItemText>
+        </Ww>
+        <Ww>
+          <count>7</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>ai</ItemText>
+        </Ww>
+        <Ww>
+          <count>8</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd</ItemText>
+        </Ww>
+        <Ww>
+          <count>9</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>rc</ItemText>
+        </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd_host</ItemText>
         </Ww>
       </WatchWindow1>
-      <MemoryWindow4>
-        <Mm>
-          <WinNumber>4</WinNumber>
-          <SubType>0</SubType>
-          <ItemText>for_chassis</ItemText>
-          <AccSizeX>0</AccSizeX>
-        </Mm>
-      </MemoryWindow4>
       <Tracepoint>
         <THDelay>0</THDelay>
       </Tracepoint>
@@ -646,7 +663,7 @@
 
   <Group>
     <GroupName>Application/User/USB_DEVICE/App</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1202,7 +1219,7 @@
 
   <Group>
     <GroupName>Middlewares/USB_Device_Library</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1658,7 +1675,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1738,7 +1755,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

Middlewares/Third_Party/Protocol/protocol.h

@@ -21,6 +21,7 @@ extern "C" {
 #define AI_TEAM_RED (0x01)
 #define AI_TEAM_BLUE (0x02)
 
+
 typedef uint8_t Protocol_ID_t;
 
 /* 电控 -> 视觉 MCU数据结构体*/

User/bsp/c/uart.c

@@ -12,9 +12,9 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
   if (huart->Instance == USART3)
     return BSP_UART_DR16;
   else if (huart->Instance == USART1)
-    return BSP_UART_REF;
-  else if (huart->Instance == USART6)
     return BSP_UART_AI;
+  else if (huart->Instance == USART6)
+    return BSP_UART_REF;
   /*
   else if (huart->Instance == USARTX)
                   return BSP_UART_XXX;
@@ -110,9 +110,9 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
     case BSP_UART_DR16:
       return &huart3;
     case BSP_UART_REF:
-      return &huart1;
-    case BSP_UART_AI:
       return &huart6;
+    case BSP_UART_AI:
+      return &huart1;
     /*
     case BSP_UART_XXX:
             return &huartX;

User/component/cmd.c

@@ -6,6 +6,7 @@
 
 #include <string.h>
 
+#include <device\ai.h>
 /**
  * @brief 行为转换为对应按键
  *
@@ -86,7 +87,7 @@ static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
   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;
+      (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;
 
@@ -189,19 +190,27 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
       /* 左拨杆相应行为选择和解析 */
     case CMD_SW_UP:
       cmd->chassis.mode = CHASSIS_MODE_BREAK;
+      // cmd->host_overwrite = false;
+      // cmd->shoot.ai_fire = false;
       break;
 
     case CMD_SW_MID:
       cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+      // cmd->host_overwrite = true;
+      // cmd->shoot.ai_fire = false;
       break;
 
     case CMD_SW_DOWN:
       cmd->chassis.mode = CHASSIS_MODE_ROTOR;
       cmd->chassis.mode_rotor = ROTOR_MODE_CW;
+      // cmd->host_overwrite = true;
+      // cmd->shoot.ai_fire = true;
       break;
 
     case CMD_SW_ERR:
       cmd->chassis.mode = CHASSIS_MODE_RELAX;
+      // cmd->host_overwrite = false;
+      // cmd->shoot.ai_fire = false;
       break;
   }
   switch (rc->sw_r) {
@@ -245,6 +254,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
     case CMD_SW_ERR:
       cmd->gimbal.mode = GIMBAL_MODE_RELAX;
       cmd->shoot.mode = SHOOT_MODE_RELAX;
+      // cmd->host_overwrite = false;
   }
   /* 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;

User/component/cmd.h

@@ -22,6 +22,8 @@ typedef enum {
   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_SENTRY_GIMBAL, /* 哨兵云台 */
+  ROBOT_MODEL_SENTRY_CHASSIS, /* 哨兵底盘 */
   ROBOT_MODEL_NUM,          /* 型号数量 */
 } CMD_RobotModel_t;
 
@@ -82,6 +84,7 @@ 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 ai_fire; /* AI开火状态 */
   bool cover_open;          /* 弹舱盖开关 */
   bool reverse_trig;        /* 拨弹电机状态 */
 } CMD_ShootCmd_t;
@@ -210,7 +213,6 @@ typedef struct {
   } 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 */

User/device/ai.c

@@ -38,6 +38,8 @@ int8_t AI_Init(AI_t *ai) {
   BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_RX_CPLT_CB,
                             Ai_RxCpltCallback);
   inited = true;
+
+  ai->ai_online = false;
   return 0;
 }
 
@@ -49,8 +51,8 @@ int8_t AI_Restart(void) {
 
 int8_t AI_StartReceiving(AI_t *ai) {
   if (HAL_UART_Receive_DMA(BSP_UART_GetHandle(BSP_UART_AI),
-                           (uint8_t *)&(ai->form_host),
-                           sizeof(ai->form_host)) == HAL_OK)
+                           ai->form_host.rx_buffer,
+                           sizeof(ai->form_host.rx_buffer)) == HAL_OK)
     return DEVICE_OK;
   return DEVICE_ERR;
 }
@@ -62,15 +64,25 @@ bool AI_WaitDmaCplt(void) {
 
 int8_t AI_ParseHost(AI_t *ai, CMD_Host_t *cmd_host) {
   (void)cmd_host;
-  if (!CRC16_Verify((const uint8_t *)&(ai->form_host), sizeof(ai->form_host)))
+  ai->ai_online = true;
+  if (!CRC16_Verify(ai->form_host.rx_buffer, sizeof(ai->form_host.rx_buffer)))
     goto error;
-  cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
-  cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
-  cmd_host->gimbal_delta.rol = ai->form_host.data.gimbal.rol;
-  cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
-  cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
-  cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
-  cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;
+  memcpy(&(ai->form_host.data), ai->form_host.rx_buffer, sizeof(ai->form_host.data));
+  // cmd_host->gimbal_delta.pit = ai->form_host.data.gimbal.pit;
+  // cmd_host->gimbal_delta.yaw = ai->form_host.data.gimbal.yaw;
+  // cmd_host->gimbal_delta.rol = ai->form_host.data.gimbal.rol;
+  // cmd_host->fire = (ai->form_host.data.notice & AI_NOTICE_FIRE);
+  // cmd_host->chassis_move_vec.vx = ai->form_host.data.chassis_move_vec.vx;
+  // cmd_host->chassis_move_vec.vy = ai->form_host.data.chassis_move_vec.vy;
+  // cmd_host->chassis_move_vec.wz = ai->form_host.data.chassis_move_vec.wz;
+  cmd_host->gimbal_delta.pit = ai->form_host.data.data.gimbal.pit;
+  cmd_host->gimbal_delta.yaw = ai->form_host.data.data.gimbal.yaw;
+  cmd_host->gimbal_delta.rol = ai->form_host.data.data.gimbal.rol;
+  cmd_host->fire = (ai->form_host.data.data.notice & AI_NOTICE_FIRE);
+  cmd_host->chassis_move_vec.vx = ai->form_host.data.data.chassis_move_vec.vx;
+  cmd_host->chassis_move_vec.vy = ai->form_host.data.data.chassis_move_vec.vy;
+  cmd_host->chassis_move_vec.wz = ai->form_host.data.data.chassis_move_vec.wz;
+
   return DEVICE_OK;
 
 error:
@@ -81,8 +93,9 @@ error:
 int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) {
   if (ai == NULL) return DEVICE_ERR_NULL;
   if (cmd_host == NULL) return DEVICE_ERR_NULL;
-
-  memset(&(ai->form_host), 0, sizeof(ai->form_host));
+  ai->ai_online = false;
+  memset(ai->form_host.rx_buffer, 0, sizeof(ai->form_host.rx_buffer));
+  memset(&(ai->form_host.data), 0, sizeof(ai->form_host.data));
   memset(cmd_host, 0, sizeof(*cmd_host));
   return 0;
 }

User/device/ai.h

@@ -36,8 +36,10 @@ typedef struct __packed {
 
 typedef struct __packed {
   osThreadId_t thread_alert;
-
-  Protocol_DownPackage_t form_host;
+  struct {
+    uint8_t rx_buffer[sizeof(Protocol_DownPackage_t)]; 
+    Protocol_DownPackage_t data;
+  }form_host;
 
   struct {
     AI_UpPackageReferee_t ref;
@@ -45,6 +47,8 @@ typedef struct __packed {
   } to_host;
 
   CMD_AI_Status_t status;
+
+  bool ai_online;
 } AI_t;
 
 /* Exported functions prototypes -------------------------------------------- */

User/device/can.c

@@ -68,8 +68,7 @@ static bool inited = false;
 
 /* Private function  -------------------------------------------------------- */
 static void CAN_Motor_Decode(CAN_MotorFeedback_t *feedback,
-                             const uint8_t *raw)
-{
+                             const uint8_t *raw) {
   uint16_t raw_angle = (uint16_t)((raw[0] << 8) | raw[1]);
   int16_t raw_current = (int16_t)((raw[4] << 8) | raw[5]);
 
@@ -80,44 +79,36 @@ static void CAN_Motor_Decode(CAN_MotorFeedback_t *feedback,
   feedback->temp = raw[6];
 }
 
-void CAN_Cap_Decode(CAN_CapFeedback_t *feedback, const uint8_t *raw)
-{
+void CAN_Cap_Decode(CAN_CapFeedback_t *feedback, const uint8_t *raw) {
   feedback->input_volt = (float)((raw[1] << 8) | raw[0]) / (float)CAN_CAP_RES;
   feedback->cap_volt = (float)((raw[3] << 8) | raw[2]) / (float)CAN_CAP_RES;
   feedback->input_curr = (float)((raw[5] << 8) | raw[4]) / (float)CAN_CAP_RES;
   feedback->target_power = (float)((raw[7] << 8) | raw[6]) / (float)CAN_CAP_RES;
 }
 
-void CAN_Tof_Decode(CAN_Tof_t *tof, const uint8_t *raw)
-{
+void CAN_Tof_Decode(CAN_Tof_t *tof, const uint8_t *raw) {
   tof->dist = (float)((raw[2] << 16) | (raw[1] << 8) | raw[0]) / 1000.0f;
   tof->status = raw[3];
   tof->signal_strength = (raw[5] << 8) | raw[4];
 }
 
-static void CAN_CAN1RxFifoMsgPendingCallback(void)
-{
+static void CAN_CAN1RxFifoMsgPendingCallback(void) {
   HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_1), CAN_MOTOR_RX_FIFO,
                        &raw_rx1.rx_header, raw_rx1.rx_data);
   osMessageQueuePut(gcan->msgq_raw, &raw_rx1, 0, 0);
 }
 
-static void CAN_CAN2RxFifoMsgPendingCallback(void)
-{
+static void CAN_CAN2RxFifoMsgPendingCallback(void) {
   HAL_CAN_GetRxMessage(BSP_CAN_GetHandle(BSP_CAN_2), CAN_CAP_RX_FIFO,
                        &raw_rx2.rx_header, raw_rx2.rx_data);
   osMessageQueuePut(gcan->msgq_raw, &raw_rx2, 0, 0);
 }
 
 /* Exported functions ------------------------------------------------------- */
-int8_t CAN_Init(CAN_t *can, const CAN_Params_t *param)
-{
-  if (can == NULL)
-    return DEVICE_ERR_NULL;
-  if (inited)
-    return DEVICE_ERR_INITED;
-  if ((thread_alert = osThreadGetId()) == NULL)
-    return DEVICE_ERR_NULL;
+int8_t CAN_Init(CAN_t *can, const CAN_Params_t *param) {
+  if (can == NULL) return DEVICE_ERR_NULL;
+  if (inited) return DEVICE_ERR_INITED;
+  if ((thread_alert = osThreadGetId()) == NULL) return DEVICE_ERR_NULL;
 
   can->msgq_raw = osMessageQueueNew(32, sizeof(CAN_RawRx_t), NULL);
 
@@ -159,16 +150,13 @@ int8_t CAN_Init(CAN_t *can, const CAN_Params_t *param)
 }
 
 int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
-                         CAN_t *can)
-{
-  if (output == NULL)
-    return DEVICE_ERR_NULL;
+                         CAN_t *can) {
+  if (output == NULL) return DEVICE_ERR_NULL;
 
   int16_t motor1, motor2, motor3, motor4;
   int16_t yaw_motor, pit_motor;
   int16_t fric1_motor, fric2_motor, fric3_motor, trig_motor;
-  switch (group)
-  {
+  switch (group) {
     case CAN_MOTOR_GROUT_CHASSIS:
       motor1 =
           (int16_t)(output->chassis.named.m1 * (float)CAN_M3508_MAX_ABS_LSB);
@@ -217,10 +205,7 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
       raw_tx.tx_data[6] = 0;
       raw_tx.tx_data[7] = 0;
 
-    HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal.yaw),
-                         &raw_tx.tx_header, raw_tx.tx_data,
-                         &(can->mailbox.gimbal));
-    HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal.pitch),
+      HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->gimbal),
                            &raw_tx.tx_header, raw_tx.tx_data,
                            &(can->mailbox.gimbal));
 			// HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
@@ -256,24 +241,20 @@ int8_t CAN_Motor_Control(CAN_MotorGroup_t group, CAN_Output_t *output,
       HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->shoot),
                            &raw_tx.tx_header, raw_tx.tx_data,
                            &(can->mailbox.shoot));
-    HAL_CAN_AddTxMessage(BSP_CAN_GetHandle(can->param->trig),
-                         &raw_tx.tx_header, raw_tx.tx_data,
-                         &(can->mailbox.shoot));
+      break;
+
+    default:
       break;
   }
   return DEVICE_OK;
 }
 
-int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx)
-{
-  if (can == NULL)
-    return DEVICE_ERR_NULL;
-  if (can_rx == NULL)
-    return DEVICE_ERR_NULL;
+int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx) {
+  if (can == NULL) return DEVICE_ERR_NULL;
+  if (can_rx == NULL) return DEVICE_ERR_NULL;
 
   uint32_t index;
-  switch (can_rx->rx_header.StdId)
-  {
+  switch (can_rx->rx_header.StdId) {
     case CAN_M3508_M1_ID:
     case CAN_M3508_M2_ID:
     case CAN_M3508_M3_ID:
@@ -291,6 +272,7 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx)
       can->recive_flag |= 1 << (index + 6);
       CAN_Motor_Decode(&(can->motor.shoot.as_array[index]), can_rx->rx_data);
       break;
+
     case CAN_GM6020_YAW_ID:
     case CAN_GM6020_PIT_ID:
       index = can_rx->rx_header.StdId - CAN_GM6020_YAW_ID;
@@ -311,23 +293,18 @@ int8_t CAN_StoreMsg(CAN_t *can, CAN_RawRx_t *can_rx)
   return DEVICE_OK;
 }
 
-bool CAN_CheckFlag(CAN_t *can, uint32_t flag)
-{
-  if (can == NULL)
-    return false;
+bool CAN_CheckFlag(CAN_t *can, uint32_t flag) {
+  if (can == NULL) return false;
   return (can->recive_flag & flag) == flag;
 }
 
-int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag)
-{
-  if (can == NULL)
-    return DEVICE_ERR_NULL;
+int8_t CAN_ClearFlag(CAN_t *can, uint32_t flag) {
+  if (can == NULL) return DEVICE_ERR_NULL;
   can->recive_flag &= ~flag;
   return DEVICE_OK;
 }
 
-int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can)
-{
+int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can) {
   float power_limit = output->power_limit;
 
   uint16_t cap = (uint16_t)(power_limit * CAN_CAP_RES);
@@ -346,8 +323,7 @@ int8_t CAN_Cap_Control(CAN_CapOutput_t *output, CAN_t *can)
 }
 
 void CAN_CAP_HandleOffline(CAN_Capacitor_t *cap, CAN_CapOutput_t *cap_out,
-                           float power_chassis)
-{
+                           float power_chassis) {
   cap->cap_status = CAN_CAP_STATUS_OFFLINE;
   cap_out->power_limit = power_chassis;
 }

User/device/can.h

@@ -80,16 +80,10 @@ typedef enum {
   CAN_GM6020_PIT_ID = 0x20A, /* 6 */
 } CAN_MotorId_t;
 
-typedef struct {
-  BSP_CAN_t yaw;
-  BSP_CAN_t pitch;
-} Gimbal_CAN_t;
-
 typedef struct {
   BSP_CAN_t chassis;
-  Gimbal_CAN_t gimbal;
+  BSP_CAN_t gimbal;
   BSP_CAN_t shoot;
-  BSP_CAN_t trig;
   BSP_CAN_t cap;
 } CAN_Params_t;
 

User/module/config.c

@@ -149,6 +149,8 @@ static const Config_RobotParam_t param_default = {
       .yaw = false,
       .pit = true,
     },
+
+    .pit_ctrl_reverse = false,
   }, /* gimbal */
 
   .shoot = { /* 射击模块参数 */
@@ -194,10 +196,8 @@ static const Config_RobotParam_t param_default = {
 
   .can = {
     .chassis = BSP_CAN_1,
-    .gimbal.yaw = BSP_CAN_2,
-    .gimbal.pitch = BSP_CAN_2,
+    .gimbal = BSP_CAN_2,
     .shoot = BSP_CAN_2,      
-    .trig = BSP_CAN_2,
     .cap = BSP_CAN_1,
     }, /* can */
 }; /* param_default */
@@ -248,20 +248,20 @@ static const Config_RobotParam_t param_hero = {
     .pid = {
       {
         /* GIMBAL_PID_YAW_OMEGA_IDX */
-        .k = 0.24f,
+        .k = 0.45f,
         .p = 1.0f,
-        .i = 0.5f,
-        .d = 0.0f,
+        .i = 6.0f,
+        .d = 0.0008f,
         .i_limit = 1.0f,
         .out_limit = 1.0f,
         .d_cutoff_freq = -1.0f,
         .range = -1.0f,
       }, {
         /* GIMBAL_PID_YAW_ANGLE_IDX */
-        .k = 10.0f,
+        .k = 20.0f,
         .p = 1.0f,
         .i = 0.0f,
-        .d = 0.05f,
+        .d = 0.0f,
         .i_limit = 0.0f,
         .out_limit = 10.0f,
         .d_cutoff_freq = -1.0f,
@@ -278,9 +278,9 @@ static const Config_RobotParam_t param_hero = {
         .range = -1.0f,
       }, {
         /* GIMBAL_PID_PIT_ANGLE_IDX */
-        .k = 2.0f,
-        .p = 5.0f,
-        .i = 2.5f,
+        .k = 12.0f,
+        .p = 1.0f,
+        .i = 0.0f,
         .d = 0.0f,
         .i_limit = 0.0f,
         .out_limit = 10.0f,
@@ -300,6 +300,8 @@ static const Config_RobotParam_t param_hero = {
       .yaw = false,
       .pit = false,
     },
+
+    .pit_ctrl_reverse = false,
   }, /* gimbal */
 
   .shoot = { /* 射击模块参数 */
@@ -345,14 +347,392 @@ static const Config_RobotParam_t param_hero = {
 
   .can = {
     .chassis = BSP_CAN_1,
-    .gimbal.yaw = BSP_CAN_1,
-    .gimbal.pitch = BSP_CAN_2,
+    .gimbal = BSP_CAN_2,
     .shoot = BSP_CAN_2,      
-    .trig = BSP_CAN_1,
     .cap = BSP_CAN_1,
     }, /* can */
 }; /* param_hero */      
 
+#ifdef DEBUG
+Config_RobotParam_t param_sentry_chassis = {
+#else
+static const Config_RobotParam_t param_sentry_chassis = {
+#endif
+  .model = ROBOT_MODEL_SENTRY_CHASSIS,
+
+  .chassis = { /* 底盘模块参数 */
+    .type = CHASSIS_TYPE_MECANUM,
+
+    .motor_pid_param = {
+      .k = 0.001f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = -1.0f,
+    },
+
+    .follow_pid_param = {
+      .k = 0.5f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = M_2PI,
+    },
+
+    .low_pass_cutoff_freq = {
+      .in = -1.0f,
+      .out = -1.0f,
+    },
+		
+		.reverse = {
+			.yaw = false,
+		},
+		
+  }, /* chassis */
+
+  .gimbal = { /* 云台模块参数 */
+    .pid = {
+      {
+//        /* GIMBAL_PID_YAW_OMEGA_IDX */
+//        .k = 0.25f,
+//        .p = 1.0f,
+//        .i = 1.0f,
+//        .d = 0.0f,
+//        .i_limit = 1.0f,
+//        .out_limit = 1.0f,
+//        .d_cutoff_freq = -1.0f,
+//        .range = -1.0f,
+//      }, {
+//        /* GIMBAL_PID_YAW_ANGLE_IDX */
+//        .k = 12.0f,
+//        .p = 1.0f,
+//        .i = 0.0f,
+//        .d = 0.05f,
+//        .i_limit = 0.0f,
+//        .out_limit = 10.0f,
+//        .d_cutoff_freq = -1.0f,
+//        .range = M_2PI,
+				/* GIMBAL_PID_YAW_OMEGA_IDX */
+        .k = 0.24f,
+        .p = 1.0f,
+        .i = 0.5f,
+        .d = 0.0f,
+        .i_limit = 1.0f,
+        .out_limit = 1.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = -1.0f,
+      }, {
+        /* GIMBAL_PID_YAW_ANGLE_IDX */
+        .k = 10.0f,
+        .p = 1.0f,
+        .i = 0.0f,
+        .d = 0.05f,
+        .i_limit = 0.0f,
+        .out_limit = 10.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = M_2PI,
+      }, {
+//        /* GIMBAL_PID_PIT_OMEGA_IDX */
+//        .k = 0.35f,
+//        .p = 1.0f,
+//        .i = 0.f,
+//        .d = 0.003f,
+//        .i_limit = 1.0f,
+//        .out_limit = 1.0f,
+//        .d_cutoff_freq = -1.0f,
+//        .range = -1.0f,
+//      }, {
+//        /* GIMBAL_PID_PIT_ANGLE_IDX */
+//        .k = 15.0f,
+//        .p = 1.0f,
+//        .i = 0.0f,
+//        .d = 0.0f,
+//        .i_limit = 0.0f,
+//        .out_limit = 10.0f,
+//        .d_cutoff_freq = -1.0f,
+//        .range = M_2PI,
+				/* GIMBAL_PID_PIT_OMEGA_IDX */
+        .k = 0.25f,
+        .p = 1.0f,
+        .i = 0.0f,
+        .d = 0.0f,
+        .i_limit = 1.0f,
+        .out_limit = 1.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = -1.0f,
+      }, {
+        /* GIMBAL_PID_PIT_ANGLE_IDX */
+        .k = 2.0f,
+        .p = 5.0f,
+        .i = 2.5f,
+        .d = 0.0f,
+        .i_limit = 0.0f,
+        .out_limit = 10.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = M_2PI,
+      },
+    }, /* pid */
+
+    .pitch_travel_rad = 0.85f,
+    
+    .low_pass_cutoff_freq = {
+      .out = -1.0f,
+      .gyro = 1000.0f,
+    },
+
+    .reverse = {
+      .yaw = false,
+      .pit = true,
+    },
+
+    .pit_ctrl_reverse = true,
+  }, /* gimbal */
+
+  .shoot = { /* 射击模块参数 */
+            
+    .fric_pid_param = {
+      .k = 0.001f,
+      .p = 1.0f,
+      .i = 0.2f,
+      .d = 0.01f,
+      .i_limit = 0.5f,
+      .out_limit = 0.5f,
+      .d_cutoff_freq = -1.0f,
+    },
+    .trig_pid_param = {
+      .k = 12.0f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0450000018f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = M_2PI,
+    },
+    .low_pass_cutoff_freq = {
+      .in = {
+        .fric = -1.0f,
+        .trig = -1.0f,
+      },
+      .out = {
+        .fric = -1.0f,
+        .trig = -1.0f,
+      },
+    },
+    .num_trig_tooth = 8.0f,
+    .trig_gear_ratio = 36.0f,
+    .fric_radius = 0.03f,
+    .cover_open_duty = 0.10f,
+    .cover_close_duty = 0.050f,
+    .model = SHOOT_MODEL_17MM,
+    .bullet_speed = 6.f,
+    .min_shoot_delay = (uint32_t)(1000.0f / 10.0f),
+  }, /* shoot */
+
+  .can = {
+    .chassis = BSP_CAN_1,
+    .gimbal = BSP_CAN_2,
+    .shoot = BSP_CAN_2,      
+    .cap = BSP_CAN_1,
+    }, /* can */
+}; /* param_sentry_chassis */
+
+#ifdef DEBUG
+Config_RobotParam_t param_sentry_gimbal = {
+#else
+static const Config_RobotParam_t param_sentry_gimbal = {
+#endif
+  .model = ROBOT_MODEL_SENTRY_GIMBAL,
+
+  .chassis = { /* 底盘模块参数 */
+    .type = CHASSIS_TYPE_MECANUM,
+
+    .motor_pid_param = {
+      .k = 0.001f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = -1.0f,
+    },
+
+    .follow_pid_param = {
+      .k = 0.5f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = M_2PI,
+    },
+
+    .low_pass_cutoff_freq = {
+      .in = -1.0f,
+      .out = -1.0f,
+    },
+		
+		.reverse = {
+			.yaw = false,
+		},
+		
+  }, /* chassis */
+
+  .gimbal = { /* 云台模块参数 */
+    .pid = {
+      {
+//        /* GIMBAL_PID_YAW_OMEGA_IDX */
+//        .k = 0.25f,
+//        .p = 1.0f,
+//        .i = 1.0f,
+//        .d = 0.0f,
+//        .i_limit = 1.0f,
+//        .out_limit = 1.0f,
+//        .d_cutoff_freq = -1.0f,
+//        .range = -1.0f,
+//      }, {
+//        /* GIMBAL_PID_YAW_ANGLE_IDX */
+//        .k = 12.0f,
+//        .p = 1.0f,
+//        .i = 0.0f,
+//        .d = 0.05f,
+//        .i_limit = 0.0f,
+//        .out_limit = 10.0f,
+//        .d_cutoff_freq = -1.0f,
+//        .range = M_2PI,
+				/* GIMBAL_PID_YAW_OMEGA_IDX */
+        .k = 0.24f,
+        .p = 1.0f,
+        .i = 0.5f,
+        .d = 0.0f,
+        .i_limit = 1.0f,
+        .out_limit = 1.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = -1.0f,
+      }, {
+        /* GIMBAL_PID_YAW_ANGLE_IDX */
+        .k = 10.0f,
+        .p = 1.0f,
+        .i = 0.0f,
+        .d = 0.05f,
+        .i_limit = 0.0f,
+        .out_limit = 10.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = M_2PI,
+      }, {
+//        /* GIMBAL_PID_PIT_OMEGA_IDX */
+//        .k = 0.35f,
+//        .p = 1.0f,
+//        .i = 0.f,
+//        .d = 0.003f,
+//        .i_limit = 1.0f,
+//        .out_limit = 1.0f,
+//        .d_cutoff_freq = -1.0f,
+//        .range = -1.0f,
+//      }, {
+//        /* GIMBAL_PID_PIT_ANGLE_IDX */
+//        .k = 15.0f,
+//        .p = 1.0f,
+//        .i = 0.0f,
+//        .d = 0.0f,
+//        .i_limit = 0.0f,
+//        .out_limit = 10.0f,
+//        .d_cutoff_freq = -1.0f,
+//        .range = M_2PI,
+				/* GIMBAL_PID_PIT_OMEGA_IDX */
+        .k = 0.25f,
+        .p = 1.0f,
+        .i = 0.0f,
+        .d = 0.0f,
+        .i_limit = 1.0f,
+        .out_limit = 1.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = -1.0f,
+      }, {
+        /* GIMBAL_PID_PIT_ANGLE_IDX */
+        .k = 2.0f,
+        .p = 5.0f,
+        .i = 2.5f,
+        .d = 0.0f,
+        .i_limit = 0.0f,
+        .out_limit = 10.0f,
+        .d_cutoff_freq = -1.0f,
+        .range = M_2PI,
+      },
+    }, /* pid */
+
+    .pitch_travel_rad = 0.85f,
+    
+    .low_pass_cutoff_freq = {
+      .out = -1.0f,
+      .gyro = 1000.0f,
+    },
+
+    .reverse = {
+      .yaw = false,
+      .pit = true,
+    },
+
+    .pit_ctrl_reverse = true,
+  }, /* gimbal */
+
+  .shoot = { /* 射击模块参数 */
+            
+    .fric_pid_param = {
+      .k = 0.001f,
+      .p = 1.0f,
+      .i = 0.2f,
+      .d = 0.01f,
+      .i_limit = 0.5f,
+      .out_limit = 0.5f,
+      .d_cutoff_freq = -1.0f,
+    },
+    .trig_pid_param = {
+      .k = 12.0f,
+      .p = 1.0f,
+      .i = 0.0f,
+      .d = 0.0450000018f,
+      .i_limit = 1.0f,
+      .out_limit = 1.0f,
+      .d_cutoff_freq = -1.0f,
+      .range = M_2PI,
+    },
+    .low_pass_cutoff_freq = {
+      .in = {
+        .fric = -1.0f,
+        .trig = -1.0f,
+      },
+      .out = {
+        .fric = -1.0f,
+        .trig = -1.0f,
+      },
+    },
+    .num_trig_tooth = 8.0f,
+    .trig_gear_ratio = 36.0f,
+    .fric_radius = 0.03f,
+    .cover_open_duty = 0.10f,
+    .cover_close_duty = 0.050f,
+    .model = SHOOT_MODEL_17MM,
+    .bullet_speed = 25.f,
+    .min_shoot_delay = (uint32_t)(1000.0f / 20.0f),
+  }, /* shoot */
+
+  .can = {
+    .chassis = BSP_CAN_1,
+    .gimbal = BSP_CAN_2,
+    .shoot = BSP_CAN_2,      
+    .cap = BSP_CAN_1,
+    }, /* can */
+}; /* param_sentry_gimbal */
+
 /* static const Config_RobotParam_t param_xxx; */
 
 static const Config_PilotCfg_t cfg_qs = {
@@ -419,6 +799,8 @@ static const Config_RobotParamMap_t robot_param_map[] = {
     {"default", &param_default},
     {"infantry", &param_default},
     {"hero", &param_hero},
+    {"sentry_chassis", &param_sentry_chassis},
+    {"sentry_gimbal", &param_sentry_gimbal},
     // {"engineer", &param_engineer},
     // {"drone", &param_drone},
     // {"sentry", &param_sentry},
@@ -438,21 +820,17 @@ static const Config_PilotCfgMap_t pilot_cfg_map[] = {
  *
  * \param cfg 配置信息
  */
-void Config_Get(Config_t *cfg)
-{
+void Config_Get(Config_t *cfg) {
   BSP_Flash_ReadBytes(CONFIG_BASE_ADDRESS, (uint8_t *)cfg, sizeof(*cfg));
   cfg->pilot_cfg = Config_GetPilotCfg(cfg->pilot_cfg_name);
   cfg->robot_param = Config_GetRobotParam(cfg->robot_param_name);
   /* 防止第一次烧写后访问NULL指针 */
-  if (cfg->robot_param == NULL)
-    cfg->robot_param = &param_default;
-  if (cfg->pilot_cfg == NULL)
-    cfg->pilot_cfg = &cfg_qs;
+  if (cfg->robot_param == NULL) cfg->robot_param = &param_default;
+  if (cfg->pilot_cfg == NULL) cfg->pilot_cfg = &cfg_qs;
   /* 防止擦除后全为1 */
   if ((uint32_t)(cfg->robot_param) == UINT32_MAX)
     cfg->robot_param = &param_default;
-  if ((uint32_t)(cfg->pilot_cfg) == UINT32_MAX)
-    cfg->pilot_cfg = &cfg_qs;
+  if ((uint32_t)(cfg->pilot_cfg) == UINT32_MAX) cfg->pilot_cfg = &cfg_qs;
 }
 
 /**
@@ -460,8 +838,7 @@ void Config_Get(Config_t *cfg)
  *
  * \param cfg 配置信息
  */
-void Config_Set(Config_t *cfg)
-{
+void Config_Set(Config_t *cfg) {
   osKernelLock();
   BSP_Flash_EraseSector(11);
   BSP_Flash_WriteBytes(CONFIG_BASE_ADDRESS, (uint8_t *)cfg, sizeof(*cfg));
@@ -474,14 +851,10 @@ void Config_Set(Config_t *cfg)
  * @param robot_param_name 机器人参数名称
  * @return const Config_RobotParam_t* 机器人参数的指针
  */
-const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name)
-{
-  if (robot_param_name == NULL)
-    return NULL;
-  for (size_t j = 0; robot_param_map[j].name != NULL; j++)
-  {
-    if (strcmp(robot_param_map[j].name, robot_param_name) == 0)
-    {
+const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name) {
+  if (robot_param_name == NULL) return NULL;
+  for (size_t j = 0; robot_param_map[j].name != NULL; j++) {
+    if (strcmp(robot_param_map[j].name, robot_param_name) == 0) {
       return robot_param_map[j].param;
     }
   }
@@ -494,26 +867,20 @@ const Config_RobotParam_t *Config_GetRobotParam(const char *robot_param_name)
  * @param pilot_cfg_name 操作手配置名称
  * @return const Config_PilotCfg_t* 操作手配置的指针
  */
-const Config_PilotCfg_t *Config_GetPilotCfg(const char *pilot_cfg_name)
-{
-  if (pilot_cfg_name == NULL)
-    return NULL;
-  for (size_t j = 0; pilot_cfg_map[j].name != NULL; j++)
-  {
-    if (strcmp(pilot_cfg_map[j].name, pilot_cfg_name) == 0)
-    {
+const Config_PilotCfg_t *Config_GetPilotCfg(const char *pilot_cfg_name) {
+  if (pilot_cfg_name == NULL) return NULL;
+  for (size_t j = 0; pilot_cfg_map[j].name != NULL; j++) {
+    if (strcmp(pilot_cfg_map[j].name, pilot_cfg_name) == 0) {
       return pilot_cfg_map[j].param;
     }
   }
   return NULL; /* No match. */
 }
 
-const Config_PilotCfgMap_t *Config_GetPilotNameMap(void)
-{
+const Config_PilotCfgMap_t *Config_GetPilotNameMap(void) {
   return pilot_cfg_map;
 }
 
-const Config_RobotParamMap_t *Config_GetRobotNameMap(void)
-{
+const Config_RobotParamMap_t *Config_GetRobotNameMap(void) {
   return robot_param_map;
 }

User/module/gimbal.c

@@ -130,8 +130,12 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
   Gimbal_SetMode(g, g_cmd->mode);
 
   /* yaw坐标正方向与遥控器操作逻辑相反 */
-  g_cmd->delta_eulr.pit = -g_cmd->delta_eulr.pit;
+  g_cmd->delta_eulr.pit = g_cmd->delta_eulr.pit;
+  if (g->param->pit_ctrl_reverse){
     g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
+  }else{
+    g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
+  }
 
   /* 处理yaw控制命令 */
   CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);
@@ -147,6 +151,16 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
                   (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
                    g->feedback.eulr.imu.pit),
                   M_2PI);
+  // const float delta_max =
+  //     CircleError(g->limit.max,
+  //                 (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
+  //                  g->feedback.eulr.encoder.pit),
+  //                 M_2PI);
+  // const float delta_min =
+  //     CircleError(g->limit.min,
+  //                 (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
+  //                  g->feedback.eulr.encoder.pit),
+  //                 M_2PI);
   Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
   g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
 
@@ -171,9 +185,17 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
       pit_omega_set_point =
           PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
                    g->feedback.eulr.imu.pit, 0.0f, g->dt);
+      // pit_omega_set_point =
+      //     PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
+      //              g->feedback.eulr.encoder.pit, 0.0f, g->dt);
+           
       g->out[GIMBAL_ACTR_PIT_IDX] =
           PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
                    g->feedback.gyro.x, 0.f, g->dt);
+      
+      // g->out[GIMBAL_ACTR_PIT_IDX] =
+      //     PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
+      //              0.0, 0.f, g->dt);
       break;
 
     case GIMBAL_MODE_RELATIVE:

User/module/gimbal.h

@@ -60,6 +60,8 @@ typedef struct {
     bool pit;
   } reverse;
 
+  bool pit_ctrl_reverse; /* 云台pitch遥控方向 */
+  
 } Gimbal_Params_t;
 
 /* 软件限位 */

User/module/shoot.h

@@ -208,4 +208,3 @@
 #ifdef __cplusplus
 }
 #endif
- 

User/task/ai.c

@@ -42,6 +42,9 @@ void Task_Ai(void *argument) {
   AI_Init(&ai);
 
   uint32_t tick = osKernelGetTickCount();
+
+  uint32_t last_online_tick = tick;
+
   while (1) {
 #ifdef DEBUG
     task_runtime.stack_water_mark.ai = osThreadGetStackSpace(osThreadGetId());
@@ -52,8 +55,9 @@ void Task_Ai(void *argument) {
     AI_StartReceiving(&ai);
     if (AI_WaitDmaCplt()) {
       AI_ParseHost(&ai, &cmd_host);
+      last_online_tick = tick;
     } else {
-      AI_HandleOffline(&ai, &cmd_host);
+      if (tick - last_online_tick > 300) AI_HandleOffline(&ai, &cmd_host);
     }
     osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
     osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);

User/task/cli.c

@@ -32,10 +32,10 @@ typedef struct {
 
 static const char *const CLI_WELCOME_MESSAGE =
     "\r\n"
-//    "  ______         __           _______               __              \r\n"
-//    " |   __ \\.-----.|  |--.-----.|   |   |.---.-.-----.|  |_.-----.----.\r\n"
-//    " |      <|  _  ||  _  |  _  ||       ||  _  |__ --||   _|  -__|   _|\r\n"
-//    " |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__|  \r\n"
+   "  ______         __           _______               __              \r\n"
+   " |   __ \\.-----.|  |--.-----.|   |   |.---.-.-----.|  |_.-----.----.\r\n"
+   " |      <|  _  ||  _  |  _  ||       ||  _  |__ --||   _|  -__|   _|\r\n"
+   " |___|__||_____||_____|_____||__|_|__||___._|_____||____|_____|__|  \r\n"
     " -------------------------------------------------------------------\r\n"
     " FreeRTOS CLI. Type 'help' to view a list of registered commands.   \r\n"
     "\r\n";