dm

CMakeLists.txt

@@ -72,6 +72,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/dr16.c
     User/device/motor.c
     User/device/motor_lk.c
+    User/device/motor_dm.c
+    User/device/motor_rm.c
     User/device/motor_lz.c
 
     # User/module sources
@@ -82,6 +84,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/atti_esti.c
     User/task/blink.c
     User/task/ctrl_chassis.c
+    User/task/ctrl_gimbal.c
     User/task/init.c
     User/task/rc.c
     User/task/user_task.c

DevC.ioc

@@ -561,12 +561,12 @@ ProjectManager.ProjectName=DevC
 ProjectManager.ProjectStructure=
 ProjectManager.RegisterCallBack=
 ProjectManager.StackSize=0x1000
-ProjectManager.TargetToolchain=MDK-ARM V5.32
+ProjectManager.TargetToolchain=CMake
 ProjectManager.ToolChainLocation=
 ProjectManager.UAScriptAfterPath=
 ProjectManager.UAScriptBeforePath=
 ProjectManager.UnderRoot=false
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_ADC3_Init-ADC3-false-HAL-true,6-MX_CAN1_Init-CAN1-false-HAL-true,7-MX_CAN2_Init-CAN2-false-HAL-true,8-MX_I2C1_Init-I2C1-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM4_Init-TIM4-false-HAL-true,11-MX_TIM5_Init-TIM5-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true,14-MX_CRC_Init-CRC-false-HAL-true,15-MX_RNG_Init-RNG-false-HAL-true,16-MX_I2C2_Init-I2C2-false-HAL-true,17-MX_I2C3_Init-I2C3-false-HAL-true,18-MX_SPI2_Init-SPI2-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM3_Init-TIM3-false-HAL-true,21-MX_TIM10_Init-TIM10-false-HAL-true,22-MX_USART1_UART_Init-USART1-false-HAL-true,23-MX_USART6_UART_Init-USART6-false-HAL-true,24-MX_USB_DEVICE_Init-USB_DEVICE-false-HAL-false,25-MX_TIM7_Init-TIM7-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-MX_DMA_Init-DMA-false-HAL-true,3-SystemClock_Config-RCC-false-HAL-false,4-MX_ADC1_Init-ADC1-false-HAL-true,5-MX_ADC3_Init-ADC3-false-HAL-true,6-MX_CAN1_Init-CAN1-false-HAL-true,7-MX_CAN2_Init-CAN2-false-HAL-true,8-MX_I2C1_Init-I2C1-false-HAL-true,9-MX_SPI1_Init-SPI1-false-HAL-true,10-MX_TIM4_Init-TIM4-false-HAL-true,11-MX_TIM5_Init-TIM5-false-HAL-true,12-MX_USART3_UART_Init-USART3-false-HAL-true,13-MX_TIM8_Init-TIM8-false-HAL-true,14-MX_CRC_Init-CRC-false-HAL-true,15-MX_RNG_Init-RNG-false-HAL-true,16-MX_I2C2_Init-I2C2-false-HAL-true,17-MX_I2C3_Init-I2C3-false-HAL-true,18-MX_SPI2_Init-SPI2-false-HAL-true,19-MX_TIM1_Init-TIM1-false-HAL-true,20-MX_TIM3_Init-TIM3-false-HAL-true,21-MX_TIM10_Init-TIM10-false-HAL-true,22-MX_USART1_UART_Init-USART1-false-HAL-true,23-MX_USART6_UART_Init-USART6-false-HAL-true,24-MX_TIM7_Init-TIM7-false-HAL-true,25-MX_USB_OTG_FS_PCD_Init-USB_OTG_FS-false-HAL-true
 RCC.48MHZClocksFreq_Value=48000000
 RCC.AHBFreq_Value=168000000
 RCC.APB1CLKDivider=RCC_HCLK_DIV4

User/device/device_config.yaml

@@ -18,3 +18,6 @@ motor_lk:
 motor_lz:
   bsp_config: {}
   enabled: true
+motor_rm:
+  bsp_config: {}
+  enabled: true

User/device/motor_dm.c

@@ -0,0 +1,498 @@
+#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);
+    
+    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+    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);
+    
+    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+    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);
+    
+    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+    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;
+    BSP_CAN_WaitTxMailboxEmpty(motor->param.can, 1);
+    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;
+}

User/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

User/device/motor_rm.c

@@ -0,0 +1,313 @@
+/*
+  RM电机驱动
+*/
+/* Includes ----------------------------------------------------------------- */
+#include "motor_rm.h"
+#include <stdbool.h>
+#include <string.h>
+#include "bsp/can.h"
+#include "bsp/mm.h"
+#include "bsp/time.h"
+#include "component/user_math.h"
+
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private define ----------------------------------------------------------- */
+#define GM6020_FB_ID_BASE        (0x205)
+#define GM6020_CTRL_ID_BASE      (0x1ff)
+#define GM6020_CTRL_ID_EXTAND    (0x2ff)
+
+#define M3508_M2006_FB_ID_BASE   (0x201)
+#define M3508_M2006_CTRL_ID_BASE (0x200)
+#define M3508_M2006_CTRL_ID_EXTAND (0x1ff)
+#define M3508_M2006_ID_SETTING_ID (0x700)
+
+#define GM6020_MAX_ABS_LSB       (30000)
+#define M3508_MAX_ABS_LSB        (16384)
+#define M2006_MAX_ABS_LSB        (10000)
+
+#define MOTOR_TX_BUF_SIZE        (8)
+#define MOTOR_RX_BUF_SIZE        (8)
+
+#define MOTOR_ENC_RES            (8192)   /* 电机编码器分辨率 */
+#define MOTOR_CUR_RES            (16384)  /* 电机转矩电流分辨率 */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Private macro ------------------------------------------------------------ */
+/* Private typedef ---------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Private variables -------------------------------------------------------- */
+static MOTOR_RM_CANManager_t *can_managers[BSP_CAN_NUM] = {NULL};
+
+/* Private function  -------------------------------------------------------- */
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module) {
+    switch (module) {
+        case MOTOR_M2006:
+        case MOTOR_M3508:
+            if (can_id >= M3508_M2006_FB_ID_BASE && can_id < M3508_M2006_FB_ID_BASE + 7) {
+                return can_id - M3508_M2006_FB_ID_BASE;
+            }
+            break;
+        case MOTOR_GM6020:
+            if (can_id >= GM6020_FB_ID_BASE && can_id < GM6020_FB_ID_BASE + 6) {
+                return can_id - GM6020_FB_ID_BASE + 4;
+            }
+            break;
+        default:
+            break;
+    }
+    return DEVICE_ERR;
+}
+
+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_GM6020: return 1.0f;
+        default: return 1.0f;
+    }
+}
+
+static int16_t MOTOR_RM_GetLSB(MOTOR_RM_Module_t module) {
+    switch (module) {
+        case MOTOR_M2006: return M2006_MAX_ABS_LSB;
+        case MOTOR_M3508: return M3508_MAX_ABS_LSB;
+        case MOTOR_GM6020: return GM6020_MAX_ABS_LSB;
+        default: return DEVICE_ERR;
+    }
+}
+
+static MOTOR_RM_CANManager_t* MOTOR_RM_GetCANManager(BSP_CAN_t can) {
+    if (can >= BSP_CAN_NUM) return NULL;
+    return can_managers[can];
+}
+
+static int8_t MOTOR_RM_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_RM_CANManager_t*)BSP_Malloc(sizeof(MOTOR_RM_CANManager_t));
+    if (can_managers[can] == NULL) return DEVICE_ERR;
+    memset(can_managers[can], 0, sizeof(MOTOR_RM_CANManager_t));
+    can_managers[can]->can = can;
+    return DEVICE_OK;
+}
+
+static void Motor_RM_Decode(MOTOR_RM_t *motor, BSP_CAN_Message_t *msg) {
+    uint16_t raw_angle = (uint16_t)((msg->data[0] << 8) | msg->data[1]);
+    int16_t raw_speed = (int16_t)((msg->data[2] << 8) | msg->data[3]);
+    int16_t raw_current = (int16_t)((msg->data[4] << 8) | msg->data[5]);
+    int16_t lsb = MOTOR_RM_GetLSB(motor->param.module);
+    float ratio = MOTOR_RM_GetRatio(motor->param.module);
+
+    float rotor_angle = raw_angle / (float)MOTOR_ENC_RES * M_2PI;
+    float rotor_speed = raw_speed;
+    float torque_current = raw_current * lsb / (float)MOTOR_CUR_RES;
+
+    if (motor->param.gear) {
+        // 多圈累加
+        int32_t delta = (int32_t)raw_angle - (int32_t)motor->last_raw_angle;
+        if (delta > (MOTOR_ENC_RES / 2)) {
+            motor->gearbox_round_count--;
+        } else if (delta < -(MOTOR_ENC_RES / 2)) {
+            motor->gearbox_round_count++;
+        }
+        motor->last_raw_angle = raw_angle;
+        float single_turn = rotor_angle;
+        motor->gearbox_total_angle = (motor->gearbox_round_count * M_2PI + single_turn) / ratio;
+        // 输出轴多圈绝对值
+        motor->feedback.rotor_abs_angle = motor->gearbox_total_angle;
+        motor->feedback.rotor_speed = rotor_speed / ratio;
+        motor->feedback.torque_current = torque_current * ratio;
+    } else {
+        // 非gear模式，直接用转子单圈
+        motor->gearbox_round_count = 0;
+        motor->last_raw_angle = raw_angle;
+        motor->gearbox_total_angle = 0.0f;
+        motor->feedback.rotor_abs_angle = rotor_angle;
+        motor->feedback.rotor_speed = rotor_speed;
+        motor->feedback.torque_current = torque_current;
+    }
+    motor->feedback.temp = msg->data[6];
+    motor->motor.feedback.rotor_abs_angle = motor->feedback.rotor_abs_angle;
+    motor->motor.feedback.rotor_speed = motor->feedback.rotor_speed;
+    motor->motor.feedback.torque_current = motor->feedback.torque_current;
+    motor->motor.feedback.temp = motor->feedback.temp;
+}
+
+/* Exported functions ------------------------------------------------------- */
+
+
+int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    if (MOTOR_RM_CreateCANManager(param->can) != DEVICE_OK) return DEVICE_ERR;
+    MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR;
+    // 检查是否已注册
+    for (int i = 0; i < manager->motor_count; i++) {
+        if (manager->motors[i] && manager->motors[i]->param.id == param->id) {
+            return DEVICE_ERR_INITED;
+        }
+    }
+    // 检查数量
+    if (manager->motor_count >= MOTOR_RM_MAX_MOTORS) return DEVICE_ERR;
+    // 创建新电机实例
+    MOTOR_RM_t *new_motor = (MOTOR_RM_t*)BSP_Malloc(sizeof(MOTOR_RM_t));
+    if (new_motor == NULL) return DEVICE_ERR;
+    memcpy(&new_motor->param, param, sizeof(MOTOR_RM_Param_t));
+    memset(&new_motor->motor, 0, sizeof(MOTOR_t));
+    new_motor->motor.reverse = param->reverse;
+    // 注册CAN接收ID
+    if (BSP_CAN_RegisterId(param->can, param->id, 3) != BSP_OK) {
+        BSP_Free(new_motor);
+        return DEVICE_ERR;
+    }
+    manager->motors[manager->motor_count] = new_motor;
+    manager->motor_count++;
+    return DEVICE_OK;
+}
+
+int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR_NO_DEV;
+    for (int i = 0; i < manager->motor_count; i++) {
+        MOTOR_RM_t *motor = manager->motors[i];
+        if (motor && motor->param.id == param->id) {
+            BSP_CAN_Message_t rx_msg;
+            if (BSP_CAN_GetMessage(param->can, param->id, &rx_msg, BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+                uint64_t now_time = BSP_TIME_Get();
+                if (now_time - motor->motor.header.last_online_time > 1000) {
+                    motor->motor.header.online = false;
+                    return DEVICE_ERR_NO_DEV;
+                }
+                return DEVICE_ERR;
+            }
+            motor->motor.header.online = true;
+            motor->motor.header.last_online_time = BSP_TIME_Get();
+            Motor_RM_Decode(motor, &rx_msg);
+        
+            return DEVICE_OK;
+        }
+    }
+    return DEVICE_ERR_NO_DEV;
+}
+
+int8_t MOTOR_RM_UpdateAll(void) {
+    int8_t ret = DEVICE_OK;
+    for (int can = 0; can < BSP_CAN_NUM; can++) {
+        MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager((BSP_CAN_t)can);
+        if (manager == NULL) continue;
+        for (int i = 0; i < manager->motor_count; i++) {
+            MOTOR_RM_t *motor = manager->motors[i];
+            if (motor != NULL) {
+                if (MOTOR_RM_Update(&motor->param) != DEVICE_OK) {
+                    ret = DEVICE_ERR;
+                }
+            }
+        }
+    }
+    return ret;
+}
+
+int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR_NO_DEV;
+    if (value > 1.0f) value = 1.0f;
+    if (value < -1.0f) value = -1.0f;
+    MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param);
+    if (motor == NULL) return DEVICE_ERR_NO_DEV;
+    int8_t logical_index = MOTOR_RM_GetLogicalIndex(param->id, param->module);
+    if (logical_index < 0) return DEVICE_ERR;
+    MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg;
+    int16_t output_value = (int16_t)(value * (float)MOTOR_RM_GetLSB(param->module));
+    output_msg->output[logical_index] = output_value;
+    return DEVICE_OK;
+}
+
+int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param) {
+    if (param == NULL) return DEVICE_ERR_NULL;
+    MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
+    if (manager == NULL) return DEVICE_ERR_NO_DEV;
+    MOTOR_RM_MsgOutput_t *output_msg = &manager->output_msg;
+    BSP_CAN_StdDataFrame_t tx_frame;
+    uint16_t id = param->id;
+    switch (id) {
+        case M3508_M2006_FB_ID_BASE:
+        case M3508_M2006_FB_ID_BASE+1:
+        case M3508_M2006_FB_ID_BASE+2:
+        case M3508_M2006_FB_ID_BASE+3:
+            tx_frame.id = M3508_M2006_CTRL_ID_BASE;
+            tx_frame.dlc = MOTOR_TX_BUF_SIZE;
+            for (int i = 0; i < 4; i++) {
+                tx_frame.data[i*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
+                tx_frame.data[i*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
+            }
+            break;
+        case M3508_M2006_FB_ID_BASE+4:
+        case M3508_M2006_FB_ID_BASE+5:
+        case M3508_M2006_FB_ID_BASE+6:
+        case M3508_M2006_FB_ID_BASE+7:
+            tx_frame.id = M3508_M2006_CTRL_ID_EXTAND;
+            tx_frame.dlc = MOTOR_TX_BUF_SIZE;
+            for (int i = 4; i < 8; i++) {
+                tx_frame.data[(i-4)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
+                tx_frame.data[(i-4)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
+            }
+            break;
+        case GM6020_FB_ID_BASE+4:
+        case GM6020_FB_ID_BASE+5:
+        case GM6020_FB_ID_BASE+6:
+            tx_frame.id = GM6020_CTRL_ID_EXTAND;
+            tx_frame.dlc = MOTOR_TX_BUF_SIZE;
+            for (int i = 8; i < 11; i++) {
+                tx_frame.data[(i-8)*2] = (uint8_t)((output_msg->output[i] >> 8) & 0xFF);
+                tx_frame.data[(i-8)*2+1] = (uint8_t)(output_msg->output[i] & 0xFF);
+            }
+            tx_frame.data[6] = 0;
+            tx_frame.data[7] = 0;
+            break;
+        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;
+}
+
+MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param) {
+    if (param == NULL) return NULL;
+    MOTOR_RM_CANManager_t *manager = MOTOR_RM_GetCANManager(param->can);
+    if (manager == NULL) return NULL;
+    for (int i = 0; i < manager->motor_count; i++) {
+        MOTOR_RM_t *motor = manager->motors[i];
+        if (motor && motor->param.id == param->id) {
+            return motor;
+        }
+    }
+    return NULL;
+}
+
+int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param) {
+    return MOTOR_RM_SetOutput(param, 0.0f);
+}
+
+int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param) {
+    MOTOR_RM_t *motor = MOTOR_RM_GetMotor(param);
+    if (motor) {
+        motor->motor.header.online = false;
+        return DEVICE_OK;
+    }
+    return DEVICE_ERR_NO_DEV;
+}

User/device/motor_rm.h

@@ -0,0 +1,132 @@
+#pragma once
+
+#include "motor.h"
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/device.h"
+#include "device/motor.h"
+#include "bsp/can.h"
+
+/* Exported constants ------------------------------------------------------- */
+#define MOTOR_RM_MAX_MOTORS 11
+
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef enum {
+    MOTOR_M2006,
+    MOTOR_M3508,
+    MOTOR_GM6020,
+} MOTOR_RM_Module_t;
+
+/*一个can最多控制11个电机*/
+typedef union {
+  int16_t output[MOTOR_RM_MAX_MOTORS];
+  struct {
+    int16_t m3508_m2006_id201;
+    int16_t m3508_m2006_id202;
+    int16_t m3508_m2006_id203;
+    int16_t m3508_m2006_id204;
+    int16_t m3508_m2006_gm6020_id205;
+    int16_t m3508_m2006_gm6020_id206;
+    int16_t m3508_m2006_gm6020_id207;
+    int16_t m3508_m2006_gm6020_id208;
+    int16_t gm6020_id209;
+    int16_t gm6020_id20A;
+    int16_t gm6020_id20B;
+  } named;
+} MOTOR_RM_MsgOutput_t;
+
+/*每个电机需要的参数*/
+typedef struct {
+    BSP_CAN_t can;
+    uint16_t id;
+    MOTOR_RM_Module_t module;
+    bool reverse;
+    bool gear;
+} MOTOR_RM_Param_t;
+
+typedef MOTOR_Feedback_t MOTOR_RM_Feedback_t;
+
+typedef struct {
+    MOTOR_RM_Param_t param;
+    MOTOR_RM_Feedback_t feedback;
+    MOTOR_t motor;
+    // 多圈相关变量，仅gear模式下有效
+    uint16_t last_raw_angle;
+    int32_t gearbox_round_count;
+    float gearbox_total_angle;
+} MOTOR_RM_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_RM_MsgOutput_t output_msg;
+    MOTOR_RM_t *motors[MOTOR_RM_MAX_MOTORS];
+    uint8_t motor_count;
+} MOTOR_RM_CANManager_t;
+
+/* Exported functions prototypes -------------------------------------------- */
+
+/**
+ * @brief 注册一个RM电机
+ * @param param 电机参数
+ * @return 
+ */
+int8_t MOTOR_RM_Register(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 更新指定电机数据
+ * @param param 电机参数
+ * @return 
+ */
+int8_t MOTOR_RM_Update(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 设置一个电机的输出
+ * @param param 电机参数
+ * @param value 输出值，范围[-1.0, 1.0]
+ * @return 
+ */
+int8_t MOTOR_RM_SetOutput(MOTOR_RM_Param_t *param, float value);
+
+/**
+ * @brief 发送控制命令到电机，注意一个CAN可以控制多个电机，所以只需要发送一次即可
+ * @param param 电机参数
+ * @return 
+ */
+int8_t MOTOR_RM_Ctrl(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 获取指定电机的实例指针
+ * @param param 电机参数
+ * @return 
+ */
+MOTOR_RM_t* MOTOR_RM_GetMotor(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 使电机松弛（设置输出为0）
+ * @param param 
+ * @return 
+ */
+int8_t MOTOR_RM_Relax(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 使电机离线（设置在线状态为false）
+ * @param param 
+ * @return 
+ */
+int8_t MOTOR_RM_Offine(MOTOR_RM_Param_t *param);
+
+/**
+ * @brief 
+ * @param  
+ * @return 
+ */
+int8_t MOTOR_RM_UpdateAll(void);
+
+#ifdef __cplusplus
+}
+#endif

User/task/config.yaml

@@ -26,3 +26,10 @@
   function: Task_ctrl_chassis
   name: ctrl_chassis
   stack: 512
+- delay: 0
+  description: ''
+  freq_control: true
+  frequency: 500.0
+  function: Task_ctrl_gimbal
+  name: ctrl_gimbal
+  stack: 256

User/task/ctrl_chassis.c

@@ -70,4 +70,6 @@ void Task_ctrl_chassis(void *argument) {
     
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
-  }}
+  }
+  
+}

User/task/ctrl_gimbal.c

@@ -0,0 +1,120 @@
+/*
+    ctrl_gimbal Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "device/motor_rm.h"
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "bsp/can.h"
+#include "device/motor_dm.h"
+#include "device/motor_rm.h"
+#include "device/motor.h"
+#include "component/pid.h"
+#include <stdbool.h>
+
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+MOTOR_DM_Param_t dm_4310_param = {
+    .can = BSP_CAN_1,
+    .master_id = 0x11,    // 主站ID
+    .can_id = 0x01,       // 反馈ID 10进制是85
+    .module = MOTOR_DM_J4310,
+    .reverse = false,
+};
+
+MOTOR_RM_Param_t m2006 = {
+    .can = BSP_CAN_1,
+    .id = 0x201,
+    .module = MOTOR_M2006,
+    .reverse = false,
+    .gear = true,
+};
+
+MOTOR_MIT_Output_t gimbal_output = {
+    .angle = 0.0f,
+    .velocity = 0.0f,
+    .torque = 0.0f,
+    .kp = 0.0f,
+    .kd = 0.0f,
+};
+MOTOR_DM_t *dm_4310_motor = NULL;
+
+MOTOR_Feedback_t m2006_fb;
+MOTOR_Feedback_t dm_4310_fb;
+
+// KPID_Params_t gimbal_angle_pid = {
+//   .leg_theta={
+//       .k=1.0f,
+//       .p=5.0f,           /* 摆角比例系数 */
+//       .i=0.0f,           /* 摆角积分系数 */
+//       .d=0.0f,           /* 摆角微分系数 */
+//       .i_limit=0.0f,     /* 积分限幅 */
+//       .out_limit=0.05f,  /* 输出限幅，腿长差值限制 */
+//       .d_cutoff_freq=30.0f, /* 微分截止频率 */
+//       .range=-1.0f,      /* 不使用循环误差处理 */
+// };
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_ctrl_gimbal(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / CTRL_GIMBAL_FREQ;
+
+  osDelay(CTRL_GIMBAL_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+//   BSP_CAN_Init();
+//   MOTOR_DM_Register(&dm_4310_param);
+//   MOTOR_RM_Register(&m2006);
+//   MOTOR_DM_Enable(&dm_4310_param); // 使能电机
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    // MOTOR_RM_Update(&m2006);
+    // MOTOR_DM_Enable(&dm_4310_param); // 使能电机
+    // MOTOR_DM_MITCtrl(&dm_4310_param, &gimbal_output);
+    // MOTOR_DM_Update(&dm_4310_param);
+    // MOTOR_DM_t *dm_4310_motor = MOTOR_DM_GetMotor(&dm_4310_param);
+    // if (dm_4310_motor) {
+    //     dm_4310_fb = dm_4310_motor->motor.feedback;
+    // }
+    // MOTOR_RM_t *m2006_motor = MOTOR_RM_GetMotor(&m2006);
+    // m2006_fb = m2006_motor->motor.feedback;
+
+    //     MOTOR_DM_Update(&dm_4310_param);
+    // if (dm_4310_motor == NULL) {
+    //     dm_4310_motor = MOTOR_DM_GetMotor(&dm_4310_param);
+    //     if (dm_4310_motor == NULL) {
+    //         // 获取电机实例失败，跳过本次循环
+    //         osDelayUntil(tick);
+    //         continue;
+    //     }
+    // }
+    // if (dm_4310_motor->motor.header.online == false) {
+    //   MOTOR_DM_Enable(&dm_4310_param); // 使能电机
+    // } else {
+    //   MOTOR_DM_MITCtrl(&dm_4310_param, &gimbal_output);
+    // }
+    
+
+    // 发送云台控制命令
+   
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/init.c

@@ -36,6 +36,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
   task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
   task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
+  task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */

User/task/user_task.c

@@ -29,3 +29,8 @@ const osThreadAttr_t attr_ctrl_chassis = {
     .priority = osPriorityNormal,
     .stack_size = 512 * 4,
 };
+const osThreadAttr_t attr_ctrl_gimbal = {
+    .name = "ctrl_gimbal",
+    .priority = osPriorityNormal,
+    .stack_size = 256 * 4,
+};

User/task/user_task.h

@@ -17,6 +17,7 @@ extern "C" {
 #define RC_FREQ (500.0)
 #define ATTI_ESTI_FREQ (1000.0)
 #define CTRL_CHASSIS_FREQ (500.0)
+#define CTRL_GIMBAL_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
@@ -24,6 +25,7 @@ extern "C" {
 #define RC_INIT_DELAY (0)
 #define ATTI_ESTI_INIT_DELAY (0)
 #define CTRL_CHASSIS_INIT_DELAY (500)
+#define CTRL_GIMBAL_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -37,6 +39,7 @@ typedef struct {
         osThreadId_t rc;
         osThreadId_t atti_esti;
         osThreadId_t ctrl_chassis;
+        osThreadId_t ctrl_gimbal;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -66,6 +69,7 @@ typedef struct {
         UBaseType_t rc;
         UBaseType_t atti_esti;
         UBaseType_t ctrl_chassis;
+        UBaseType_t ctrl_gimbal;
     } stack_water_mark;
 
     /* 各任务运行频率 */
@@ -74,6 +78,7 @@ typedef struct {
         float rc;
         float atti_esti;
         float ctrl_chassis;
+        float ctrl_gimbal;
     } freq;
 
     /* 任务最近运行时间 */
@@ -82,6 +87,7 @@ typedef struct {
         float rc;
         float atti_esti;
         float ctrl_chassis;
+        float ctrl_gimbal;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -95,6 +101,7 @@ extern const osThreadAttr_t attr_blink;
 extern const osThreadAttr_t attr_rc;
 extern const osThreadAttr_t attr_atti_esti;
 extern const osThreadAttr_t attr_ctrl_chassis;
+extern const osThreadAttr_t attr_ctrl_gimbal;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
@@ -102,6 +109,7 @@ void Task_blink(void *argument);
 void Task_rc(void *argument);
 void Task_atti_esti(void *argument);
 void Task_ctrl_chassis(void *argument);
+void Task_ctrl_gimbal(void *argument);
 
 #ifdef __cplusplus
 }

cmake/stm32cubemx/CMakeLists.txt

@@ -11,25 +11,17 @@ set(MX_Defines_Syms
 # STM32CubeMX generated include paths
 set(MX_Include_Dirs
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Inc
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/Target
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/include
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Inc
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Inc
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Device/ST/STM32F4xx/Include
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/CMSIS/Include
 )
 
 # STM32CubeMX generated application sources
 set(MX_Application_Src
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/Target/usbd_conf.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App/usb_device.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App/usbd_desc.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../USB_DEVICE/App/usbd_cdc_if.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/main.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/gpio.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/freertos.c
@@ -42,6 +34,7 @@ set(MX_Application_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/spi.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/tim.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usart.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/usb_otg.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_it.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/stm32f4xx_hal_msp.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/sysmem.c
@@ -52,9 +45,9 @@ set(MX_Application_Src
 # STM32 HAL/LL Drivers
 set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Core/Src/system_stm32f4xx.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c
@@ -68,9 +61,6 @@ set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_exti.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_adc_ex.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_adc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_crc.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c
@@ -80,17 +70,14 @@ set(STM32_Drivers_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pcd_ex.c
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../Drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_ll_usb.c
 )
 
 # Drivers Midllewares
 
 
-set(USB_Device_Library_Src
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_core.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ctlreq.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Core/Src/usbd_ioreq.c
-    ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/ST/STM32_USB_Device_Library/Class/CDC/Src/usbd_cdc.c
-)
 set(FreeRTOS_Src
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/croutine.c
     ${CMAKE_CURRENT_SOURCE_DIR}/../../Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
@@ -112,7 +99,7 @@ set(MX_LINK_DIRS
 set(MX_LINK_LIBS 
     STM32_Drivers
     ${TOOLCHAIN_LINK_LIBRARIES}
-    USB_Device_Library
	FreeRTOS
	
+    FreeRTOS
	
 )
 # Interface library for includes and symbols
 add_library(stm32cubemx INTERFACE)
@@ -125,11 +112,6 @@ target_sources(STM32_Drivers PRIVATE ${STM32_Drivers_Src})
 target_link_libraries(STM32_Drivers PUBLIC stm32cubemx)
 
 
-# Create USB_Device_Library static library
-add_library(USB_Device_Library OBJECT)
-target_sources(USB_Device_Library PRIVATE ${USB_Device_Library_Src})
-target_link_libraries(USB_Device_Library PUBLIC stm32cubemx)
-
 # Create FreeRTOS static library
 add_library(FreeRTOS OBJECT)
 target_sources(FreeRTOS PRIVATE ${FreeRTOS_Src})