From 5d310fb7077cc92d7adf8bd3eadae9be51d1aec2 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Wed, 1 Oct 2025 02:29:24 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BA=91=E5=8F=B0=E5=B7=AE=E4=B8=8D=E5=A4=9A?=
 =?UTF-8?q?=E4=BA=86?=
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---
 User/module/config.c    |  72 +++++++++
 User/module/config.h    |   2 +
 User/module/gimbal.c    | 330 ++++++++++++++++++++--------------------
 User/module/gimbal.h    | 124 ++++++++-------
 User/task/atti_esti.c   |  13 +-
 User/task/ctrl_gimbal.c |  20 ++-
 User/task/init.c        |   6 +-
 User/task/rc.c          |  28 ++++
 User/task/user_task.h   |   4 +
 9 files changed, 367 insertions(+), 232 deletions(-)

diff --git a/User/module/config.c b/User/module/config.c
index 019068b..d76d808 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -5,10 +5,12 @@
 /* Includes ----------------------------------------------------------------- */
 #include "module/config.h"
 #include "bsp/can.h"
+#include "device/motor_dm.h"
 #include "device/motor_rm.h"
 #include "component/pid.h"
 #include "component/user_math.h"
 #include "device/rc_can.h"
+#include <stdbool.h>
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
@@ -83,6 +85,76 @@ Config_RobotParam_t robot_config = {
     
         
         },
+    .gimbal_param = {
+        .pid = {
+            .yaw_omega = {
+                .k = 0.5f,
+                .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,
+            },
+            .yaw_angle = {
+                .k = 10.0f,
+                .p = 3.0f,
+                .i = 0.0f,
+                .d = 0.1f,
+                .i_limit = 0.0f,
+                .out_limit = 10.0f,
+                .d_cutoff_freq = -1.0f,
+                .range = M_2PI,
+            },
+            .pit_omega = {
+                .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,
+            },
+            .pit_angle = {
+                .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,
+            },
+        },
+        .mech_zero = {
+            .yaw = 0.0f,
+            .pit = 3.8f,
+        },
+        .travel = {
+            .yaw = -1.0f,
+            .pit = 0.8f,
+        },
+        .low_pass_cutoff_freq = {
+            .out = -1.0f,
+            .gyro = 1000.0f,
+        },
+        .pit_motor ={
+            .can = BSP_CAN_2,
+            .id = 0x209,
+            .gear = false,
+            .module = MOTOR_GM6020,
+            .reverse = true,
+        },
+        .yaw_motor = {
+            .can = BSP_CAN_1,
+            .can_id = 0x1,
+            .master_id = 0x11,
+            .module = MOTOR_DM_J4310,
+            .reverse = false,
+        }
+    },
     .rc_can_param = {
         .can = BSP_CAN_1,
         .mode = RC_CAN_MODE_MASTER,
diff --git a/User/module/config.h b/User/module/config.h
index 4e3fc99..542bf09 100644
--- a/User/module/config.h
+++ b/User/module/config.h
@@ -15,7 +15,9 @@ extern "C" {
 
 typedef struct {
     Shoot_Params_t shoot_param;
+    Gimbal_Params_t gimbal_param;
     RC_CAN_Param_t rc_can_param;
+
     // Shoot_Params_t shoot_param; /* 射击参数 */
 } Config_RobotParam_t;
 
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index 8cf2da1..548b694 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -4,8 +4,12 @@
 
 /* Includes ----------------------------------------------------------------- */
 #include "gimbal.h"
-
-#include "bsp/mm.h"
+#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"
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
@@ -21,28 +25,31 @@
  *
  * \return 函数运行结果
  */
-static int8_t Gimbal_SetMode(Gimbal_t *g, CMD_GimbalMode_t mode) {
-  if (g == NULL) return -1;
-  if (mode == g->mode) return GIMBAL_OK;
+static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
+  if (g == NULL)
+    return -1;
+  if (mode == g->mode)
+    return GIMBAL_OK;
 
-  /* 切换模式后重置PID和滤波器 */
-  for (uint8_t i = 0; i < GIMBAL_PID_NUM; i++) {
-    PID_Reset(g->pid + i);
-  }
-  for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) {
-    LowPassFilter2p_Reset(g->filter_out + i, 0.0f);
-  }
+  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.eulr.encoder.yaw;
-      g->setpoint.eulr.yaw = 3.7f;
-      g->setpoint.eulr.pit = 2.2f;
-    } else if (mode == GIMBAL_MODE_RELATIVE) {
-      g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
-    }
-  }
+  // 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;
@@ -59,33 +66,38 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, CMD_GimbalMode_t mode) {
  *
  * \return 函数运行结果
  */
-int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param, float limit_max,
+int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param,
                    float target_freq) {
-  if (g == NULL) return -1;
+  if (g == NULL)
+    return -1;
 
-  g->param = param;            /* 初始化参数 */
+  g->param = param;
   g->mode = GIMBAL_MODE_RELAX; /* 设置默认模式 */
 
-  /* 设置软件限位 */
-  if (g->param->reverse.pit) CircleReverse(&limit_max);
-  g->limit.min = g->limit.max = limit_max;
-  CircleAdd(&(g->limit.min), -g->param->pitch_travel_rad, M_2PI);
-
   /* 初始化云台电机控制PID和LPF */
-  PID_Init(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), KPID_MODE_NO_D, target_freq,
-           &(g->param->pid[GIMBAL_PID_YAW_ANGLE_IDX]));
-  PID_Init(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), KPID_MODE_CALC_D, target_freq,
-           &(g->param->pid[GIMBAL_PID_YAW_OMEGA_IDX]));
+  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));
 
-  PID_Init(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), KPID_MODE_NO_D, target_freq,
-           &(g->param->pid[GIMBAL_PID_PIT_ANGLE_IDX]));
-  PID_Init(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), KPID_MODE_CALC_D, target_freq,
-           &(g->param->pid[GIMBAL_PID_PIT_OMEGA_IDX]));
+  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));
 
-  for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) {
-    LowPassFilter2p_Init(g->filter_out + i, target_freq,
-                         g->param->low_pass_cutoff_freq.out);
-  }
+  MOTOR_DM_Enable(&(g->param->yaw_motor));
   return 0;
 }
 
@@ -97,163 +109,143 @@ int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param, float limit_max,
  *
  * \return 函数运行结果
  */
-int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal, const CAN_t *can) {
-  if (gimbal == NULL) return -1;
-  if (can == NULL) return -1;
+int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal) {
+  if (gimbal == NULL)
+    return -1;
 
-  gimbal->feedback.eulr.encoder.yaw = can->motor.gimbal.named.yaw.rotor_angle;
-  gimbal->feedback.eulr.encoder.pit = can->motor.gimbal.named.pit.rotor_angle;
+  /* 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;
+  }
 
-  if (gimbal->param->reverse.yaw)
-    CircleReverse(&(gimbal->feedback.eulr.encoder.yaw));
-  if (gimbal->param->reverse.pit)
-    CircleReverse(&(gimbal->feedback.eulr.encoder.pit));
+  /* 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 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, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
-  if (g == NULL) return -1;
-  if (g_cmd == NULL) return -1;
+int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
+  if (g == NULL || g_cmd == NULL) {
+    return -1;
+  }
 
-  g->dt = (float)(now - g->lask_wakeup) / 1000.0f;
-  g->lask_wakeup = now;
+  g->dt = (BSP_TIME_Get_us() - g->lask_wakeup) / 1000000.0f;
+  g->lask_wakeup = BSP_TIME_Get_us();
 
   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.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);
-
-  /* 处理pitch控制命令，软件限位 */
-  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;
-
-  /* 限制yaw转动范围（待优化） */
-  if (g->setpoint.eulr.yaw > 5.9f && g->setpoint.eulr.yaw < 6.01f) {
-      g->setpoint.eulr.yaw = 5.9f;
-  } else if (g->setpoint.eulr.yaw > 1.4f && g->setpoint.eulr.yaw < 1.71f) {
-      g->setpoint.eulr.yaw = 1.71f;
+  /* 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;
+  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);
 
-  /* 重置输入指令，防止重复处理 */
-  AHRS_ResetEulr(&(g_cmd->delta_eulr));
+  /* 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:
-      for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) g->out[i] = 0.0f;
-      break;
+  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[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
-                   g->feedback.eulr.encoder.yaw, 0.0f, g->dt);
-      g->out[GIMBAL_ACTR_YAW_IDX] =
-          PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
-                   0.0, 0.f, g->dt);
+  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[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,
-                   0.0, 0.f, g->dt);
-      break;
+    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);
+    // yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
+    //                                g->feedback.motor.yaw.rotor_abs_angle, 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);
 
-    case GIMBAL_MODE_RELATIVE:
-      for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++) g->out[i] = 0.0f;
-      break;
-  }
+    // pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
+    //                                g->feedback.motor.pit.rotor_abs_angle, 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 */
-  for (uint8_t i = 0; i < GIMBAL_ACTR_NUM; i++)
-    g->out[i] = LowPassFilter2p_Apply(g->filter_out + i, g->out[i]);
+    /* 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);
 
-  /* 处理电机反装 */
-  if (g->param->reverse.yaw)
-    g->out[GIMBAL_ACTR_YAW_IDX] = -g->out[GIMBAL_ACTR_YAW_IDX];
-  if (g->param->reverse.pit)
-    g->out[GIMBAL_ACTR_PIT_IDX] = -g->out[GIMBAL_ACTR_PIT_IDX];
-
-  if (g->out[GIMBAL_ACTR_YAW_IDX] < 0.f) {
-    __NOP();
-  }
-
-  if (g->out[GIMBAL_ACTR_PIT_IDX] > 0.5f) {
-    __NOP();
-  }
-  return 0;
-}
-
-/**
- * \brief 打包云台数据给AI
- *
- * \param g 包含云台数据的结构体
- * \param gimbal_for_ai 云台AI数据
- *
- * \return 函数运行结果
- */
-uint8_t Gimbal_PackAI(Gimbal_t *g, const AHRS_Eulr_t *ai){
-  memcpy((void *)ai, (const void *)&(g->feedback.eulr.encoder),
-  sizeof(g->feedback.eulr.encoder));
-return 0;
-}
-
-/**
- * \brief 复制云台输出值
- *
- * \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_DumpOutput(Gimbal_t *g, CAN_GimbalOutput_t *out) {
-  out->named.yaw = g->out[GIMBAL_ACTR_YAW_IDX];
-  out->named.pit = g->out[GIMBAL_ACTR_PIT_IDX];
-}
-
-/**
- * \brief 清空输出值
- *
- * \param output 要清空的结构体
- */
-void Gimbal_ResetOutput(CAN_GimbalOutput_t *output) {
-  int i = 0;
-  for (i = 0; i < 3; i++) {
-    output->as_array[i] = 0.0f;
+    return 0;
   }
 }
 
-/**
- * @brief 导出云台UI数据
- *
- * @param g 云台结构体
- * @param ui UI结构体
- */
-void Gimbal_DumpUI(const Gimbal_t *g, Referee_GimbalUI_t *ui) {
-  ui->mode = g->mode;
-}
+  /**
+   * \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 * 2.5;
+    MOTOR_RM_Ctrl(&g->param->pit_motor);
+    MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output);
+  }
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index 6f34545..4d85414 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -12,8 +12,9 @@ extern "C" {
 #include "component/ahrs.h"
 #include "component/filter.h"
 #include "component/pid.h"
-#include "device/motor_rm.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 */
@@ -25,17 +26,33 @@ extern "C" {
 /* 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_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 {
-  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 */
+  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 {
@@ -44,31 +61,35 @@ typedef struct {
   } low_pass_cutoff_freq;
 
   struct {
-    float zero_yaw;   /* yaw轴零点位置，单位弧度 */
-    float zero_pitch; /* pitch轴零点位置，单位弧度 */
-    float yaw_travel_rad; /* 云台pitch轴行程弧度，-1表示无限位 */
-    float pitch_travel_rad; /* 云台pitch轴行程弧度，-1表示无限位 */
-  } mech_limit;
-  
+    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;
 
-/* 软件限位 */
 typedef struct {
-  float max;
-  float min;
-} Gimbal_Limit_t;
-
+  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 {
-  AHRS_Gyro_t gyro; /* IMU的陀螺仪数据 */
-
-  /* 欧拉角 */
+  Gimbal_IMU_t imu;
   struct {
-    AHRS_Eulr_t imu;     /* 由IMU计算的欧拉角 */
-    AHRS_Eulr_t encoder; /* 由编码器计算的欧拉角 */
-  } eulr;
+    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。
@@ -80,21 +101,31 @@ typedef struct {
   Gimbal_Params_t *param; /* 云台的参数，用Gimbal_Init设定 */
 
   /* 模块通用 */
-  CMD_GimbalMode_t mode; /* 云台模式 */
+  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;
 
-  KPID_t pid[GIMBAL_PID_NUM]; /* PID数组 */
+  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;
 
-  Gimbal_Limit_t limit;
+  struct {
+    Gimbal_Limit_t yaw;
+    Gimbal_Limit_t pit;
+  } limit;
 
-  LowPassFilter2p_t filter_out[GIMBAL_ACTR_NUM]; /* 输出滤波器滤波器数组 */
-
-  float out[GIMBAL_ACTR_NUM]; /* 输出数组 */
+  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;
@@ -110,7 +141,7 @@ typedef struct {
  *
  * \return 函数运行结果
  */
-int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param, float limit,
+int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param,
                    float target_freq);
 
 /**
@@ -121,8 +152,9 @@ int8_t Gimbal_Init(Gimbal_t *g, const Gimbal_Params_t *param, float limit,
  *
  * \return 函数运行结果
  */
-int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal, const CAN_t *can);
+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
  *
@@ -133,40 +165,16 @@ int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal, const CAN_t *can);
  *
  * \return 函数运行结果
  */
-int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now);
+int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd);
 
 /**
- * \brief 打包云台数据给AI
- *
- * \param g 包含云台数据的结构体
- * \param gimbal_for_ai 云台AI数据
- *
- * \return 函数运行结果
- */
-uint8_t Gimbal_PackAI(Gimbal_t *g, const AHRS_Eulr_t *ai);
-
-/**
- * \brief 复制云台输出值
+ * \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_DumpOutput(Gimbal_t *g, CAN_GimbalOutput_t *out);
+void Gimbal_Output(Gimbal_t *g);
 
-/**
- * \brief 清空输出值
- *
- * \param output 要清空的结构体
- */
-void Gimbal_ResetOutput(CAN_GimbalOutput_t *output);
-
-/**
- * @brief 导出云台UI数据
- *
- * @param g 云台结构体
- * @param ui UI结构体
- */
-void Gimbal_DumpUI(const Gimbal_t *g, Referee_GimbalUI_t *ui);
 #ifdef __cplusplus
 }
 #endif
diff --git a/User/task/atti_esti.c b/User/task/atti_esti.c
index b06d419..65e5fa7 100644
--- a/User/task/atti_esti.c
+++ b/User/task/atti_esti.c
@@ -4,13 +4,14 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
+#include "cmsis_os2.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "bsp/pwm.h"
 #include "component/ahrs.h"
 #include "component/pid.h"
 #include "device/bmi088.h"
-
+#include "module/gimbal.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -26,9 +27,13 @@ AHRS_Eulr_t eulr_to_send;
 
 KPID_t imu_temp_ctrl_pid;
 
+Gimbal_IMU_t gimbal_to_send;
+
 BMI088_Cali_t cali_bmi088= {
   .gyro_offset = {0.0f,0.0f,0.0f},
 };
+
+
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -68,6 +73,12 @@ void Task_atti_esti(void *argument) {
     AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
     osKernelUnlock();
 
+    gimbal_to_send.eulr = eulr_to_send;
+    gimbal_to_send.gyro = bmi088.gyro;
+
+    osMessageQueueReset(task_runtime.msgq.gimbal.imu);
+    osMessageQueuePut(task_runtime.msgq.gimbal.imu, &gimbal_to_send, 0, 0);
+
     /* USER CODE END */
   }
   
diff --git a/User/task/ctrl_gimbal.c b/User/task/ctrl_gimbal.c
index 0182846..f503e8f 100644
--- a/User/task/ctrl_gimbal.c
+++ b/User/task/ctrl_gimbal.c
@@ -4,9 +4,12 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
+#include "cmsis_os2.h"
+#include "component/ahrs.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
-
+#include "module/gimbal.h"
+#include "module/config.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -14,7 +17,9 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
-
+Gimbal_t gimbal;
+Gimbal_IMU_t gimbal_imu;
+Gimbal_CMD_t gimbal_cmd;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -30,13 +35,22 @@ void Task_ctrl_gimbal(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
-
+  Gimbal_Init(&gimbal, &Config_GetRobotParam()->gimbal_param, CTRL_GIMBAL_FREQ);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
+    if (osMessageQueueGet(task_runtime.msgq.gimbal.imu, &gimbal_imu, NULL, 0) == osOK) {
+      Gimbal_UpdateIMU(&gimbal, &gimbal_imu);
+    }
+    osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &gimbal_cmd, NULL, 0);
 
+    Gimbal_UpdateFeedback(&gimbal);
+
+    Gimbal_Control(&gimbal, &gimbal_cmd);
+
+    Gimbal_Output(&gimbal);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
diff --git a/User/task/init.c b/User/task/init.c
index 99d9194..cfaf705 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -8,6 +8,8 @@
 
 /* USER INCLUDE BEGIN */
 #include "module/shoot.h"
+#include "module/gimbal.h"
+#include "component/ahrs.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -40,7 +42,9 @@ void Task_Init(void *argument) {
   // 创建消息队列
   /* USER MESSAGE BEGIN */
   task_runtime.msgq.user_msg= osMessageQueueNew(2u, 10, NULL);
-  task_runtime.msgq.shoot.shoot_cmd=osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
+  task_runtime.msgq.shoot.shoot_cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t), NULL);
+  task_runtime.msgq.gimbal.imu= osMessageQueueNew(2u, sizeof(Gimbal_IMU_t), NULL);
+  task_runtime.msgq.gimbal.cmd= osMessageQueueNew(2u, sizeof(Gimbal_CMD_t), NULL);
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核
diff --git a/User/task/rc.c b/User/task/rc.c
index 9e7266f..0245de9 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -11,6 +11,7 @@
 #include "device/rc_can.h"
 #include "module/config.h"
 #include "module/shoot.h"
+#include "module/gimbal.h"
 #include <stdbool.h>
 // #include
 /* USER INCLUDE END */
@@ -23,6 +24,7 @@
 DR16_t dr16;
 RC_CAN_t rc_can;
 Shoot_CMD_t for_shoot;
+Gimbal_CMD_t cmd_for_gimbal;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -75,6 +77,32 @@ void Task_rc(void *argument) {
 
     RC_CAN_SendData(&rc_can,  RC_CAN_DATA_JOYSTICK);
     RC_CAN_SendData(&rc_can,  RC_CAN_DATA_SWITCH);
+
+    switch (dr16.data.sw_l) {
+    case DR16_SW_UP:
+      cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
+      cmd_for_gimbal.delta_yaw = 0.0f;
+      cmd_for_gimbal.delta_pit = 0.0f;
+      break;
+    case DR16_SW_MID:
+      cmd_for_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
+      cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x*5.0f;
+      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y*5.0f;
+      break;
+    case DR16_SW_DOWN:
+      cmd_for_gimbal.mode = GIMBAL_MODE_RELATIVE;
+      cmd_for_gimbal.delta_yaw = -dr16.data.ch_r_x* 5.0f;
+      cmd_for_gimbal.delta_pit = dr16.data.ch_r_y*5.0f;
+      break;
+    default:
+      cmd_for_gimbal.mode = GIMBAL_MODE_RELAX;
+      cmd_for_gimbal.delta_yaw = 0.0f;
+      cmd_for_gimbal.delta_pit = 0.0f;
+      break;
+    }
+    osMessageQueueReset(task_runtime.msgq.gimbal.cmd);
+    osMessageQueuePut(task_runtime.msgq.gimbal.cmd, &cmd_for_gimbal, 0, 0);
+
     osMessageQueueReset(task_runtime.msgq.shoot.shoot_cmd);
     osMessageQueuePut(task_runtime.msgq.shoot.shoot_cmd, &for_shoot, 0, 0);
     /* USER CODE END */
diff --git a/User/task/user_task.h b/User/task/user_task.h
index dcc4099..73c756d 100644
--- a/User/task/user_task.h
+++ b/User/task/user_task.h
@@ -49,6 +49,10 @@ typedef struct {
         struct {
             osMessageQueueId_t shoot_cmd; /* 发射命令队列 */
         }shoot;
+        struct {
+            osMessageQueueId_t imu;
+            osMessageQueueId_t cmd;
+        }gimbal;
     } msgq;
     /* USER MESSAGE END */