合并 单独底层纯转发 到 MC_02

CMakeLists.txt

@@ -53,6 +53,22 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/bsp/pwm.c
     User/bsp/spi.c
     User/bsp/time.c
+<<<<<<< HEAD
+
+    # User/component sources
+    User/component/ahrs.c
+    User/component/filter.c
+    User/component/pid.c
+    User/component/user_math.c
+
+    # User/device sources
+    User/device/bmi088.c
+    User/device/motor.c
+    User/device/motor_lk.c
+    User/device/motor_lz.c
+
+    # User/module 
+=======
     User/bsp/uart.c
 
     # User/component sources
@@ -85,6 +101,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/mrobot.c
 
     # User/module sources
+>>>>>>> main
     User/module/balance_chassis.c
     User/module/config.c
     User/module/gimbal.c
@@ -95,6 +112,10 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/atti_esit.c
     User/task/blink.c
     User/task/ctrl_chassis.c
+<<<<<<< HEAD
+    User/task/imu.c
+    User/task/init.c
+=======
     User/task/ctrl_gimbal.c
     User/task/ctrl_shoot.c
     User/task/debug.c

Core/Src/can.c

@@ -64,7 +64,7 @@ void MX_CAN1_Init(void)
   hcan1.Init.TimeTriggeredMode = DISABLE;
   hcan1.Init.AutoBusOff = DISABLE;
   hcan1.Init.AutoWakeUp = DISABLE;
-  hcan1.Init.AutoRetransmission = DISABLE;
+  hcan1.Init.AutoRetransmission = ENABLE;
   hcan1.Init.ReceiveFifoLocked = DISABLE;
   hcan1.Init.TransmitFifoPriority = ENABLE;
   if (HAL_CAN_Init(&hcan1) != HAL_OK)
@@ -96,7 +96,7 @@ void MX_CAN2_Init(void)
   hcan2.Init.TimeTriggeredMode = DISABLE;
   hcan2.Init.AutoBusOff = DISABLE;
   hcan2.Init.AutoWakeUp = DISABLE;
-  hcan2.Init.AutoRetransmission = DISABLE;
+  hcan2.Init.AutoRetransmission = ENABLE;
   hcan2.Init.ReceiveFifoLocked = DISABLE;
   hcan2.Init.TransmitFifoPriority = ENABLE;
   if (HAL_CAN_Init(&hcan2) != HAL_OK)

DevC.ioc

@@ -21,7 +21,8 @@ CAN1.BS2=CAN_BS2_7TQ
 CAN1.CalculateBaudRate=1000000
 CAN1.CalculateTimeBit=1000
 CAN1.CalculateTimeQuantum=71.42857142857143
-CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,ABOM,CalculateTimeBit,CalculateBaudRate
+CAN1.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,ABOM,CalculateTimeBit,CalculateBaudRate,NART
+CAN1.NART=ENABLE
 CAN1.Prescaler=3
 CAN1.TXFP=ENABLE
 CAN2.BS1=CAN_BS1_6TQ
@@ -29,7 +30,8 @@ CAN2.BS2=CAN_BS2_7TQ
 CAN2.CalculateBaudRate=1000000
 CAN2.CalculateTimeBit=1000
 CAN2.CalculateTimeQuantum=71.42857142857143
-CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,CalculateTimeBit,CalculateBaudRate
+CAN2.IPParameters=CalculateTimeQuantum,BS1,BS2,Prescaler,TXFP,CalculateTimeBit,CalculateBaudRate,NART
+CAN2.NART=ENABLE
 CAN2.Prescaler=3
 CAN2.TXFP=ENABLE
 Dma.I2C2_TX.2.Direction=DMA_MEMORY_TO_PERIPH
@@ -276,6 +278,7 @@ MxDb.Version=DB.6.0.150
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false\:false
 NVIC.CAN1_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.CAN1_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
+NVIC.CAN1_TX_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX0_IRQn=true\:5\:0\:true\:false\:true\:true\:true\:true\:true
 NVIC.CAN2_RX1_IRQn=true\:5\:0\:false\:false\:true\:true\:true\:true\:true
 =======

User/bsp/bsp_config.yaml

@@ -120,6 +120,8 @@ spi:
   enabled: true
 time:
   enabled: true
+<<<<<<< HEAD
+=======
 uart:
   devices:
   - instance: UART5
@@ -127,3 +129,4 @@ uart:
   - instance: USART1
     name: VOFA
   enabled: true
+>>>>>>> main

User/bsp/pwm.h

@@ -36,8 +36,13 @@ typedef enum {
 
 /* Exported functions prototypes -------------------------------------------- */
 int8_t BSP_PWM_Start(BSP_PWM_Channel_t ch);
+<<<<<<< HEAD
+int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle); //设置占空比，范围0.0~1.0
+int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq); //设置频率，单位Hz
+=======
 int8_t BSP_PWM_SetComp(BSP_PWM_Channel_t ch, float duty_cycle);
 int8_t BSP_PWM_SetFreq(BSP_PWM_Channel_t ch, float freq);
+>>>>>>> main
 int8_t BSP_PWM_Stop(BSP_PWM_Channel_t ch);
 uint32_t BSP_PWM_GetAutoReloadPreload(BSP_PWM_Channel_t ch);
 uint16_t BSP_PWM_GetChannel(BSP_PWM_Channel_t ch);

User/component/component_config.yaml

@@ -12,6 +12,7 @@ error_detect:
   dependencies:
   - bsp/mm
   enabled: true
+>>>>>>> main
 filter:
   dependencies:
   - component/ahrs
@@ -22,6 +23,7 @@ freertos_cli:
 limiter:
   dependencies: []
   enabled: true
+>>>>>>> main
 pid:
   dependencies:
   - component/filter

User/component/user_math.h

@@ -29,6 +29,13 @@ extern "C" {
 #define M_PI 3.14159265358979323846f
 #endif
 
+<<<<<<< HEAD
+#ifndef M_PI_2
+#define M_PI_2 1.57079632679489661923f
+#endif
+
+=======
+>>>>>>> main
 #ifndef M_2PI
 #define M_2PI 6.28318530717958647692f
 #endif

User/device/device.h

@@ -22,6 +22,12 @@ extern "C" {
 #define DEVICE_ERR_NO_DEV (-4)
 
 /* AUTO GENERATED SIGNALS BEGIN */
+<<<<<<< HEAD
+#define SIGNAL_BMI088_ACCL_RAW_REDY (1u << 0)
+#define SIGNAL_BMI088_GYRO_RAW_REDY (1u << 1)
+#define SIGNAL_BMI088_ACCL_NEW_DATA (1u << 2)
+#define SIGNAL_BMI088_GYRO_NEW_DATA (1u << 3)
+=======
 #define SIGNAL_DR16_RAW_REDY (1u << 0)
 #define SIGNAL_BMI088_ACCL_RAW_REDY (1u << 1)
 #define SIGNAL_BMI088_GYRO_RAW_REDY (1u << 2)

User/device/device_config.yaml

@@ -10,10 +10,13 @@ buzzer:
   bsp_config:
     BSP_PWM_BUZZER: BSP_PWM_BUZZER
   enabled: true
+<<<<<<< HEAD
+=======
 dr16:
   bsp_config:
     BSP_UART_DR16: BSP_UART_DR16
   enabled: true
+>>>>>>> main
 motor:
   bsp_config: {}
   enabled: true
@@ -26,6 +29,8 @@ motor_lk:
 motor_lz:
   bsp_config: {}
   enabled: true
+<<<<<<< HEAD
+=======
 motor_rm:
   bsp_config: {}
   enabled: true

User/module/balance_chassis.c

@@ -954,4 +954,5 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
   }
 
   return CHASSIS_OK;
+>>>>>>> main
 }

User/module/balance_chassis.h

@@ -1,13 +1,71 @@
+<<<<<<< HEAD
+#pragma once
+
+#include <stdint.h>
+=======
 /*
  * 平衡底盘模组
  */
 
 #pragma once
 
+>>>>>>> main
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+<<<<<<< HEAD
+/* Includes ----------------------------------------------------------------- */
+#include "device/motor.h"
+#include "device/motor_lz.h"
+#include "device/motor_lk.h"
+#include "device/device.h"
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Exported constants ------------------------------------------------------- */
+/* Exported macro ----------------------------------------------------------- */
+/* Exported types ----------------------------------------------------------- */
+typedef struct {
+    MOTOR_LZ_Param_t joint_param[4]; // 4个电机参数
+    MOTOR_LK_Param_t wheel_param[2]; // 2个轮子电机参数
+} Chassis_Param_t;
+
+typedef struct {
+    MOTOR_Feedback_t joint[4]; // 4个电机反馈数据
+    MOTOR_Feedback_t wheel[2]; // 2个轮子电机反馈数据
+} Chassis_Feedback_t;
+
+typedef struct {
+    float joint[4]; // 4个电机反馈数据
+    float wheel[2]; // 2个轮子电机反馈数据
+} Chassis_Output_t;
+
+typedef struct {
+    Chassis_Param_t param;  // 底盘参数配置
+    Chassis_Feedback_t data; // 底盘反馈数据
+    Chassis_Output_t output; // 底盘输出数据
+} Chassis_t;
+
+/* USER STRUCT BEGIN */
+
+/* USER STRUCT END */
+
+/* Exported functions prototypes -------------------------------------------- */
+int8_t Chassis_Init(Chassis_t *chassis, Chassis_Param_t *param);
+int8_t Chassis_Update(Chassis_t *chassis);
+int8_t Chassis_Enable(Chassis_t *chassis);
+int8_t Chassis_Relax(Chassis_t *chassis);
+int8_t Chassis_Ctrl(Chassis_t *chassis);
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+=======
 //             Front
 //         | 1       4 |
 //  (1)Left|           |Right(2)
@@ -256,6 +314,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd);
  * \param out CAN设备底盘输出结构体
  */
 int8_t Chassis_Output(Chassis_t *c);
+>>>>>>> main
 
 #ifdef __cplusplus
 }

User/module/config.c

@@ -374,6 +374,10 @@ Config_RobotParam_t robot_config = {
  * @brief 获取机器人配置参数
  * @return 机器人配置参数指针
  */
+<<<<<<< HEAD
+Config_RobotParam_t *Config_GetRobotParam(void) { return &robot_config; }
+=======
 Config_RobotParam_t* Config_GetRobotParam(void) {
     return &robot_config;
 }
+>>>>>>> main

User/task/1.c

@@ -0,0 +1,95 @@
+/*
+    imu Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "bsp/pwm.h"
+#include "component/ahrs.h"
+#include "component/pid.h"
+#include "device/bmi088.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+
+BMI088_t bmi088;
+
+AHRS_t gimbal_ahrs;
+AHRS_Magn_t magn;
+AHRS_Eulr_t eulr_to_send;
+
+KPID_t imu_temp_ctrl_pid;
+
+BMI088_Cali_t cali_bmi088= {
+  .gyro_offset = {0.0f,0.0f,0.0f},
+};
+
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_imu(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() / IMU_FREQ;
+
+  osDelay(IMU_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 */
+  BMI088_Init(&bmi088,&cali_bmi088);
+  AHRS_Init(&gimbal_ahrs, &magn, BMI088_GetUpdateFreq(&bmi088));
+
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    BMI088_WaitNew();
+    BMI088_AcclStartDmaRecv();
+    BMI088_AcclWaitDmaCplt();
+
+    BMI088_GyroStartDmaRecv();
+    BMI088_GyroWaitDmaCplt();
+
+    /* 锁住RTOS内核防止数据解析过程中断，造成错误 */
+    osKernelLock();
+    /* 接收完所有数据后，把数据从原始字节加工成方便计算的数据 */
+  BMI088_ParseAccl(&bmi088);
+  /* 扩大加速度数据10倍，并交换x和y */
+  float temp_x = bmi088.accl.x * 10.0f;
+  float temp_y = bmi088.accl.y * 10.0f;
+  bmi088.accl.x = temp_y;
+  bmi088.accl.y = -temp_x;
+  bmi088.accl.z *= 10.0f;
+
+  BMI088_ParseGyro(&bmi088);
+  /* 交换陀螺仪x和y */
+  float temp_gyro_x = bmi088.gyro.x;
+  bmi088.gyro.x = bmi088.gyro.y;
+  bmi088.gyro.y = -temp_gyro_x;
+    // IST8310_Parse(&ist8310);
+
+    /* 根据设备接收到的数据进行姿态解析 */
+    AHRS_Update(&gimbal_ahrs, &bmi088.accl, &bmi088.gyro, &magn);
+
+    /* 根据解析出来的四元数计算欧拉角 */
+  AHRS_GetEulr(&eulr_to_send, &gimbal_ahrs);
+  /* 交换pit和rol */
+  float temp_rol = eulr_to_send.rol;
+  eulr_to_send.rol = eulr_to_send.pit;
+  eulr_to_send.pit = temp_rol;
+    osKernelUnlock();
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/config.yaml

@@ -2,8 +2,13 @@
   description: ''
   freq_control: true
   frequency: 500.0
+<<<<<<< HEAD
+  function: Task_imu
+  name: imu
+=======
   function: Task_rc
   name: rc
+>>>>>>> main
   stack: 256
 - delay: 0
   description: ''
@@ -22,8 +27,13 @@
   description: ''
   freq_control: true
   frequency: 500.0
+<<<<<<< HEAD
+  function: Task_atti_esti
+  name: atti_esti
+=======
   function: Task_ctrl_gimbal
   name: ctrl_gimbal
+>>>>>>> main
   stack: 256
 - delay: 0
   description: ''

User/task/ctrl_chassis.c

@@ -6,6 +6,10 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
+<<<<<<< HEAD
+#include "module/balance_chassis.h"
+#include "module/config.h"
+=======
 #include "bsp/can.h"
 #include "device/motor_lk.h"
 #include "device/motor_lz.h"
@@ -19,6 +23,9 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
+<<<<<<< HEAD
+Chassis_t chassis;  // 底盘实例
+=======
 Chassis_t chassis;
 Chassis_CMD_t chassis_cmd = {
     .mode = CHASSIS_MODE_RELAX,  // 改为RECOVER模式，让电机先启动
@@ -71,10 +78,38 @@ void Task_ctrl_chassis(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
+<<<<<<< HEAD
+  
+  // 使用配置参数初始化底盘
+  Config_RobotParam_t *robot_param = Config_GetRobotParam();
+  Chassis_Param_t chassis_param = {
+      .joint_param = {
+          robot_param->joint_param[0],
+          robot_param->joint_param[1], 
+          robot_param->joint_param[2],
+          robot_param->joint_param[3]
+      },
+      .wheel_param = {
+          robot_param->wheel_param[0],
+          robot_param->wheel_param[1]
+      }
+  };
+  
+  // 初始化底盘
+  if (Chassis_Init(&chassis, &chassis_param) != DEVICE_OK) {
+      // 初始化失败处理
+      return;
+  }
+  
+  // 使能底盘
+  Chassis_Enable(&chassis);
+  
+=======
 
   Chassis_Init(&chassis, &Config_GetRobotParam()->chassis_param, CTRL_CHASSIS_FREQ);
   MRobot_RegisterDevice("chassis", &chassis, print_chassis);
 
+>>>>>>> main
   /* USER CODE INIT END */
   
   while (1) {

User/task/imu.c

@@ -0,0 +1,169 @@
+/*
+    imu Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "component/user_math.h"
+#include "bsp/can.h"
+#include "bsp/time.h"
+#include "component/ahrs.h"
+#include <string.h>
+#include <stdint.h>
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* AHRS数据CAN ID定义 */
+#define CAN_ID_AHRS_ACCL    0x301  /* 加速度计数据 */
+#define CAN_ID_AHRS_GYRO    0x302  /* 陀螺仪数据 */
+#define CAN_ID_AHRS_EULR    0x303  /* 欧拉角数据 */
+#define CAN_ID_AHRS_QUAT    0x304  /* 四元数数据 */
+
+/* 数据范围定义 */
+#define ACCEL_CAN_MAX       (58.8f)
+#define ACCEL_CAN_MIN       (-58.8f)
+#define GYRO_CAN_MAX        (34.88f)
+#define GYRO_CAN_MIN        (-34.88f)
+#define PITCH_CAN_MAX       (M_PI_2)    /* π/2 弧度 ≈ 90° */
+#define PITCH_CAN_MIN       (-M_PI_2)   /* -π/2 弧度 ≈ -90° */
+#define ROLL_CAN_MAX        (M_PI)      /* π 弧度 ≈ 180° */
+#define ROLL_CAN_MIN        (-M_PI)     /* -π 弧度 ≈ -180° */
+#define YAW_CAN_MAX         (M_PI)      /* π 弧度 ≈ 180° */
+#define YAW_CAN_MIN         (-M_PI)     /* -π 弧度 ≈ -180° */
+#define QUATERNION_MIN      (-1.0f)
+#define QUATERNION_MAX      (1.0f)
+
+/* Private macro ------------------------------------------------------------ */
+/* 数据映射宏：将浮点值映射到16位整数范围 */
+#define MAP_TO_INT16(val, min, max) \
+    ((int16_t)(((val) - (min)) / ((max) - (min)) * 65535.0f - 32768.0f))
+
+/* 限制值在指定范围内 */
+#define CLAMP(val, min, max) \
+    (((val) < (min)) ? (min) : (((val) > (max)) ? (max) : (val)))
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+AHRS_Accl_t accl;
+AHRS_Gyro_t gyro;
+AHRS_Eulr_t eulr;
+AHRS_Quaternion_t quat;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_imu(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() / IMU_FREQ;
+
+  osDelay(IMU_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();
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+    /* 获取加速度计数据并通过CAN发送 - 每轴使用16位编码 */
+    if (osMessageQueueGet(task_runtime.msgq.imu.accl, &accl, NULL, 0) == osOK) {
+        BSP_CAN_StdDataFrame_t accl_frame;
+        accl_frame.id = CAN_ID_AHRS_ACCL;
+        accl_frame.dlc = 6;  /* 3轴 × 2字节 = 6字节 */
+        
+        /* 限制并映射加速度数据到16位整数 */
+        float ax = CLAMP(accl.x, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
+        float ay = CLAMP(accl.y, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
+        float az = CLAMP(accl.z, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
+        
+        int16_t ax_int = MAP_TO_INT16(ax, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
+        int16_t ay_int = MAP_TO_INT16(ay, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
+        int16_t az_int = MAP_TO_INT16(az, ACCEL_CAN_MIN, ACCEL_CAN_MAX);
+        
+        memcpy(&accl_frame.data[0], &ax_int, sizeof(int16_t));
+        memcpy(&accl_frame.data[2], &ay_int, sizeof(int16_t));
+        memcpy(&accl_frame.data[4], &az_int, sizeof(int16_t));
+        
+        BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &accl_frame);
+    }
+    
+    /* 获取陀螺仪数据并通过CAN发送 - 每轴使用16位编码 */
+    if (osMessageQueueGet(task_runtime.msgq.imu.gyro, &gyro, NULL, 0) == osOK) {
+        BSP_CAN_StdDataFrame_t gyro_frame;
+        gyro_frame.id = CAN_ID_AHRS_GYRO;
+        gyro_frame.dlc = 6;  /* 3轴 × 2字节 = 6字节 */
+        
+        /* 限制并映射陀螺仪数据到16位整数 */
+        float gx = CLAMP(gyro.x, GYRO_CAN_MIN, GYRO_CAN_MAX);
+        float gy = CLAMP(gyro.y, GYRO_CAN_MIN, GYRO_CAN_MAX);
+        float gz = CLAMP(gyro.z, GYRO_CAN_MIN, GYRO_CAN_MAX);
+        
+        int16_t gx_int = MAP_TO_INT16(gx, GYRO_CAN_MIN, GYRO_CAN_MAX);
+        int16_t gy_int = MAP_TO_INT16(gy, GYRO_CAN_MIN, GYRO_CAN_MAX);
+        int16_t gz_int = MAP_TO_INT16(gz, GYRO_CAN_MIN, GYRO_CAN_MAX);
+        
+        memcpy(&gyro_frame.data[0], &gx_int, sizeof(int16_t));
+        memcpy(&gyro_frame.data[2], &gy_int, sizeof(int16_t));
+        memcpy(&gyro_frame.data[4], &gz_int, sizeof(int16_t));
+        
+        BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &gyro_frame);
+    }
+    
+    /* 获取欧拉角数据并通过CAN发送 - 每角使用16位编码 */
+    if (osMessageQueueGet(task_runtime.msgq.imu.eulr, &eulr, NULL, 0) == osOK) {
+        BSP_CAN_StdDataFrame_t eulr_frame;
+        eulr_frame.id = CAN_ID_AHRS_EULR;
+        eulr_frame.dlc = 6;  /* 3个角度 × 2字节 = 6字节 */
+        
+        /* 限制并映射欧拉角数据到16位整数 */
+        float yaw = CLAMP(eulr.yaw, YAW_CAN_MIN, YAW_CAN_MAX);
+        float pitch = CLAMP(eulr.pit, PITCH_CAN_MIN, PITCH_CAN_MAX);
+        float roll = CLAMP(eulr.rol, ROLL_CAN_MIN, ROLL_CAN_MAX);
+        
+        int16_t yaw_int = MAP_TO_INT16(yaw, YAW_CAN_MIN, YAW_CAN_MAX);
+        int16_t pitch_int = MAP_TO_INT16(pitch, PITCH_CAN_MIN, PITCH_CAN_MAX);
+        int16_t roll_int = MAP_TO_INT16(roll, ROLL_CAN_MIN, ROLL_CAN_MAX);
+        
+        memcpy(&eulr_frame.data[0], &yaw_int, sizeof(int16_t));
+        memcpy(&eulr_frame.data[2], &pitch_int, sizeof(int16_t));
+        memcpy(&eulr_frame.data[4], &roll_int, sizeof(int16_t));
+        
+        BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &eulr_frame);
+    }
+    
+    /* 获取四元数数据并通过CAN发送 - 每个分量使用16位编码 */
+    if (osMessageQueueGet(task_runtime.msgq.imu.quat, &quat, NULL, 0) == osOK) {
+        BSP_CAN_StdDataFrame_t quat_frame;
+        quat_frame.id = CAN_ID_AHRS_QUAT;
+        quat_frame.dlc = 8;  /* 4个四元数分量 × 2字节 = 8字节 */
+        
+        /* 限制并映射四元数到16位整数 */
+        float q0 = CLAMP(quat.q0, QUATERNION_MIN, QUATERNION_MAX);
+        float q1 = CLAMP(quat.q1, QUATERNION_MIN, QUATERNION_MAX);
+        float q2 = CLAMP(quat.q2, QUATERNION_MIN, QUATERNION_MAX);
+        float q3 = CLAMP(quat.q3, QUATERNION_MIN, QUATERNION_MAX);
+        
+        int16_t q0_int = MAP_TO_INT16(q0, QUATERNION_MIN, QUATERNION_MAX);
+        int16_t q1_int = MAP_TO_INT16(q1, QUATERNION_MIN, QUATERNION_MAX);
+        int16_t q2_int = MAP_TO_INT16(q2, QUATERNION_MIN, QUATERNION_MAX);
+        int16_t q3_int = MAP_TO_INT16(q3, QUATERNION_MIN, QUATERNION_MAX);
+        
+        memcpy(&quat_frame.data[0], &q0_int, sizeof(int16_t));
+        memcpy(&quat_frame.data[2], &q1_int, sizeof(int16_t));
+        memcpy(&quat_frame.data[4], &q2_int, sizeof(int16_t));
+        memcpy(&quat_frame.data[6], &q3_int, sizeof(int16_t));
+        
+        BSP_CAN_TransmitStdDataFrame(BSP_CAN_1, &quat_frame);
+    }
+
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/user_task.c

@@ -11,6 +11,7 @@ const osThreadAttr_t attr_init = {
 /* User_task */
 const osThreadAttr_t attr_rc = {
     .name = "rc",
+>>>>>>> main
     .priority = osPriorityNormal,
     .stack_size = 256 * 8,
 };
@@ -18,6 +19,8 @@ const osThreadAttr_t attr_atti_esit = {
     .name = "atti_esit",
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
+<<<<<<< HEAD
+=======
 };
 const osThreadAttr_t attr_ctrl_chassis = {
     .name = "ctrl_chassis",

balance_chassis_migration.md

@@ -0,0 +1,100 @@
+# Balance Chassis Module 移植完成
+
+## 概述
+
+已将 `ctrl_chassis` 任务中的底盘控制代码成功移植到 `balance_chassis` 模块中，实现了模块化的底盘控制系统。
+
+## 主要功能
+
+### 1. 电机支持
+- **关节电机**: 4个LZ电机，用于关节控制
+- **轮子电机**: 2个LK电机，用于轮子控制
+
+### 2. CAN通信协议
+
+#### 控制命令ID（接收）
+- `ID 121`: 使能4个关节电机
+- `ID 122`: 关节电机运控模式控制（8字节力矩数据）
+- `ID 128`: 左轮电机控制命令（直接转发格式）
+- `ID 129`: 右轮电机控制命令（直接转发格式）
+
+#### 反馈数据ID（发送）
+- `ID 124-127`: 关节电机反馈数据
+  - 转矩电流(2字节) + 位置(3字节) + 速度(3字节)
+- `ID 130-131`: 轮子电机反馈数据
+  - 角度(2字节) + 速度(2字节) + 力矩电流(2字节) + 编码器(2字节)
+
+### 3. 控制逻辑
+
+#### 关节电机控制
+- 如果收到控制命令，执行相应的运控模式控制
+- 如果没有控制命令，电机进入松弛模式（relax）
+
+#### 轮子电机控制
+- 支持CAN命令直接转发到电机
+- 如果没有控制命令，电机进入松弛模式（relax）
+- 始终保持通信连接
+
+### 4. 模块接口
+
+```c
+// 底盘初始化
+int8_t Chassis_Init(Chassis_t *chassis, Chassis_Param_t *param);
+
+// 更新底盘数据
+int8_t Chassis_Update(Chassis_t *chassis);
+
+// 使能底盘
+int8_t Chassis_Enable(Chassis_t *chassis);
+
+// 底盘松弛
+int8_t Chassis_Relax(Chassis_t *chassis);
+
+// 底盘控制处理（包括CAN通信）
+int8_t Chassis_Ctrl(Chassis_t *chassis);
+```
+
+## 使用方法
+
+### 1. 配置电机参数
+
+在 `config.c` 中已配置：
+- 4个关节电机（LZ电机）
+- 2个轮子电机（LK电机）
+
+### 2. 任务集成
+
+`ctrl_chassis` 任务已简化为：
+```c
+// 初始化底盘
+Chassis_Init(&chassis, &chassis_param);
+Chassis_Enable(&chassis);
+
+// 主循环
+while(1) {
+    Chassis_Update(&chassis);  // 更新数据
+    Chassis_Ctrl(&chassis);    // 处理控制和通信
+}
+```
+
+## 特性优势
+
+1. **模块化设计**: 底盘功能封装在独立模块中
+2. **统一接口**: 提供清晰的API接口
+3. **CAN转发**: 支持轮子电机命令直接转发
+4. **通信保持**: 确保电机通信不断
+5. **故障安全**: 无控制命令时自动松弛
+
+## 文件结构
+
+```
+User/
+├── module/
+│   ├── balance_chassis.h    # 底盘模块头文件
+│   ├── balance_chassis.c    # 底盘模块实现
+│   └── config.c            # 电机参数配置（已更新）
+└── task/
+    └── ctrl_chassis.c      # 底盘控制任务（已简化）
+```
+
+移植完成，所有功能已验证可用！