添加了can遥控

CMakeLists.txt

@@ -75,6 +75,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/device/motor_lk.c
     User/device/motor_lz.c
     User/device/motor_rm.c
+    User/device/rc_can.c
 
     # User/module sources
     User/module/balance_chassis.c

User/device/rc_can.c

@@ -0,0 +1,312 @@
+/* Includes ----------------------------------------------------------------- */
+#include "device/rc_can.h"
+#include "bsp/time.h"
+#include "device/device.h"
+/* USER INCLUDE BEGIN */
+
+/* USER INCLUDE END */
+
+/* Private constants -------------------------------------------------------- */
+
+/* USER DEFINE BEGIN */
+
+/* USER DEFINE END */
+
+/* Private macro ------------------------------------------------------------ */
+/* Private types ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+
+/* USER VARIABLE BEGIN */
+
+/* USER VARIABLE END */
+
+/* USER FUNCTION BEGIN */
+
+/* USER FUNCTION END */
+
+/* Private function prototypes ---------------------------------------------- */
+static int8_t RC_CAN_ValidateParams(const RC_CAN_Param_t *param);
+static int8_t RC_CAN_RegisterIds(RC_CAN_t *rc_can);
+
+/* Exported functions ------------------------------------------------------- */
+
+/**
+ * @brief 初始化RC CAN发送模块
+ * @param rc_can RC_CAN结构体指针
+ * @param param 初始化参数
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_Init(RC_CAN_t *rc_can, RC_CAN_Param_t *param) {
+  if (rc_can == NULL || param == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+
+  // 参数验证
+  if (RC_CAN_ValidateParams(param) != DEVICE_OK) {
+    return DEVICE_ERR;
+  }
+
+  rc_can->param = *param;
+
+  // 初始化header
+  rc_can->header.online = false;
+  rc_can->header.last_online_time = 0;
+
+  // 手动初始化数据结构
+  rc_can->data.joy.ch_l_x = 0.0f;
+  rc_can->data.joy.ch_l_y = 0.0f;
+  rc_can->data.joy.ch_r_x = 0.0f;
+  rc_can->data.joy.ch_r_y = 0.0f;
+  rc_can->data.sw.sw_l = RC_CAN_SW_ERR;
+  rc_can->data.sw.sw_r = RC_CAN_SW_ERR;
+  rc_can->data.sw.ch_res = 0.0f;
+  rc_can->data.mouse.x = 0.0f;
+  rc_can->data.mouse.y = 0.0f;
+  rc_can->data.mouse.z = 0.0f;
+  rc_can->data.mouse.mouse_l = false;
+  rc_can->data.mouse.mouse_r = false;
+  rc_can->data.keyboard.key_value = 0;
+  for (int i = 0; i < 6; i++) {
+    rc_can->data.keyboard.keys[i] = RC_CAN_KEY_NONE;
+  }
+
+  // 注册CAN ID队列（从机模式需要接收数据）
+  if (rc_can->param.mode == RC_CAN_MODE_SLAVE) {
+    return RC_CAN_RegisterIds(rc_can);
+  }
+
+  return DEVICE_OK;
+}
+
+/**
+ * @brief 更新并发送数据到CAN总线
+ * @param rc_can RC_CAN结构体指针
+ * @param data_type 数据类型
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_SendData(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) {
+  if (rc_can == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+  if (rc_can->param.mode != RC_CAN_MODE_MASTER) {
+    return DEVICE_ERR;
+  }
+  BSP_CAN_StdDataFrame_t frame;
+  frame.dlc = 8;
+  switch (data_type) {
+  case RC_CAN_DATA_JOYSTICK:
+    frame.id = rc_can->param.joy_id;
+    frame.data[0] = (uint8_t)((int16_t)(rc_can->data.joy.ch_l_x * 32768.0f) & 0xFF);
+    frame.data[1] =
+        (uint8_t)(((int16_t)(rc_can->data.joy.ch_l_x * 32768.0f) >> 8) & 0xFF);
+    frame.data[2] = (uint8_t)((int16_t)(rc_can->data.joy.ch_l_y * 32768.0f) & 0xFF);
+    frame.data[3] =
+        (uint8_t)(((int16_t)(rc_can->data.joy.ch_l_y * 32768.0f) >> 8) & 0xFF);
+    frame.data[4] = (uint8_t)((int16_t)(rc_can->data.joy.ch_r_x * 32768.0f) & 0xFF);
+    frame.data[5] =
+        (uint8_t)(((int16_t)(rc_can->data.joy.ch_r_x * 32768.0f) >> 8) & 0xFF);
+    frame.data[6] = (uint8_t)((int16_t)(rc_can->data.joy.ch_r_y * 32768.0f) & 0xFF);
+    frame.data[7] =
+        (uint8_t)(((int16_t)(rc_can->data.joy.ch_r_y * 32768.0f) >> 8) & 0xFF);
+    break;
+  case RC_CAN_DATA_SWITCH:
+    frame.id = rc_can->param.sw_id;
+    frame.data[0] = (uint8_t)(rc_can->data.sw.sw_l);
+    frame.data[1] = (uint8_t)(rc_can->data.sw.sw_r);
+    frame.data[2] = (uint8_t)((int16_t)(rc_can->data.sw.ch_res * 32768.0f) & 0xFF);
+    frame.data[3] =
+        (uint8_t)(((int16_t)(rc_can->data.sw.ch_res * 32768.0f) >> 8) & 0xFF);
+    frame.data[4] = 0; // 保留字节
+    frame.data[5] = 0; // 保留字节
+    frame.data[6] = 0; // 保留字节
+    frame.data[7] = 0; // 保留字节
+    break;
+  case RC_CAN_DATA_MOUSE:
+    frame.id = rc_can->param.mouse_id;
+    frame.data[0] = (uint8_t)((int16_t)(rc_can->data.mouse.x) & 0xFF);
+    frame.data[1] = (uint8_t)(((int16_t)(rc_can->data.mouse.x) >> 8) & 0xFF);
+    frame.data[2] = (uint8_t)((int16_t)(rc_can->data.mouse.y) & 0xFF);
+    frame.data[3] = (uint8_t)(((int16_t)(rc_can->data.mouse.y) >> 8) & 0xFF);
+    frame.data[4] = (uint8_t)((int16_t)(rc_can->data.mouse.z) & 0xFF);
+    frame.data[5] = (uint8_t)(((int16_t)(rc_can->data.mouse.z) >> 8) & 0xFF);
+    frame.data[6] = (uint8_t)(rc_can->data.mouse.mouse_l ? 1 : 0);
+    frame.data[7] = (uint8_t)(rc_can->data.mouse.mouse_r ? 1 : 0);
+    break;
+  case RC_CAN_DATA_KEYBOARD:
+    frame.id = rc_can->param.keyboard_id;
+    frame.data[0] = (uint8_t)(rc_can->data.keyboard.key_value & 0xFF);
+    frame.data[1] = (uint8_t)((rc_can->data.keyboard.key_value >> 8) & 0xFF);
+    for (int i = 0; i < 6; i++) {
+      frame.data[2 + i] = (i < 6) ? (uint8_t)(rc_can->data.keyboard.keys[i]) : 0;
+    }
+    break;
+  default:
+    return DEVICE_ERR;
+  }
+  if (BSP_CAN_Transmit(rc_can->param.can, BSP_CAN_FORMAT_STD_DATA, frame.id,
+                       frame.data, frame.dlc) != BSP_OK) {
+    return DEVICE_ERR;
+  }
+  return DEVICE_OK;
+}
+
+/**
+ * @brief 接收并更新CAN数据
+ * @param rc_can RC_CAN结构体指针
+ * @param data_type 数据类型
+ * @return DEVICE_OK 成功，其他值失败
+ */
+int8_t RC_CAN_Update(RC_CAN_t *rc_can, RC_CAN_DataType_t data_type) {
+  if (rc_can == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+
+  // 只有从机模式才能接收数据
+  if (rc_can->param.mode != RC_CAN_MODE_SLAVE) {
+    return DEVICE_ERR;
+  }
+  BSP_CAN_Message_t msg;
+  
+  switch (data_type) {
+  case RC_CAN_DATA_JOYSTICK:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.joy_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    int16_t ch_l_x = (int16_t)((msg.data[1] << 8) | msg.data[0]);
+    int16_t ch_l_y = (int16_t)((msg.data[3] << 8) | msg.data[2]);
+    int16_t ch_r_x = (int16_t)((msg.data[5] << 8) | msg.data[4]);
+    int16_t ch_r_y = (int16_t)((msg.data[7] << 8) | msg.data[6]);
+
+    // 转换为浮点数（范围：-1.0到1.0）
+    rc_can->data.joy.ch_l_x = (float)ch_l_x / 32768.0f;
+    rc_can->data.joy.ch_l_y = (float)ch_l_y / 32768.0f;
+    rc_can->data.joy.ch_r_x = (float)ch_r_x / 32768.0f;
+    rc_can->data.joy.ch_r_y = (float)ch_r_y / 32768.0f;
+    break;
+  case RC_CAN_DATA_SWITCH:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.sw_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    rc_can->data.sw.sw_l = (RC_CAN_SW_t)msg.data[0];
+    rc_can->data.sw.sw_r = (RC_CAN_SW_t)msg.data[1];
+
+    int16_t ch_res = (int16_t)((msg.data[3] << 8) | msg.data[2]);
+    rc_can->data.sw.ch_res = (float)ch_res / 32768.0f;
+    break;
+  case RC_CAN_DATA_MOUSE:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.mouse_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    int16_t x = (int16_t)((msg.data[1] << 8) | msg.data[0]);
+    int16_t y = (int16_t)((msg.data[3] << 8) | msg.data[2]);
+    int16_t z = (int16_t)((msg.data[5] << 8) | msg.data[4]);
+    rc_can->data.mouse.x = (float)x;
+    rc_can->data.mouse.y = (float)y;
+    rc_can->data.mouse.z = (float)z;
+    rc_can->data.mouse.mouse_l = (msg.data[6] & 0x01) ? true : false;
+    rc_can->data.mouse.mouse_r = (msg.data[7] & 0x01) ? true : false;
+    break;
+  case RC_CAN_DATA_KEYBOARD:
+    if (BSP_CAN_GetMessage(rc_can->param.can, rc_can->param.keyboard_id, &msg,
+                           BSP_CAN_TIMEOUT_IMMEDIATE) != BSP_OK) {
+      return DEVICE_ERR;
+    }
+    if (msg.dlc < 2) {
+      return DEVICE_ERR;
+    }
+    // 解包数据
+    rc_can->data.keyboard.key_value =
+        (uint16_t)((msg.data[1] << 8) | msg.data[0]);
+    for (int i = 0; i < 6 && (i + 2) < msg.dlc; i++) {
+      rc_can->data.keyboard.keys[i] = (RC_CAN_Key_t)(msg.data[2 + i]);
+    }
+    // 清空未使用的按键位置
+    for (int i = (msg.dlc > 2 ? msg.dlc - 2 : 0); i < 6; i++) {
+      rc_can->data.keyboard.keys[i] = RC_CAN_KEY_NONE;
+    }
+    break;
+  default:
+    return DEVICE_ERR;
+  }
+
+  // 更新header状态
+  rc_can->header.online = true;
+  rc_can->header.last_online_time = BSP_TIME_Get_us();
+
+  return DEVICE_OK;
+}
+
+/* Private functions -------------------------------------------------------- */
+
+/**
+ * @brief 验证RC_CAN参数
+ * @param param 参数指针
+ * @return DEVICE_OK 成功，其他值失败
+ */
+static int8_t RC_CAN_ValidateParams(const RC_CAN_Param_t *param) {
+  if (param == NULL) {
+    return DEVICE_ERR_NULL;
+  }
+
+  // 检查CAN总线有效性
+  if (param->can >= BSP_CAN_NUM) {
+    return DEVICE_ERR;
+  }
+
+  // 检查工作模式有效性
+  if (param->mode != RC_CAN_MODE_MASTER && param->mode != RC_CAN_MODE_SLAVE) {
+    return DEVICE_ERR;
+  }
+
+  // 检查CAN ID是否重复
+  if (param->joy_id == param->sw_id || param->joy_id == param->mouse_id ||
+      param->joy_id == param->keyboard_id || param->sw_id == param->mouse_id ||
+      param->sw_id == param->keyboard_id ||
+      param->mouse_id == param->keyboard_id) {
+    return DEVICE_ERR;
+  }
+
+  return DEVICE_OK;
+}
+
+/**
+ * @brief 注册CAN ID
+ * @param rc_can RC_CAN结构体指针
+ * @return DEVICE_OK 成功，其他值失败
+ */
+static int8_t RC_CAN_RegisterIds(RC_CAN_t *rc_can) {
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.joy_id, 0) !=
+      BSP_OK) {
+    return DEVICE_ERR;
+  }
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.sw_id, 0) != BSP_OK) {
+    return DEVICE_ERR;
+  }
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.mouse_id, 0) !=
+      BSP_OK) {
+    return DEVICE_ERR;
+  }
+  if (BSP_CAN_RegisterId(rc_can->param.can, rc_can->param.keyboard_id, 0) !=
+      BSP_OK) {
+    return DEVICE_ERR;
+  }
+
+  return DEVICE_OK;
+}
+
+int8_t RC_CAN_OFFLINE(RC_CAN_t *rc_can){
+    if (rc_can == NULL) {
+        return DEVICE_ERR_NULL;
+    }
+    rc_can->header.online = false;
+    return DEVICE_OK;
+}
+/* USER CODE BEGIN */
+
+/* USER CODE END */

User/device/rc_can.h

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

User/module/balance_chassis.c

@@ -261,7 +261,7 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd){
             
             float fn;
             float tp1, tp2;
-            fn = -20.0f;
+            fn = -25.0f;
 
 
             // tp1 = 3*PID_Calc(&c->pid.tp[0], 0.0f, c->vmc_[0].leg.theta, c->vmc_[0].leg.d_theta, c->dt);
@@ -490,7 +490,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
         
         // 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力
         virtual_force[leg] = (Tp[leg]) * sinf(leg_theta[leg]) + 
-                            pid_output + 25.0f;
+                            pid_output + 40.0f;
                             //  + // PID腿长控制输出
                             // 45.0f; // 基础支撑力
         

User/module/config.c

@@ -5,6 +5,7 @@
 /* Includes ----------------------------------------------------------------- */
 #include "module/config.h"
 #include "bsp/can.h"
+#include "device/rc_can.h"
 
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
@@ -205,7 +206,16 @@ Config_RobotParam_t robot_config = {
         },
         .lqr_param.max_joint_torque = 20.0f,  // 关节电机最大力矩 20Nm
         .lqr_param.max_wheel_torque = 4.5f,  // 轮毂电机最大力矩 2.5Nm
-    }
+    },
+
+    .rc_can_param = {
+        .can = BSP_CAN_2,
+        .mode = RC_CAN_MODE_SLAVE,
+        .joy_id = 0x250,
+        .sw_id = 0x251,
+        .mouse_id = 0x252,
+        .keyboard_id = 0x253,
+    },
 };
 
 /* Private function prototypes ---------------------------------------------- */

User/module/config.h

@@ -13,13 +13,12 @@ extern "C" {
 #include "device/motor_lz.h"
 #include "device/motor_lk.h"
 #include "module/balance_chassis.h"
-
+#include "device/rc_can.h"
 
 typedef struct {
     DM_IMU_Param_t imu_param;
-    MOTOR_LZ_Param_t joint_motors[4];
-    MOTOR_LK_Param_t wheel_motors[2];
     Chassis_Params_t chassis_param;
+    RC_CAN_Param_t rc_can_param;
 } Config_RobotParam_t;
 
 /* Exported functions prototypes -------------------------------------------- */

User/task/rc.c

@@ -6,8 +6,11 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
+#include "bsp/can.h"
 #include "device/dr16.h"
+#include "device/rc_can.h"
 #include "module/balance_chassis.h"
+#include "module/config.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -16,7 +19,9 @@
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
 DR16_t dr16;
+RC_CAN_t rc_can;
 Chassis_CMD_t cmd_to_chassis;
+#define USE_RC_CAN
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -32,12 +37,15 @@ void Task_rc(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
+  BSP_CAN_Init();
   DR16_Init(&dr16);
+  RC_CAN_Init(&rc_can, &Config_GetRobotParam()->rc_can_param);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
+    #ifdef USE_DR16
     DR16_StartDmaRecv(&dr16);
     if (DR16_WaitDmaCplt(20)) {
       DR16_ParseData(&dr16);
@@ -63,50 +71,34 @@ void Task_rc(void *argument) {
       DR16_Offline(&dr16);
         cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
     }
+    #elif defined USE_RC_CAN
+    RC_CAN_Update(&rc_can, RC_CAN_DATA_JOYSTICK);
+    RC_CAN_Update(&rc_can, RC_CAN_DATA_SWITCH);
+    if (rc_can.header.online) {
+        switch (rc_can.data.sw.sw_l) {
+            case RC_CAN_SW_UP: // 上位
+                cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
+                break;
+            case RC_CAN_SW_MID: // 中位  
+                cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
+                break;
+            case RC_CAN_SW_DOWN: // 下位
+                cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
+                break;
+            default:
+                cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
+                break;
+        }
+        cmd_to_chassis.move_vec.vx = rc_can.data.joy.ch_l_y;
+        cmd_to_chassis.move_vec.vy = rc_can.data.joy.ch_l_x;
+        cmd_to_chassis.move_vec.wz = rc_can.data.joy.ch_r_x;
+        cmd_to_chassis.height = rc_can.data.sw.ch_res;
+    } else {
+        RC_CAN_OFFLINE(&rc_can);
+        cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
+    }
+    #endif
     osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
-    // if (DR16_WaitDmaCplt(20)) {
-    //       // 根据左拨杆设置底盘模式
-    //       switch (dr16.data.sw_l) {
-    //           case 1: // 上位
-    //               cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
-    //               break;
-    //           case 3: // 中位  
-    //               cmd_to_chassis.mode = CHASSIS_MODE_RECOVER;
-    //               break;
-    //           case 2: // 下位
-    //               cmd_to_chassis.mode = CHASSIS_MODE_WHELL_BALANCE;
-    //               break;
-    //           default:
-    //               cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
-    //               break;
-    //       }
-          
-    //       // 解析遥控器摇杆数据为运动向量
-    //       // 将遥控器通道值从[364, 1684]映射到[-1.0, 1.0]
-    //       float ch_l_y_norm = (float)(dr16.data.ch_l_y - 1024) / 660.0f; // 前后
-    //       float ch_l_x_norm = (float)(dr16.data.ch_l_x - 1024) / 660.0f; // 左右
-    //       float ch_r_x_norm = (float)(dr16.data.ch_r_y - 1024) / 660.0f; // 旋转
-          
-    //       // 设置运动向量（根据需要调整增益）
-    //       cmd_to_chassis.move_vec.vx = ch_l_y_norm * 2.0f;  // 前后运动，增益可调
-    //       cmd_to_chassis.move_vec.vy = ch_l_x_norm * 2.0f;  // 左右运动，增益可调  
-    //       cmd_to_chassis.move_vec.wz = ch_r_x_norm * 3.0f;  // 旋转运动，增益可调
-          
-    //       // 设置目标高度（可根据右拨杆或其他输入调整）
-    //       cmd_to_chassis.height = dr16.data.res-1024; // 目标高度，范围[-1024, 1024]，可根据需要调整比例
-          
-    //       // 发送命令到底盘控制任务
-    //       osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
-
-    // } else {
-    //     // 超时处理，发送安全命令
-    //     cmd_to_chassis.mode = CHASSIS_MODE_RELAX;
-    //     cmd_to_chassis.move_vec.vx = 0.0f;
-    //     cmd_to_chassis.move_vec.vy = 0.0f;
-    //     cmd_to_chassis.move_vec.wz = 0.0f;
-    //     cmd_to_chassis.height = 0.0f;
-    //     osMessageQueuePut(task_runtime.msgq.Chassis_cmd, &cmd_to_chassis, 0, 0);
-    // }
    
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */